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CANBUS Configuration

Settings for CANBUS apply only to Controllers with a CANBUS interface installed. Further, the CANBUS Configuration may only be set using the CANBUS interface.

After changing settings, the Controller must be reset (via power cycle or RESET command) before the new settings will take effect.

Note: the examples in this section assume the Controller's CANBUS address is 0x80 while the Host device is 0x90. Different values must be substituted if your CANBUS network is designed differently.

Configuration parameters are accessed using the Access CAN Parameter message.

Note

The examples on this page use a Host Device ID of 0x90, and a Controller address of 0x80. These values will vary according to the design of the CANBUS network.**

Available Info and Settings

0x02 Software Version Address

Applies to non-DSP controllers only.

Parameter: 0x02
B0 B1 B2 B3 B4 B5 B6 B7
0x49 {OP} {Parameter} 0 0 0 Minor Version Major Version

Example

Read the version

Command:    10EF8090 49 43 02 
Response:   10EF9080 49 43 05 00 00 00 02 03  Version 3.02

0x06 CANBUS Baud Rate

Parameter: 0x06
B0 B1 B2 B3 B4 B5 B6 B7
0x49 {OP} {Parameter} 0 Rate - - -

The Rate is an enumeration:

Rate Selected Baud Rate
0 125 Kb/s
1 250 Kb/s (default)
2 500 Kb/s
3 1 Mb/s

Example

Read the baud rate (250k)

Command:    10EF8090 49 43 06  
Response:   10EF9080 49 43 06 00 01 00 00 00

Write the baud rate (500K)

Command:    10EF8090 49 2B 06 00 02
Response:   10EF9080 49 2B 06 00 00 00 00 00

0x07 TX Message Priority

Parameter: 0x07
B0 B1 B2 B3 B4 B5 B6 B7
0x49 {OP} {Parameter} 0 Priority - - -

The Priority determines the J1939 priority used by the Controller when sending messages. Messages with higher priority are less likely to be delayed. Adjusting this value allows the system designer to indicate which messages are most important within a given system.

Priority may be set to a value between 0 and 7 inclusive. Zero indicates the highest priority.

0x09 Digital Control Options

Parameter: 0x09
B0 B1 B2 B3 B4 B5
0x49 {OP} {Parameter} 0 Flags Byte 1 Flags Byte 2

Flags is a bitmapped value. The default value is 0x0000.

NOTE: For dual motor controllers this command only affects the motor associated with the ID used. (V3.12 and later)

Byte If set to '1'
B4 Bits 0:3: Reserved (set to 0)
Bit 4: Enable Digital Control functions
Bit 5: Enable Digital Stop (if no Digital Control messages are received, motion is inhibited)
Bit 6: Zero throttle when flow of digital throttle commands stops.
Bit 7: Enable Drive Operation Lock. When set the motor will not run after power up until a digital throttle command is received.
B5 Bit 0: Set to 1 to automatically switch between digital and analog control depending on presence or absence of digital control messages.

Examples

Read digital control settings

Command:    10EF8090 49 43 09
Response:   10EF9080 49 43 09 00 70 00 00 00  
Digital commands enabled and auto quick stop and auto throttle to 0 after commands stop.

Set digital throttle to 0 when CAN throttle commands cease. Force controller to enable Digital Throttle when throttle commands start being received.

Command:    10EF8090 49 2B 09 00 05 01
Response:   10EF9080 49 2B 09 00 00 00

0x14 Status Message Configuration

Parameter: 0x14
B0 B1 B2 B3 B4
0x49 {OP} {Parameter} 0 MSG Enable Flags

MSG Enable Flags is a bitmapped value. All messages are enabled by default.

Bit Mask If set to '1'
0x01 Message FF00 Enabled
0x02 Message FF01 Enabled
0x04 Message FF02 Enabled
0x08 Message FF03 Enabled
0x10 Message FF04 Enabled
0x20 Message FF05 Enabled
0x40 Message FF06 Enabled
0x80 Reserved

Example

Enable Messages FF00 and FF05 only

Command:    10EF8090 49 2B 14 00 21 
Response:   10EF9080 49 2B 14 00 00