6 — CANopen COMMUNICATIONS
Curtis Model 3401T – August 2022 Return to TOC
pg. 46
6 — CANopen COMMUNICATIONS
e 3401T complies with the CAN in Automation (CiA) CANopen 301 specication. is chapter
describes the 3401T’s CANopen features.
Some familiarity with CANopen is a prerequisite. For CANopen information, see the following pages
on the CiA web site:
• Overview: https://www.can-cia.org/canopen/
• Specications: https://www.can-cia.org/groups/specications/
BYTE AND BIT SEQUENCE ORDER
CANopen message byte sequences are transmitted with the least significant byte first (little-
endian format).
Note: This manual uses the LSB 0 Numbering convention when referring to byte and bit
numbers.
For example, the following table shows an SDO that writes the data 04E2h to the object with the
index and sub-index 334C-01h:
0 1 2 3 4 5 6 7
Control Byte Index Sub-index Data
2Bh 4Ch 33h 01h E2h 04h 00h 00h
Strings are read from le to right. e following example shows how the 3401T transmits an SDO
segment for the string "Curtis":
0 1 2 3 4 5 6 7
Control Byte Data
00h 43h = "C" 75h = "u" 72h = "r" 74h = "t" 69h = "i" 73h = "s"
Bit sequences are transmitted from the most signicant to the least signicant bit (big-endian format).
e following example shows how the 3401T transmits the bits for the value 2Bh:
7 6 5 4 3 2 1 0
0 0 1 0 1 0 1 1
NODE IDS
e 3401T’s node ID is specied with the CAN Node ID parameter. e default node ID is 0x2E.
If the Curtis Electronic Code Switch (ECS) is on the CANbus, the ECS CAN Node ID parameter
species its node ID. Both parameters are on the CAN menu.
BAUD RATE
e baud rate is specied with the CAN Baud Rate parameter on the CAN menu. e default baud
rate is 125 Kbps.
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