Moog ACV Series - Object 0 X1401: 2 Nd Rxpdo Protocol Configuration; Table 12: Object 0 X1400: 1 St Rxpdo Configuration; Table 13: Possible Values of Parameter <Rpdo1_Cobidusedbypdo> (0 X1400, Sub-Index 1); Table 14: Possible Values of Parameter <Rpdo1_Transmissiontype> (0 X1400, Sub-Index 2)

Moog ACV with CANopen bus interface 2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018 19
2.8.3.1.1 Object 0x1400: 1st RxPDO protocol configuration
First RxPDO channel configuration.
Value description
2.8.3.1.2 Object 0x1401: 2nd RxPDO protocol configuration
Second RxPDO channel configuration.
Value description

Table 12, page 19
CANopen
Index Sub-index Parameter name Data type Access Persis-
tence
Value range Default
0x1400 1 RPdo1_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF|
0x80000000
0x0200+127
0x1400 2 RPdo1_TransmissionType UINT8 rw Y UINT8 255
0x1400 5 RPdo1_EventTimer UINT16 rw Y UINT16 0
Parameter Description
<RPdo1_CobIdUsedByPdo> COB-ID of the 1st RxPDO.
<RPdo1_TransmissionType> Different trigger can be configured:  Table 14, page 19
For local CAN this parameter must be set to 0xFF (asynchron).
<RPdo1_EventTimer> This parameter defines the timeout in milliseconds for the RxPDO time-
out monitoring. The event timer is used to recognize the expiration of
the RxPDO. If the time elapsed and the PDO was not received within
that period, a fault reaction can be initiated. If this parameter is set to 0,
the receive timeout monitoring is turned off.
Table 12: Object 0x1400: 1st RxPDO configuration
<RPdo1_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 13: Possible values of parameter <RPdo1_CobIdUsedByPdo> (0x1400, sub-index 1)
<RPdo1_TransmissionType>
0 The last incoming PDO will be processed synchronously to the next in-
coming SYNC telegram.
1…240 The last incoming PDO will be processed synchronously to every
<1stRxPDO_TransmissionType> SYNC telegram.
241…253 Reserved
254…255 PDO will be processed immediately after reception.
Table 14: Possible values of parameter <RPdo1_TransmissionType> (0x1400, sub-index 2)
CANopen
Index Sub-index Parameter name Data type Access Persis-
tence
Value range Default
0x1401 1 RPdo2_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF|
0x80000000
0x0300+127
0x1401 2 RPdo2_TransmissionType UINT8 rw Y UINT8 255
0x1401 5 RPdo2_EventTimer UINT16 rw Y UINT16 0