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CCS/F28M35H52C: CANOpen to HMI

Part Number: F28M35H52C


Tool/software: Code Composer Studio

I am trying to use the CANOpen on the Cortes-M3 to link to a HMI which has CANOpen Node Slave(Communication Protocol. The HMI has Predefined PDO Mappping Parameters and Node ID.

How the M3 maps with HMI? Is it by the Message ID in the tCANMsgObject?