Re: Setting PDO parameters in CANopen

Hello John,

actually you stumbled across to PDO mapping procedure described in
CiA 301. The procedure was introduced due to a patent years ago and
requires the steps that you mentioned:

1. set device into pre-operational mode
2. disable PDO (communication parameter)
3. disable mapping (write 0 to sub-index 0 of mapping parameter)
4. write new mapping
5. enable mapping (write correct number of sub-indices to sub-index 0)
6 enable PDO (communication parameter)
7. set device into operational mode
8. Enjoy the new PDO

You don’t want to do this manually all the time, so it is recommended
to use a tool. I am not aware of a freeware CANopen configuration tool,
but I think companies like emtas, esd, HMS, Vector, etc. are happy to 
sell you an appropriate tool. 



Greetings,
Uwe


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