Lab 12 read-only PDO inspection hardware validation
Date: 2026-08-11
Project: examples/lab_12_pdo_inspect
Board: ESP32-C3 revision v0.4
Serial port used during validation: /dev/ttyUSB0
ESP-IDF: v5.5.4
CAN TX/RX: GPIO19/GPIO18
CAN bitrate: 500000 bit/s
Motor: IG35EC020, Node-ID 0x01

Build and flash:
lab_12_pdo_inspect.bin binary size 0x33890 bytes
Project build complete.
Wrote 211088 bytes at 0x00010000
Hash of data verified.
Hard resetting via RTS pin...

Application start:
I lab_12_pdo_inspect: Read-only CANopen PDO inspection
I lab_12_pdo_inspect: Target esp32c3, TX GPIO19, RX GPIO18, bitrate 500000 bit/s
I lab_12_pdo_inspect: Motor Node-ID 0x01
W lab_12_pdo_inspect: Safety: no SDO write, NMT, SYNC, RPDO, or motor command
I can_bus: TWAI ready: TX GPIO19, RX GPIO18, 500000 bit/s, normal mode

RPDO1 communication parameters:
TX 0x601 [40 00 14 00 00 00 00 00]
RX 0x581 [4F 00 14 00 06 00 00 00]
RPDO1 communication highest sub-index = 6

TX 0x601 [40 00 14 01 00 00 00 00]
RX 0x581 [43 00 14 01 01 02 00 80]
RPDO1 COB-ID raw=0x80000201, CAN-ID=0x201, enabled=no, frame=standard

TX 0x601 [40 00 14 02 00 00 00 00]
RX 0x581 [4F 00 14 02 00 00 00 00]
RPDO1 transmission type = 0 (synchronous, acyclic)

RPDO1 mapping:
TX 0x601 [40 00 16 00 00 00 00 00]
RX 0x581 [4F 00 16 00 02 00 00 00]
RPDO1 mapped object count = 2

RX 0x581 [43 00 16 01 20 00 83 60]
RPDO1 map 1 raw=0x60830020 -> object 0x6083:00, 32 bits

RX 0x581 [43 00 16 02 20 00 84 60]
RPDO1 map 2 raw=0x60840020 -> object 0x6084:00, 32 bits
RPDO1 mapped payload = 64 bits (8 bytes)

TPDO1 communication parameters:
TX 0x601 [40 00 18 00 00 00 00 00]
RX 0x581 [4F 00 18 00 06 00 00 00]
TPDO1 communication highest sub-index = 6

TX 0x601 [40 00 18 01 00 00 00 00]
RX 0x581 [43 00 18 01 81 01 00 80]
TPDO1 COB-ID raw=0x80000181, CAN-ID=0x181, enabled=no, frame=standard

TX 0x601 [40 00 18 02 00 00 00 00]
RX 0x581 [4F 00 18 02 01 00 00 00]
TPDO1 transmission type = 1 (synchronous, cyclic)

TPDO1 mapping:
TX 0x601 [40 00 1A 00 00 00 00 00]
RX 0x581 [4F 00 1A 00 02 00 00 00]
TPDO1 mapped object count = 2

RX 0x581 [43 00 1A 01 20 00 62 60]
TPDO1 map 1 raw=0x60620020 -> object 0x6062:00, 32 bits

RX 0x581 [43 00 1A 02 20 00 64 60]
TPDO1 map 2 raw=0x60640020 -> object 0x6064:00, 32 bits
TPDO1 mapped payload = 64 bits (8 bytes)

Five-second observation:
RX 0x701 [05]
RX 0x701 [05]
RX 0x701 [05]
RX 0x701 [05]
RX 0x701 [05]
Observation result: heartbeat=5, matching TPDO=0
TPDO1 is disabled, so no TPDO was expected or observed

Validation conclusion:
- Build, flash, hash verification, and application startup succeeded.
- Every SDO request shown above was acknowledged by another CAN node.
- The motor implemented the standard RPDO1 and TPDO1 parameter objects.
- RPDO1 was configured with CAN-ID 0x201 but disabled by COB-ID bit 31.
- TPDO1 was configured with CAN-ID 0x181 but disabled by COB-ID bit 31.
- RPDO1 mapped 0x6083:00 and 0x6084:00, 32 bits each.
- TPDO1 mapped 0x6062:00 and 0x6064:00, 32 bits each.
- Five motor heartbeats and zero matching TPDO1 frames were observed in five seconds.
- No SDO download, NMT, SYNC, RPDO, Controlword, mode, position, or velocity command was sent.