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Changes for page 4. CANopen protocol

Last modified by Admin on 2025/12/04 14:02
From version 2.2
edited by Admin
on 2024/12/12 13:43
Change comment: Update document after refactoring.
To version 5.1
edited by Admin
on 2025/12/04 14:02
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... ... @@ -3,7 +3,7 @@
3 3  
4 4  == General information ==
5 5  
6 -The BMS IMD 1.x device supports CiA 301 CANopen protocol for configuring and monitoring its state.
6 +The BMS IMD device supports CiA 301 CANopen protocol for configuring and monitoring its state.
7 7  
8 8  The communication parameters of the device are:
9 9  
... ... @@ -10,7 +10,7 @@
10 10  * CAN speed – 125, 250 (by default), 500 or 1000 kbps.
11 11  * Device COBID by default – 22 (0x16).
12 12  
13 -The BMS IMD 1.x supports the following features:
13 +The BMS IMD supports the following features:
14 14  
15 15  * SDO protocol (for configuring the device).
16 16  * PDO protocol (for interacting with external devices).
... ... @@ -148,13 +148,41 @@
148 148  An example of setting ALARM_RESISTANCE to 50 kOhm (0x0032):
149 149  
150 150  | |**Byte 0**|**Byte 1**|**Byte 2**|**Byte 3**|**Byte 4**|**Byte 5**|**Byte 6**|**Byte 7**
151 -|**Command**|0x2B|0x10|0x40|0x01|**0x32**|**0x00**|0x00|0x00
152 -|**Answer**|0x60|0x10|0x40|0x01|0x00|0x00|0x00|0x00
151 +|(((
152 +**Command**
153 153  
154 +
155 +CAN ID = 0x600 + __COBID__
156 +
157 +~= 0x616 (by default)
158 +)))|0x2B|0x10|0x40|0x01|**0x32**|**0x00**|0x00|0x00
159 +|(((
160 +**Answer**
161 +
162 +
163 +CAN ID = 0x580 + __COBID__
164 +
165 +~= 0x596 (by default)
166 +)))|0x60|0x10|0x40|0x01|0x00|0x00|0x00|0x00
167 +
154 154  An example of setting WARNING_RESISTANCE to 100 kOhm (0x0064):
155 155  
156 156  | |**Byte 0**|**Byte 1**|**Byte 2**|**Byte 3**|**Byte 4**|**Byte 5**|**Byte 6**|**Byte 7**
157 -|**Command**|0x2B|0x10|0x40|0x02|**0x64**|**0x00**|0x00|0x00
158 -|**Answer**|0x60|0x10|0x40|0x02|0x00|0x00|0x00|0x00
171 +|(((
172 +**Command**
159 159  
174 +
175 +CAN ID = 0x600 + __COBID__
176 +
177 +~= 0x616 (by default)
178 +)))|0x2B|0x10|0x40|0x02|**0x64**|**0x00**|0x00|0x00
179 +|(((
180 +**Answer**
181 +
182 +
183 +CAN ID = 0x580 + __COBID__
184 +
185 +~= 0x596 (by default)
186 +)))|0x60|0x10|0x40|0x02|0x00|0x00|0x00|0x00
187 +
160 160