Now, setNodeId does change TPDO and RPDO CobId without testing previous CobId in order to avoid confusion. Standard does not says when 'default value' should be applied. See DS301 - Object 1400h - 15FFh: Receive PDO Communication Parameter page 108.

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Contributors :

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Raphael Zulliger (author of slavelib project)

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Camille BOSSARD

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David DUMINY (sté A6R)

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Laurent ROMIEUX

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Zakaria BELAMRI

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Many thanks to the main contributors for their great work.