Moog ACV with CANopen bus interface
2 Access over CANopen
CANopen communication protocols
B99224-DV018-D-211, Rev. A, October 2018
25
2.8.3.4.1 Object 0x1800: 1st TxPDO protocol configuration
First TxPDO channel configuration.
Value description
CANopen
Index
Sub-index
Parameter name
Data type
Access
Persis-
tence
Value range
Default
0x1800
1
TPdo1_CobIdUsedByPdo
UINT32
rw
Y
1…0x000007FF|
0x80000000
127
0x1800
2
TPdo1_TransmissionType
UINT8
rw
Y
UINT8
255
0x1800
3
TPdo1_InhibitTime
UINT16
rw
Y
UINT16
0
0x1800
5
TPdo1_EventTimer
UINT16
rw
Y
UINT16
0
Parameter
Description
<TPdo1_CobIdUsedByPdo>
Defines the COB-ID for the 1st TxPDO.
<TPdo1_TransmissionType>
Defines the transmission behavior for the 1st TxPDO.
<TPdo1_InhibitTime>
Not implemented.
<TPdo1_EventTimer>
This parameter defines the event time in milliseconds.
This time defines the cycle time of the TxPDO timer event. If the event
time elapsed, a trigger to transmit a TxPDO is initiated and the event
timer will be restarted.
Table 17: Object 0x1800: 1st TxPDO configuration
<TPdo1_CobIdUsedByPdo>
Bit
31
30
29…11
10…0
Description
0: PDO will be processed/received
1: PDO will not be processed/received
Reserved
Reserved
11 bit COB-ID
Table 18: Possible values of parameter <TPdo1_CobIdUsedByPdo> (0x1800 sub-index 1)
<TPdo1_TransmissionType>
0
The process data for the TxPDO will be updated and send immediately
after the next incoming SYNC telegram.
1…240
The process data for the TxPDO will be updated and send immediately
every <TPdo1_TransmissionType> SYNC telegrams.
241…253
Reserved
254…255
The TxPDO will be send after the event time is elapses (when the event
time is nonzero).
Table 19: Possible values of parameter <TPdo1_TransmissionType> (0x1400, sub-index 2)
To initiate a single request only, the <TPdo1_EventTimer> (0x1800)…<TPdo4_EventTimer>
(0x1803) must be set to 0. The transmission then can be triggered by the parameter
<TPdoTrigger> (0x3011).
