Curtis 3141 handleiding
Handleiding
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3 — CANopen COMMUNICATIONS
Curtis 3140/3141 Manual – Dec. 2019
pg. 4
STANDARD MESSAGE IDENTIFIERS
Models 3140 / 3141 will produce—and respond to—the standard message types with the following
CANopen identiers.
Message Type Message Identifier
NMT 0000 – 0x00
PDO-MISO 0011 – 0x03
PDO-MOSI 0100 – 0x04
SDO-MISO 1011 – 0x0B
SDO-MOSI 1100 – 0x0C
HEARTBEAT 1110 – 0x0E
e 11-bit identication eld is a xed part of the CANopen specication called the Communication OBject
IDentication (COB-ID). is eld is used for arbitration on the bus. e COB-ID with the lowest value gets
priority and wins arbitration. Consequently, NMT messages have the highest priority of the standard message
types, and the heartbeat has the lowest priority.
e standard organization of the COB-ID puts the message type in the upper four bits, and the Node ID in
the bottom seven bits:
11 10 9 8 7 6 5 4 3 2 1
Message Type Node ID
NMT MESSAGES
NMT (Network Management Transmission) messages are the highest priority message available. e NMT
message puts Models 3140 / 3141 into one of the four dened states. ese messages have 1 byte of data
sent by the master; the slave does not respond with any data to an NMT. Models 3140 / 3141 state value is
transmitted with each heartbeat message.
Value State
0x00 Initialization (or “boot-up”)
0x04 Stopped
0x05 Operational
0x7F Pre-Operational
e NMT message identier consists of the standard message type (NMT) in the top four bits; the bottom
seven bits must be set to zero.
e rst data byte of the NMT command is the command specier:
Value Command Specifier
0x01 Enter the Operational state
0x02 Enter the Stopped state
0x80 Enter the Pre-Operational state
0x81 Reset 3140 / 3141 (warm boot)
0x82 Reset the CANbus
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Productinformatie
| Merk | Curtis |
| Model | 3141 |
| Categorie | Niet gecategoriseerd |
| Taal | Nederlands |
| Grootte | 3002 MB |
