DESIGNER’S HANDBOOK 4189350049C EN
Page 137 of 206
Rudder angle % Rudder
Pitch angle
% Pitch
TPDO converter
RPM
% RPM
% Trust
% Power
Rudder angle % Rudder
Pitch angle
% Pitch
DX1 digital input
RPM
% RPM
% Trust
% Power
There can be other data types where the input device is set up to generate both an actual value and scale this
value to a % value in addition.
Data is routed internally in the XDi as if it was XDi-net data. To adjust such inputs, it is necessary to enter the
adjust menu where the data is generated.
A similar situation can be seen where a data type is presented both on an analogue indicators and also presented
in a digital readout, where the digital readout is able to show values exceeding the max value on the analogue
screen.
Standard RPM indicator with set point.
In this RPM indicator example, the max value on the analogue scale is 300, but the digital readout can present
values up to 999 RPM. So, in this indicator there will be defined 2 RPM sources with different max value, at least
one of those sources will be defined as a XDi-net source and may be visible as such in the input adjust menu.
Note: In a resent main software release it is made possible to create VS profiles where the input adjust menu is
disabled, in cases where it is not needed, but in many of the existing libraries the source line will still be visible in
the adjust input menu.
11.6 CANopen MPDO as data source
When XDi-net is selected as source, it is also possible to send variable data to an object index/sub-index by use of
a DAM-MPDO instead of the XDi-net broadcast format.
This requires that an RPDO is selected for MPDO communication in the CAN setup parameters list (in PP or via
CAN setup menu).
Destination Addressed Mode Multiplexed PDOs (DAM-MPDO) means that data is separately sent directly
addressed to each XDi identified by its NodeID (address) and then stored in the object index/sub-index defined in
the MPDO.
This option is sometimes preferred in networks with a CAN Master controlling all data distribution on the CAN bus
network. This method is a point to point communication and requires much more of the available bus bandwidth.
The data content of the DAM-MPDO is the same as the XDi-net format. The only difference is bit 7 in byte 0
defining the type of MPDO (1=DAM or 0=SAM), see the XDi-net/CANopen reference manual for more details.
IMPORTANT: If RPDO1 is used for DAM-MPDO communication, XDi-net must be disabled (in PP or via
CAN setup menu). If instead RPDO2, 3 or 4 is selected for DAM-MPDO transmission, then XDI-net can be
active and run in parallel.
