Moog ACV with CANopen bus interface
6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018
104
6.9.1.3 Object 0x5B02: Start remote node
To start cyclic communication of the external CAN device (i.e., a pressure transducer with CAN interface), the
network management (NMT) state machine of the external CAN device must be changed to the state 'Opera-
tional'. To do this, the external CAN device CAN node identifier must be written to the parameter
<LocalCANStartRemoteNode> (0x5B02). To change all devices to the state 'Operational', write the node
identifier 0 to this parameter.
Document CiA 301 "CANopen application layer and communication profile"
6.9.1.4 Object 0x5B03: TxPDO trigger
Writing this parameter triggers a single TxPDO. This can be used when a PDO should be transmitted on re-
quest only. To trigger one of the four TxPDOs, the parameter <LocalCANTPdoTrigger> (0x5B03) value must
be set to the PDO number which is to be sent.
6.9.1.5 Object 0x5B14: Termination resistor
If the servo valve is at the end of the local CAN bus a 120
Ω
resistor can terminate the CAN bus. To switch on
the resistor set <LocalCANTerminationResistor> (0x5B14) to 1.
LocalCAN
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value range
Default
0x5B02
0
LocalCANStartRemoteNode
UINT8
rw
N
UINT8
None
The PDO communication cannot be used before the external CAN device NMT machine is set to
'Operational'!
LocalCAN
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value range
Default
0x5B03
0
LocalCANTPdoTrigger
UINT8
rw
N
0…4
None
LocalCAN
Index
Sub-index
Parameter name
Data type
Access
Per-
sistence
Value range
Default
0x5B14
0
LocalCANTerminationResistor
UINT8
rw
Y
0…1
0
