Curtis 1352 handleiding
Handleiding
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3 — CANopen COMMUNICATIONS
pg. 13
Return to TOC Curtis 1352 eXm Manual, June 2021
3 — CANopen COMMUNICATIONS
The eXm adheres to the industry standard CANopen communication protocol and thus will
easily connect into many CAN systems, including those using the Curtis AC and Vehicle System
controllers (F-series, E/SE-series). Any CANopen-compatible manager can be programmed to
control the eXm.
The eXm’s PDOs are fixed (see section 4). There is one incoming RPDO1 (RX) for the driver
commands and one response TPDO1 (TX) for the input status. Expedited SDOs (see section 5) are
used to access all eXm parameters and allow monitoring of non-runtime variables and ags.
e time between incoming PDOs is monitored and if excessive, will ag a fault. is allows the eXm
to know that the system is still under manager control. e eXm will also produce a cyclic heartbeat
message, which is the CiA-preferred method of ancillary node error control.
Emergency messages are sent sporadically whenever an error status ag within the eXm changes state.
MINIMUM STATE MACHINE
e eXm will run the CANopen minimum state machine as dened by CiA. e CANopen minimum
state machine has four dened states: Initialization, Pre-Operational, Operational, and Stopped.
Transmit Boot-up
Initialization
Pre-Operational
Operational
Stopped
Power-On
Reset
Reset
Module
Reset
Communication
When the eXm powers up, it goes to the Initialization state; this is also known as the Boot-up state.
No CAN communications from the eXm are transmitted in this state although the eXm listens to the
CAN bus. When the eXm has completed its startup and self-tests, it issues an initialization heartbeat
message and automatically goes to the Pre-Operational state.
In the Pre-Operational state, the eXm can receive and respond to SDOs and NMT commands, and
will send its heartbeat. It will not receive or send PDOs. When the manager issues a goto Operational
State NMT command, the eXm will go to full normal operation.
In the Operational state, the eXm will start receiving and responding to PDOs and process all other
necessary CANopen messages.
If the manager sends a Stop NMT command or the eXm detects an internal fault, the eXm will go
to the Stopped state. In the Stopped state the eXm will listen for NMTs and produce its heartbeat
message only. PDOs and SDOs (including any timeouts) are ignored.
Bekijk gratis de handleiding van Curtis 1352, stel vragen en lees de antwoorden op veelvoorkomende problemen, of gebruik onze assistent om sneller informatie in de handleiding te vinden of uitleg te krijgen over specifieke functies.
Productinformatie
| Merk | Curtis |
| Model | 1352 |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 5176 MB |
