Moog ACV Series - Default Chapter; Table of Contents

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 i
Table of contents
Copyright ................................................................................................................................................... A
List of tables............................................................................................................................................ xvii
List of figures ........................................................................................................................................... xxi
1 General information ..................................................................................1
1.1 About this manual ....................................................................................................................... 1
1.1.1 Reservation of changes and validity............................................................................... 1
1.1.2 Completeness ................................................................................................................ 1
1.1.3 Place of storage ............................................................................................................. 1
1.1.4 Warranty and liability...................................................................................................... 1
1.1.5 Typographical conventions............................................................................................. 2
1.2 Structure of warning notices...................................................................................................... 3
1.3 Selection and qualification of personnel .................................................................................. 3
1.4 Further documentation for the servo valve .............................................................................. 4
1.5 References ................................................................................................................................... 5
1.5.1 CAN field bus ................................................................................................................. 5
1.5.2 Device Profile ................................................................................................................. 5
1.6 Definitions .................................................................................................................................... 5
1.6.1 Internal resolution (iR) .................................................................................................... 5
1.6.2 Volume flow direction ..................................................................................................... 5
1.6.3 Servo valve position and stage names........................................................................... 6
1.7 Abbreviations............................................................................................................................... 6
1.8 Trademarks .................................................................................................................................. 7
2 Access over CANopen..............................................................................8
2.1 Introduction.................................................................................................................................. 8
2.2 Device profiles ............................................................................................................................. 8
2.3 CANopen slave reference model ............................................................................................... 9
2.4 CANopen objects....................................................................................................................... 10
2.4.1 Parameter value ........................................................................................................... 10
2.4.2 Parameter and their attributes...................................................................................... 10
2.4.3 Units and prefix parameter ........................................................................................... 12
2.5 CANopen object dictionary (OD).............................................................................................. 12
2.6 CAN data link layer.................................................................................................................... 13
2.7 CAN bit rate and Node-ID configuration.................................................................................. 13
2.7.1 CAN bit rate and Node-ID configuration using LSS services ....................................... 14
2.7.2 CAN bit rate and Node-ID configuration using SDO protocol....................................... 14
2.7.2.1 Object 0x3002: Module identifier (Node-ID) ............................................ 15
2.7.2.2 Object 0x3003: Bit rate............................................................................ 15
2.8 CANopen communication protocols ....................................................................................... 16
2.8.1 Synchronization (SYNC) protocol (COB-ID: 0x080)..................................................... 16
2.8.1.1 Object 0x1005: SYNC protocol COB-ID configuration ............................ 17
2.8.2 Emergency (EMCY) protocol (COB-ID: 0x080+Node-ID) ............................................ 17
2.8.2.1 Object 0x1014: EMCY protocol COB-ID configuration............................ 17
2.8.3 Process data object (PDO) protocol............................................................................. 18
2.8.3.1 RxPDO protocol configuration (COB-ID: 0x200, 0x300, 0x400, 0x500).. 18
2.8.3.1.1 Object 0x1400: 1st RxPDO protocol configuration ............. 19
2.8.3.1.2 Object 0x1401: 2nd RxPDO protocol configuration............ 19
2.8.3.1.3 Object 0x1402: 3rd RxPDO protocol configuration............. 20
2.8.3.1.4 Object 0x1403: 4th RxPDO protocol configuration............. 20
2.8.3.2 RxPDO mapping (COB-ID: 0x200, 0x300, 0x400, 0x500) ...................... 21