Canopen Communications; Minimum State Machine; Baud Rates; Node Addresses - Curtis Acuity 1030 Manual

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Curtis 1030 Acuity Manual,

CANopen COMMUNICATIONS

The Acuity adheres to the industry standard CANopen communication pro-
tocol and thus will easily connect into many CAN systems, including those
using the Curtis AC and Vehicle System controllers (1234/36/38, 1298, 1310,
and enGage VII). Any CANopen-compatible master can be programmed to
control the Acuity.

Minimum state machine

The Acuity will run the CANopen minimum state machine as defined by CiA.
The CANopen minimum state machine has four defined states: Initialization,
Pre-Operational, Operational, and Stopped.
Initialization
Transmit
Pre-Operational
Operational
When the Acuity powers up, it goes to the Initialization state; this is also
known as the Boot-up state. No CAN communications from the Acuity are
transmitted in this state although the Acuity listens to the CANbus. When the
Acuity has completed its startup and self-tests, it issues an initialization heart-
beat message and automatically goes to the Pre-Operational state and the to the
Operational state.
In the Operational state, the Acuity will start sending PDOs and process
all other necessary CANopen messages.

Baud rates

The Acuity will run at one of five selectable baud rates: 125 kbps, 250 kbps,
500 kbps, 800 kbps, and 1 Mbps. Rates below 125 kbps are not supported.
The baud rate can be changed by an SDO. Changes in the baud rate
require an NMT reset to make the new rate active.

Node addresses

The node address of the kbps can be 1 to 127 and is used by CANopen to
route messages to the Acuity and to denote messages from the Acuity. The
Rev. C
Power-On Reset
Reset Module
Reset
Communication
Boot-up
Stopped
4 — CANopen COMMUNICATIONS
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