Interface With Master Controller; Can Messages; Pdo Message Configuration - Curtis 1222 Manual

6
Curtis 1222 Manual,
os 15
2 9 J A N U A R Y 2 0 1 3 D R A F T

INTERFACE WITH MASTER CONTROLLER

The 1222 controller is a slave controller. The master controller is a Curtis AC
traction controller. The controllers communicate with each other through the
CAN bus.

CAN MESSAGES

The 1222 and the traction controller communicate with each other through
the CAN bus, using PDO messages. The 1222 sends an emergency message
to the traction controller any time a fault is set or cleared.
PDO Message Configuration
The traction controller sends PDO1_MOSI every 40 ms and the steering controller
sends both PDO1_MISO and PDO2_MISO every 20 ms.
PDO1_MOSI — Received from traction controller every 40 ms
Byte 1 — TractionMotorRPMCAN (CAN Index 0x2080, Low Byte)
Byte 2 — TractionMotorRPMCAN (CAN Index 0x2080, High Byte)
Byte 3 — TractionIsReady (CAN Index 0x2081, Bit 0)
Byte 4 — CANInterlock (CAN Index 0x4447, Bit 0)
Byte 5 — Unused
Byte 6 — Unused
Byte 7 — Unused
Byte 8 — Unused
PDO1_MISO — Sent by the 1222 every 20 ms when in operational state
Byte 1 — WheelPosition (CAN Index 0x2000, Low Byte)
Byte 2 — WheelPosition (CAN Index 0x2000, High Byte)
Byte 3 — 0 (Reserved)
Byte 4 — TractionCutback (CAN Index 0x2003)
Byte 5 — TractionFaultAction (CAN Index 0x2005)
Byte 6 — EnableTraction (CAN Index 0x2001)
Byte 7 — 0
Byte 8 — 0
PDO2_MISO — Sent by the 1222 every 20 ms when in operational state
Byte 1 — EnableTractionInverted (CAN Index 0x2002)
Byte 2 — TractionCutbackInverted (CAN Index 0x2004)
Byte 3 — Switches (CAN Index 0x4475)
Byte 4 — 0
Byte 5 — 0
Byte 6 — 0
Byte 7 — 0
Byte 8 — 0
6 — INTERFACE WITH MASTER
93