Question:
How can PDOs with less than 8 bytes of user data be read in?
Answer:
Unlike the EMF 2175 module, the EMF 2178 module features dynamic PDO mapping. In the default module settings, the PDO mapping is mapped to 8 bytes of user data via the indices I-1600 and I-1A00. Usually, the PDO mapping is set by the CANopen master when CAN communication is started. If the CANopen master does not set the PDO Mapping for the slave, you can adapt the setting yourself by accessing the indices I-1600 and I-1A00.
Subcode 1 of the indices contains the PDO length in words (default 4 words). The PDO length can be changed to 1, 2 or 3 words. For this, set the subcode to '0' first and then to the value you want to use.
