Emergency Message Configuration - Curtis 1222 Manual

6 — INTERFACE WITH MASTER
94
2 9 J A N U A R Y 2 0 1 3 D R A F T
is the rpm of the traction motor and can be used to
TractionMotorRPMCAN
determine when to steer (see
is used if programmed
TractionIsReady
is open, and bit 1 = contactor is closed.
is the interlock from the traction system that is used if programmed
CANInterlock
= 3; it has bit 0 = interlock is open, and bit 1 = interlock is
Interlock Type
closed.
is the position of the steered wheel, in degrees. This is used by
WheelPosition
the traction system to determine the maximum allowed speed.
is the percentage of its MaxSpeed that the traction controller
TractionCutback
is allowed to run.
has bit 0 = no fault, bit 1 = stop traction, bit 2 = reduce
TractionFaultAction
traction speed, and bit 3 = no action. See right-hand column in the
troubleshooting chart (Table 6).
has bit 0 = stop and bit 1 = traction enabled.
EnableTraction
is the inverse of EnableTraction.
EnableTractionInverted
is the inverse of TractionCutback.
TractionCutbackInverted
has bit 0 = Interlock Input 1, bit 1 = Home Input 2, bit 2 = Interlock
Switches
Input 3, and bit 3 = Home Input 4.
Emergency Message Configuration
The 1222 sends an emergency message any time a fault is set or cleared. For a descrip-
tion of the variables see the troubleshooting chart (Table 6) and the generic Curtis
CANopen specification.
Byte 1 — ErrorCode (Low Byte)
Byte 2 — ErrorCode (High Byte)
Byte 3 — ErrorRegister (CAN Object 0x1001)
0x01 if any fault is present or 0x00 is no faults
Byte 4 — SubCode See the troubleshooting chart
Byte 5 — FlashCode See the troubleshooting chart
Byte 6 — TractionFaultAction See the troubleshooting chart
Byte 7 — Reserved
Byte 8 — Reserved
, page 45).
Interlock Enabled Speed
= 2; it has bit 0 = contactor
ContactorType
Curtis 1222 Manual,
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