Potential Causes:

1. Incorrect PDO Configuration:
   • The PDO mapping settings in the drive's software might not match the actual requirements of the connected devices.
   • Incorrectly defined PDO objects, transmission types (TX/RX), or data lengths can cause mismatches.
2. Device Misconfiguration:
   • The connected device might have a different PDO configuration than expected, leading to communication conflicts.
   • Ensure that both devices are configured to use the same PDO objects, transmission types, and data lengths.
3. Network Issues:
   • Interference or noise on the CANopen bus can disrupt data transmission, leading to inconsistencies between the configured and actual mappings.
   • Check for physical damage to cables, faulty connectors, or other network problems.
4. Software Bugs:
   • In rare cases, software bugs in the drive's firmware or the connected device's firmware can cause PDO mapping inconsistencies.

Troubleshooting Steps:

1. Verify PDO Configuration:
   • Carefully review the PDO mapping settings in the drive's software.
   • Compare the configured PDO objects, transmission types, and data lengths with the expected values based on the connected device's specifications.
   • Ensure that the PDO mapping is consistent with the device's PDO configuration.
2. Check Device Configuration:
   • If possible, access the configuration of the connected device and verify its PDO mapping settings.
   • Ensure that the device's PDO configuration matches the drive's settings.
3. Test Communication:
   • Use a CANopen analyzer or monitoring tool to capture and analyze the CANopen communication traffic.
   • Compare the transmitted and received PDO data with the expected values based on the configured mapping.
   • Look for any discrepancies or errors in the data transmission.
4. Check for Network Interference:
   • If you suspect network interference, try isolating the drive and the connected device to eliminate external factors.
   • Use shielded cables and proper grounding techniques to reduce noise.