Moog ACV Series - Page 4

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 ii
2.8.3.2.1 Object 0x1600: 1st RxPDO mapping ................................. 22
2.8.3.2.2 Object 0x1601: 2nd RxPDO mapping ................................ 23
2.8.3.2.3 Object 0x1602: 3rd RxPDO mapping ................................. 23
2.8.3.2.4 Object 0x1603: 4th RxPDO mapping ................................. 24
2.8.3.3 RxPDO counter ....................................................................................... 24
2.8.3.3.1 Object 0x3012: RxPDO counter ......................................... 24
2.8.3.4 TxPDO protocol configuration (COB-ID: 0x180, 0x280, 0x380, 0x480) .. 24
2.8.3.4.1 Object 0x1800: 1st TxPDO protocol configuration ............. 25
2.8.3.4.2 Object 0x1801: 2nd TxPDO configuration protocol ............ 26
2.8.3.4.3 Object 0x1802: 3rd TxPDO protocol configuration............. 26
2.8.3.4.4 Object 0x1803: 4th TxPDO protocol configuration ............. 26
2.8.3.5 TxPDO mapping (COB-ID: 0x180, 0x280, 0x380, 0x480)....................... 27
2.8.3.5.1 Object 0x1A00: 1st TxPDO mapping ................................. 28
2.8.3.5.2 Object 0x1A01: 2nd TxPDO mapping ................................ 29
2.8.3.5.3 Object 0x1A02: 3rd TxPDO mapping ................................. 29
2.8.3.5.4 Object 0x1A03: 4th TxPDO mapping ................................. 30
2.8.3.6 Object 0x3011: TxPDO trigger ................................................................ 30
2.8.4 Service data object (SDO) protocol (COB-ID: 0x580, 0x600) ...................................... 31
2.8.4.1 Object 0x1200: SDO client/server parameter.......................................... 32
2.9 Network management state machine (NMT state machine) .................................................. 32
2.9.1 Network management (NMT) protocol (COB-ID: 0x000, 0x700).................................. 34
2.9.2 Start remote node command (COB-ID:0, CS:1)........................................................... 35
2.9.3 Stop remote node command (COB-ID:0, CS:2) ........................................................... 35
2.9.4 Enter 'Pre-Operational' command (COB-ID:0, CS:128) ............................................... 35
2.9.5 Reset node command (COB-ID:0, CS:129) ................................................................. 35
2.9.6 Reset communication command (COB-ID:0, CS:130) ................................................. 35
2.9.7 Bootup message (COB-ID: 0x700)............................................................................... 36
2.9.8 Node guarding (COB-ID: 0x700, RTR:1)...................................................................... 36
2.9.8.1 Object 0x100C: Guard time..................................................................... 36
2.9.8.2 Object 0x100D: Life time factor ............................................................... 36
2.10 Electronic data sheet (EDS) files ............................................................................................. 36
3 Device structure ......................................................................................37
3.1 Overview..................................................................................................................................... 37
3.1.1 Device identification ..................................................................................................... 37
3.1.2 Device control............................................................................................................... 37
3.1.3 Signal routing and scaling ............................................................................................ 37
3.1.4 Servo valve functions ................................................................................................... 38
3.1.5 Diagnostics................................................................................................................... 38
3.1.6 Storing / restoring parameters...................................................................................... 38
3.1.7 Object dictionary........................................................................................................... 38
3.2 Device controller structure....................................................................................................... 38
4 Device identification ...............................................................................39
4.1 Objects of the CANopen communication profile defined by CiA 301 .................................. 39
4.1.1 Object 0x1000: Device Type ........................................................................................ 39
4.1.2 Object 0x1008: Manufacturer device name.................................................................. 39
4.1.3 Object 0x1009: Manufacturer hardware version .......................................................... 39
4.1.4 Object 0x100A: Manufacturer software version ........................................................... 39
4.1.5 Object 0x1018: Identity object ...................................................................................... 40