CAN-bus programming manual

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.

boot up sequence

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

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)

User's Manual