ACS CANopen Manual
Version 20110928
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AC C E L E N S ( AC S ) C AN o p e n
4 . AC S S o f tw a r e C o n f i g u r at i o n
This chapter succeeds the hardware configuration (i.e. installation) as in real time. ACS is a very flexible
device and hence all the parameters can be programmed via CAN bus itself even when attached. This
enables remote configuration. This chapter is primarily divided into two parts- One describing the
methodology for putting the ACS into operation and the other the PDO/SDO programming of ACS.
4.1 Important Factory Settings
Description
Object
Value
Device Type
1000h
0 x 4019A
Cyclic Timer
2200h
00h (0ms)
Resolution
6000h
64h (0.01°)
Node Number
1
3000h
1Fh (32)
Baud Rate
2
3001h
00h (20kB)
ACS080 PDOs
6110h,6120h,6010h,6020h
ACS360 PDOs
6010h
Note: The factory settings should be noted carefully upon installation. Few of the parameters have
to be re-programmed in order to make the ACS inclinometers compatible with the controller or the
already existing CAN bus to which it is going to be installed on.
4.2 Active Programming Objects
Active CANopen objects depending on the state of ACS:
The crosses in the table below indicate which CANopen objects are active in each state.
Initialization
Pre-Operational
Operational
Stopped
PDO Object
X
SDO Object
X
X
Boot-Up
X
X
NMT
X
X
X
1
The forthcoming ACS inclinometers will be programmed to a default of 1
2
The forthcoming ACS inclinometers will have a default setting of 125kB.
