5 — SDO COMMUNICATIONS
Curtis 1353 CANopen Expansion Module Manual – June 2017 Return to TOC
pg. 30
PARAMETER PROFILE OBJECTS
e parameters found in the 0x3000 CAN Object address range are shown in Table 3. All these
parameters have Read/Write (RW) SDO access, except for the sub-index 0x00 in a parameter array,
which is Read Only (RO) as indicated.
Table 3 Parameter Profile Object Dictionary
Parameter
SDO Location
Range
Can Value Description
Index Sub-index
Operation Mode 0x3000 0x01 – 0x09 0 – 3, 5 – 7
0 – 3, 5 – 7
Driver mode:
0 = Active High Digital Input mode.
1 = Constant Current mode.
2 = Constant Voltage mode.
3 = Direct PWM mode.
5 = Constant Current mode, with open detection.
6 = Constant Voltage mode, with open detection.
7 = Direct PWM mode, with open detection.
Max Current 0x3001 0x01 – 0x09 0.00 – 3.00 A
0 – 300
Sets the maximum current output when the PDO command
is 100% (255), when operating in Constant Current
mode.
Min Current 0x30F4 0x01 – 0x09 0.00 – 3.00 A
0 – 300
Sets the minimum current output when the PDO command
is none-zero, when operating in Constant Current mode.
PWM Limit 0x3002 0x01 – 0x09 0 – 100.0 %
0 – 1000
Sets the maximum PWM output when the PDO command is
100% (255), when operating in Direct PWM mode.
Voltage Limit 0x3003 0x01 – 0x09 0.0 – 36.0 V
0 – 360
(36V models)
0.0 – 80.0 V
0 – 800
(80V models)
Sets the maximum voltage output when the PDO command
is 100% (255), when operating in Constant Voltage
mode.
Dither Period 0x3004 0x01 – 0x09 4 – 200 ms
4 – 200
Sets the time between dither pulses for each output (in
2 ms steps). A dither period of 4 – 200 ms provides a
frequency range of 250 – 5 Hz. Applicable only in Constant
Current mode.
Dither Amount 0x3005 0x01 – 0x09 0 – 500 mA
0 – 500
Sets the amount (+/-) of dither that will be added/
subtracted from the command (in 10 mA steps). Applicable
only in Constant Current mode.
Kp 0x3006 0x01 – 0x09 0.1 – 100.0 %
1 – 1000
Sets the proportional gain factor of the PI current controller.
Ki 0x3007 0x01 – 0x09 0.1 – 100.0 %
1 – 1000
Sets the integral gain factor of the PI current controller.
Ramp Up 0x30F5 0x01-0x09 1 – 1000ms
1 - 1000
Set the time (in ms) to go from min to max current.
Ramp Down 0x30F6 0x01-0x09 1 – 1000ms
1 - 1000
Set the time (in ms) to go from max to min current.
Nominal Voltage 0x3010 0x00 12.0V – 36.0 V
120 – 360
36.0V – 80.0 V
360 – 800
Sets the nominal battery voltage, which is used in fault
detection.
1353-4101/4001: 12 V, 24V, 36V.
1353-6101/6001: 36 V, 48V, 60V, 72V, 80V.
Analog Input Type 0x3020 0x00 0 – 63
0 – 63
Sets the input type on Analog 1 through 6. LSB is for Analog 1
and next is for Analog 2, etc. Upper two bits are not used.
Bit = 0, voltage input type.
Bit = 1, resistive input type.
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