WCS-10 User manual
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Copyright © TK Engineering Oy 2009 - 2017
Table 34: Bit rate register enumeration for 50kbps
Nr Time quanta
Sample Point %
Register BTR0
Register BRT1
16
87,5 0x13
0x1C
16
75 0x13
0x3A
16
62,5 0x13
0x58
The new settings will apply after made a “Save configuration” request and when made a
software/hardware reboot.
4.3.3 Acceptance filter configurations first filter bank (0x50x1)
Table 35: 0x50x1 object description
Attribute
Value
Index
0x5011 (CAN1), 0x5021 (CAN2), 0x5031 (CAN3), 0x5041 (CAN4)
Name
Port [1..4] acceptance filter configuration
Object code
Variable
Data type
U32
Category
Optional
Table 36: 0x50x1 entry description
Attribute
Value
Sub-index
0x00
Access
RW
PDO mapping
No
Value range
U32, see Table 37
Default value
0xFFFFFFFF
HW acceptance filter is unsigned 32. See ref /2/ chapter 13.3.2.17 data sheet for details. The values
from the CANopen telegram are inserted into the register as follow:
Table 37: Acceptance register mapping
Data Byte
Acceptance Registers
Byte[0]
CANIDAR3
Byte[1]
CANIDAR2
Byte[2]
CANIDAR1
Byte[3]
CANIDAR0
NOTE: The hardware and software uses both banks. The new settings will apply after made a “Save
configuration” request and when made a software/hardware reboot.
