The servo valve has a local CAN connector X2 or X10 which can be used to • connect the Moog Valve and Pump Configuration Software to the servo valve.
• connect an external CAN device to the servo valve e.g. a position sensor or a pressure transducer. The following CAN protocols are supported:
• Process data object (PDO) protocol
Chapter "6.9.2 Local CAN process data object (PDO)", page 106
• Service data object (SDO) communication
The SDO communication will be handled by (vendor specific) parameters. With these parameters, a gateway between the field bus and the local CANs SDO channel is realized.
Chapter "6.9.6 Local CAN service data object (SDO) gateway", page 120
• Network management (NMT) protocol
The NMT protocol command "start remote node" is supported.
Chapter "6.9.1.3 Object 0x5B02: Start remote node", page 105
• Synchronization (SYNC) producer protocol (implemented indirectly)
If a synchronous transition is needed, a SYNC-telegram can be emulated using one of the transmit PDO channels.
Chapter "6.9.7 Local CAN Synchronization (SYNC) producer protocol emulation", page 122
ValveDigitalOutputType
Index Sub-index Parameter name Data type Access
Persis-
tence Value range Default
0x2420 0 DigitalOutput1Type INT8 ro - 0…4 0
ValveDigitalOutputMonitor
Index Sub-index Parameter name Data type Access
Persis-
tence Value range Default
0x5E42 1 DigitalOutputMonitor0 UINT8 r - 0…1 None
0x5E42 2 DigitalOutputMonitor1 UINT8 r - 0…1 None
If one application parameter is written by the local CAN interface and the field bus by the same cy- cle, the parameter last written will be processed.
Figure 35: Structure of local CAN bus
6.9.1 Local CAN general configuration
6.9.1.1 Object 0x5B00: Module identifier
This parameter represents the local CAN identifier of the servo valve. A changed CAN identifier is effective after the next reset. Therefore the identifier needs to be stored.
6.9.1.2 Object 0x5B01: Bit rate
The local CAN bit rate in bits per second.
Servo valve
CANopen interface Object dictionary (OD)
SDO gateway parameters Local CAN PDO configuration parameters Field bus PDO mapping parameters Field bus PDO communication Field bus / Local CAN PDO exchange parameters Local CAN gateway
SDO exchange parameter
Local CAN configuration
parameters
External CAN device CAN interface
Local CAN SDO gateway over SDO protocol
Local CAN PDO protocol
Local CAN NMT protocol (start remote node)
Object dictionary (OD)
CAN interface
External CAN device SDO protocol
External CAN device PDO protocol External CAN device
NMT protocol Field bus Field bus CAN Chapter 6.10 Chapter 6.9.6 Chapter 6.9.1 Chapter 6.9.2 Chapter 6.10 Chapter 6.9.1.3 LocalCAN
Index Sub-index Parameter name Data type Access
Persis-
tence Value range Default 0x5B00 0 LocalCANModuleIdentifier UINT8 rw Y 1…127 127
LocalCAN
Index Sub-index Parameter name Data type Access
Persis-
tence Value range Default 0x5B01 0 LocalCANBitrate UINT32 rw Y 0…1000000 500000
6.9.1.3 Object 0x5B02: Start remote node
To start cyclic communication of the external CAN device, the network management (NMT) state machine of the external CAN device must be changed to the state 'Operational'. To do this, the external CAN device CAN node identifier must be written to the parameter <LocalCANStartRemoteNode> (0x5B02).
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 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
Persis-
tence Value range Default 0x5B14 0 LocalCANTerminationResistor UINT8 rw Y 0…1 0
6.9.2 Local CAN process data object (PDO)
The process data object (PDO) communication allows sending and receiving parameters in real time. Differ- ent transmission modes are available: synchronous or event or timer driven transmission.
Four transmit and four receive PDOs are implemented: • Receive process data object (RxPDO) protocol
Chapter "6.9.3 Receive process data object (RxPDO) configuration", page 107
• Transmit process data object (TxPDO) protocol
Chapter "6.9.4 Transmit process data object (TxPDO) configuration", page 113
Figure 36: Local CAN process data object (PDO) configuration
0815 <INTEGER32_1> (0x290D) Local CAN RxPDO Mapping (0x5600...0x5603) 0815 <PositionValue> (0x6004) External CAN Device TxPDO Mapping
0815
<INTEGER32_2> (0x290D)
Local CAN RxPDO Mapping (0x5A00...0x5A03)
0815 <?> (0x????)
External CAN Device TxPDO Mapping
Local CAN TxPDO configuration (0x5800...0x5803) Local CAN RxPDO configuration (0x5400...0x5403) Local CAN RxPDO protocol Local CAN TxPDO protocol
Servo valve External CAN device
127 <ModuleIdentifier> (0x5B00)
Object Dictionary (OD) / Parameter
Object Dictionary (OD) / Parameter Field bus
Field bus
CAN 4 TxPDO channels with
8 mappable parameters
4 RxPDO channels with 8 mappable parameters
4 RxPDO channels with 8 mappable parameters
4 TxPDO channels with 8 mappable parameters 0x????0020 0x290D0120 0x60040020 0x290D0220 0x... 0x... 0x... 0x... 0x... 0x... 0x... 0x... 0x... 0x... 0x... 0x... 0x...
Local node identifier
Local node identifier Remote node identifier
1 … 32 1 … 32 32 … 1 32 … 1
6.9.3 Receive process data object (RxPDO) configuration
To enable PDO reception, the local application parameters must be mapped to the receive PDO and a trans- mission type must be selected for each PDO channel. Four receive PDO channels are available.
The mappings of the four possible local CAN receive RxPDOs is the same as the mapping of the field bus RxPDO.
Chapter "2.8.3.2 RxPDO mapping (COB-ID: 0x200, 0x300, 0x400, 0x500)", page 22
The parameters described in the Chapter "6.10 Free to use parameters", page 123 can be used to transmit