Moog ACV with CANopen bus interface
2 Access over CANopen
CAN bit rate and Node-ID configuration
B99224-DV018-D-211, Rev. A, October 2018
15
2.7.2.1 Object 0x3002: Module identifier (Node-ID)
This parameter represents the CAN Node-ID of the servo valve. To activate the new Node-ID either a power-
up or a NMT-reset communication has to be initiated.
NMT protocol CiA 203
Chapter "2.9.6 Reset communication command (COB-ID:0, CS:130)", page 35
2.7.2.2 Object 0x3003: Bit rate
The bit rate will be configured in bits per second. To activate the new bit rate either a power-up or a NMT-reset
communication has to be initiated.
NMT protocol CiA 203
Chapter "2.9.6 Reset communication command (COB-ID:0, CS:130)", page 35
Value description
The following standardized CANopen bit rates can be configured:
CANopen
Index
Sub-index
Parameter name
Data type
Access
Persistence
Value range
Default
0x3002
0
ModuleIdentifier
UINT8
rw
Y
1…127
127
CANopen
Index
Sub-index
Parameter name
Data type
Access
Persistence
Value range
Default
0x3003
0
Bitrate
UINT32
rw
Y
1…1000000
500000
Bit rate
Parameter value
1000 kBit/s
1000000
800 kBit/s
800000
500 kBit/s
500000
250 kBit/s
250000
125 kBit/s
125000
50 kBit/s
50000
20 kBit/s
20000
Table 8: CANopen bit rates
