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Wiki source code of 6.1 CANopen PDO protocol

Version 1.1 by Admin on 2024/12/16 10:58
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Admin 1.1 1 (% data-numbered-headings-start="5" style="--numbered-headings-start: 4;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 Mini 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) – 32 (0x20).
15
16 The BMS Mini 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 Mini 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 Words are in the **little endian**.
34
35 [[CANopen PDO dbc file>>attach:BMS Main 2.x - CANopen PDO.dbc]]
36
37 === TPDO packets ===
38
39 ==== CANID ~= 0x180+COBID (0x1A0 by default) ====
40
41 Packet length – 8 bytes.
42
43 Packet content:
44
45 (% style="width:524px" %)
46 |**Byte number**|**Parameter name**|(% style="width:116px" %)**Parameter type**|(% style="width:93px" %)**Converting**
47 |**0**|(((
48 Discrete input signals 1 (bitfield):
49
50 bit 0 – “Battery cover”;
51
52 bit 1 – “Charger connected”;
53
54 bit 2 – “Power down request”;
55
56 bit 3 – “Inhibit charging”;
57
58 bit 4 – “Inhibit discharging”;
59
60 bit 5 – “CH contactor feedback”;
61
62 bit 6 – “DCH contactor feedback”;
63
64 bit 7 – “Insulation status”.
65 )))|(% style="width:116px" %)U8|(% style="width:93px" %)
66 |**1–2**|Battery current|(% style="width:116px" %)S16|(% style="width:93px" %)0.1A/bit
67 |**3**|Minimum cell temperature|(% style="width:116px" %)S8|(% style="width:93px" %)1ºC/bit
68 |**4**|Maximum cell temperature|(% style="width:116px" %)S8|(% style="width:93px" %)1ºC/bit
69 |**5**|State of charge (SOC)|(% style="width:116px" %)U8|(% style="width:93px" %)1%/bit
70 |**6–7**|Battery voltage|(% style="width:116px" %)U16|(% style="width:93px" %)0.1V/bit
71
72 ==== CANID ~= 0x280+COBID (0x2A0 by default) ====
73
74 Packet length – 8 bytes.
75
76 Packet content:
77
78 (% style="width:651px" %)
79 |**Byte number**|(% style="width:332px" %)**Parameter name**|(% style="width:121px" %)**Parameter type**|(% style="width:95px" %)**Converting**
80 |**0–3**|(% style="width:332px" %)(((
81 Internal signals (bitfield):
82
83 bit 0 – “Low SOC”;
84
85 bit 1 – “High charging current”;
86
87 bit 2 – “Charging” (0 – open, 1 – closed);
88
89 bit 3 – “Allow charging” (0 – open, 1 – closed);
90
91 bit 4 – “Charging current present”;
92
93 bit 5 – “Discharging” (0 – open, 1 – closed);
94
95 bit 6 – “Discharging current present”;
96
97 bit 7 – “Increased voltage” (EV);
98
99 bit 8 – “High DCH temperature”;
100
101 bit 9 – “Cooler”, state of the cooler (0 – off, 1 – on);
102
103 bit 10 – “HYG shutdown”, command from the HYG forklift to open the discharging contactor;
104
105 bit 11 – “Init”, initialization signal (during the initialization current sensor is calibrating and BMS Logic devices are scanning);
106
107 bit 12 – “Precharging” (0 – open, 1 – closed);
108
109 bit 13 – “Combilift shutdown”, command from the Combilift forklift to open the discharging contactor;
110
111 bit 14 – “Cell analysis”, signal of started analysis of the cells;
112
113 bit 15 – “Balancing series 1”;
114
115 bit 16 – “Balancing series 2”;
116
117 bit 17 – “Discharging (AUX)” (0 – opened, 1 – closed);
118
119 bit 18 – “Acknowledgement of power down”;
120
121 bit 19 – “Crown EWS”;
122
123 bit 20 – “Main contactor” (0 – open, 1 – closed);
124
125 bit 21 – “Service reset”;
126
127 bit 22 – “Charging/Discharging” (0 – open, 1 – closed);
128
129 bit 23 – “Ready to charge” (the voltage of the cells is less than the threshold value and there are no errors that prohibit charging);
130
131 bit 24 – “Ready to discharge” (the voltage of the cells is greater than the threshold value and there are no errors that prohibit discharging);
132
133 bit 25 – “Power up”;
134
135 bits 26–31 – reserved.
136 )))|(% style="width:121px" %)U32|(% style="width:95px" %)
137 |**4–7**|(% style="width:332px" %)(((
138 Errors register 1 (bitfield):
139
140 bit 0 – “Overcurrent”;
141
142 bit 1 – “Undervoltage”;
143
144 bit 2 – “Overvoltage”;
145
146 bit 3 – “Low DCH temperature”, temperature is too low for discharging;
147
148 bit 4 – “High DCH temperature”, temperature is too high for discharging;
149
150 bit 5 – “Battery cover”;
151
152 bit 6 – “High humidity”;
153
154 bit 7 – “Water”;
155
156 bit 8 – “High logic temperature”, some BMS Logic device is overheated;
157
158 bit 9 – “Logic offline”, connection with some BMS Logic device is lost;
159
160 bit 10 – “Critical error”;
161
162 bit 11 – “Crown error”, connection with the Crown forklift is lost;
163
164 bit 12 – “Cell count error”, number of cells is incorrect;
165
166 bit 13 – “HYG offline”, connection with the HYG forklift is lost;
167
168 bit 14 – “Need acknowledgement”, errors were detected in the past and should be acknowledged;
169
170 bit 15 – “Combilift offline”, connection with the Combilift forklift is lost;
171
172 bit 16 – “Short circuit”;
173
174 bit 17 – “High contactor temperature”, the discharging contactor is overheated;
175
176 bit 18 – “Logic count error”, number of BMS Logic devices is incorrect;
177
178 bit 19 – “ADC error”, battery current cannot be measured by ADC;
179
180 bit 20 – “Current sensor error”, wires which connect the current sensor with the BMS are damaged;
181
182 bit 21 – “CH contactor cycles error”, the charging contactor switches very often;
183
184 bit 22 – “DCH contactor cycles error”, the discharging contactor switches very often;
185
186 bit 23 – “Shunt offline”, connection with the BMS Current sensor is lost;
187
188 bit 24 – “Shunt error”, internal error of the BMS Current sensor;
189
190 bit 25 – “Settings error”, checksum of the setting is incorrect;
191
192 bit 26 – “WDT reset”, device is reset by the watchdog timer;
193
194 bit 27 – “No temperature sensors”;
195
196 bit 28 – “Temperature sensor is shorted”;
197
198 bit 29 – “Spirit offline”, connection with the Spirit truck is lost;
199
200 bits 30–31 – reserved.
201 )))|(% style="width:121px" %)U32|(% style="width:95px" %)
202
203 ==== CANID ~= 0x380+COBID (0x3A0 by default) ====
204
205 Packet length – 8 bytes.
206
207 Packet content:
208
209 (% style="width:656px" %)
210 |**Byte number**|(% style="width:337px" %)**Parameter name**|(% style="width:118px" %)**Parameter type**|(% style="width:100px" %)**Converting**
211 |**0–3**|(% style="width:337px" %)(((
212 Errors register 2 (bitfield):
213
214 bit 0 – “Low CH temperature”, temperature is too low for charging;
215
216 bit 1 – “High CH temperature”, temperature is too high for charging;
217
218 bit 2 – “SD mount error”;
219
220 bit 3 – “SD read/write error”;
221
222 bit 4 – “Unallowable charging”, charging the battery through the discharging contactor;
223
224 bit 5 – “Stuck contactor”;
225
226 bit 6 – “CH contactor feedback error”;
227
228 bit 7 – “DCH contactor feedback error”;
229
230 bit 8 – “Insulation fault”;
231
232 bit 9 – “PCH contactor feedback error”;
233
234 bit 10 – “CH/DCH contactor feedback error”;
235
236 bit 11 – “Main contactor feedback error”;
237
238 bit 12 – reserved (set to 0);
239
240 bit 13 – “General error”;
241
242 bits 14-31 — reserved.
243 )))|(% style="width:118px" %)U32|(% style="width:100px" %)
244 |**4-5**|(% style="width:337px" %)(((
245 Discrete input signals 2 (bitfield):
246
247 bit 0 – “Charge request”;
248
249 bit 1 – “Precharge request”;
250
251 bit 2 – “Discharge request”;
252
253 bit 3 – “PCH contactor feedback”;
254
255 bit 4 – “CH/DCH contactor feedback”;
256
257 bit 5 – “Main contactor feedback”;
258
259 bit 6 – “Interlock”;
260
261 bit 7 – “Fuse 1”;
262
263 bit 8 – “Fuse 2”;
264
265 bit 9 – “Fuse 3”;
266
267 bit 10 – “Circuit breaker status”;
268
269 bits 11-15 – reserved.
270 )))|(% style="width:118px" %)U16|(% style="width:100px" %)
271 |**6-7**|(% style="width:337px" %)Reserved|(% style="width:118px" %)U16|(% style="width:100px" %)