Moog ACV Series - Object 0 X1600: 1 St Rxpdo Mapping; Table 15: Object 0 X1600: 1 St Rxpdo Mapping; Table 16: Value Description of Mapping Parameter <Rpdo1_Applicpara1

Moog ACV with CANopen bus interface 2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018 22
2.8.3.2.1 Object 0x1600: 1st RxPDO mapping
With the parameter <RPdo1_NumberOfMappedApplicParaInPdo> (0x1600) the number of real-time applica-
tion parameters to be received can be set. To map the application parameter itself, its index, sub-index and
length must be combined to a 32 bit value and written to one of the eight possible positions (corresponding to
the sub-indexes 1…8) within the PDO object mapping object.
Value description
This pointer consists of a combination of index, sub-index and length of the parameter to be used.
The example value is 0x60400010, which refers to the <ControlWord> (0x6040), sub-index 0x00 with a length
of 16 bit (16=0x10).
CANopen
Index Sub-
index
Parameter name Data
type
Access Persis-
tence
Value
range
Default
0x1600 0 RPdo1_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 1
0x1600 1 RPdo1_ApplicPara1 UINT32 rw Y UINT32 0x60400010
0x1600 2 RPdo1_ApplicPara2 UINT32 rw Y UINT32 0
0x1600 3 RPdo1_ApplicPara3 UINT32 rw Y UINT32 0
0x1600 4 RPdo1_ApplicPara4 UINT32 rw Y UINT32 0
0x1600 5 RPdo1_ApplicPara5 UINT32 rw Y UINT32 0
0x1600 6 RPdo1_ApplicPara6 UINT32 rw Y UINT32 0
0x1600 7 RPdo1_ApplicPara7 UINT32 rw Y UINT32 0
0x1600 8 RPdo1_ApplicPara8 UINT32 rw Y UINT32 0
Parameter Description
<RPdo1_NumberOfMappedApplicParaInPdo> Numbers of mapped application parameters
<RPdo1_ApplicPara1> Mapping of 1
st
application parameter
<RPdo1_ApplicPara2> Mapping of 2
nd
application parameter
<RPdo1_ApplicPara3> Mapping of 3
rd
application parameter
<RPdo1_ApplicPara4> Mapping of 4
th
application parameter
<RPdo1_ApplicPara5> Mapping of 5
th
application parameter
<RPdo1_ApplicPara6> Mapping of 6
th
application parameter
<RPdo1_ApplicPara7> Mapping of 7
th
application parameter
<RPdo1_ApplicPara8> Mapping of 8
th
application parameter
Table 15: Object 0x1600: 1st RxPDO mapping
<RPdo1_ApplicPara1>…<RPdo1_ApplicPara8>
Byte3210
Description Index MSB Index LSB Sub-index Parameter bit length
0x08 or 0x10 or 0x20
Example 0x60 0x40 0x00 0x10
Table 16: Value description of mapping parameter <RPdo1_ApplicPara1>…<RPdo1_ApplicPara8>