Object 0x3011: TxPDO trigger

2.8.3.4.2 Object 0x1801: 2nd TxPDO configuration protocol

Second TxPDO channel configuration.

Value description

Table 17, page 26

2.8.3.4.3 Object 0x1802: 3rd TxPDO protocol configuration

Third TxPDO channel configuration.

Value description

Table 17, page 26

2.8.3.4.4 Object 0x1803: 4th TxPDO protocol configuration

Fourth TxPDO channel configuration.

Value description

Table 17, page 26

CANopen

Index Sub-index Parameter name Data type Access Persis- tence

Value range Default

0x1801 1 TPdo2_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF| 0x80000000

0x0280+127

0x1801 2 TPdo2_TransmissionType UINT8 rw Y UINT8 255

0x1801 3 TPdo2_InhibitTime UINT16 rw Y UINT16 0

0x1801 5 TPdo2_EventTimer UINT16 rw Y UINT16 0

CANopen

Index Sub-index Parameter name Data type Access Persis- tence

Value range Default

0x1802 1 TPdo3_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF| 0x80000000

0x0380+127

0x1802 2 TPdo3_TransmissionType UINT8 rw Y UINT8 255

0x1802 3 TPdo3_InhibitTime UINT16 rw Y UINT16 0

0x1802 5 TPdo3_EventTimer UINT16 rw Y UINT16 0

CANopen

Index Sub-index Parameter name Data type Access Persis- tence

Value range Default

0x1803 1 TPdo4_CobIdUsedByPdo UINT32 rw Y 1…0x000007FF| 0x80000000

0x0480+127

0x1803 2 TPdo4_TransmissionType UINT8 rw Y UINT8 255

0x1803 3 TPdo4_InhibitTime UINT16 rw Y UINT16 0

2.8.3.5 TxPDO mapping (COB-ID: 0x180, 0x280, 0x380, 0x480)

With the transmit process data object (TxPDO) mapping the most object dictionary entries can be mapped to a TxPDO. A CANopen telegram can carry 8 bytes data in one package. 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 ob- ject dictionary entries with 16 bits or two object dictionary entries with 32 bit can be mapped within one Tx- PDO. An arbitrary combination of different data types is possible, if the sum of the mapped TxPDO data is less or equal 8 bytes.

The default PDO mapping for a hydraulic CANopen device is defined in the device specific profile CiA 408.

Example:

The following values should be mapped to the fourth TxPDO (default mapping):

• Device state machine (DSM) Status Word <StatusWord> (0x6041) (sub-index 0x00)

Chapter "5.2 Device state machine (DSM)", page 46

• Spool position actual value <SplActualValue> (0x6301) (sub-index 0x01)

Chapter "7.3 Spool position controller", page 156

• Pressure actual value <PrsActualValue> (0x6381) (sub-index 0x01)

Chapter "7.5.11 Actual value filter", page 175

Figure 8: Transmit process data object (TxPDO) mapping

With the parameter <TPdo4_NumberOfMappedApplicParaInPdo> of the mapping object 0x1A00 the number of mapped values is defined. The second sub-index contains the reference to the <StatusWord> (0x6041) (sub-index 0x00) with a combination of index, sub-index and length of the parameter to be used. The refer- ences to the values <SplActualValue> (0x6301) (sub-index 0x01) and <PrsActualValue> (0x6381) (sub- index 0x01) are done in the same manner.

0x63010110 15 <StatusWord> (0x6041) 0x63810110 <TPdo4_ApplicPara1> (0x1A03) 0x60410001

Digital servo valve

Object Dictionary (OD) / Parameter 0x60410010 0x... 0x... 0x... 6546 <SplActualValue> (0x6301) 8563 <PrsActualValue> (0x6381) <TPdo4_ApplicPara2> (0x1A03) <TPdo4_ApplicPara3> (0x1A03) TxPDO Header Status word Spool position actual value Pressure actual value Unused Byte 1 Byte 2 Byte 4 Byte 3 Byte 5 Byte 6 Byte 7 Byte 8 CANopen telegram 0x63010110 0x... 0x... 0x... 0x63801110 0x... 0x... 0x... 3 <TPdo4_NumberOfMappedApplicParaInPdo> (0x1A03) 15 6546 8563 Unused

2.8.3.5.1 Object 0x1A00: 1st TxPDO mapping

With the parameter <TPdo_NumberOfMappedApplicParaInPdo> (0x1A00) the number of real-time applica- tion parameters to be transmitted can be set. To map the application parameter itself, its index, sub-index and length must be combined to a 32 bit value and written to one of the eight possible positions (corresponding to the subindexes 1…8) within the PDO object.

Value description

This pointer contains a combination of index, sub-index and length of the parameter to be used.

The example value is 0x63410010, which refers to the <StatusWord> (0x6041), sub-index 0x00 with a length of 16 bit (16=0x10).

CANopen

Index Sub- index

Parameter name Data

type Access Persis- tence Value range Default

0x1A00 0 TPdo1_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 1

0x1A00 1 TPdo1_ApplicPara1 UINT32 rw Y UINT32 0x60410010

0x1A00 2 TPdo1_ApplicPara2 UINT32 rw Y UINT32 0

0x1A00 3 TPdo1_ApplicPara3 UINT32 rw Y UINT32 0

0x1A00 4 TPdo1_ApplicPara4 UINT32 rw Y UINT32 0

0x1A00 5 TPdo1_ApplicPara5 UINT32 rw Y UINT32 0

0x1A00 6 TPdo1_ApplicPara6 UINT32 rw Y UINT32 0

0x1A00 7 TPdo1_ApplicPara7 UINT32 rw Y UINT32 0

0x1A00 8 TPdo1_ApplicPara8 UINT32 rw Y UINT32 0

Parameter Description

<TPdo1_NumberOfMappedApplicParaInPdo> Numbers of mapped application parameters <TPdo1_ApplicPara1> 1st _{application parameter}

<TPdo1_ApplicPara2> 2nd _{application parameter}

<TPdo1_ApplicPara3> 3rd _{application parameter}

<TPdo1_ApplicPara4> 4th _{application parameter}

<TPdo1_ApplicPara5> 5th _{application parameter}

<TPdo1_ApplicPara6> 6th _{application parameter}

<TPdo1_ApplicPara7> 7th _{application parameter}

<TPdo1_ApplicPara8> 8th _{application parameter}

Table 20: Object 0x1600: 1st TxPDO mapping

<TPdo1_ApplicPara1>…<TPdo1_ApplicPara8>

Byte 3 2 1 0

Description Index MSB Index LSB Sub-index Parameter bit length

0x08 or 0x10 or 0x20

Example 0x60 0x41 0x00 0x10

2.8.3.5.2 Object 0x1A01: 2nd TxPDO mapping

Second TxPDO mapping.

The mapping of this PDO is predefined as default mapping for a standard Q-control valve. It maps the <StatusWord> (0x6041) and the <SplActualValue> (0x6301).

Value description

Table 20, page 29

2.8.3.5.3 Object 0x1A02: 3rd TxPDO mapping

Third TxPDO mapping.

The mapping of this PDO is predefined as default mapping for a standard p-control valve. It maps the <StatusWord> (0x6041) and the <PrsActualValue> (0x6381).

Value description

Table 20, page 29

CANopen

Index Sub- index

Parameter name Data

type Access Persis- tence Value range Default

0x1A01 0 TPdo2_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 2

0x1A01 1 TPdo2_ApplicPara1 UINT32 rw Y UINT32 0x60410010 0x1A01 2 TPdo2_ApplicPara2 UINT32 rw Y UINT32 0x63010110

0x1A01 3 TPdo2_ApplicPara3 UINT32 rw Y UINT32 0

0x1A01 4 TPdo2_ApplicPara4 UINT32 rw Y UINT32 0

0x1A01 5 TPdo2_ApplicPara5 UINT32 rw Y UINT32 0

0x1A01 6 TPdo2_ApplicPara6 UINT32 rw Y UINT32 0

0x1A01 7 TPdo2_ApplicPara7 UINT32 rw Y UINT32 0

0x1A01 8 TPdo2_ApplicPara8 UINT32 rw Y UINT32 0

CANopen

Index Sub- index

Parameter name Data

type Access Persis- tence Value range Default

0x1A02 0 TPdo3_NumberOfMappedApplicParaInPdo UINT8 rw Y 0…8 2

0x1A02 1 TPdo3_ApplicPara1 UINT32 rw Y UINT32 0x60410010 0x1A02 2 TPdo3_ApplicPara2 UINT32 rw Y UINT32 0x63810110

0x1A02 3 TPdo3_ApplicPara3 UINT32 rw Y UINT32 0

0x1A02 4 TPdo3_ApplicPara4 UINT32 rw Y UINT32 0

0x1A02 5 TPdo3_ApplicPara5 UINT32 rw Y UINT32 0

0x1A02 6 TPdo3_ApplicPara6 UINT32 rw Y UINT32 0

0x1A02 7 TPdo3_ApplicPara7 UINT32 rw Y UINT32 0

2.8.3.5.4 Object 0x1A03: 4th TxPDO mapping

Fourth TxPDO mapping.

The mapping of this PDO is predefined as default mapping for a standard p/Q-control valve. It maps the <StatusWord> (0x6041), the <SplActualValue> (0x6301) and the <PrsActualValue> (0x6381).

Value description

Table 20, page 29

2.8.3.6 Object 0x3011: TxPDO trigger

Writing this parameter triggers a single TxPDO. This can be used to transmit a PDO on request only. To trig- ger one of the four TxPDOs, the parameter <TPdoTrigger> (0x3011) value must be set to the number of the PDO channel to be sent.