Curtis 1222 - Page 65

Curtis 1222 Manual, os 15
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2 9 J A N U A R Y 2 0 1 3 D R A F T
4a — MONITOR MENU: Command Input
Monitor Menu: COMMAND INPUT → CAN Input
DISPLAY
VARIABLE RANGE DESCRIPTION
CAN Steer Command -32768 – 32767 The incoming primary CAN steering
0x4445 0x00 -32768 – 32767
command communicated on the CAN bus.
Typically the CAN object is mapped into
a PDO message. The system arrangement
determines which PDO message is used.
CAN 2 Steer Command -32768 – 32767 The incoming supervisory CAN steering
0x44D6 0x00 -32768 – 32767 command communicated on the CAN bus.
Typically the CAN object is mapped into
a PDO message. The system arrangement
determines which PDO message is used.
CAN Steer Counts -32768 – 32767 The primary CAN steering sensor counts
0x44D5 0x00 -32768 – 32767 from the center position command.
A command left of center will be
negative counts; a command right of center
will be positive counts.
In Absolute Position mode, CAN Steer
Counts = CAN Steer Command minus the
Center Offset parameter.
In Relative Position mode, CAN Steer
Counts = CAN Steer Command minus the
relative center angle (which is recalculated
each time the interlock is enabled).
CAN 2 Steer Counts -32768 – 32767 The supervisory CAN steering sensor
0x44D4 0x00 -32768 – 32767
counts from the center position command.
A command left of center will be
negative counts; a command right of center
will be positive counts.
In Absolute Position mode, CAN 2
Steer Counts = CAN 2 Steer Command
minus the Center Offset parameter.
In Relative Position mode, CAN 2 Steer
Counts = CAN 2 Steer Command minus the
relative center angle (which is recalculated
each time the interlock is enabled).