Service Data Objects (Sdos); Process Data Objects (Pdos); Object 0X3012: Receive Pdo Counter; Table 9: Service Data Objects (Sdos) - Moog RKP-D User Manual

2 Access over CANopen

2.3 Service Data Objects (SDOs)

Service Data Objects are used to configure the communication parameters and for setting up the application
parameters.
There is one SDO channel available on the device. A channel consists of two COB IDs:
• One for reception.
• One for transmission.
Requests go from client to server. Confirmations go from server to client. The device is the server.
Object
Client SDO
Server SDO

2.4 Process Data Objects (PDOs)

Process Data Objects are used to transfer process data. There are 4 transmission and 4 receive channels
available on the device. Communication via PDOs allows data transfer without protocol overhead and pro-
vides a data-length of up to 8 bytes per transmission.
Object
RPDO 1 (Receive PDO)
RPDO 2 (Receive PDO)
RPDO 3 (Receive PDO)
RPDO 4 (Receive PDO)
TPDO 1 (Transmit PDO)
TPDO 2 (Transmit PDO)
TPDO 3 (Transmit PDO)
TPDO 4 (Transmit PDO)
1
The COB IDs according to the predefined connection set can be changed manually.

2.4.1 Object 0x3012: Receive PDO counter

This is a PDO counter. The subindex of the counter corresponds to the PDO channel number. The counter is
not prevented from overflow!
CAN
Index Subindex
0x3012 1
0x3012 2
0x3012 3
0x3012 4
© Moog GmbH
COB ID
0x600 + Node-ID
0x580 + Node-ID

Table 9: Service Data Objects (SDOs)

COB ID
1
0x200 + Node-ID
1
0x300 + Node-ID
1
0x400 + Node-ID
1
0x500 + Node-ID
1
0x180 + Node-ID
1
0x280 + Node-ID
1
0x380 + Node-ID
1
0x480 + Node-ID

Table 10: Process Data Objects (PDOs)

Name
1stReceivePdoCounter
2ndReceivePdoCounter
3rdReceivePdoCounter
4thReceivePdoCounter
USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08)
Index/Subindex (hex) Description
1200/01 Service data from client to server (valve)
1200/02 Service data from server to client
Index/Subindex (hex) Description
1400 Process data received
1401 Process data received
1402 Process data received
1403 Process data received
1800 Process data transmitted
1801 Process data transmitted
1802 Process data transmitted
1803 Process data transmitted
Data type Access Persistence
UINT32 rw N
UINT32 rw N
UINT32 rw N
UINT32 rw N
Service Data Objects (SDOs)
Value range Default
UINT32 0
UINT32 0
UINT32 0
UINT32 0
11