Specifications

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Curtis 1310 Manual, Rev. B
3 — PROGRAMMABLE PARAMETERS: CAN Interface Parameters
CAN INTERFACE MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
Master ID 0 – 3 CAN ID for incoming messages to a CANopen Slave system.
CAN_Master_ID 0
– 3
CAN Slave ID 0 – 31 CAN ID for outgoing messages from a CANopen Slave system.
CAN_Slave_ID 0
– 31 first 7 bits of the 11-bit identifier (the COB ID).
Baud Rate 0 – 2 Sets the CAN baud rate for the CANopen Slave system:
CAN_BAUD_Rate
0 – 2 0=125 kbps, 1=250 kbps, 2=500 kbps.
Heartbeat Rate 16 – 200 ms Sets the rate at which the CAN heartbeat messages are sent by the
Heartbeat_Rate 4
– 50 CANopen Slave system.
PDO Timeout Period 0 – 200 ms Sets the PDO timeout period for the CANopen Slave system. After the
CAN_PDO_Timeout_Period 0
– 50 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 the
set time. Either PDO1 MOSI or PDO2 MOSI will reset the timer. Setting the
PDO Timeout Period = 0 will disable this fault check.
Emergency Message Rate 16 – 200 ms Sets the minimum rate between CAN emergency messages from the
CANopen_Emergency_ 4 – 50 CANopen Slave system. This prevents quickly changing fault states from
Message_Rate generating so many emergency messages that they flood the CAN bus.
Suppress CANopen Init 0 – 1 When Suppress CANopen Init is set = 1, at power up the initialization
Suppress_CANopen_Init 0 – 1 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).
CANopen interface
The 1310 controller can be easily interfaced to other CANopen modules. The
parameters in the CAN Interface menu work with VCL to set up the basic
CANopen IDs and rates. Refer to the Section G of the VCL Common Func
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tions Manual for information on setting up CANopen PDO, SDO, and other
CAN-related functions.