Curtis 1236E - Can Interface Menu

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Curtis 1232E/34E/36E/38E & 1232SE/34SE/36SE Manual, os 30
24 NOVEMBER 2015
3 — PROGRAMMABLE PARAMETERS: CAN Interface Parameters
CAN INTERFACE MENU
ALLOWABLE
PARAMETER RANGE DESCRIPTION
CANopen Interlock On / Off When programmed On, CAN NMT State must = 5 (operational state)
CANopen_Interlock_Enable On / Off in order for the interlock to be set; see Monitor » CAN Status menu, page 85.
OptionBits3 [Bit 2]
0x306C 0x00
CAN Node ID 1 1 – 127 The Node ID for the primary microprocessor is determined by the state
CAN_Node_ID_1 1 – 127 of switches 5 and 6 at KSI turn on:
0x3140 0x00 Node_ID_1 is selected when Sw 6 = Off and Sw 5 = Off
Node_ID_2 is selected when Sw 6 = Off and Sw 5 = On
Node_ID_3 is selected when Sw 6 = On and Sw 5 = Off
Node_ID_4 is selected when Sw 6 = On and Sw 5 = On.
IftheselectedparameterhasaNodeIDofzero,theNode_ID_1parameter
isused.IftheNode_ID_1parameterisalsozero,adefaultIDof38isused.
CAN Node ID 2 1 – 127 See description of Node ID 1.
CAN_Node_ID_2 1 – 127
0x3141 0x00
CAN Node ID 3 1 – 127 See description of Node ID 1.
CAN_Node_ID_3 1 – 127
0x3146 0x00
CAN Node ID 4 1 – 127 See description of Node ID 1.
CAN_Node_ID_4 1 – 127
0x3147 0x00
Supervisor Node ID 1 – 127 Sets the Node ID for the supervisor microprocessor. The Node ID is the
Supervisor_Node_ID 1 – 127 rst7bitsofthe11-bitidentier(theCOBID).
0x3872 0x00
Baud Rate -3 – 4 Sets the CAN baud rate for the CANopen Slave system:
CAN_Baud_Rate -3 – 4 -3 = 20 kbit/s, -2 = 50 kbit/s, -1 = 100 kbit/s, 0 = 125 kbit/s,
0x3142 0x00 1 = 250 kbit/s, 2 = 500 kbit/s, 3 = 800 kbit/s, 4 = 1000 kbit/s.
Heartbeat Rate 16 – 200 ms Sets the rate at which the CAN heartbeat messages are sent from the
CANopen_Heart_Beat_Rate 4 – 50 CANopen Slave system.
0x1017 0x00
PDO Timeout Period 0 – 200 ms Sets the PDO timeout period for the CANopen Slave system. After the slave
CAN_PDO_Timeout_Period 0 – 50 controller has sent a PDO MISO, it will declare a PDO Timeout Fault if the
0x3149 0x00 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.