Curtis Instruments AC F4-A - Page 39

4 — PROGRAMMABLE PARAMETERS
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Return to TOC Curtis AC F4-A Motor Controller – August 2020
Object Index e object dictionary is essentially a table that stores conguration and
process data. e CANopen standard denes a 16-bit bit index and an
8-bit sub-index. e object dictionary is the method by which CANopen
devices communicate. Every parameter and monitor variable has its own
unique CAN Object Index. e parameter and monitor tables list each
item’s CAN Object Index.
Forward Forward movement is a positive (value) traction speed. On a Class III
truck with a tiller, “forks trailing” is the forward movement. For a reach
truck or counterbalanced truck, “forks leading” is forward movement.
Reverse Reverse movement is a negative (value) traction speed. On a Class III
truck with a tiller, “forks leading” is reverse movement. For a reach truck
or a counterbalanced truck, “forks training” is reverse movement.
PDO Process Data Object (PDO). CANopen’s real-time data transfer used for
fast data transfer of 8 bytes of data or less without protocol overhead.
e PDO mapping structure uses the object index to dene the data
within any given PDO. See PDO Setup, Appendix A.
RPDO Receive Process Data Object (RPDO). Data received by the Consumer
from Producer communication (e.g., the manager controller receives
data from the ancillary controller(s)).
RX Receive. In CANopen, RX (Rx) is from the perspective of the
ancillary controller.
TPDO Transmit Process Data Object (TPDO). Data transmission by the PDO
Producer to PDO Consumer (e.g., the ancillary controller(s) transmits
data to the manager controller).
SDO Service Data Object (SDO). A SDO is a low priority message used to
transfer multiple data sets from a client to a server and vice versa.
Several types of data transfer are available, with the Client (manager
controller) taking the initiative for a transfer. Use the SDO process to
read or write to an object index of a Server (ancillary controller). A SDO
is used for conguring the controller via the CAN network. Dened
within the Object Dictionary are the contents of the data set. See
Appendix A for an example SDO to congure the PDO map.
SDO Download rough this service, the client (e.g., manager) of a SDO downloads
data to the server (e.g. the owner of the Object Dictionary). A “write”
operation.
SDO Upload rough this service, the client of an SDO uploads (reads) data from
the server (owner of the Object Dictionary). A “read” operation.
TX Transmit. In CANopen, TX (Tx) is from the perspective of the
ancillary controller.