Moog ACV with CANopen bus interface 6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018 107
6.9.3.1 Object 0x5400: 1st RxPDO configuration
First receive PDO channel configuration.
Value description
6.9.3.2 Object 0x5401: 2nd RxPDO configuration
Second receive PDO channel configuration.
Value description
Chapter "6.9.3.1 Object 0x5400: 1st RxPDO configuration", page 107
LocalCAN
Index Sub-index Parameter name Data type Access
Persis-
tence Value range Default
0x5400 1 LocalRPdo1_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF |
0x80000000
0x0200+127
0x5400 2 LocalRPdo1_TransmissionType UINT8 rw Y UINT8 255
0x5400 3 LocalRPdo1_EventTimer UINT16 rw Y UINT16 0
Parameter Description
<LocalRPdo1_CobIdUsedByPdo> COB-ID of the 1
st
receive PDO.
<LocalRPdo1_TransmissionType> For local CAN this parameter must be set to 0xFF (asynchron).
<LocalRPdo1_EventTimer> This parameter defines the timeout in milliseconds for the receive
PDO timeout monitoring. If this parameter is set to 0 the receive
timeout monitoring is turned off.
Table 55: Parameters of 1st RxPDO configuration object (0x5400)
<LocalRPdo1_CobIdUsedByPdo>
Bit 31 30 29…11 10…0
Description 0: PDO will be processed/received
1: PDO will not be processed/received
Reserved Reserved 11 bit COB-ID
Table 56: Possible values of parameter <LocalRPdo1_CobIdUsedByPdo> (0x5400)
<LocalRPdo1_TransmissionType>
0 The last incoming PDO will be processed synchronously to the next incoming SYNC telegram.
1…240 The last incoming PDO will be processed synchronously to every <TransmissionType> SYNC telegram.
241…253 Reserved
254…255 PDO will be processed immediately after reception.
Table 57: Possible values of parameter <LocalRPdo1_TransmissionType> (0x5400)
LocalCAN
Index Sub-index Parameter name Data type Access
Persis-
tence Value range Default
0x5401 1 LocalRPdo2_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF |
0x80000000
0x0300+127
0x5401 2 LocalRPdo2_TransmissionType UINT8 rw Y UINT8 255
0x5401 3 LocalRPdo2_EventTimer UINT16 rw Y UINT16 0
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