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The Model 3140 adheres to the industry standard CANopen communication protocol and thus will easily
connect into many CAN systems, including those using the Curtis AC and Vehicle System controllers (such as
Models F2A, 1234/36/38, 1298, 1310, and enGage VII). Any CANopen-compatible master can be programmed
to control the Model 3140.
MINIMUM STATE MACHINE
The Model 3140 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.
When the Model 3140 powers up, it goes to the Initialization state; this is also known as the Boot-up state. No
CAN communications from the Model 3140 are transmitted in this state although the Model 3140 listens to
the CANbus. When the Model 3140 has completed its startup and self-tests, it issues an initialization heartbeat
message and automatically goes to the Pre-Operational state.
In the Pre-Operational state, the 3140 can receive and respond to SDOs and NMT commands, and will send
its heartbeat. It will not receive or send PDOs. After receiving an Operational State NMT command, the
3140 will enter the Operational state (full normal operation).
In the Operational state, the Model 3140 will start receiving and responding to PDOs and process all other
necessary CANopen messages.
BAUD RATES
The Model 3140 will run at one of seven selectable baud rates: 20kbps, 50kbps, 125 kbps, 250 kbps, 500 kbps,
800 kbps, and 1 Mbps.
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 Model 3140 can be 1 to 127 and is used by CANopen to route messages to the Model
3140 and to denote messages from the Model 3140. The node address is part of the COB-ID and therefore also
plays a part in message priority and bus arbitration.
Changes to the node address require an NMT reset or power-cycle.
3 — CANopen COMMUNICATIONS
3 — CANopen COMMUNICATIONS
Power-On
Reset
Initialization
Communication
Transmit
Boot-up
Pre-Operational
Operational
Reset
Module
Reset
Stopped
Curtis 3140 Manual – Nov. 2017
pg. 3
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