Moog ACV with CANopen bus interface 2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018 25
2.8.3.4.1 Object 0x1800: 1st TxPDO protocol configuration
First TxPDO channel configuration.
Value description
CANopen
Index Sub-index Parameter name Data type Access Persis-
tence
Value range Default
0x1800 1 TPdo1_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF|
0x80000000
0x0180+127
0x1800 2 TPdo1_TransmissionType UINT8 rw Y UINT8 255
0x1800 3 TPdo1_InhibitTime UINT16 rw Y UINT16 0
0x1800 5 TPdo1_EventTimer UINT16 rw Y UINT16 0
Parameter Description
<TPdo1_CobIdUsedByPdo> Defines the COB-ID for the 1st TxPDO.
<TPdo1_TransmissionType> Defines the transmission behavior for the 1st TxPDO.
<TPdo1_InhibitTime> Not implemented.
<TPdo1_EventTimer> This parameter defines the event time in milliseconds.
This time defines the cycle time of the TxPDO timer event. If the event
time elapsed, a trigger to transmit a TxPDO is initiated and the event
timer will be restarted.
Table 17: Object 0x1800: 1st TxPDO configuration
<TPdo1_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 18: Possible values of parameter <TPdo1_CobIdUsedByPdo> (0x1800 sub-index 1)
<TPdo1_TransmissionType>
0 The process data for the TxPDO will be updated and send immediately
after the next incoming SYNC telegram.
1…240 The process data for the TxPDO will be updated and send immediately
every <TPdo1_TransmissionType> SYNC telegrams.
241…253 Reserved
254…255 The TxPDO will be send after the event time is elapses (when the event
time is nonzero).
Table 19: Possible values of parameter <TPdo1_TransmissionType> (0x1400, sub-index 2)
To initiate a single request only, the <TPdo1_EventTimer> (0x1800)…<TPdo4_EventTimer>
(0x1803) must be set to 0. The transmission then can be triggered by the parameter
<TPdoTrigger> (0x3011).
Chapter "2.8.3.6 Object 0x3011: TxPDO trigger", page 30
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