Introduction
After initialization, the PSC-CAN goes into pre-operational state.
During pre-operational state, the PSC-CAN can be configured using the
Service Device Objects (SDO). After configuration, the PSC-CAN can be
set to operational mode where the Process Data Objects (PDO) come
into operation.

Service Data Objects (SDO)
SDO data structure
Byte 8 |
Byte 7 |
Byte 6 |
Byte 5 |
Byte 4 |
Byte 3 |
Byte 2 |
Byte 1 |
Bit 8 |
Bit 7 |
Bit 6 |
Bit 5 |
Bit 4 |
Bit 3 |
Bit 2 |
Bit 1 |
|
|
|
|
|
|
|
css |
0 |
n |
e |
s |
Index |
Sub Index |
Data |
- css - Client Command Specifier
- SDO segment download
- Initialise download
- Initialise upload
- SDO segment upload
- Abort an SDO transfer
- n - number of bytes in the data part of the message which do not
contain data, only valid if e and s are set
- e - if set, all data exchanged is contained within the message.
If this bit is cleared then the message is a segmented transfer where
the data does not fit into one message and multiple messages are used.
- s - if set, indicates that the data size is specified in n (if e
is set) or in the data part of the message
- Index - the object directory index of the data to be accessed
- Sub Index - the subindex of the object directory variable
- Data - contains the data to be uploaded in the case of an
expedited transfer (e is set), or the size of the data to be uploaded
(s is set, e is not set)
Object Directory - Layout
Index |
Object |
0 |
Not used |
0x0001 - 0x025F |
Data types |
0x0260 - 0x0FFF |
Reserved |
0x1000 - 0x1FFF |
Communication profile |
0x2000 - 0x5FFF |
Manufacturer-specific
profile |
0x6000 - 0x9FFF |
Standardised device
profile |
0xA000 - 0xBFFF |
Standardised interface
profile |
0xC000 - 0xFFFF |
Reserved |
Object Directory - Data Types
Index |
Object |
Name |
Mnemonic |
0x02 |
DEFTYPE |
8 bit Integer |
I8 |
0x03 |
DEFTYPE |
16 bit Integer |
I16 |
0x04 |
DEFTYPE |
32 bit Integer |
I32 |
0x05 |
DEFTYPE |
8 bit unsigned |
U8 |
0x06 |
DEFTYPE |
16 bit unsigned |
U16 |
0x07 |
DEFTYPE |
32 bit unsigned |
U32 |
0x08 |
DEFTYPE |
Floating point |
. |
0x09 |
DEFTYPE |
String |
$ |
Object Directory - Communication profile
Index |
Sub-index |
Name |
Attribute |
Data Type |
Default value |
0x1000 |
0 |
Device Type |
C |
U32 |
0x000F0191 |
0x1001 |
0 |
Error Register |
RO |
U8 |
0x00 |
0x1003 |
0 |
Number of Errors |
RO |
U8 |
0x00 |
0x1003 |
0x01 to 0x10 |
Standard Error Field |
RO |
U32 |
0x00 |
0x1005 |
0 |
Sync COB-ID |
RW |
U32 |
0x00000080 |
0x1008 |
0 |
Device Name |
C |
$ |
SupplyCom 1 |
0x1009 |
0 |
Hardware Version |
C |
$ |
|
0x100A |
0 |
Software Version |
C |
$ |
1.0 |
0x100C |
0 |
Guard Time |
RW |
U16 |
|
0x100D |
0 |
Life Time Factor |
RW |
U8 |
0 |
0x1014 |
0 |
Emergency COB-ID |
RW |
U32 |
NODEID + 0x00000080 |
0x1017 |
0 |
Heartbeat |
RW |
U16 |
0x0000 |
0x1018 |
0 |
Identity Object - Nr.
of Entries |
RO |
U8 |
0x04 |
0x1018 |
1 |
Vendor ID |
RO |
U32 |
0x000001A2 |
0x1018 |
2 |
Product Code |
RO |
U32 |
0x00000000 |
0x1018 |
3 |
Revision number |
RO |
U32 |
0x00000000 |
0x1018 |
4 |
Serial Number |
RO |
U32 |
0x00000000 |
|
0x1400 |
0 |
PDO1: receive
communication parameter |
RO |
U8 |
0x02 |
0x1400 |
1 |
COB-ID |
RW |
U32 |
NODEID + 0x00000200 |
0x1400 |
2 |
Transmission Type |
RW |
U8 |
0xFF |
0x1401 |
0 |
PDO2: receive
communication parameter |
RO |
U8 |
0x02 |
0x1401 |
1 |
COB-ID |
RW |
U32 |
NODEID + 0x00000300 |
0x1401 |
2 |
Transmission Type |
RW |
U8 |
0xFF |
|
0x1600 |
0 |
PDO1: receive mapping
parameter |
RO |
U8 |
0x02 |
0x1600 |
1 |
PDO mapping entry |
RO |
|
0x62000108 |
0x1600 |
2 |
PDO mapping entry |
RO |
I32 |
0x62000208 |
0x1601 |
0 |
PDO2: receive mapping
parameter |
RO |
U8 |
0x02 |
0x1601 |
1 |
PDO mapping entry |
RO |
|
0x64110120 |
0x1601 |
2 |
PDO mapping entry |
RO |
I32 |
0x64110220 |
|
0x1800 |
0 |
PDO1: transmit
communication parameter |
RO |
U8 |
0x02 |
0x1800 |
1 |
COB-ID |
RW |
U32 |
NODEID+0x40000180 |
0x1800 |
2 |
Transmission Type |
RW |
U8 |
0xFF |
0x1801 |
0 |
PDO2: transmit
communication parameter |
RO |
U8 |
0x02 |
0x1801 |
1 |
COB-ID |
RW |
U32 |
NODEID+0x40000280 |
0x1801 |
2 |
Transmission Type |
RW |
U8 |
0xFF |
|
0x1A00 |
0 |
PDO1: transmit mapping
parameter |
RO |
U8 |
0x02 |
0x1A00 |
1 |
PDO1: mapping entry |
RO |
U32 |
0x60000108 |
0x1A00 |
2 |
PDO1: mapping entry |
RO |
U32 |
0x60000208 |
0x1A01 |
0 |
PDO1: transmit mapping
parameter |
RO |
U8 |
0x02 |
0x1A01 |
1 |
PDO1: mapping entry |
RO |
U32 |
0x64010120 |
0x1A01 |
2 |
PDO1: mapping entry |
RO |
U32 |
0x64010220 |
1 The PSC-CAN is based on the
SupplyCom interface as designed by SysDesign GmbH.
RO - Read Only
RW - Read/Write
C - Constant
Object Directory - Standardised device profile
Index |
Sub-index |
Name |
Attribute |
Data Type |
Default value |
0x6000 |
0 |
Digital input: number
of entries |
RO |
U8 |
0x02 |
0x6000 |
1 |
Digital input 1 |
RO |
U8 |
|
0x6000 |
2 |
Digital input 2 |
RO |
U8 |
|
|
0x6200 |
0 |
Digital output: number
of entries |
RO |
U8 |
0x02 |
0x6200 |
1 |
Digital output 1 |
RW |
U8 |
|
0x6200 |
2 |
Digital output 2 |
RW |
U8 |
|
|
0x6401 |
0 |
Analogue input: number
of entries |
RO |
U8 |
0x02 |
0x6401 |
1 |
Analogue input 1 |
RO |
U32 |
|
0x6401 |
2 |
Analogue input 2 |
RO |
U32 |
|
|
0x6411 |
0 |
Analogue output:
number of entries |
RO |
U8 |
0x02 |
0x6411 |
1 |
Analogue output 1 |
RW |
U32 |
|
0x6411 |
2 |
Analogue output 2 |
RW |
U32 |
|
All the Object Directory is included in an Electronic Data-Sheet
file (EDS) in INI format. The EDS
file
is included in this documentation.
Process Data Objects (PDO)
Process Data Object protocol is used to process real time data among
various nodes. Transfer rates are up to 8 bytes data per one
PDO, either from or to the device. One PDO can contain multiple object
dictionary entries and the objects within one PDO are configurable
using the mapping and parameter object dictionary entries (see below).
There are two kinds of PDOs: transmit and receive PDOs (TPDO and
RPDO). With TPDO you can read data from the device, while using
RPDO, you can send data to the device.
RPD01
Byte 2 |
Byte 1 |
128 |
64 |
32 |
16 |
8 |
4 |
2 |
1 |
|
|
|
|
|
|
|
RSD |
|
(not used) |
RPD02
Byte 8 |
Byte 7 |
Byte 6 |
Byte 5 |
Byte 4 |
Byte 3 |
Byte 2 |
Byte 1 |
|
|
|
|
|
|
|
|
unsigned
32bit, CC programme (mA) |
unsigned
32bit, CV programme (mV) |
TPD01
Byte 2 |
Byte 1 |
|
128 |
64 |
32 |
16 |
8 |
4 |
2 |
1 |
(not used) |
ACF |
DCF |
LIM |
OT |
PSOL |
CC |
RSD |
- |
TPD02
Byte 8 |
Byte 7 |
Byte 6 |
Byte 5 |
Byte 4 |
Byte 3 |
Byte 2 |
Byte 1 |
|
|
|
|
|
|
|
|
unsigned
32bit, CC monitor (mA) |
unsigned
32bit, CV monitor (mV) |
- RSD - Remote shutdown, output disabled.
- ACF - AC Fail, input power fail.
- DCF - DC Fail, output voltage outside set value.
- LIM - Limit, output is limited (voltage or current).
- OT - Over temperature, temperature of power supply is outside
save operating conditions.
- PSOL - Power sink overload, the (optional) power sink is on power
protection mode.
- CC - Constant current mode, power supply is in CC mode.
User's Manual