CiA Draft Standard 419. CANopen. Device profile for battery chargers. Version January CAN in Automation (CiA) e. V.

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1 CiA Draft Standard 419 CApen Device pfile for battery chargers Version January 2005 CAN in Automation (CiA) e. V.

2 DS 419 V1.0.1 CApen device pfile for battery charger CiA History Date Version Changes Released as Draft Standard Pposal Publication as Draft Standard - Partly re chaptered - Minor editorial corrections - Detailed description of PDO parameters General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. CiA All rights reserved. Unless otheise specified, no part of this publication may be repduced or utilized in any form or by any means, electnic or mechanical, including photocopying and micfilm, without permission in writing fm CiA at the address below. CAN in Automation e. V. Am Weichselgarten 26 DE Erlangen, Germany Tel.: Fax: Url: headquarters@can-cia.org ii CiA 2005 All rights reserved

3 DS 419 V1.0.1 CApen device pfile for battery charger CiA Contents 1 Scope References Abbreviations and definitions Abbreviations Definitions Operating principles General Physical layer Connector CAN transceiver Err handling Principle Err behavior Additional err code meanings Communication object definitions Intduction Detailed object definitions Object 10 : Device type Object 1001 h : Err register st RPDO General Object 14 : Communication parameter Object 16 : Mapping parameter st TPDO General Object 18 : Communication parameter Object 1A : Mapping parameter nd RPDO General Object 1401 h : Communication parameter Object 1601 h : Mapping parameter nd TPDO General Object 1801 h : Communication parameter Object 1A01 h : Mapping parameter CiA 2005 All rights reserved iii

4 DS 419 V1.0.1 CApen device pfile for battery charger CiA rd RPDO General Object 1402 h : Communication parameter Object 1602 h : Mapping parameter rd TPDO General Object 1802 h : Communication parameter Object 1A02 h : Mapping parameter Application object definitions Intduction Detailed object definition Object 60 : Battery status Object 6001 h : Charger status Object 6010 h : Temperature Object 6052 h : Ah returned during last charge Object 6060 h : Battery voltage Object 6070 h : Charge current requested Object 6080 h : Charger state of charge Object 6081 h : Battery state of charge Appendix A (informative): Battery type parameter Appendix B (normative): Pilot signal Appendix C (informative): Overview on application objects iv CiA 2005 All rights reserved

5 DS 419 V1.0.1 CApen device pfile for battery charger CiA 1 Scope This device pfile defines the battery charger communication and application objects in order to obtain sufficient information fm the battery module to allow a charge to be carried out. Optional data is a selection of data commonly used in the industry to pvide enhanced features. Chargers compliant to this standard shall use communication techniques, which conforms to those described in the CApen application layer and communication pfile. CiA 2005 All rights reserved 5

6 DS 419 V1.0.1 CApen device pfile for battery charger CiA 2 References /CiA301/ /CiA302/ /CiA303-1/ /CiA418/ /ISO / CiA 301, CApen application layer and communication pfile CiA 302, Framework for pgrammable CApen devices (not published) CiA 303-1, CApen cabling and connector pin assignment CiA 418, CApen device pfile for battery modules ISO , Road vehicle Contller area network (CAN) Part 2: High-speed medium access unit 6 CiA 2005 All rights reserved

7 DS 419 V1.0.1 CApen device pfile for battery charger CiA 3 Abbreviations and definitions 3.1 Abbreviations CAN Contller area network CAN-ID CAN identifier COB-ID Communication object identifier PDO Pcess data object RPDO Receive pcess data object SDO Service data object TPDO Transmit pcess data object 3.2 Definitions The definitions given in /CiA301/ apply to this specification, too. CiA 2005 All rights reserved 7

8 DS 419 V1.0.1 CApen device pfile for battery charger CiA 4 Operating principles 4.1 General The purpose of the charger is to pvide information to a battery module sufficient to allow a charge to be carried out. All devices conforming to this specification shall pvide the mandatory objects in the manner defined. Optional objects may be implemented in the manner defined. One default RPDO is defined to receive the battery temperature and status information. Optional RPDOs are defined for receive battery voltage, current requests and state of charge. One default TPDO is defined to transmit charger status. One optional TPDO adds charge returned to the data received. Charger parameter information may be configured by SDO services. The charger module shall support the heartbeat function, and may optionally be a time-stamp pducer. 4.2 Physical layer Connector The charger shall have a 5-wire interconnect. The communications bus shall use three of these lines (CAN_L, CAN_H, and gund), and two shall be used for the pilot signal. The actual connector used and its pin configuration will vary depending on the charger s application, and thus is outside of the scope of this document CAN transceiver The CAN bus shall use standard high-speed differential transceivers compliant to /ISO /. The charger shall support at least the 125 kbit/s default bit-rate. A termination resistor of 124 Ohm shall be included in the default charger configuration if the charger is connected to a single battery module. In case the charger device is hooked up to the in-vehicles CApen network, it shall support automatic bit-rate detection and shall not use a termination resistor. The maximum length of the stub length cable is given in /CiA303-1/. 8 CiA 2005 All rights reserved

9 DS 419 V1.0.1 CApen device pfile for battery charger CiA 5 Err handling 5.1 Principle Emergency messages are triggered by internal errs in the device, and are assigned the highest possible priority to minimize latency on access to the bus. The emergency message contains the emergency err code and the err register object /CiA301/. Additional data bytes are included in the message, which may be used for manufacturer-specific information. 5.2 Err behavior If a serious device failure is detected, the module shall enter the pre-operational state by default. If object 1029 h is implemented, the module may be configured to enter the stopped state or remain in the current state as alternatives. Device failures shall include the following communication errs: CAN bus-off condition Heartbeat event with the state occurred Device failure may also be caused by internal module failures, e.g. missing the pilot signal. 5.3 Additional err code meanings The CApen standard err codes are given in /CiA301/. There are no additional err codes defined. CiA 2005 All rights reserved 9

10 DS 419 V1.0.1 CApen device pfile for battery charger CiA 6 Communication object definitions 6.1 Intduction The default RPDOs and TPDOs shall be not valid (bit 31 of COB-ID is 1) because of the not predefined COB-ID parameters. These COB-ID parameters shall be configured dynamically. In order to achieve that, the charger module scans the network for the battery module by reading the object 10 of all nodes. If the battery module is detected, the charger module reads the configured COB-IDs of the PDOs and assigns these values to its PDOs correspondingly. In order to request dynamically an SDO connection to the battery module, the charger device shall support dynamic SDO requests as defined in /CiA302/. The in-vehicle CApen manager shall support dynamic establishment of SDO connections, too. 6.2 Detailed object definitions Battery charger modules compliant with this device pfile shall have default values for some communication objects (10 to 1FFF h ), which are not fully specified in /CiA301/ Object 10 : Device type This object describes the type of battery charger and its functionality Additional information Device pfile number MSB LSB Device pfile number: 419 d Additional information: Reserved ( ) See /CiA301/. See /CiA301/ Object 1001 h : Err register The device specific bit of the err register is reserved for future use. 10 CiA 2005 All rights reserved

11 DS 419 V1.0.1 CApen device pfile for battery charger CiA st RPDO General This RPDOs shall receive asynchnously the value of the battery status and temperature information. The battery charger may trigger this RPDO by remote frame Object 14 : Communication parameter See /CiA301/. INDEX 14 RPDO parameter RECORD PDO CommPar highest sub-index supported 01 h COB-ID bit 31=1 (other bits =don t care) 02 h transmission type 255 d CiA 2005 All rights reserved 11

12 DS 419 V1.0.1 CApen device pfile for battery charger CiA 05 h Event timer Optional Unsigned Object 16 : Mapping parameter See /CiA301/. 0 d INDEX 16 R RECORD highest sub-index supported w 02 h 01 h temperature h 12 CiA 2005 All rights reserved

13 DS 419 V1.0.1 CApen device pfile for battery charger CiA 02 h Battery status h st TPDO General The charger module shall transmit periodically status information, if this TPDO has been enabled. The data shall be updated before transmission Object 18 : Communication parameter See /CiA301/. INDEX 18 TPDO parameter RECORD PDO CommPar highest sub-index supported 05 h 01 h COB-ID or (if PDO linking is supported) Bit 31=1 (other bits = don t care) CiA 2005 All rights reserved 13

14 DS 419 V1.0.1 CApen device pfile for battery charger CiA 02 h transmission type 255 d 03 h inhibit timer w Unsigned16 0 d 05 h event timer Optional Unsigned d Object 1A : Mapping parameter See /CiA301/. INDEX 1A T RECORD 14 CiA 2005 All rights reserved

15 DS 419 V1.0.1 CApen device pfile for battery charger CiA highest sub-index supported w 01 h 01 h charger status h nd RPDO General This RPDO is an optional substitute for the 1 st RPDO and adds the battery voltage to the transmission of the temperature and status. If the battery module supports the corresponding TPDO, the charger may disable the 1 st RPDO and enable this one if desired. The battery charger may trigger this RPDO by remote frame Object 1401 h : Communication parameter See /CiA301/. INDEX 1401 h RPDO parameter RECORD PDO CommPar Optional CiA 2005 All rights reserved 15

16 DS 419 V1.0.1 CApen device pfile for battery charger CiA highest sub-index supported 01 h COB-ID Bit 31 = 1 (other bits = don t care) 02 h transmission type 255 d 05 h event timer Optional Unsigned16 0 d Object 1601 h : Mapping parameter See /CiA301/. 16 CiA 2005 All rights reserved

17 DS 419 V1.0.1 CApen device pfile for battery charger CiA INDEX 1601 h R RECORD highest sub-index supported 03 h 01 h temperature h 02 h battery status h 03 h battery voltage h CiA 2005 All rights reserved 17

18 DS 419 V1.0.1 CApen device pfile for battery charger CiA nd TPDO General This TPDO is optional and contains in addition to the charger status the Ah returned during the charge in pgress. The data shall be updated before transmission Object 1801 h : Communication parameter See /CiA301/. INDEX 1801 h TPDO parameter RECORD PDO CommPar Optional highest sub-index supported 05 h 01 h COB-ID Bit 31 = 1 (other bits = don t care) 02 h transmission type 255 d 18 CiA 2005 All rights reserved

19 DS 419 V1.0.1 CApen device pfile for battery charger CiA 03 h inhibit timer Optional Unsigned16 0 d 05 h event timer Unsigned d Object 1A01 h : Mapping parameter See /CiA301/. INDEX 1A01 h T RECORD Optional highest sub-index supported 02 h CiA 2005 All rights reserved 19

20 DS 419 V1.0.1 CApen device pfile for battery charger CiA 01 h charger status h 02 h Ah returned during last charge h rd RPDO General This RPDO is an optional additional object with which the charger can receive a requested current value and the battery status of charge. The battery charger may trigger this RPDO by remote frame Object 1402 h : Communication parameter See /CiA301/. INDEX 1402 h RPDO parameter RECORD PDO CommPar Optional highest sub-index supported 20 CiA 2005 All rights reserved

21 DS 419 V1.0.1 CApen device pfile for battery charger CiA 01 h COB-ID Bit 31 = 1 (other bits = don t care) 02 h transmission type 255 d 05 h event timer Optional Unsigned16 0 d Object 1602 h : Mapping parameter See /CiA301/. INDEX 1602 h R RECORD Optional CiA 2005 All rights reserved 21

22 DS 419 V1.0.1 CApen device pfile for battery charger CiA highest sub-index supported 02 h 01 h charge current requested h 02 h battery state of charge h rd TPDO General This TPDO is optional and shall contain the charger status the Ah returned during the charge in pgress to the transmission of the charger status and the charger state of charge. The data shall be updated before transmission Object 1802 h : Communication parameter See /CiA301/. 22 CiA 2005 All rights reserved

23 DS 419 V1.0.1 CApen device pfile for battery charger CiA INDEX 1802 h TPDO parameter RECORD PDO CommPar Optional highest sub-index supported 02 h 01 h COB-ID Bit 31 = 1 (other bits = don t care) 02 h transmission type 255 d 03 h inhibit timer Optional Unsigned16 0 d CiA 2005 All rights reserved 23

24 DS 419 V1.0.1 CApen device pfile for battery charger CiA 05 h event timer Madatory Unsigned d Object 1A02 h : Mapping parameter See /CiA301/. INDEX 1A02 h T RECORD Optional highest sub-index supported 03 h 01 h charger status h 24 CiA 2005 All rights reserved

25 DS 419 V1.0.1 CApen device pfile for battery charger CiA 02 h Ah returned during last charge h 03 h chargers state of charge h CiA 2005 All rights reserved 25

26 DS 419 V1.0.1 CApen device pfile for battery charger CiA 7 Application object definitions 7.1 Intduction Object description and entry description attributes are specified in /CiA301/. The default value attribute defines the value of an object with access attribute of the value and wo after power-on or application reset 7.2 Detailed object definition Object 60 : Battery status This object shall indicate readiness of the battery to accept a charge. The status byte shall have the following format: Reserved (0) Bit 0 MSB LSB Bit 0 0= not ready 1= ready Index 60 battery_status VAR Unsigned8 Default See value definition Object 6001 h : Charger status This object shall pvide readiness of the charger to deliver a charge to the battery. The status byte has the following format: Reserved (0) Bit 0 MSB LSB Bit 0 0 = not ready 1 = ready 26 CiA 2005 All rights reserved

27 DS 419 V1.0.1 CApen device pfile for battery charger CiA Index 6001 h charger_status VAR Unsigned8 Default See value definition Object 6010 h : Temperature This object shall indicate the temperature of the battery pack as measured by a temperature reading device physically mounted somewhere on the battery module. Temperature shall be given in C with resolution C per bit. The minimum range of values shall be -320 to +680 (i.e C to C). A value of FFFF h shall indicate an invalid measurement. Index 6010 h battery_temperature VAR Integer16 Default FEC0 h to 02A8 h FFFF h Object 6052 h : Ah returned during last charge This object shall pvide the number of Ampere-hours delivered to the battery by the charger during the last charge event. The charger device reads the previous value fm the battery module by SDO and writes back the current value at the completion of charge. A value of FFFF h shall indicate an invalid value. The resolution shall be Ah per bit. CiA 2005 All rights reserved 27

28 DS 419 V1.0.1 CApen device pfile for battery charger CiA Index 6052 h ah_returned_during_last_charge VAR Unsigned16 Conditional: if TPDO2 is supported Default if TPDO2 is supported Unsigned Object 6060 h : Battery voltage This object shall indicate the instantaneous voltage acss the battery terminals as measured by a voltage-measuring device on the battery or charger. A value of FFFF FFFF h shall indicate an invalid measurement. The resolution shall be 1/1024 V per bit. Index 6060 h battery_voltage VAR Unsigned32 Conditional: if RPDO2 is supported Default if RPDO2 is supported Unsigned32 FFFF FFFF h 28 CiA 2005 All rights reserved

29 DS 419 V1.0.1 CApen device pfile for battery charger CiA Object 6070 h : Charge current requested This object shall indicate the electrical current in Amperes requested by the battery module to be delivered by the charger to the battery. The resolution shall be 1/16 A per bit. FFFF h shall indicate an invalid value. Index 6070 h charge_current_requested VAR Unsigned16 Conditional: if RPDO3 is supported Default if RPDO3 is supported Unsigned16 FFFF h Object 6080 h : Charger state of charge This object shall pvide the charger's estimation of the amount of energy contained in the battery, expressed as a percentage of the total amount of energy the battery can store. The resolution shall be 1 % per bit. FF h shall indicate invalid value. Index 6080 h charger_state_of_charge VAR Unsigned8 Conditional: if TPDO2/3 is supported Default if TPDO2/3 is supported to 64 h and FF h CiA 2005 All rights reserved 29

30 DS 419 V1.0.1 CApen device pfile for battery charger CiA Object 6081 h : Battery state of charge This object shall indicate the battery's measurement of the amount of energy contained in the battery, expressed as a percentage of the total amount of energy the battery can store. Resolution shall be 1 % per bit. Index 6081 h battery_state_of_charge VAR Unsigned8 Conditional: if RPDO3 is supported Default if RPDO3 is supported to 64 h and FF h FF h 30 CiA 2005 All rights reserved

31 DS 419 V1.0.1 CApen device pfile for battery charger CiA Appendix A (informative): Battery type parameter See /CiA418/ Appendix B (normative): Pilot signal See /CiA418/ Appendix C (informative): Overview on application objects Charger module specific mandatory and optional objects are listed in following table: Table 1: Overview on application objects Index Object code 60 VAR Battery status Unsigned8 M 6001 h VAR Charger status Unsigned8 M 6010 h VAR Battery temperature Integer16 M 6052 h VAR Ah returned during last charge Unsigned16 C h VAR Battery voltage Unsigned32 C h VAR Charge current requested Unsigned16 C h VAR Charger state of charge Unsigned8 C h VAR Battery state of charge Unsigned8 C 1 1 if PDOs are implemented that maps this object by default CiA 2005 All rights reserved 31