5 — VEHICLE CONTROL LANGUAGE (VCL)
pg. 85
Return to TOC Curtis Model 1351 – December 2018
CAN FUNCTIONS (VCL SETUP)
Beyond the parameters in the Programmer app CAN menu, setting up the 1351 to use CAN messages
requires a VCL program. e applicable 1351 CAN functions are described by topic in this section. An
application’s requirements will determine whether a function will be used, as not all applications will
utilize every VCL function.
• Port1(primary) has 30 receive and 30 transmit mailboxes that can be assigned/used by VCL.
• Port2(supervisor), has 10 receive and 10 transmit mailboxes that can be assigned/used by VCL
• Attempting to assign more that this (using the Assign_Mailbox() function will return an
error.
• ere are four TPDO and four RPDO mailboxes that can be used and are shared between Port
1 and Port 2.
NMT Control
When a 1351 CAN port is enabled to be a master, it can then send Network Management (NMT)
commands to slave controllers. e 1351 has two CAN ports, CAN1 (Port_1_Node_Id) and CAN2
(Port_2_Node_ID). e NMT state of each port is available by its specic read-only monitor variable,
port_2_nmt_state and port_2_nmt_state.
Send_NMT() Control the state of the CANopen slave(s). is is the VCL’s CAN
NMT function.
rough NMT services, nodes are initialized, started, monitored, reset or stopped.
All nodes are regarded as NMT slaves. An NMT Slave is uniquely identied in
the network by its Node ID, a value in the range of 1-127, with the restriction that
a slave node cannot share its Node ID with either of the 1351’s CAN port IDs or
any other controller or device on the CANbus network.
Use the Node_ID to address a single device or use the constant GLOBAL to control
all devices on the CANbus. e NMT serves to congure, initialize, and handle
errors in a CAN network.
Send_NMT (Port, Node_ID, NMT_Command)
:
Port_1 = CAN1 e primary CAN port, pins 3 & 4
Port_2 = CAN2 e secondary CAN port, pins 5 & 6
Node ID e Slave Node ID, or Global for all slave nodes
NMT Command GO_OPERATIONAL
GO_PREOPERATIONAL
STOP_COOMUNINCATIONS
RESET_COMMUNINCATION
RESET_DEVICE
: None
:
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