Moog ACV with CANopen bus interface 6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018 113
6.9.4.1 Object 0x5800: 1st TxPDO configuration
First transmit PDO channel configuration.
Value description
LocalCAN
Index Sub-index Parameter name Data type Access
Per-
sis-
tence Value range Default
0x5800 1 LocalTPdo1_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF |
0x80000000
0x0180+127
0x5800 2 LocalTPdo1_TransmissionType UINT8 rw Y UINT8 255
0x5800 5 LocalTPdo1_EventTimer UINT16 rw Y UINT16 0
Parameter Description
<LocalTPdo1_CobIdUsedByPdo> COB-ID of the 1
st
transmit PDO.
<LocalTPdo1_TransmissionType> For local CAN this parameter must be set to 0xFF (asynchron).
<LocalTPdo1_EventTimer> This parameter defines the send cycle time in milliseconds. If this pa-
rameter is set to 0 no PDOs are sent.
Table 61: Parameters of 1st TxPDO configuration object (0x5800)
<LocalTPdo1_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 62: Possible values of parameter <LocalTPdo1_CobIdUsedByPdo> (0x5800)
<LocalTPdo1_TransmissionType>
0 The process data for the transmit PDO will be updated and send immediately after the next incoming SYNC telegram.
1…240 The process data for the transmit PDO will be updated and send immediately every <TransmissionType> SYNC tele-
grams.
241…253 Reserved
254…255 The transmit PDO will be send after the event time is elapses (when the event time is nonzero).
Table 63: Possible values of parameter <LocalTPdo1_TrasnmissionType> (0x5800)
To initiate only a single request, the <LocalTPdo1_EventTimer> (0x5800) must be set to 0. The
transmission then can be triggered by the parameter <LocalCANTPdoTrigger> (0x5B03).
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