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Wiki source code of 6.1 CANopen PDO protocol

Version 5.1 by Admin on 2024/12/17 08:19
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Admin 2.1 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;" %)
Admin 1.1 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
Admin 3.1 54 bit 2 – “Power up/down request”;
Admin 1.1 55
56 bit 3 – “Inhibit charging”;
57
58 bit 4 – “Inhibit discharging”;
59
Admin 3.1 60 bit 5 – reserved (set to 0);
Admin 1.1 61
Admin 3.1 62 bit 6 – reserved (set to 0);
Admin 1.1 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
Admin 4.1 97 bit 7 – “Voltage too high” (EV);
Admin 1.1 98
Admin 4.1 99 bit 8 – “Heater” (0 – off, 1 – on);
Admin 1.1 100
Admin 4.1 101 bit 9 – “Cooler” (0 – off, 1 – on);
Admin 1.1 102
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
Admin 4.1 113 bit 15 – reserved (set to 0);
Admin 1.1 114
Admin 4.1 115 bit 16 – reserved (set to 0);
Admin 1.1 116
Admin 4.1 117 bit 17 – “Discharging (AUX)” (0 – open, 1 – closed);
Admin 1.1 118
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
Admin 4.1 135 bit 26 – “External 1”;
136
137 bits 27–31 – reserved.
Admin 1.1 138 )))|(% style="width:121px" %)U32|(% style="width:95px" %)
139 |**4–7**|(% style="width:332px" %)(((
140 Errors register 1 (bitfield):
141
142 bit 0 – “Overcurrent”;
143
144 bit 1 – “Undervoltage”;
145
146 bit 2 – “Overvoltage”;
147
148 bit 3 – “Low DCH temperature”, temperature is too low for discharging;
149
150 bit 4 – “High DCH temperature”, temperature is too high for discharging;
151
152 bit 5 – “Battery cover”;
153
Admin 4.1 154 bit 6 – reserved (set to 0);
Admin 1.1 155
Admin 4.1 156 bit 7 – reserved (set to 0);
Admin 1.1 157
Admin 4.1 158 bit 8 – reserved (set to 0);
Admin 1.1 159
Admin 4.1 160 bit 9 – “Cell monitor offline”, connection with the cell monitor is lost;
Admin 1.1 161
162 bit 10 – “Critical error”;
163
164 bit 11 – “Crown error”, connection with the Crown forklift is lost;
165
166 bit 12 – “Cell count error”, number of cells is incorrect;
167
168 bit 13 – “HYG offline”, connection with the HYG forklift is lost;
169
170 bit 14 – “Need acknowledgement”, errors were detected in the past and should be acknowledged;
171
172 bit 15 – “Combilift offline”, connection with the Combilift forklift is lost;
173
174 bit 16 – “Short circuit”;
175
176 bit 17 – “High contactor temperature”, the discharging contactor is overheated;
177
Admin 4.1 178 bit 18 – reserved (set to 0);
Admin 1.1 179
Admin 4.1 180 bit 19 – “ADC error”, battery current cannot be measured by the ADC;
Admin 1.1 181
182 bit 20 – “Current sensor error”, wires which connect the current sensor with the BMS are damaged;
183
184 bit 21 – “CH contactor cycles error”, the charging contactor switches very often;
185
186 bit 22 – “DCH contactor cycles error”, the discharging contactor switches very often;
187
188 bit 23 – “Shunt offline”, connection with the BMS Current sensor is lost;
189
190 bit 24 – “Shunt error”, internal error of the BMS Current sensor;
191
Admin 4.1 192 bit 25 – reserved (set to 0);
Admin 1.1 193
194 bit 26 – “WDT reset”, device is reset by the watchdog timer;
195
196 bit 27 – “No temperature sensors”;
197
198 bit 28 – “Temperature sensor is shorted”;
199
200 bit 29 – “Spirit offline”, connection with the Spirit truck is lost;
201
202 bits 30–31 – reserved.
203 )))|(% style="width:121px" %)U32|(% style="width:95px" %)
204
205 ==== CANID ~= 0x380+COBID (0x3A0 by default) ====
206
207 Packet length – 8 bytes.
208
209 Packet content:
210
211 (% style="width:656px" %)
212 |**Byte number**|(% style="width:337px" %)**Parameter name**|(% style="width:118px" %)**Parameter type**|(% style="width:100px" %)**Converting**
213 |**0–3**|(% style="width:337px" %)(((
214 Errors register 2 (bitfield):
215
216 bit 0 – “Low CH temperature”, temperature is too low for charging;
217
218 bit 1 – “High CH temperature”, temperature is too high for charging;
219
220 bit 2 – “SD mount error”;
221
222 bit 3 – “SD read/write error”;
223
224 bit 4 – “Unallowable charging”, charging the battery through the discharging contactor;
225
226 bit 5 – “Stuck contactor”;
227
Admin 5.1 228 bit 6 – reserved (set to 0);
Admin 1.1 229
Admin 5.1 230 bit 7 – reserved (set to 0);
Admin 1.1 231
232 bit 8 – “Insulation fault”;
233
Admin 5.1 234 bit 9 – reserved (set to 0);
Admin 1.1 235
Admin 5.1 236 bit 10 – reserved (set to 0);
Admin 1.1 237
Admin 5.1 238 bit 11 – reserved (set to 0);
Admin 1.1 239
Admin 5.1 240 bit 12 – "Contactor feedback error";
Admin 1.1 241
242 bit 13 – “General error”;
243
Admin 5.1 244 bit 14 – reserved (set to 0);
245
246 bit 15 – reserved (set to 0);
247
248 bit 16 – reserved (set to 0);
249
250 bit 17 – "Precharge error";
251
252 bit 18 – reserved (set to 0);
253
254 bit 19 – "Current limit error";
255
256 bits 20-31 — reserved.
Admin 1.1 257 )))|(% style="width:118px" %)U32|(% style="width:100px" %)
258 |**4-5**|(% style="width:337px" %)(((
259 Discrete input signals 2 (bitfield):
260
261 bit 0 – “Charge request”;
262
263 bit 1 – “Precharge request”;
264
265 bit 2 – “Discharge request”;
266
Admin 3.1 267 bit 3 – reserved (set to 0);
Admin 1.1 268
Admin 3.1 269 bit 4 – reserved (set to 0);
Admin 1.1 270
Admin 3.1 271 bit 5 – reserved (set to 0);
Admin 1.1 272
273 bit 6 – “Interlock”;
274
275 bit 7 – “Fuse 1”;
276
277 bit 8 – “Fuse 2”;
278
279 bit 9 – “Fuse 3”;
280
281 bit 10 – “Circuit breaker status”;
282
Admin 3.1 283 bit 11 – "Balancing request";
284
285 bit 12 – "Close Main contactor";
286
287 bit 13 – "Close External 1";
288
289 bits 14-15 – reserved.
Admin 1.1 290 )))|(% style="width:118px" %)U16|(% style="width:100px" %)
291 |**6-7**|(% style="width:337px" %)Reserved|(% style="width:118px" %)U16|(% style="width:100px" %)