Moog ACV Series - Page 8

Moog ACV with CANopen bus interface Table of contents
B99224-DV018-D-211, Rev. A, October 2018 vi
6.8 Digital outputs ......................................................................................................................... 100
6.8.1 Object 0x5E42: Digital output setpoint ....................................................................... 100
6.8.2 Object 0x5E41: Digital output configuration ............................................................... 101
6.8.2.1 Object 0x2420: Digital output 1 type ..................................................... 101
6.8.3 Object 0x5E44: Digital output value ........................................................................... 102
6.9 Local CAN ................................................................................................................................ 102
6.9.1 Local CAN general configuration................................................................................ 103
6.9.1.1 Object 0x5B00: Module identifier .......................................................... 103
6.9.1.2 Object 0x5B01: Bit rate ......................................................................... 103
6.9.1.3 Object 0x5B02: Start remote node ........................................................ 104
6.9.1.4 Object 0x5B03: TxPDO trigger.............................................................. 104
6.9.1.5 Object 0x5B14: Termination resistor ..................................................... 104
6.9.2 Local CAN process data object (PDO)....................................................................... 105
6.9.3 Receive process data object (RxPDO) configuration ................................................. 106
6.9.3.1 Object 0x5400: 1st RxPDO configuration.............................................. 107
6.9.3.2 Object 0x5401: 2nd RxPDO configuration ............................................ 107
6.9.3.3 Object 0x5402: 3rd RxPDO configuration ............................................. 108
6.9.3.4 Object 0x5403: 4th RxPDO configuration ............................................. 108
6.9.3.5 Receive process data object (RxPDO) mapping................................... 109
6.9.3.6 Object 0x5600: 1st RxPDO mapping .................................................... 110
6.9.3.7 Object 0x5601: 2nd RxPDO mapping ................................................... 111
6.9.3.8 Object 0x5602: 3rd RxPDO mapping .................................................... 111
6.9.3.9 Object 0x5603: 4th RxPDO mapping .................................................... 112
6.9.4 Transmit process data object (TxPDO) configuration ................................................ 112
6.9.4.1 Object 0x5800: 1st TxPDO configuration .............................................. 113
6.9.4.2 Object 0x5801: 2nd TxPDO configuration............................................. 114
6.9.4.3 Object 0x5802: 3rd TxPDO configuration.............................................. 114
6.9.4.4 Object 0x5803: 4th TxPDO configuration.............................................. 114
6.9.4.5 Transmit process data object (TxPDO) mapping .................................. 115
6.9.4.6 Object 0x5A00: 1st TxPDO mapping .................................................... 116
6.9.4.7 Object 0x5A01: 2nd TxPDO mapping ................................................... 117
6.9.4.8 Object 0x5A02: 3rd TxPDO mapping .................................................... 117
6.9.4.9 Object 0x5A03: 4th TxPDO mapping .................................................... 118
6.9.5 Local CAN service data object (SDO) ........................................................................ 118
6.9.6 Local CAN service data object (SDO) gateway.......................................................... 119
6.9.6.1 Object 0x5B10: Remote parameter....................................................... 120
6.9.6.2 Object 0x5B11: Remote parameter address ......................................... 120
6.9.6.3 Object 0x5B12: Remote node identifier................................................. 121
6.9.6.4 Object 0x5B13: Remote transmission ................................................... 121
6.9.7 Local CAN Synchronization (SYNC) producer protocol emulation............................. 121
6.10 Free to use parameters ........................................................................................................... 122
6.10.1 Object 0x0002: Signed one byte integer .................................................................... 122
6.10.2 Object 0x0003: Signed two byte integer..................................................................... 122
6.10.3 Object 0x0004: Signed four byte integer .................................................................... 122
6.10.4 Object 0x0005: Unsigned one byte integer ................................................................ 122
6.10.5 Object 0x0006: Unsigned two byte integer................................................................. 122
6.10.6 Object 0x0007: Unsigned four byte integer ................................................................ 123
6.10.7 Object 0x0008: Float32 .............................................................................................. 123
6.10.8 Object 0x0009: Visible string...................................................................................... 123
6.10.9 Object 0x290B: Signed one byte integer array........................................................... 123
6.10.10 Object 0x290C: Signed two byte integer array........................................................... 123
6.10.11 Object 0x290D: Signed four byte integer array .......................................................... 124
6.10.12 Object 0x290E: Unsigned one byte integer array....................................................... 124
6.10.13 Object 0x290F: Unsigned two byte integer array ....................................................... 124
6.10.14 Object 0x2910: Unsigned four byte integer array....................................................... 125