Moog ACV with CANopen bus interface
6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018
109
6.9.3.5 Receive process data object (RxPDO) mapping
With the receive process data object (RxPDO) mapping most object dictionary entries can be mapped to a
RxPDO. Each CANopen telegram can carry 8 bytes data. The smallest data types used in the digital servo
valve are 8 bit integers. Therefore eight object dictionary entries with 8 bit data length or four object dictionary
entries with 16 bits or two object dictionary entries with 32 bit can be mapped within one RxPDO. An arbitrary
combination of different data types is possible if the sum of the mapped RxPDO data is less or equal 8 bytes.
Example:
The following values should be mapped to the fourth RxPDO (default mapping):
• Device state machine (DSM) Control Word <ControlWord> (0x6040)
Chapter "5.2 Device state machine (DSM)", page 46
• Spool position setpoint value <SplSetpoint> (0x6300)
Chapter "6.2.3 Spool position setpoint value path", page 59
• Pressure setpoint value <PrsSetpoint> (0x6380)
Chapter "6.2.4 Pressure setpoint value path", page 61
Figure 42: Receive process data object (RxPDO) mapping
The parameter <LocalRPdo4_NumberOfMappedApplicParaInPdo> (0x5603#0) defines the number of
mapped values for the fourth RxPDO. The parameter <LocalRPdo1_ApplicPara1> (0x5603#
1
) references to
the <ControlWord> (0x6040#0). The references to the parameters <SplSetpoint> (0x6300#1) and
<PrsSetpoint> (0x6380#1) are defined in the same manner.
0x63000110
7
<ControlWord> (0x6040)
0x63800110
<LocalRPdo4_ApplicPara1> (0x5603#1)
0x60400010
Digital servo valve
Object Dictionary (OD) /
Parameter
0x60400010
0x...
0x...
0x...
6546
<SplSetpoint> (0x6300#1)
8563
<PrsSetpoint> (0x6380#1)
<LocalRPdo4_ApplicPara2> (0x5603#2)
<LocalRPdo4_ApplicPara3> (0x5603#3)
RxPDO Header
Control word
Spool position
setpoint value
Pressure
setpoint value
Unused
Byte 1
Byte 2
Byte 4
Byte 3
Byte 5
Byte 6
Byte 7
Byte 8
Local CAN telegram
0x63000110
0x...
0x...
0x...
0x63800110
0x...
0x...
0x...
3
<LocalRPdo4_NumberOfMappedApplicParaInPdo>
(0x5603#0)
7
6546
8563
Unused
