Restore the COB-ID of the modified PDO object
I. Functions and Precautions
(1) Function Description: Improper customer operation may cause the COB-ID of the PDO object to be modified. This document will demonstrate how to recover the COB-ID of the PDO object using messages.
(2) Precautions: <1> For more detailed instructions on using PDO, please refer to the "PDO Messages" section of the communication manual corresponding to your purchased product.
II. Related Parameters
(1) 1800h, 1801h, 1802h, 1803h: TPDO communication objects
(2) 1400h, 1401h, 1402h, 1403h: RPDO communication objects
For specific definitions of each parameter, please refer to the "Object Dictionary" chapter of the communication manual. The 01h sub-address of each parameter above is a COB-ID, and its specific value is related to the corresponding identifier, as shown in the figure below:
III. Message Writing
(1) Add a message line and enter the relevant message
23: Function code (write 4 bytes)
00 18 01: 1800:01 Index (TPDO1 address)
81 01: 0x180 + motor address (motor No. 1 is 0181)
