7 — SERIAL COMMUNICATIONS & PROGRAMMING
pg. 43
Return to TOC Curtis 1353 CANopen Expansion Module Manual – June 2017
CAN INTERFACE PROGRAM MENU
PARAMETER ALLOWABLE RANGE DESCRIPTION
Baud Rate -2 – 4 Sets the CAN baud rate:
-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 = 1 Mbit/s.
Must cycle KSI or send an NMT RESET 1353 or send an NMT RESET CAN for
the new baud rate to take effect.
Node ID Source 0 – 15 Select CAN Node ID source input.
0 = No source input
1–9 = Digital input1-9 is used as the Node ID Source
10–15 = Virtual digital input1-6 is used as the Node ID Source.
Must cycle KSI or send an NMT Reset for new value to take effect.
Node ID Low 1 – 127 If Node ID Source is zero, or Node ID Source is none-zero and input value of
source is low, then apply this parameter to be the CAN Node ID.
Must cycle KSI or send an NMT Reset for new value to take effect.
Node ID High 1 – 127 If Node ID Source is none-zero and input value of source is high, then apply
this parameter to be the CAN Node ID.
Must cycle KSI or send an NMT Reset for new value to take effect.
Heartbeat Rate 0 – 1000 ms Sets the cyclic repetition rate of the heartbeat message, in 4 ms steps. Setting
this parameter to zero disables the heartbeat.
PDO Timeout 0 – 1000 ms Sets the time interval, in 4 ms steps, within which the PDO-MOSI must be
received. If the interval is longer than this set interval, a fault is agged.
Setting this parameter to zero disables the PDO timeout fault.
Emergency Rate 0 – 1000 ms Sets the minimum time, in 4 ms steps, the time that must elapse before the
1353 can send another emergency message. Setting this parameter to zero
disables the emergency message.
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