ACS CANopen Manual
Version 20110928
15 of 44
AC C E L E N S ( AC S ) C AN o p e n
4.3. Programmable Parameters
Objects are based on the CiA 410 DS V1.2:
CANopen profile for inclinometer (
www.can-
cia.org
). The following table gives the list of
command identifiers sent and received by the
inclinometer. These are the standard commands
used for communication and transmission between
a master and slave in the CAN bus. It is quite
useful for the analysis of communication logs
between the master and slave and for better
understanding of the system under observation.
Command
Function
Telegram
Description
22h
Domain Download
Request
Parameter to ACS
60h
Domain Download
Confirmation
Parameter received
40h
Domain Upload
Request
Parameter request
43h, 4Bh, 4Fh (*)
Domain Upload
Reply
Parameter to Master
80 h
Warning
Reply
Transmission error
Table 1: Command Description
(*)The value of the command byte depends on the data length of the called parameter.
Command
Data length
Data length
43h
4 Byte
Unsigned 32
4Bh
2 Byte
Unsigned 16
4Fh
1 Byte
Unsigned 8
Table 2: Data Length of Commands
The following list of objects is the most frequently used objects while programming the CANopen ACS
inclinometer. The whole list of objects is available in Appendix A.
Position Value
(Objects 6010h, 6020h)
The objects 6010h and 6020h are used to get the inclination positions
from ACS080 in the range of ±80° and the object 6010h is used to get the
inclination position from ACS360 in the range of 0 - 360°.
Store Parameters
(Objects 1010h, 2300h)
These objects are used to store any re-configured parameters. Object
1010h just stores the parameters whereas 2300h stores and saves the
parameters upon reset of the ACS.
