Moog RKP-D User manual

RADIAL PISTON PUMP (RKP-D) WITH CAN BUS
INTERFACE
(B99224-DV007-CE400; Version 1.1,09/08)
USER MANUAL
FIRMWARE

© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) A
Copyright
© 2008 Moog GmbH
Hanns-Klemm-Straße 28
71034 Böblingen
Germany
All rights reserved.
No part of these operating instructions may be reproduced in any form (print, photocopies, microfilm, or by
any other means) or edited, duplicated, or distributed with electronic systems without our prior written con-
sent.
Offenders will be held liable for the payment of damages.
Subject to change without notice.
Telephone: [phone]
Fax: [phone]
E-mail: [email protected]
Internet: http://www.moog.com/Industrial

Table of Contents
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) i
Table of Contents
Copyright ...................................................................................................................................................A
List of Tables ..............................................................................................................................................v
List of Figures ...........................................................................................................................................vii
1 General information..................................................................................1
1.1 About this manual ....................................................................................................................... 1
1.1.1 Reservation of changes and validity............................................................................... 1
1.1.2 Completeness ................................................................................................................ 1
1.1.3 Place of storage ............................................................................................................. 1
1.1.4 Warranty and liability...................................................................................................... 1
1.1.5 Typographical conventions............................................................................................. 2
1.2 Selection and qualification of personnel .................................................................................. 2
1.3 Further documentation for the device....................................................................................... 2
1.4 References ................................................................................................................................... 3
1.5 Definitions.................................................................................................................................... 3
1.6 Representation of parameters.................................................................................................... 4
1.6.1 Representation of parameters in the object dictionary................................................... 4
1.6.2 Definition of unit and prefix............................................................................................. 5
1.6.2.1 Unit representation.................................................................................... 5
1.6.2.2 Prefix representation ................................................................................. 5
1.7 Abbreviations............................................................................................................................... 5
2 Access over CANopen..............................................................................9
2.1 Introduction.................................................................................................................................. 9
2.2 Communication profile area..................................................................................................... 10
2.3 Service Data Objects (SDOs).................................................................................................... 11
2.4 Process Data Objects (PDOs) ..................................................................................................11
2.4.1 Object 0x3012: Receive PDO counter ......................................................................... 11
2.5 Synchronization Object (SYNC)............................................................................................... 12
2.5.1 Object 0x3013: Synchronization timer.......................................................................... 12
2.6 Emergency Object (EMCY) ....................................................................................................... 12
2.7 Network Management (NMT) .................................................................................................... 12
2.8 Node Guarding........................................................................................................................... 13
2.9 The device Layer Setting Services (LSS)................................................................................ 14

Table of Contents
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) ii
3 Device structure......................................................................................15
4 Device identification...............................................................................17
4.1 Object descriptions................................................................................................................... 17
4.1.1 Object 0x1000: Device type ......................................................................................... 17
4.1.2 Object 0x1018: Identity................................................................................................. 18
4.1.3 Object 0x1008: Manufacturer device name.................................................................. 18
4.1.4 Object 0x1009: Manufacturer hardware version .......................................................... 18
4.1.5 Object 0x100A: Manufacturer software version ........................................................... 18
4.1.6 Object 0x6050: Device version..................................................................................... 19
4.1.7 Object 0x6051: Code number ...................................................................................... 19
4.1.8 Object 0x6052: Serial number...................................................................................... 19
4.1.9 Object 0x6053: Description.......................................................................................... 19
4.1.10 Object 0x6054: Model description................................................................................ 19
4.1.11 Object 0x6055: Model URL.......................................................................................... 19
4.1.12 Object 0x6056: Parameter set code............................................................................. 20
4.1.13 Object 0x6057: Vendor name....................................................................................... 20
4.1.14 Object 0x605F: Capability............................................................................................ 21
5 Device control .........................................................................................23
5.1 Structure..................................................................................................................................... 23
5.2 State machine ............................................................................................................................ 24
5.2.1 Device states................................................................................................................ 25
5.2.2 State transitions............................................................................................................ 26
5.2.2.1 State transitions depending on the control word ..................................... 26
5.2.2.2 State transitions through internal events................................................. 26
5.3 Object descriptions................................................................................................................... 27
5.3.1 Object 0x6040: Control word........................................................................................ 27
5.3.2 Object 0x4040: Local control word............................................................................... 28
5.3.3 Object 0x403F: Local control word default................................................................... 28
5.3.4 Object 0x604F: Local ................................................................................................... 28
5.3.5 Object 0x6041: Status word......................................................................................... 29
5.4 Bootup of the device................................................................................................................. 30
5.5 Status display LEDs.................................................................................................................. 31
6 Signal routing and scaling.....................................................................33
6.1 Physical pump interfaces ......................................................................................................... 34
6.1.1 Analog inputs 0 and 1................................................................................................... 34
6.1.2 Analog inputs 2, 3 and 4............................................................................................... 36
6.1.3 Analog outputs .............................................................................................................38
6.2 Command value path ................................................................................................................ 39
6.2.1 Object descriptions....................................................................................................... 41
6.3 Actual value path....................................................................................................................... 46
6.3.1 Position actual value path ............................................................................................ 46
6.3.2 Pressure actual value path........................................................................................... 47
6.3.3 Interface assignment.................................................................................................... 48
6.3.3.1 Interface definition................................................................................... 49
6.3.3.2 Object 0x230D: Pressure controller active transducer interface ............. 52
6.3.3.3 Objects 0x6120 - 0x6125: Actual value conditioning for pressure
transducer ............................................................................................... 53

Table of Contents
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) iii
7 Pump functions.......................................................................................55
7.1 Demand Value Generator.......................................................................................................... 55
7.1.1 Structure....................................................................................................................... 55
7.1.2 Position demand value generator................................................................................. 55
7.1.2.3 Limit function ........................................................................................... 57
7.1.2.4 Scaling..................................................................................................... 58
7.1.2.5 Ramp....................................................................................................... 59
7.1.2.6 Zero correction........................................................................................ 64
7.1.2.7 Hybrid mode correction ........................................................................... 65
7.1.3 Pressure demand value generator............................................................................... 66
7.1.3.3 Limit function ........................................................................................... 68
7.1.3.4 Scaling..................................................................................................... 69
7.1.3.5 Ramp....................................................................................................... 70
7.2 Controller ................................................................................................................................... 75
7.2.1 Control modes..............................................................................................................75
7.2.2 Monitoring..................................................................................................................... 77
7.2.2.1 Stroke ring control monitoring ................................................................. 78
7.2.2.2 Pressure control monitoring .................................................................... 79
7.2.3 Control position open loop............................................................................................ 80
7.2.4 Control position closed loop......................................................................................... 81
7.2.4.1 Leakage compensation ........................................................................... 82
7.2.5 Pressure control open loop .......................................................................................... 83
7.2.6 Pressure control closed loop........................................................................................ 85
7.2.6.1 Controller structure.................................................................................. 87
7.2.6.2 Controller parameters.............................................................................. 89
7.2.6.3 Object 0x2350: Active parameter set number......................................... 92
7.2.7 p/Q closed loop ............................................................................................................93
7.2.7.1 Controller structure.................................................................................. 94
7.2.8 Power limitation............................................................................................................ 95
7.2.9 Master/Slave operation ................................................................................................ 98
7.2.10 Local holding pressure switchover............................................................................. 102
7.2.11 Flushing mode............................................................................................................ 104
7.3 Analog parameter set switching ............................................................................................ 105
7.3.1 Objects 0x2141 - 0x2146 / 0x2148: Active parameter set.......................................... 107
8 Diagnostics............................................................................................109
8.1 Error information..................................................................................................................... 109
8.1.1 Object 0x1001: Error register..................................................................................... 109
8.1.2 Object 0x1003: Predefined error field......................................................................... 110
8.1.3 Objects 0x2832/0x2833: Fault reaction description / Fault history number................ 111
8.1.4 Objects 0x2822/0x2823 Error Handler: Address / Time............................................. 111
8.2 Fault reaction........................................................................................................................... 112
8.2.1 Fault reaction settings................................................................................................ 112
8.2.2 Emergency message.................................................................................................. 117
8.2.3 Object 0x2831: Fault reaction status.......................................................................... 121
8.2.4 Fault acknowledgement ............................................................................................. 125
8.2.5 Monitoring features..................................................................................................... 126
8.2.5.1 Object 0x2803: CPU supply voltage...................................................... 126
8.2.5.2 Object 0x2804: Power supply voltage................................................... 126
8.2.5.3 Object 0x2805: PCB temperature ......................................................... 127
8.2.5.4 Object 0x280D: Operating time............................................................. 127
8.3 Cable break monitoring .......................................................................................................... 128

Table of Contents
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) iv
9 Storing / restoring parameters.............................................................131
9.1 Storing parameters.................................................................................................................. 131
9.1.1 Object 0x1010: Store parameters .............................................................................. 132
9.2 Restoring default parameters.................................................................................................133
9.2.1 Object 0x1011: Restore default parameters............................................................... 134
10 Object dictionary...................................................................................135

List of Tables
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) v
List of Tables
Table 1: Representation of objects................................................................................................................ 4
Table 2: Meaning of object entries ................................................................................................................ 4
Table 3: Meaning of entries in object dictionary ............................................................................................ 4
Table 4: Code table for units ......................................................................................................................... 5
Table 5: Code table for prefixes .................................................................................................................... 5
Table 6: Abbreviations................................................................................................................................... 5
Table 7: Object dictionary structure............................................................................................................... 9
Table 8: Object entries in the communication profile area .......................................................................... 10
Table 9: Service Data Objects (SDOs)........................................................................................................ 11
Table 10: Process Data Objects (PDOs)....................................................................................................... 11
Table 11: Synchronization object (SYNC)..................................................................................................... 12
Table 12: Emergency object (EMCY)............................................................................................................ 12
Table 13: Network Management object (NMT).............................................................................................. 12
Table 14: Node Guarding object.................................................................................................................... 13
Table 15: <DeviceType> values.................................................................................................................... 17
Table 16: Identity object values..................................................................................................................... 18
Table 17: Value definition of the parameter set identification........................................................................ 20
Table 18: <Capability> data structure............................................................................................................ 21
Table 19: Device capability values ................................................................................................................ 21
Table 20: Device control commands ............................................................................................................. 26
Table 21: Status transitions through internal events ..................................................................................... 26
Table 22: Control word value definition ......................................................................................................... 27
Table 23: <Local> values .............................................................................................................................. 28
Table 24: Status word values ........................................................................................................................ 29
Table 25: Network status LED «NS»............................................................................................................. 31
Table 26: Module status LED «MS».............................................................................................................. 31
Table 27: Physical pump interfaces............................................................................................................... 34
Table 28: <InputType> values analog input 0 ............................................................................................... 34
Table 29: <InputType> values analog input 1 ............................................................................................... 35
Table 30: <InputType> values analog input 2 ............................................................................................... 36
Table 31: <InputType> values analog input 3 ............................................................................................... 37
Table 32: <InputType> values analog input 4 ............................................................................................... 37
Table 33: Scaling parameters of analog outputs........................................................................................... 38
Table 34: Definition of the position setpoint source....................................................................................... 42
Table 35: Definition of the pressure setpoint source ..................................................................................... 43
Table 36: Device mode values ...................................................................................................................... 45
Table 37: Interface parameters ..................................................................................................................... 49

List of Tables
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) vi
Table 38: <InterfaceNo> values .................................................................................................................... 49
Table 39: Interface types............................................................................................................................... 50
Table 40: Interface sign values...................................................................................................................... 50
Table 41: Analog inputs with value parameters............................................................................................. 51
Table 42: Bit coding of the transducer port value.......................................................................................... 51
Table 43: Definition of the limit value status.................................................................................................. 57
Table 44: Data structure of the scaling factor................................................................................................ 58
Table 45: Possible ramp type values............................................................................................................. 59
Table 46: Ramp status indicated in the status word...................................................................................... 60
Table 47: Definition of the limit value status.................................................................................................. 68
Table 48: Data structure of the scaling factor................................................................................................ 69
Table 49: Possible ramp type values............................................................................................................. 70
Table 50: Ramp status indicated in the status word...................................................................................... 71
Table 51: Control mode values...................................................................................................................... 76
Table 52: Control deviation indicated in status word..................................................................................... 77
Table 53: Control monitoring types................................................................................................................ 78
Table 54: Control monitoring types................................................................................................................ 79
Table 55: Pressure controller parameter set ................................................................................................. 92
Table 56: Master slave selection................................................................................................................. 100
Table 57: Control word bit 13 values........................................................................................................... 102
Table 58: Control word and status word bits for local holding pressure switchover.................................... 103
Table 59: Control word bits.......................................................................................................................... 103
Table 60: Status word bits........................................................................................................................... 103
Table 61: Relation between value of <ActiveParameterSet> and interface input range ............................. 105
Table 62: Bit coding of error register value.................................................................................................. 109
Table 63: Type subindex values.................................................................................................................. 112
Table 64: Fault reaction settings ................................................................................................................. 115
Table 65: Error codes.................................................................................................................................. 118
Table 66: Fault reaction status bits.............................................................................................................. 122
Table 67: Fault reactions for CPU supply voltage failure ............................................................................ 126
Table 68: Fault reactions for power supply voltage failure .......................................................................... 126
Table 69: Fault reactions for PCB temperature failure ................................................................................ 127
Table 70: Monitoring description for analog input types.............................................................................. 128
Table 71: Cable break monitoring (assignment input to fault code) ............................................................ 129
Table 72: Behavior of savable and volatile parameters............................................................................... 131
Table 73: Parameter groups (store command)............................................................................................ 131
Table 74: Parameter groups (restore command) ........................................................................................ 133
Table 75: Object dictionary.......................................................................................................................... 135

List of Figures
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) vii
List of Figures
Figure 1: Device model................................................................................................................................... 9
Figure 2: Name plate of a valve.................................................................................................................... 14
Figure 3: The device's logical structure ........................................................................................................ 15
Figure 4: Device control block ...................................................................................................................... 23
Figure 5: Device state machine .................................................................................................................... 24
Figure 6: Signal routing................................................................................................................................. 33
Figure 7: Access to parameter value via analog output................................................................................ 38
Figure 8: Analog output scaling .................................................................................................................... 38
Figure 9: Command value paths position and pressure ...............................................................................40
Figure 10: Position actual value path.............................................................................................................. 46
Figure 11: Pressure actual value path............................................................................................................ 47
Figure 12: Actual value conditioning............................................................................................................... 48
Figure 13: Scaling and offset of the pressure value ....................................................................................... 53
Figure 14: Demand Value Generator.............................................................................................................. 55
Figure 15: Position demand value generator.................................................................................................. 56
Figure 16: Limit function ................................................................................................................................. 57
Figure 17: Scaling function ............................................................................................................................. 58
Figure 18: Ramp function ............................................................................................................................... 59
Figure 19: Ramp type 1 .................................................................................................................................. 60
Figure 20: Ramp type 2 .................................................................................................................................. 61
Figure 21: Ramp type 3 .................................................................................................................................. 62
Figure 22: Zero correction .............................................................................................................................. 64
Figure 23: Transfer behavior hybrid mode / solo mode.................................................................................. 65
Figure 24: Pressure demand value generator ................................................................................................ 66
Figure 25: Limit function ................................................................................................................................. 68
Figure 26: Scaling function ............................................................................................................................. 69
Figure 27: Ramp function ............................................................................................................................... 70
Figure 28: Ramp type 1 .................................................................................................................................. 71
Figure 29: Ramp type 2 .................................................................................................................................. 72
Figure 30: Ramp type 3 .................................................................................................................................. 73
Figure 31: Deviation monitoring...................................................................................................................... 77
Figure 32: Monitoring the control deviation’s tolerance band ......................................................................... 77
Figure 33: Control position open loop............................................................................................................. 80
Figure 34: Control position closed loop .......................................................................................................... 81
Figure 35: Leakage compensation ................................................................................................................. 82
Figure 36: Pressure control open loop............................................................................................................ 84
Figure 37: Pressure control closed loop ......................................................................................................... 86

List of Figures
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) viii
Figure 38: Pressure controller structure ......................................................................................................... 88
Figure 39: p/Q controller................................................................................................................................. 94
Figure 40: Power limitation structure .............................................................................................................. 95
Figure 41: RKP-D control structure with slave pump...................................................................................... 99
Figure 42: Hold pressure setpoint behavior.................................................................................................. 102
Figure 43: Status machine of the hold pressure enable ............................................................................... 103
Figure 44: Assignment of analog input value to active parameter set.......................................................... 105
Figure 45: Assignment of <PressureSetSelector> subindex to active parameter set number ..................... 106
Figure 46: Fault reaction behavior................................................................................................................ 116

1 General information About this manual
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 1
1 General information
1.1 About this manual
This document describes all accessible parameters used by our radial piston pumps with CANopen interface.
Most parameters follow the DSP 408.
The manual is part of the complete documentation available for the radial piston pump.
ÖChapter "1.3 Further documentation for the device", page 2
This manual was prepared with great care and the contents reflect the authors' best knowledge. However, the
possibility of error remains and improvements are possible.
Please feel free to submit any comments regarding errors or incomplete information to us.
1.1.1 Reservation of changes and validity
The information contained in this manual is valid at the time of this version's release. See footer for version
number and release date of this manual.
We reserve the right to make changes to this manual at any time without specified reasons.
1.1.2 Completeness
This manual is complete only when used in conjunction with the product related hardware and software docu-
mentation required for the relevant application.
1.1.3 Place of storage
This manual and all other associated documentation for hardware and software must always be kept in a loca-
tion where they will be readily accessible and close to the RKP-D or the equipment in which they are installed.
1.1.4 Warranty and liability
This manual only describes the functionality and influence of the CANopen parameters. The described soft-
ware functionality can be used in various pump models which can be implemented in a vast range of applica-
tions. Hence it is not possible to assume liability for the influence of the parameters. Please refer to the safety
instructions and remarks in the related operating instructions.
This document is not a replacement for the CANopen standards as listed in the references.
ÖChapter "1.4 References", page 3

1 General information Selection and qualification of personnel
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 2
1.1.5 Typographical conventions
1.2 Selection and qualification of personnel
Only qualified users may work with the device. Qualified users are properly trained experts with the required
knowledge and experience. In particular, these experts must have the authorization to bring into operation
systems and power circuits in accordance with safety engineering standards. Those people working on a
project must be familiar with safety concepts common in automation.
1.3 Further documentation for the device
The manual is part of the complete documentation for the device which includes the following:
• CA57130
User Manual Mounting and Installation Notes
• CA53461-001
User Manual RKP-II
• CA57626
User Manual RKP-II Explosion-Proof
• CA63420
Benutzerinformation Elektrische Schnittstellen
DANGER Identifies safety instructions that are intended to warn of an immediate and impending
danger to life and limb or major property damage.
Failure to observe these safety instructions will lead inevitably to death, serious per-
sonal injury (disablement) or major property damage!
WARNING Identifies safety instructions that are intended to warn of potential danger to life and
limb or the potential for major property damage.
Failure to observe these safety instructions might lead to death, serious personal injury (dis-
ablement) or major property damage!
CAUTION Identifies safety instructions that are intended to warn of slight personal injury or minor prop-
erty damage.
Failure to observe these safety instructions might lead to slight personal injury or minor prop-
erty damage.
Identifies important information
• / - Identifies listings
ÖIdentifies references to another chapter, another page, table or figure in this manual
blue text Identifies a hyperlink within the PDF file
1., 2., … Identifies steps in a procedure that should be performed in consecutive order
'ACTIVE' Identifies the valve status
«MS» Identifies LEDs of the valve (for example, «MS»)
< > Identifies a parameter name
"…" Used for references

1 General information References
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 3
1.4 References
• CANopen - Application Layer and Communication Profile
CiA Draft Standard 301
Version 4.1
August 15, 2006
• CANopen - Device Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions
CiA Draft Standard Proposal 408
Version 1.5.2
April 30, 2005
• CANopen - Layer Setting Services and Protocol (LSS)
CiA Draft Standard Proposal 305
Version 1.1.1
November 5, 2002
• Profile Fluid Power Technology
Proportional Valves and Hydrostatic Transmissions
Version 1.5
1.5 Definitions
Internal resolution (iR)
The internal resolution is 16384 (4000 hex) at 100 % and -16384 (C000 hex) at -100 % of the value range.
Position
Position always refers to the stroke ring position. Other positions are named explicitly.
Volume flow direction
A positive stroke ring demand value will result in a volume flow from connection A to the connection B of the
pump.

1 General information Representation of parameters
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 4
1.6 Representation of parameters
Parameters are described in this document in the following tabular form:
where the table columns have the following meaning:
List of data types:
•INTn
• FLOAT32
•char
•STRING
•UINTn
1.6.1 Representation of parameters in the object dictionary
In addition to the table columns described in the chapter above, the object dictionary contains the following
columns:
Block name
Index Subindex Parameter name Data type Access Persistence Value range Default
Table 1: Representation of objects
Column name Meaning
Block name Describes the family of parameters.
If the parameter does not belong to a block, the parameter name is taken as block name.
Index 16 bit index that addresses the entry in the object dictionary. In case of a simple variable this references
the value of this variable directly. In case of records and arrays, the index addresses the whole data struc-
ture. Then the 8 bit subindex allows access to individual elements in the structure.
Subindex If the object is defined as a record or array, the subindex defines an element in the structure.
Name Defined name of the object.
Data type Data type of the parameter.
Access Access permission for the parameter.
Persistence Defines whether the parameter can be saved in non-volatile memory.
If the persistence is set to "Y", the saved value stays in memory even after the device is turned off.
Parameters not marked as persistent ("N") loose their settings after the device is turned off.
Value range Allowed value range for the object.
Default The value listed is a typical value. It varies depending on the pump model (DSV). To obtain reliable infor-
mation on the default value, read the value from the pump. The default values are loaded after the restore
command.
ÖChapter "9 Storing / restoring parameters", page 131
Table 2: Meaning of object entries
Column name Meaning
PDO mapping If set to "Y", the parameter can be mapped into a PDO.
If set to "N", the parameter cannot be mapped into a PDO.
Short name Unique short name.
Specification Specification that contains the parameter description.
Possible entries:
DIV: MOOG-defined parameters
DS301: parameters correspond to DS 301
DS408: parameters correspond to DSP 408
Table 3: Meaning of entries in object dictionary

1 General information Abbreviations
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 5
1.6.2 Definition of unit and prefix
This chapter describes the coding of units and prefixes. If unit and prefix are configurable, the associated sub-
components have rw access, otherwise ro.
1.6.2.1 Unit representation
1.6.2.2 Prefix representation
1.7 Abbreviations
Name of unit International symbol Notation index (hex)
none dimensionless or iR 00
metre m 01
second s 03
hertz Hz 20
litre l1
1The symbol L can be used as an alternative to the symbol l.
44
minute (time) min 47
hour h 48
day d 49
year a 4A
bar bar 4E
meter per square second m/s255
Table 4: Code table for units
Prefix Factor Symbol Notation index (hex)
-10
0-00
deci 10-1 dFF
centi 10-2 cFE
milli 10-3 mFD
-10
-4 -FC
Table 5: Code table for prefixes
Abbreviation Explanation
ADC Analog Digital Converter
CAN Controller Area Network
CAN_GND CAN Ground
CAN_H CAN High (CAN bus signal (dominant high))
CAN_L CAN Low (CAN bus signal (dominant low))
CANopen Device and manufacturer-independent description language for communication over the CAN bus
char Characters
CiA CAN in Automation e. V. (international organization of CAN users; http://www.can-cia.org)
COB Communication Object; a unit of transportation on a CAN network. Data is sent across a network inside a
COB.
COB ID The COB ID is the object specifying the CAN identifier and function code.
CPU Central Processing Unit
DIV Digital Interface Valve
Table 6: Abbreviations (part 1 of 3)

1 General information Abbreviations
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 6
DOMAIN Arbitrary large block of data
DS 301 CANopen - Application Layer and Communication Profile
CiA Draft Standard 301
Version 4.1
August 15, 2006
DSP Digital Signal Processor
DSP 305 CANopen - Layer Setting Services (LSS) and protocols
CiA Draft Standard Proposal 305
Version 2.0
January 16, 2006
DSP 408 CANopen - Device Profile Fluid Power Technology Proportional Valves and Hydrostatic Transmissions
CiA Draft Standard Proposal 408
Version 1.5.2
April 30, 2005
DSV Device-Specific Value
EDS Electronic Data Sheet
EMCY Emergency object
EPROM Erasable Programmable Read Only Memory
EPROM Electrically Erasable Programmable Read Only Memory
FLOAT32 32 bit floating point value
Hydraulic profile Profile Fluid Power Technology
Proportional Valves and Hydrostatic Transmissions
Version 1.5
I/O Input/Output
ID Identifier
INTn n-bit signed Integer value, value range: -2n-1-1…2n-1-1
INF Infinite
iR Internal Resolution
ÖChapter "1.5 Definitions", page 3
LED Light Emitting Diode
LSB Least Significant Bit
LSS Layer Setting Services
LVDT Linear Variable Differential Transformer
ms Milliseconds
MSB Most Significant Bit
NMT Network ManagemenT
p Symbol for pressure
PCB Printed Circuit Board
PDO Process Data Object; a type of COB. Used for transmitting time-critical data, such as control commands,
references and actual values.
PE Protective Earth
Q Symbol for volumetric flow
RAM Random Access Memory
RKP-D Radial piston pump with digital control
ro Denotes read-only access
RPDO Receive Process Data Object. Communication object that is received by a CANopen device.
rw Denotes read/write access
SDO Service Data Object; a type of COB. Used for transmitting non time critical data, such as parameters.
SSI Synchronous Serial Interface
STRING Array of Unsigned8 (ASCII coded)
SYNC Synchronization object
Abbreviation Explanation
Table 6: Abbreviations (part 2 of 3)

1 General information Abbreviations
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 7
TPDO Transmit Process Data Object. Communication object that is transmitted by a CANopen device.
UINTn n-bit unsigned Integer value, value range: 0…2n-1
URL Uniform Resource Locator
VDMA Verband Deutscher Maschinen- und Anlagenbau - German Engineering Federation
wo Denotes write-only access
Abbreviation Explanation
Table 6: Abbreviations (part 3 of 3)

1 General information Abbreviations
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 8
For your notes.

2 Access over CANopen Introduction
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 9
2Access over CANopen
2.1 Introduction
The device communicates via CANopen interface according to DS 301. This chapter is providing an overview
of the capabilities over CANopen. A CANopen device can be divided into the following parts:
• Communication objects
• Object dictionary
• Application
Figure 1: Device model
The access to the object dictionary is provided by the communication objects. The object dictionary is the in-
terface to the application. The application holds the device specific program.
Object dictionary structure
CANopen defines communication objects and protocols, which allow the configuration of parameter settings,
to process data exchange, synchronization mechanisms and emergency messages.
• Access to the object dictionary objects is done via the Service Data Objects (SDO).
• Exchange of real-time process data via the Process Data Objects (PDO).
• Synchronization of process data by the Synchronization Object (SYNC).
• The Emergency Object (EMCY) to indicate errors.
communication
objects
PDO
SDO
other objects
NMT objects
object dictionary application
application program;
device profile;
CAN
I/O
Index (hex) Object Reference
0000 Not used Not used
0001…009F Data types DS 301
00A0…0FFF Reserved for further use Not used
1000…1FFF Communication profile area According DS 301
ÖChapter "2.2 Communication profile area", page 10
2000…5FFF Manufacturer-specific profile area Described in this document
6000…9FFF Standardized device profile area According DSP 408
Described in this document
A000…BFFF Standardized interface profile area Not used
C000…FFFF Reserved for further use Not used
Table 7: Object dictionary structure

2 Access over CANopen Communication profile area
© Moog GmbH USER MANUAL Firmware RKP-D (B99224-DV007-CE400; Version 1.1, 09/08) 10
2.2 Communication profile area
The following table gives an overview over the object dictionary entries defined by the communication profile.
Index (hex) Name Reference
1000 Device type ÖChapter "4.1.1 Object 0x1000: Device type",
page 17
1001 Error register ÖChapter "8.1.1 Object 0x1001: Error register",
page 109
1002 manufacturer status register DS 301
1003 Predefined error field ÖChapter "8.1.2 Object 0x1003: Predefined error
field", page 110
1005 COB-ID SYNC DS 301
ÖChapter "2.5 Synchronization Object (SYNC)",
page 12
1006 communication cycle period DS 301 (value not processed)
1007 synchronous window length DS 301 (value not processed)
1008 Manufacturer device name ÖChapter "4.1.3 Object 0x1008: Manufacturer device
name", page 18
1009 Manufacturer hardware version ÖChapter "4.1.4 Object 0x1009: Manufacturer hard-
ware version", page 18
100A Manufacturer software version ÖChapter "4.1.5 Object 0x100A: Manufacturer soft-
ware version", page 18
100B Node ID DS 301 (present due to compatibility reason)
100C guard time DS 301
ÖChapter "2.8 Node Guarding", page 13
100D life time factor DS 301
ÖChapter "2.8 Node Guarding", page 13
1010 Store parameters ÖChapter "9.1.1 Object 0x1010: Store parameters",
page 132
1011 Restore default parameters ÖChapter "9.2.1 Object 0x1011: Restore default pa-
rameters", page 134
1012 COB-ID TIME DS 301 (not processed)
1013 high resolution time stamp DS 301 (not processed)
1014 COB-ID EMCY DS 301
ÖChapter "2.6 Emergency Object (EMCY)", page 12
1015 Inhibit Time EMCY DS 301 (not processed)
1017 Producer heartbeat time DS 301 (not processed)
1018 Identity object ÖChapter "4.1.2 Object 0x1018: Identity", page 18
Client SDO parameter
1280 1st SDO client parameter DS 301
ÖChapter "2.3 Service Data Objects (SDOs)",
page 11
RPDO communication parameter
1400…1403 RPDO communication parameter DS 301
ÖChapter "2.4 Process Data Objects (PDOs)",
page 11
RPDO mapping parameter
1600…1603 RPDO mapping parameter DS 301
TPDO communication parameter
1800…1803 TPDO communication parameter DS 301
TPDO mapping parameter
1A00…1A03 TPDO mapping parameter DS 301
Table 8: Object entries in the communication profile area