Object Dictionary Essentials

CAN baudrate

The baudrate of each CAN bus can be configured separately.

For setting CAN1 baudrate, the object is 0x4051:0x03.
For setting CAN2 baudrate, the object is 0x4051:0x04.

Both objects are configured in the same way.

kb/s	Value
10	8
20	7
50	6
100	5
125	4
250	3 (default)
500	2
800	1
1000	0

For example, to set CAN1 baudrate to 1Mb/s, write 0 to 0x4051:0x03.

CAN bus error handling

There are two objects that may be used to alter the response of the CANlink® wireless 4000 when the CAN bus enters passive or error states.

• 0x4054:0x11 is the period after which the device automatically resets the CAN controller to force-recover from PASSIVE or BUSOFF states.
  This is 0 (disabled) by default.
  Minimum valid value is 1000 (ms).

• 0x4054:0x12 drops all CAN data when in PASSIVE or BUSOFF state.
  When the bus recovers, no old data will be sent wirelessly.
  This is enabled by default.

If there is a CAN network issue that causes a bus error, enabling 0x4054:0x11 [CAN error recovery latency] can force the CANlink® wireless 4000 out of that state (at a period specified ), regardless of the state of other devices on that bus.