Open Can subindex selection

[Vicente_Jose]

Hi all,

I'm new in OpenCan protocol.

Now I have TPDO1 mapped, with 8 subindex pointing diverse Object Dictionary entries.

But, How I subindexes are identified in telegram?

If node is 10H, Index is 180h+10h=390h.

But, which subindex is?

Thanks in advance.

Vicente Jose.

[GerdW]

Hi Jose,

the protocol is named "CANopen"...

The subindex is part of the CAN frame data packet.

[Vicente_Jose]

Hi GerdW,

Yes, you're right, is CANOpen.

This is a sample of the frame I receive form tinycan:

190 0 0 8 0C 80 1 1 1 1 0 0

I suppose is TPDO1 (180h) + node 10h. is followed by flags EFF, RTR, number of data bytes, and data bytes (12 128 1 1 1 1 0 0), but I can see subindex.

Vicente Jose.