Canopen Menu - Curtis 1222 Manual

ALLOWABLE
PARAMETER
CAN Required
0x40F6 0x00
Node ID
0x5001 0x01
Node ID Supervisor
0x40B2 0x00
Baud Rate
0x5001 0x02
Producer Heartbeat Rate 16 – 200 ms
0x1017 0x00
PDO1 Timeout Time
40 – 120 ms
0x40CB 0x00
Curtis 1222 Manual,
os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T

CANopen MENU

RANGE
n
•
On / Off Set CAN Required = On for systems where the 1222 steering controller
On / Off is connected to the CAN bus. Set CAN Required = Off for systems where
the 1222 steering controller is stand-along (not connected to the CAN bus).
When programmed On, a fault check is made to verify that the steer-
ing controller is set (via the CAN bus) to CAN NMT State = Operational
within 80 ms of the interlock being applied.
n
•
1 – 127 Sets the Node ID of the CANopen Slave system. This is the first
1 – 127 of the two node IDs that need to be set up for the 1222 controller.
n
•
1 – 127 Sets the supervisor Node ID of the CANopen Slave system. This is the
1 – 127 second of the two node IDs that need to be set up for the 1222 controller.
The Node ID Supervisor should always be different from the Node ID.
n
•
0 – 4 Sets the CAN baud rate for the CANopen Slave system:
0 – 4 0 = 125 Kbps
1 = 250 Kbps
2 = 500 Kbps
3 = 800 Kbps
4 = 1 Mbps
n
•
Sets the rate at which the CAN heartbeat messages are sent from
16 – 200 the 1222 controller.
n
•
Sets the PDO1 timeout period for receiving the PDO1 CAN message.
40 – 120 The steering controller will set a fault if this timer expires between
receiving PDO1 messages.
3 — PROGRAMMABLE PARAMETERS:
DESCRIPTION
CANopen Parameters
51