Curtis 1222 Manual, os 15
51
2 9 J A N U A R Y 2 0 1 3 D R A F T
3 — PROGRAMMABLE PARAMETERS: CANopen Parameters
CANopen MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
CAN Required On / Off
•
n
Set CAN Required = On for systems where the 1222 steering controller
0x40F6 0x00 On / Off is connected to the CAN bus. Set CAN Required = Off for systems where
the 1222 steering controller is stand-along (not connected to the CAN bus).
When programmed On, a fault check is made to verify that the steer
-
ing controller is set (via the CAN bus) to CAN NMT State = Operational
within 80 ms of the interlock being applied.
Node ID 1 – 127
•
n
Sets the Node ID of the CANopen Slave system. This is the first
0x5001 0x01 1 – 127 of the two node IDs that need to be set up for the 1222 controller.
Node ID Supervisor 1 – 127
•
n
Sets the supervisor Node ID of the CANopen Slave system. This is the
0x40B2 0x00 1 – 127 second of the two node IDs that need to be set up for the 1222 controller.
The Node ID Supervisor should always be different from the Node ID.
Baud Rate 0 – 4
•
n
Sets the CAN baud rate for the CANopen Slave system:
0x5001 0x02
0 – 4 0 = 125 Kbps
1 = 250 Kbps
2 = 500 Kbps
3 = 800 Kbps
4 = 1 Mbps
Producer Heartbeat Rate 16 – 200 ms
•
n
Sets the rate at which the CAN heartbeat messages are sent from
0x1017 0x00 16
– 200 the 1222 controller.
PDO1 Timeout Time 40 – 120 ms
•
n
Sets the PDO1 timeout period for receiving the PDO1 CAN message.
0x40CB 0x00 40
– 120 The steering controller will set a fault if this timer expires between
receiving PDO1 messages.
PCF
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