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Wiki source code of 6.1 CANopen PDO protocol

Last modified by Admin on 2024/12/13 12:40
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1 (% data-numbered-headings-start="6" style="--numbered-headings-start: 5;font-size: 0px;color: rgba(0, 0, 0, 0.0);margin-bottom: 0px; margin-top: 0px;" %)
2 = Communication protocols =
3
4 (% data-numbered-headings-start="1" style="--numbered-headings-start: 0;font-size: 0px;color: rgba(0, 0, 0, 0.0);margin-bottom: 0px; margin-top: 0px;" %)
5 == CANopen PDO protocol ==
6
7 === General information ===
8
9 The BMS Main 3X device supports CiA 301 CANopen protocol for configuring and monitoring the battery system.
10
11 The communication parameters of the device are:
12
13 * CAN speed – 125, 250 (by default), 500 or 1000 kbps.
14 * COBID of the device by default – 64 (0x40).
15
16 The BMS Main 3X supports the following features:
17
18 * SDO protocol (for configuring the system).
19 * PDO protocol (for interacting with external devices).
20 * Sync.
21 * Heartbeat producer.
22 * Heartbeat consumer.
23
24 The BMS Main 3X transmits TPDO packets on every Sync message (CANID = 0x80, data length is 0). The device can send Sync messages itself.
25
26 There is the description of the parameters in the TPDO packets below. Column "Parameter type" contains an integer type of the parameter:
27
28 * U8 – unsigned 8–bit integer;
29 * U16 – unsigned 16–bit integer;
30 * S16 – signed 16–bit integer;
31 * U32 – unsigned 32–bit integer.
32
33 The bytes order of the word is **little endian**.
34
35 === TPDO packets ===
36
37 ==== CANID ~= 0x180+COBID (0x1C0 by default) ====
38
39 Packet length – 8 bytes.
40
41 Packet content:
42
43 |(% style="width:56px" %)**Byte number**|(% style="width:348px" %)**Parameter name**|(% style="width:81px" %)**Parameter type**|**Converting**
44 |(% style="width:56px" %)**0**|(% style="width:348px" %)(((
45 Discrete input signals 1 (bitfield):
46
47 bit 0 – signal “Battery cover”;
48
49 bit 1 – signal “Charge request”;
50
51 bit 2 – signal “Precharge request”;
52
53 bit 3 – signal “Discharge request”;
54
55 bit 4 – signal “CH contactor feedback”;
56
57 bit 5 – signal “DCH contactor feedback”;
58
59 bit 6 – signal “CH/DCH contactor feedback”;
60
61 bit 7 – signal “Insulation status”.
62 )))|(% style="width:81px" %)U8|
63 |(% style="width:56px" %)**1–2**|(% style="width:348px" %)Battery current|(% style="width:81px" %)S16|0.1A/bit
64 |(% style="width:56px" %)**3**|(% style="width:348px" %)Minimum cell temperature|(% style="width:81px" %)S8|1ºC/bit
65 |(% style="width:56px" %)**4**|(% style="width:348px" %)Maximum cell temperature|(% style="width:81px" %)S8|1ºC/bit
66 |(% style="width:56px" %)**5**|(% style="width:348px" %)State of charge (SOC)|(% style="width:81px" %)U8|1%/bit
67 |(% style="width:56px" %)**6–7**|(% style="width:348px" %)Battery voltage|(% style="width:81px" %)U16|0.1V/bit
68
69 ==== CANID ~= 0x280+COBID (0x2A0 by default) ====
70
71 Packet length – 8 bytes.
72
73 Packet content:
74
75 (% style="width:572px" %)
76 |(% style="width:63px" %)**Byte number**|(% style="width:345px" %)**Parameter name**|(% style="width:79px" %)**Parameter type**|(% style="width:76px" %)**Converting**
77 |(% style="width:63px" %)**0–3**|(% style="width:345px" %)(((
78 Internal signals (bitfield):
79
80 bit 0 – signal “Init” (current sensor calibration or battery modules scanning is performed);
81
82 bit 1 – signal “Charging” (0 – open, 1 – closed);
83
84 bit 2 – signal “Discharging” (0 – open, 1 – closed);
85
86 bit 3 – signal “Charging current present”;
87
88 bit 4 – signal “Discharging current present”;
89
90 bit 5 – signal “Charging/Discharging” (0 – open, 1 – closed);
91
92 bit 6 – signal “Precharging” (0 – open, 1 – closed);
93
94 bit 7 – signal “Interlock”;
95
96 bit 8 – signal “Fuse 1”;
97
98 bit 9 – signal “Fuse 2”;
99
100 bit 10 – signal “Fuse 3”;
101
102 bit 11 – signal “Heater” (0 – off, 1 – on);
103
104 bit 12 – signal “Cooler” (0 – off, 1 – on);
105
106 bit 13 – signal “Main contactor” (0 – open, 1 – closed);
107
108 bit 14 – signal “Service reset”;
109
110 bit 15 – signal “Coolant pump”;
111
112 bits 16-31 – not used.
113 )))|(% style="width:79px" %)U32|(% style="width:76px" %)
114 |(% style="width:63px" %)**4–7**|(% style="width:345px" %)(((
115 Errors 1 (bitfield):
116
117 bit 0 – error “Battery cover”;
118
119 bit 1 – error “Modules offline”;
120
121 bit 2 – “Critical error”;
122
123 bit 3 – error “Voltage unbalance (CH)”;
124
125 bit 4 – error “Voltage unbalance (DCH)”;
126
127 bit 5 – error “Current unbalance (CH)”;
128
129 bit 6 – error “Current unbalance (DCH)”;
130
131 bit 7 – error “Charging current unbalance”;
132
133 bit 8 – error “Discharging current unbalance”;
134
135 bit 9 – reserved (set to 0);
136
137 bit 10 – “CH contactor feedback error”;
138
139 bit 11 – “DCH contactor feedback error”;
140
141 bit 12 – “CH/DCH contactor feedback error”;
142
143 bit 13 – “Insulation fault”;
144
145 bit 14 – error “WDT reset”;
146
147 bit 15 – error “Overcurrent”;
148
149 bit 16 – error “Power switch error”;
150
151 bit 17 – error “High humidity”;
152
153 bit 18 – error “Water”;
154
155 bit 19 – error “Short circuit”;
156
157 bit 20 – error “Contactor high temperature”;
158
159 bit 21 – error “Stuck contactor”;
160
161 bit 22 – “HVIL error”;
162
163 bit 23 – “ADC error”;
164
165 bit 24 – “Current sensor error”;
166
167 bit 25 – “Mount error”;
168
169 bit 26 – “FS error”;
170
171 bit 27 – “High voltage fault”;
172
173 bit 28 – “PCH contactor feedback error”;
174
175 bit 29 – “Main contactor feedback error”;
176
177 bit 30 – “Precharge error”;
178
179 bit 31 – “Current limit error”.
180 )))|(% style="width:79px" %)U32|(% style="width:76px" %)
181
182 ==== CANID ~= 0x380+COBID (0x3A0 by default) ====
183
184 Packet length – 8 bytes.
185
186 Packet content:
187
188 |(% style="width:66px" %)**Byte number**|(% style="width:339px" %)**Parameter name**|(% style="width:81px" %)**Parameter type**|(% style="width:85px" %)**Converting**
189 |(% style="width:66px" %)**0–3**|(% style="width:339px" %)(((
190 Errors 2 (bitfield):
191
192 bit 0 – “Power fault”;
193
194 bits 1-31 – not used.
195 )))|(% style="width:81px" %)U32|(% style="width:85px" %)
196 |(% style="width:66px" %)**4-5**|(% style="width:339px" %)(((
197 Discrete input signals 2 (bitfield):
198
199 bit 0 – signal “Join to charge”;
200
201 bit 1 – signal “Join to discharge;
202
203 bit 2 – signal “PCH contactor feedback”;
204
205 bit 3 – signal “Main contactor feedback”;
206
207 bit 4 – signal “Interlock”;
208
209 bit 5 – signal “Power down request”;
210
211 bits 6-15 – not used.
212 )))|(% style="width:81px" %)U16|(% style="width:85px" %)
213 |(% style="width:66px" %)**6-7**|(% style="width:339px" %)Reserved|(% style="width:81px" %)U16|(% style="width:85px" %)