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.

Authors :
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Edouard TISSERANT (www.lolitech.fr)
Francis DUPIN (LIVIC)
Laurent BESSARD (www.lolitech.fr)