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.

Contributors :
==============

Raphael Zulliger (author of slavelib project)

Camille BOSSARD
David DUMINY (sté A6R)
Laurent ROMIEUX
Zakaria BELAMRI

Many thanks to the main contributors for their great work.