Moog ACV Series - Figure 43: Transmit Process Data Object (Txpdo) Mapping; Transmit Process Data Object (Txpdo) Mapping

Moog ACV with CANopen bus interface 6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018 115
6.9.4.5 Transmit process data object (TxPDO) mapping
With the transmit process data object (TxPDO) mapping the most object dictionary entries can be mapped to
a TxPDO. A CANopen telegram can carry 8 bytes data in one package. The smallest data types used in the
digital servo valve are 8 bit integers. Therefore eight object dictionary entries with 8 bit data length or four ob-
ject dictionary entries with 16 bits or two object dictionary entries with 32 bit can be mapped within one Tx-
PDO. An arbitrary combination of different data types is possible, if the sum of the mapped TxPDO data is
less or equal 8 bytes.
Example:
The following values should be mapped to the fourth TxPDO (default mapping):
• Device state machine (DSM) Status Word <StatusWord> (0x6041)
 Chapter "5.2 Device state machine (DSM)", page 46
• Spool position actual value <SplActualValue> (0x6301)
 Chapter "7.3 Spool position controller", page 153
• Pressure actual value <PrsActualValue> (0x6381)
 Chapter "7.5.11 Actual value filter", page 174
Figure 43: Transmit process data object (TxPDO) mapping
The parameter <LocalTPdo4_NumberOfMappedApplicParaInPdo> (0x5A03#0) defines the number of
mapped values for the fourth TxPDO. The parameter <LocalTPdo4_ApplicPara1> (0x5A03#1) references to
the <StatusWord> (0x6041#0). The references to the parameters <SplActualValue> (0x6301#1) and
<PrsActualValue> (0x6381#1) are defined in the same manner.
0x63010110
15
<StatusWord> (0x6041)
0x63810110
<LocalTPdo4_ApplicPara1> (0x5A03#1)
0x60410001
Digital servo valve
Object Dictionary (OD) /
Parameter
0x60410010
0x...
0x...
0x...
6546
<SplActualValue> (0x6301#1)
8563
<PrsActualValue> (0x6381#1)
<LocalTPdo4_ApplicPara2> (0x5A03#2)
<LocalTPdo4_ApplicPara3> (0x5A03#3)
TxPDO Header
Status word
Spool position
actual value
Pressure
actual value
Unused
Byte 1Byte 2Byte 4 Byte 3Byte 5Byte 6Byte 7Byte 8
Local CAN telegram
0x63010110
0x...
0x...
0x...
0x63801110
0x...
0x...
0x...
3
<LocalTPdo4_NumberOfMappedApplicParaInPdo>
(0x5A03#0)
15
65468563
Unused