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Wiki source code of 6.1 CANopen PDO protocol

Last modified by Admin on 2025/02/28 10:26
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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;" %)
Admin 7.1 5 == CANopen PDO protocol ==
Admin 1.1 6
Admin 6.1 7 (% class="wikigeneratedid" %)
8 [[CANopen_PDO_Main_Mini.dbc>>FileManager.CANopen_PDO_Main_Mini\.dbc]]
9
Admin 1.1 10 === General information ===
11
12 The BMS Mini device supports CiA 301 CANopen protocol for configuring and monitoring the battery system.
13
14 The communication parameters of the device are:
15
16 * CAN speed – 125, 250 (by default), 500 or 1000 kbps.
17 * COBID of the device (by default) – 32 (0x20).
18
19 The BMS Mini supports the following features:
20
21 * SDO protocol (for configuring the system);
22 * PDO protocol (for interacting with external devices);
23 * Sync;
24 * Heartbeat producer;
25 * Heartbeat consumer.
26
27 The BMS Mini transmits TPDO packets on every Sync message (CANID = 0x80, data length is 0). The device can send Sync messages itself.
28
29 There is the description of the parameters in the TPDO packets below. Column "Parameter type" contains an integer type of the parameter:
30
31 * U8 – unsigned 8–bit integer;
32 * U16 – unsigned 16–bit integer;
33 * S16 – signed 16–bit integer;
34 * U32 – unsigned 32–bit integer.
35
36 Words are in the **little endian**.
37
38 === TPDO packets ===
39
40 ==== CANID ~= 0x180+COBID (0x1A0 by default) ====
41
42 Packet length – 8 bytes.
43
44 Packet content:
45
46 (% style="width:524px" %)
47 |**Byte number**|**Parameter name**|(% style="width:116px" %)**Parameter type**|(% style="width:93px" %)**Converting**
48 |**0**|(((
49 Discrete input signals 1 (bitfield):
50
51 bit 0 – “Battery cover”;
52
53 bit 1 – “Charger connected”;
54
Admin 3.1 55 bit 2 – “Power up/down request”;
Admin 1.1 56
57 bit 3 – “Inhibit charging”;
58
59 bit 4 – “Inhibit discharging”;
60
Admin 3.1 61 bit 5 – reserved (set to 0);
Admin 1.1 62
Admin 3.1 63 bit 6 – reserved (set to 0);
Admin 1.1 64
65 bit 7 – “Insulation status”.
66 )))|(% style="width:116px" %)U8|(% style="width:93px" %)
67 |**1–2**|Battery current|(% style="width:116px" %)S16|(% style="width:93px" %)0.1A/bit
68 |**3**|Minimum cell temperature|(% style="width:116px" %)S8|(% style="width:93px" %)1ºC/bit
69 |**4**|Maximum cell temperature|(% style="width:116px" %)S8|(% style="width:93px" %)1ºC/bit
70 |**5**|State of charge (SOC)|(% style="width:116px" %)U8|(% style="width:93px" %)1%/bit
71 |**6–7**|Battery voltage|(% style="width:116px" %)U16|(% style="width:93px" %)0.1V/bit
72
73 ==== CANID ~= 0x280+COBID (0x2A0 by default) ====
74
75 Packet length – 8 bytes.
76
77 Packet content:
78
79 (% style="width:651px" %)
80 |**Byte number**|(% style="width:332px" %)**Parameter name**|(% style="width:121px" %)**Parameter type**|(% style="width:95px" %)**Converting**
81 |**0–3**|(% style="width:332px" %)(((
82 Internal signals (bitfield):
83
84 bit 0 – “Low SOC”;
85
86 bit 1 – “High charging current”;
87
88 bit 2 – “Charging” (0 – open, 1 – closed);
89
90 bit 3 – “Allow charging” (0 – open, 1 – closed);
91
92 bit 4 – “Charging current present”;
93
94 bit 5 – “Discharging” (0 – open, 1 – closed);
95
96 bit 6 – “Discharging current present”;
97
Admin 4.1 98 bit 7 – “Voltage too high” (EV);
Admin 1.1 99
Admin 4.1 100 bit 8 – “Heater” (0 – off, 1 – on);
Admin 1.1 101
Admin 4.1 102 bit 9 – “Cooler” (0 – off, 1 – on);
Admin 1.1 103
104 bit 10 – “HYG shutdown”, command from the HYG forklift to open the discharging contactor;
105
106 bit 11 – “Init”, initialization signal (during the initialization current sensor is calibrating and BMS Logic devices are scanning);
107
108 bit 12 – “Precharging” (0 – open, 1 – closed);
109
110 bit 13 – “Combilift shutdown”, command from the Combilift forklift to open the discharging contactor;
111
112 bit 14 – “Cell analysis”, signal of started analysis of the cells;
113
Admin 4.1 114 bit 15 – reserved (set to 0);
Admin 1.1 115
Admin 4.1 116 bit 16 – reserved (set to 0);
Admin 1.1 117
Admin 4.1 118 bit 17 – “Discharging (AUX)” (0 – open, 1 – closed);
Admin 1.1 119
120 bit 18 – “Acknowledgement of power down”;
121
122 bit 19 – “Crown EWS”;
123
124 bit 20 – “Main contactor” (0 – open, 1 – closed);
125
126 bit 21 – “Service reset”;
127
128 bit 22 – “Charging/Discharging” (0 – open, 1 – closed);
129
130 bit 23 – “Ready to charge” (the voltage of the cells is less than the threshold value and there are no errors that prohibit charging);
131
132 bit 24 – “Ready to discharge” (the voltage of the cells is greater than the threshold value and there are no errors that prohibit discharging);
133
134 bit 25 – “Power up”;
135
Admin 4.1 136 bit 26 – “External 1”;
137
138 bits 27–31 – reserved.
Admin 1.1 139 )))|(% style="width:121px" %)U32|(% style="width:95px" %)
140 |**4–7**|(% style="width:332px" %)(((
141 Errors register 1 (bitfield):
142
143 bit 0 – “Overcurrent”;
144
145 bit 1 – “Undervoltage”;
146
147 bit 2 – “Overvoltage”;
148
149 bit 3 – “Low DCH temperature”, temperature is too low for discharging;
150
151 bit 4 – “High DCH temperature”, temperature is too high for discharging;
152
153 bit 5 – “Battery cover”;
154
Admin 4.1 155 bit 6 – reserved (set to 0);
Admin 1.1 156
Admin 4.1 157 bit 7 – reserved (set to 0);
Admin 1.1 158
Admin 4.1 159 bit 8 – reserved (set to 0);
Admin 1.1 160
Admin 4.1 161 bit 9 – “Cell monitor offline”, connection with the cell monitor is lost;
Admin 1.1 162
163 bit 10 – “Critical error”;
164
165 bit 11 – “Crown error”, connection with the Crown forklift is lost;
166
167 bit 12 – “Cell count error”, number of cells is incorrect;
168
169 bit 13 – “HYG offline”, connection with the HYG forklift is lost;
170
171 bit 14 – “Need acknowledgement”, errors were detected in the past and should be acknowledged;
172
173 bit 15 – “Combilift offline”, connection with the Combilift forklift is lost;
174
175 bit 16 – “Short circuit”;
176
177 bit 17 – “High contactor temperature”, the discharging contactor is overheated;
178
Admin 4.1 179 bit 18 – reserved (set to 0);
Admin 1.1 180
Admin 4.1 181 bit 19 – “ADC error”, battery current cannot be measured by the ADC;
Admin 1.1 182
183 bit 20 – “Current sensor error”, wires which connect the current sensor with the BMS are damaged;
184
185 bit 21 – “CH contactor cycles error”, the charging contactor switches very often;
186
187 bit 22 – “DCH contactor cycles error”, the discharging contactor switches very often;
188
189 bit 23 – “Shunt offline”, connection with the BMS Current sensor is lost;
190
191 bit 24 – “Shunt error”, internal error of the BMS Current sensor;
192
Admin 4.1 193 bit 25 – reserved (set to 0);
Admin 1.1 194
195 bit 26 – “WDT reset”, device is reset by the watchdog timer;
196
197 bit 27 – “No temperature sensors”;
198
199 bit 28 – “Temperature sensor is shorted”;
200
201 bit 29 – “Spirit offline”, connection with the Spirit truck is lost;
202
203 bits 30–31 – reserved.
204 )))|(% style="width:121px" %)U32|(% style="width:95px" %)
205
206 ==== CANID ~= 0x380+COBID (0x3A0 by default) ====
207
208 Packet length – 8 bytes.
209
210 Packet content:
211
212 (% style="width:656px" %)
213 |**Byte number**|(% style="width:337px" %)**Parameter name**|(% style="width:118px" %)**Parameter type**|(% style="width:100px" %)**Converting**
214 |**0–3**|(% style="width:337px" %)(((
215 Errors register 2 (bitfield):
216
217 bit 0 – “Low CH temperature”, temperature is too low for charging;
218
219 bit 1 – “High CH temperature”, temperature is too high for charging;
220
221 bit 2 – “SD mount error”;
222
223 bit 3 – “SD read/write error”;
224
225 bit 4 – “Unallowable charging”, charging the battery through the discharging contactor;
226
227 bit 5 – “Stuck contactor”;
228
Admin 5.1 229 bit 6 – reserved (set to 0);
Admin 1.1 230
Admin 5.1 231 bit 7 – reserved (set to 0);
Admin 1.1 232
233 bit 8 – “Insulation fault”;
234
Admin 5.1 235 bit 9 – reserved (set to 0);
Admin 1.1 236
Admin 5.1 237 bit 10 – reserved (set to 0);
Admin 1.1 238
Admin 5.1 239 bit 11 – reserved (set to 0);
Admin 1.1 240
Admin 5.1 241 bit 12 – "Contactor feedback error";
Admin 1.1 242
243 bit 13 – “General error”;
244
Admin 5.1 245 bit 14 – reserved (set to 0);
246
247 bit 15 – reserved (set to 0);
248
249 bit 16 – reserved (set to 0);
250
251 bit 17 – "Precharge error";
252
253 bit 18 – reserved (set to 0);
254
255 bit 19 – "Current limit error";
256
257 bits 20-31 — reserved.
Admin 1.1 258 )))|(% style="width:118px" %)U32|(% style="width:100px" %)
259 |**4-5**|(% style="width:337px" %)(((
260 Discrete input signals 2 (bitfield):
261
262 bit 0 – “Charge request”;
263
264 bit 1 – “Precharge request”;
265
266 bit 2 – “Discharge request”;
267
Admin 3.1 268 bit 3 – reserved (set to 0);
Admin 1.1 269
Admin 3.1 270 bit 4 – reserved (set to 0);
Admin 1.1 271
Admin 3.1 272 bit 5 – reserved (set to 0);
Admin 1.1 273
274 bit 6 – “Interlock”;
275
276 bit 7 – “Fuse 1”;
277
278 bit 8 – “Fuse 2”;
279
280 bit 9 – “Fuse 3”;
281
282 bit 10 – “Circuit breaker status”;
283
Admin 3.1 284 bit 11 – "Balancing request";
285
286 bit 12 – "Close Main contactor";
287
288 bit 13 – "Close External 1";
289
290 bits 14-15 – reserved.
Admin 1.1 291 )))|(% style="width:118px" %)U16|(% style="width:100px" %)
292 |**6-7**|(% style="width:337px" %)Reserved|(% style="width:118px" %)U16|(% style="width:100px" %)