Moog ACV Series - Object 0 X5600: 1 St Rxpdo Mapping; Table 58: Parameters of 1 St Rxpdo Mapping Object (0 X5600); Table 59: Value Description of Mapping Parameter <Localrpdo1_Applicpara1

Moog ACV with CANopen bus interface 6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018 110
6.9.3.6 Object 0x5600: 1st RxPDO mapping
With the parameter <LocalRPdo1_NumberOfMappedApplicParaInPdo> (0x5600) the number of real-time ap-
plication parameters to be received can be set. To map the application parameter itself, its CANopen index,
sub-index and length must be combined to a 32 bit number and written to one of the eight possible positions
(corresponding to the sub-indexes 1…8) within the PDO object.
 Chapter "2.8.3.2.1 Object 0x1600: 1st RxPDO mapping", page 22
Value description
LocalCAN
Index
Sub-
index Parameter name
Data
type Access
Per-
sis-
tence
Value
range Default
0x5600 0 LocalRPdo1_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 0
0x5600 1 LocalRPdo1_ApplicPara1 UINT32 rw Y UINT32 0
0x5600 2 LocalRPdo1_ApplicPara2 UINT32 rw Y UINT32 0
0x5600 3 LocalRPdo1_ApplicPara3 UINT32 rw Y UINT32 0
0x5600 4 LocalRPdo1_ApplicPara4 UINT32 rw Y UINT32 0
0x5600 5 LocalRPdo1_ApplicPara5 UINT32 rw Y UINT32 0
0x5600 6 LocalRPdo1_ApplicPara6 UINT32 rw Y UINT32 0
0x5600 7 LocalRPdo1_ApplicPara7 UINT32 rw Y UINT32 0
0x5600 8 LocalRPdo1_ApplicPara8 UINT32 rw Y UINT32 0
Parameter Description
<LocalRPdo1_NumberOfMappedApplicParaInPdo> Number of configured application objects
<LocalRPdo1_ApplicPara1> Mapping of the 1
st
application parameter
<LocalRPdo1_ApplicPara2> Mapping of the 2
nd
application parameter
<LocalRPdo1_ApplicPara3> Mapping of the 3
rd
application parameter
<LocalRPdo1_ApplicPara4> Mapping of the 4
th
application parameter
<LocalRPdo1_ApplicPara5> Mapping of the 5
th
application parameter
<LocalRPdo1_ApplicPara6> Mapping of the 6
th
application parameter
<LocalRPdo1_ApplicPara7> Mapping of the 7
th
application parameter
<LocalRPdo1_ApplicPara8> Mapping of the 8
th
application parameter
Table 58: Parameters of 1st RxPDO mapping object (0x5600)
<LocalRPdo1_ApplicPara1…8>
Byte3210
Description
Index MSB Index LSB Sub-index Parameter bit length 0x08,
0x10 or 0x20
Default 0x60 0x40 0x00 0x10
Table 59: Value description of mapping parameter <LocalRPdo1_ApplicPara1…8>