Curtis 1298 Manual, OS 11
61
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 73.
OptionBits3 [Bit 2]
CAN Node ID 0–127 Sets the Node ID of the CANopen Slave system. The Node ID is the
CAN_Node_ID 0
–127 first 7 bits of the 11-bit identifier (the COB ID).
Baud Rate -3 – 2 Sets the CAN baud rate for the CANopen Slave system:
CAN_Baud_Rate -3 – 2 -3=20Kbps, -2=50Kbps, -1=100Kbps,
0=125Kbps, 1=250Kbps, 2=500Kbps.
Heartbeat Rate 16–200 msec Sets the rate at which the CAN heartbeat messages are sent from the
CANopen_Heart_Beat_Rate 4
–50 CANopen Slave system.
PDO Timeout Period 0–200 msec Sets the PDO timeout period for the CANopen Slave system. After the
CAN_PDO_Timeout_Period 0
–50 slave controller has sent a PDO MISO, it will declare a PDO Timeout Fault
if the 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.
Emergency Message Rate 16–200 msec Sets the minimum rate between CAN emergency messages from the
CANopen_Emergency_ 4–50 CANopen Slave system. This prevents quickly changing fault states from
Message_Rate generating so many emergency messages that they flood the CAN bus.
Suppress CANopen Init 0–1 When Suppress CANopen Init is set = 1, at KSI On the initialization of the
Suppress_CANopen_Init 0–1 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).
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