Curtis 1356/1356P CAN Expansion Module Manual,
Rev. A
17
Baud Rates
The 1356 /1356P runs at one of the seven selectable baud rates: 50 kbit/s,
100 kbit/s, 125 kbit/s, 250 kbit/s, 500 kbit/s, 800 kbit/s, or 1 Mbit/s. The baud
rate can be changed by a Curtis programmer or by an SDO. Changes in the
baud rate require an NMT reset or KSI cycle.
CAN Node ID
The 1356 /1356P CAN node ID can be assigned from 1 to 127. It can be changed
by a Curtis programmer or by CAN SDO. The default CAN node ID for the
1356 /1356P is 19. The CAN node ID is used by CANopen to route messages
to the 1356 /1356P and to denote messages from the 1356 /1356P. The node
ID is part of the COB-ID and therefore also plays a part in message priority
and bus arbitration.Changes to the node ID require an NMT reset or KSI cycle.
Standard Message Identifiers
The standard message types are defined within a 4-bit field in the COB ID
(Communication OBject IDentification). Consequently, there are 16 possible
standard message types. The values for Curtis products are:
Generic Type
Message Identifier
Value (binary – hex)
NMT
NMT
0000 – 0x0
Xx
EMERGENCY
SYNC_ERR
0001 – 0x1
X x
PDO
PDO1_MISO
0011 – 0x3
Xx
PDO1_MOSI
0100 – 0x4
Xx
PDO2_MISO
0101 – 0x5
Xx
PDO2_MOSI
0110 – 0x6
Xx
SDO
SDO-MISO
1011 – 0xB
Xx
SDO_MOSI
1100 – 0xC
Xx
HEARTBEAT
NODE
1110 – 0xE
Xx
These types and values comply with the CANopen spec and are used to invoke
standard transfer or information across the CAN bus.
Identifiers built using standard message types consist of three fields. The
four upper bits hold the message type. The Node ID is in the bottom 7 bits.
Below is the CANopen-compliant Curtis standard organization of the
COB-ID.
11 10 9
8
7
6
5
4
3
2
1
Message Type
Node ID
NMT messages have the highest priority of the standard message types,
and the heartbeat has the lowest priority.
3 — CANopen COMMUNICATIONS
Summary of Contents for 1356
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