Can Open Interface - Curtis 1310 Manual

CAN Open Interface

The 1310 can be easily interfaced to other CAN Open modules. These parameters work with
VCL to setup the basic CAN Open IDs and rates. Refer to the VCL Common Functions Manual
section G on setting up CAN Open PDO, SDO and other CAN related functions.
Master ID
CAN_Master_ID
Slave ID
CAN_Slave_ID
BAUD Rate
CAN_BAUD_Rate
Heartbeat Rate
Heartbeat_Rate
PDO Timeout Period
PDO_Timeout_Period
Emergency Message Rate
Emergency_Message_Rate
Suppress CANOpen Init
Suppress_CANOpen_Init
1310 Vehicle Control System Users Manual
CAN Open Interface
0 - 3 CAN ID for incoming messages to a CANOpen slave system
0 - 3
0 - 31 CAN ID for outgoing messages from a CANOPen slave
0 - 31 system
0 - 2 Sets the CAN BAUD rate
0 - 2 0 = 125Kbps, 1 = 250Kbps 2 = 500kbps
16 – 200 mS Sets the rate at which the CANOpen Heatbeat messages are
4 - 50 sent by the system
0 – 200 ms
Sets the PDO timeout period for the CANopen Slave system.
0 - 50
After the slave controller has sent a PDO MISO, it will
declare a PDO Timeout Fault if the master controller has not
sent a reply PDO MOSI message within theset time. Either
PDO1 MOSI or PDO2 MOSI will reset the timer. Setting the
PDO Timeout Period = 0 will disable this fault check.
16 – 200 mS Sets the minimum rate between CAN emergency messages
4 - 50 from the CANopen Slave system. This prevents quickly
changing fault states from generating so many emergency
messages that they flood the CAN bus.
0 - 1
When Suppress CANopen Init is set = 1, at Power On the
0 - 1
initialization of the CANopen system is suppressed. Typically
this is done so that the VCL program can make changes to
the CANopen system before enabling it (by setting the
variable Suppress_CANopen_Init = 0 and running the
Setup_CAN() function)
Release Rev B Page 21 of 51