Moog ACV Series - Local CAN Service Data Object (SDO); Object 0 X5 A03: 4 Th Txpdo Mapping

Moog ACV with CANopen bus interface 6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018 118
6.9.4.9 Object 0x5A03: 4th TxPDO mapping
Fourth transmit PDO mapping.
Value description
 Chapter "6.9.4.6 Object 0x5A00: 1st TxPDO mapping", page 116
6.9.5 Local CAN service data object (SDO)
Service data objects are used to configure the cyclic communication parameters and the application parame-
ters of the valve. The client, usually a CANopen master, is starting the service with an SDO(rx) request mes-
sage. Here he selects the communication object (parameter) with index and subindex. In case of a write re-
quest also the new parameter value is in the message. The server (valve) will search in his object dictionary
for this parameter using the index and subindex. Then the server will answer with a corresponding SDO(tx)
acknowledge message which includes the actual parameter value in case of a read request.
The SDO abort codes are described in:
 Chapter "8.3 Abort SDO Transfer Protocol", page 279
LocalCAN
Index
Sub-
index Parameter name
Data
type Access
Per-
sis-
tence
Value
range Default
0x5A03 0 LocalTPdo4_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 0
0x5A03 1 LocalTPdo4_ApplicPara1 UINT32 rw Y UINT32 0
0x5A03 2 LocalTPdo4_ApplicPara2 UINT32 rw Y UINT32 0
0x5A03 3 LocalTPdo4_ApplicPara3 UINT32 rw Y UINT32 0
0x5A03 4 LocalTPdo4_ApplicPara4 UINT32 rw Y UINT32 0
0x5A03 5 LocalTPdo4_ApplicPara5 UINT32 rw Y UINT32 0
0x5A03 6 LocalTPdo4_ApplicPara6 UINT32 rw Y UINT32 0
0x5A03 7 LocalTPdo4_ApplicPara7 UINT32 rw Y UINT32 0
0x5A03 8 LocalTPdo4_ApplicPara8 UINT32 rw Y UINT32 0