Moog ACV with CANopen bus interface
6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018
102
6.8.3 Object 0x5E44: Digital output value
The <DigitalOutputValue> (0x5E44) shows the state of the digital outputs.
6.9 Local CAN
The servo valve has a local CAN connector X2 or X10 which can be used to
• connect the Moog Valve and Pump Configuration Software to the servo valve.
• connect an external CAN device to the servo valve e.g. a position sensor or a pressure transducer.
The following CAN protocols are supported:
• Process data object (PDO) protocol
Chapter "6.9.2 Local CAN process data object (PDO)", page 105
• Service data object (SDO) communication
The SDO communication will be handled by (vendor specific) parameters. With these parameters, a
gateway between the field bus and the local CANs SDO channel is realized.
Chapter "6.9.6 Local CAN service data object (SDO) gateway", page 119
• Network management (NMT) protocol
The NMT protocol command "start remote node" is supported.
Chapter "6.9.1.3 Object 0x5B02: Start remote node", page 104
• Synchronization (SYNC) producer protocol (implemented indirectly)
If a synchronous transition is needed, a SYNC-telegram can be emulated using one of the transmit PDO
channels.
Chapter "6.9.7 Local CAN Synchronization (SYNC) producer protocol emulation", page 121
ValveDigitalOutputMonitor
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5E44
1
DigitalOutputValue_0
UINT8
ro
-
0…1
None
0x5E44
2
DigitalOutputValue_1
UINT8
ro
-
0…1
None
If one application parameter is written by the local CAN interface and the field bus by the same cy-
cle, the parameter last written will be processed.
