Curtis 1239E - Page 78

4 — PROGRAMMABLE PARAMETERS
Curtis 1239E-1269E Manual, os 37.0 RevA – May 2021
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CAN INTERFACE MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
CANopen Interlock
|CANopen_Interlock_Enable
|OptionBits3 [Bit 2]
0x306C 0x00
On / Off
On / Off
When programmed On, CAN NMT State must = 5 (operational state)
in order for the interlock to be set; see Monitor » CAN Status menu, page 85.
CAN Node ID 1
CAN_Node_ID_1
0x3140 0x00
1 – 127
1 – 127
The Node ID for the primary microprocessor is determined by the state of
switches 5 and 6 at KSI turn on:
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.
Note, to disable the CAN Node ID switch arbitration (the parameter Node ID
1-4 swapping with switches), set all the Node IDs to the same value.
CAN Node ID 2
CAN_Node_ID_2
0x3141 0x00
1 – 127
1 – 127
See description of Node ID 1.
CAN Node ID 3
CAN_Node_ID_3
0x3146 0x00
1 – 127
1 – 127
See description of Node ID 1.
CAN Node ID 4
CAN_Node_ID_4
0x3147 0x00
1 – 127
1 – 127
See description of Node ID 1.
Supervisor Node ID
Supervisor_Node_ID
0x3872 0x00
1 – 127
1 – 127
Sets the Node ID for the supervisor microprocessor. The Node ID is the rst
7 bits of the 11-bit identier (the COB ID).
Baud Rate
CAN_Baud_Rate
0x3142 0x00
–3 – 4
–3 – 4
Sets the CAN baud rate for the CANopen system for this controller:
–3 = 20 kbit/s, –2 = 50 kbit/s, –1 = 100 kbit/s, 0 = 125 kbit/s,
1 = 250 kbit/s, 2 = 500 kbit/s, 3 = 800 kbit/s, 4 = 1000 kbit/s.
Heartbeat Rate
CANopen_Heart_Beat_Rate
0x1017 0x00
16 – 200 ms
4 – 50
Sets the rate at which the CAN heartbeat messages are sent from this
CANopen controller.
PDO1 Timeout Period
CAN_PDO_Timeout_Period_1
0x3149 0x00
0 – 200 ms
0 – 50
Sets the PDO timeout period for the CANopen ancillary system. After the
ancillary controller has sent a PDO-TX, it will declare a PDO Timeout Fault
if the manager controller has not sent a reply PDO-RX message within the
set time. Either PDO1 RX or PDO2 RX will reset the timer. Setting the PDO
Timeout Period = 0 will disable this fault check.
This parameter previously applied to both PDO1 and PDO2. In
previous OS’s Both PDO RX messages needed to stop before a PDO
timeout was declared.
PDO2 Timeout Period
CAN_PDO_Timeout_Period_2
0x314B 0x00
0 – 200 ms
0 – 50
Sets the PDO timeout period for the CANopen ancillary system. After the
ancillary controller has sent a PDO-TX, it will declare a PDO Timeout Fault if
the manager controller has not sent another PDO2-RX message within the
set time. Setting the PDO Timeout Period = 0 will disable this fault check.
Emergency Message Rate
CANopen_Emergency_Rate
0x3148 0x00
16 – 200 ms
4 – 50
Sets the minimum rate between CAN emergency messages from this
CANopen ancillary controller. This prevents quickly changing fault states
from generating so many emergency messages that they ood the CANbus.
Suppress CANopen Init
Suppress_CANopen_Init
0x3143 0x00
0 – 1
0 – 1
When Suppress CANopen Init is set = 1, at KSI On the initialization of the
CANopen system is suppressed. Typically this is done so that the VCL
program can make changes to the CANopen system before enabling it (by
setting the variable Suppress_CANopen_Init = 0 and running the Setup_
CAN( ) function).
Beginning with OS 32.0, eight new CAN mailboxes were added for use by VCL. e total is now 32.
See the System Information le (available from within the Curtis WinVCL program, Info tab).