Moog ACV with CANopen bus interface 2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018 24
2.8.3.2.4 Object 0x1603: 4th RxPDO mapping
Fourth RxPDO mapping.
The mapping of this PDO is predefined as default mapping for a standard p/Q-control valve. It maps the
<ControlWord> (0x6040), the <SplSetpoint> (0x6300) and the <PrsSetpoint> (0x6380).
Value description
Table 15, page 22
2.8.3.3 RxPDO counter
The received process data objects (RxPDOs) are counted using the object 0x3012 separately for every four
PDO channels. On each power on the counters will be initialized with zero.
2.8.3.3.1 Object 0x3012: RxPDO counter
2.8.3.4 TxPDO protocol configuration (COB-ID: 0x180, 0x280, 0x380, 0x480)
The transmit process data object (TxPDO) protocol must be configured and the transmit values must be
mapped to the local parameters. Four transmit TxPDO channels are available. The transmission of the PDOs
can be triggered by following events:
• Event timer elapsed.
• Synchronization (SYNC) telegram received.
Every event forces a PDO transmission. More than one event type can be active at the same time.
CANopen
Index Sub-
index
Parameter name Data
type
Access Persis-
tence
Value
range
Default
0x1603 0 RPdo4_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 3
0x1603 1 RPdo4_ApplicPara1 UINT32 rw Y UINT32 0x60400010
0x1603 2 RPdo4_ApplicPara2 UINT32 rw Y UINT32 0x63000110
0x1603 3 RPdo4_ApplicPara3 UINT32 rw Y UINT32 0x63800110
0x1603 4 RPdo4_ApplicPara4 UINT32 rw Y UINT32 0
0x1603 5 RPdo4_ApplicPara5 UINT32 rw Y UINT32 0
0x1603 6 RPdo4_ApplicPara6 UINT32 rw Y UINT32 0
0x1603 7 RPdo4_ApplicPara7 UINT32 rw Y UINT32 0
0x1603 8 RPdo4_ApplicPara8 UINT32 rw Y UINT32 0
CANopen
Index Sub-
index
Parameter name Data
type
Access Persis-
tence
Value
range
Default
0x3012 1 RPdo1_Counter UINT32 rw N UINT32 0
0x3012 2 RPdo2_Counter UINT32 rw N UINT32 0
0x3012 3 RPdo3_Counter UINT32 rw N UINT32 0
0x3012 4 RPdo4_Counter UINT32 rw N UINT32 0
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