Moog ACV with CANopen bus interface
6 Signal routing and scaling
Local CAN
B99224-DV018-D-211, Rev. A, October 2018
112
6.9.3.9 Object 0x5603: 4th RxPDO mapping
Fourth receive PDO mapping.
Value description
Chapter "6.9.3.6 Object 0x5600: 1st RxPDO mapping", page 110
6.9.4 Transmit process data object (TxPDO) configuration
Transmit PDOs can be used for cyclic parameter transmission. Therefore the TxPDO communication must be
configured and the parameters to be transmitted must be mapped to the local parameters. Four transmit
TxPDO channels are available.
The mappings of the four possible local CAN transmit TxPDO's is the same as the mapping of the field bus
TxPDO.
Chapter "2.8.3.5.1 Object 0x1A00: 1st TxPDO mapping", page 28
The parameters described in the
Chapter "6.10 Free to use parameters", page 122
can be used to transmit
values to the external CAN device.
If the external CAN device uses the CAN-IDs according to the CiA 301, the CAN object identifier (COB-IDs)
<LocalCANTPdo1…4_CobIdusedByPdo> (0x5800…0x5803) parameters can be configured with the
COB-IDs in the following table:
Chapter "6.9.6.3 Object 0x5B12: Remote node identifier", page 121
LocalCAN
Index
Sub-
index
Parameter name
Data
type
Access
Per-
sis-
tence
Value
range
Default
0x5603 0
LocalRPdo4_NumberOfMappedApplicParaInPdo
UINT8
rw
Y
0…8
0
0x5603 1
LocalRPdo4_ApplicPara1
UINT32
rw
Y
UINT32
0
0x5603 2
LocalRPdo4_ApplicPara2
UINT32
rw
Y
UINT32
0
0x5603 3
LocalRPdo4_ApplicPara3
UINT32
rw
Y
UINT32
0
0x5603 4
LocalRPdo4_ApplicPara4
UINT32
rw
Y
UINT32
0
0x5603 5
LocalRPdo4_ApplicPara5
UINT32
rw
Y
UINT32
0
0x5603 6
LocalRPdo4_ApplicPara6
UINT32
rw
Y
UINT32
0
0x5603 7
LocalRPdo4_ApplicPara7
UINT32
rw
Y
UINT32
0
0x5603 8
LocalRPdo4_ApplicPara8
UINT32
rw
Y
UINT32
0
CAN-ID
COB-ID
Protocol
Reference
0x180
0x180 + Remote node identifier
First transmit process data object (TxPDO)
CiA 301
0x280
0x280 + Remote node identifier
Second transmit process data object (TxPDO)
CiA 301
0x380
0x380 + Remote node identifier
Third transmit process data object (TxPDO)
CiA 301
0x480
0x480 + Remote node identifier
Fourth transmit process data object (TxPDO)
CiA 301
Table 60: Transmit PDOs and corresponding COB-IDs
Make sure that the receive identifiers <LocalRPdo1…4_CobIdUsedByPdo> are different to the
transmit identifiers <LocalTPdo1…4_CobIdUsedByPdo>.
Otherwise you receive your own response and you will not get a timeout fault!
