Moog ACV Series - Object 0 X1 A00: 1 St Txpdo Mapping; Table 20: Object 0 X1600: 1 St Txpdo Mapping; Table 21: Possible Values of Parameter <Tpdo1_Applicpara1

Moog ACV with CANopen bus interface 2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018 28
2.8.3.5.1 Object 0x1A00: 1st TxPDO mapping
With the parameter <TPdo_NumberOfMappedApplicParaInPdo> (0x1A00) the number of real-time applica-
tion parameters to be transmitted 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 subindexes 1…8) within the PDO object.
Value description
This pointer contains a combination of index, sub-index and length of the parameter to be used.
The example value is 0x63410010, which refers to the <StatusWord> (0x6041), 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
0x1A00 0 TPdo1_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 1
0x1A00 1 TPdo1_ApplicPara1 UINT32 rw Y UINT32 0x60410010
0x1A00 2 TPdo1_ApplicPara2 UINT32 rw Y UINT32 0
0x1A00 3 TPdo1_ApplicPara3 UINT32 rw Y UINT32 0
0x1A00 4 TPdo1_ApplicPara4 UINT32 rw Y UINT32 0
0x1A00 5 TPdo1_ApplicPara5 UINT32 rw Y UINT32 0
0x1A00 6 TPdo1_ApplicPara6 UINT32 rw Y UINT32 0
0x1A00 7 TPdo1_ApplicPara7 UINT32 rw Y UINT32 0
0x1A00 8 TPdo1_ApplicPara8 UINT32 rw Y UINT32 0
Parameter Description
<TPdo1_NumberOfMappedApplicParaInPdo> Numbers of mapped application parameters
<TPdo1_ApplicPara1> 1
st
application parameter
<TPdo1_ApplicPara2> 2
nd
application parameter
<TPdo1_ApplicPara3> 3
rd
application parameter
<TPdo1_ApplicPara4> 4
th
application parameter
<TPdo1_ApplicPara5> 5
th
application parameter
<TPdo1_ApplicPara6> 6
th
application parameter
<TPdo1_ApplicPara7> 7
th
application parameter
<TPdo1_ApplicPara8> 8
th
application parameter
Table 20: Object 0x1600: 1st TxPDO mapping
<TPdo1_ApplicPara1>…<TPdo1_ApplicPara8>
Byte3210
Description Index MSB Index LSB Sub-index Parameter bit length
0x08 or 0x10 or 0x20
Example 0x60 0x41 0x00 0x10
Table 21: Possible values of parameter <TPdo1_ApplicPara1>…<TPdo1_ApplicPara8>