B7700 CAN Manual en

PSX CAN Valve Actuation
Technical Documentation
Release: 2.0.8-0-gcb9f880 (2021-09-23)

COPYRIGHT
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assume no responsibility for errors or omissions, or for damages resulting from the use of information
contained in this document or from the use of programs and source code that may accompany it. In
no event shall the publisher and the author be liable for any loss of profit or any other commercial
damage caused or alleged to have been caused directly or indirectly by this document.
All rights reserved.
Printdate: September 23, 2021
2 / 246 Release: 2.0.8-0-gcb9f880 (2021-09-23) B 7700 CAN Manual

CONTENTS
Contents
1. General Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.1. Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2. Scope of this Document . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.3. Hazard Symbols and Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.4. Liability . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.5. Transport and Storage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.6. Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
1.7. Maintenance, Repair and Disposal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
1.8. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.8.1. General . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
1.8.2. Electrical Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.8.3. Hydraulic Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.8.4. Environmental and Operating Conditions . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.9. Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.9.1. CAN Standard . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
1.9.2. CAN lite . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26
1.10. Accessories . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.10.1. Connector Socket . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.10.2. Cable specification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1.10.3. Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
1.10.4. Starter-Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
1.11. Protocol Versions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35
2. CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36
2.1. Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.1.1. CAN Bus Bit Rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
2.1.2. CAN Bus Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.1.3. Line Layout and Net Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
2.2. Protocol Philosophies Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.2.1. J1939 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.2.2. CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41
2.3. CAN Basics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.3.1. Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
2.3.2. Addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.3. Data Formats . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.3.4. Typical Bus Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43

CONTENTS
3. CiA-301 Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.1. Structure of the Documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.2. Essential Concepts of CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
3.2.1. Device Profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.2.2. CAN Master and CAN Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
3.2.3. Data Objects, Telegram Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
3.2.4. Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.2.5. Nomenclature, Definitions, Notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48
3.2.6. CANopen Default Identifier Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.3. Safety Mechanisms . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.3.1. Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51
3.3.2. Heartbeat . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.3.3. Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.4. Process Data Objects (PDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4.1. Setpoints and Setpoint Processing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4.2. Data Format for Setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
3.4.3. Actual Value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.4.4. Communication with PSL/PSV CAN-Tool . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.4.5. PDO transmission types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56
3.5. Service Data Objects (SDOs) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.5.1. SDO Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.5.2. SDO save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.6. Emergency Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.7. Network Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.7.1. Communication State Machine (CSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
3.7.2. Communication State . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.7.3. Network Management Telegrams (NMT) . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.7.4. LSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.7.5. Participant Identification by LSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.7.6. Identification Flashing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
3.7.7. Participant Identification by operating the hand lever . . . . . . . . . . . . . . . . . . . . 67
4. CiA-401 Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.1. Essential Characteristics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.2. Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.2.1. Automatic Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69
4.3. Setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.3.1. Setpoint Message (PDO Master to Slave) . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.3.2. Setpoint Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70
4.3.3. Several Setpoints per telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71
4.3.4. Zero Setpoint for activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.4. Diagnostic Data (PDO Slave to Master) . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.4.1. Frame Format . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

CONTENTS
4.4.2. Data Content Response Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

4.5. Safety Policy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5. CiA-408 Reference . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.1. CiA-408 Specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.1.1. Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74
5.1.2. State Machines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
5.1.3. Device State Machine (DSM) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77
5.1.4. Device Control Word (DCW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
5.1.5. Device Status Word (DSW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.1.6. State Transitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.2. Communication Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.2.1. Startup Communication Functions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.2.2. Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.2.3. PDO Master to Slave (RXPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.2.4. PDO Slave to Master (TXPDO) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.2.5. Error Management and Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.2.6. Position Control Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
5.3. Valve Nodes as Plug&Play Slave for PLVC Control Modules . . . . . . . . . . . . . . 87
5.4. Flow sharing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.5. CANopen Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92
5.6. Configuration of CANopen Master Devices . . . . . . . . . . . . . . . . . . . . . . . . 92
5.6.1. EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.6.2. Add CANopen-Manager . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.6.3. Add CANopen-Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.6.4. Master heartbeat configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.6.5. Slave heartbeat configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.6.6. Configuration of transmit PDO at the Master . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.6.7. Configuration of the Receive PDO at the Slave . . . . . . . . . . . . . . . . . . . . . . . 97
5.6.8. SDOs Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
6. J1939 / ISOBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

6.1. Basic information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.2. Adressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
6.3. Boot Up Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
6.4. Setpoint Command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.5. Status Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.6. Error Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.7. Migration of HAWE J1939 firmware prior 2767 to current firmware . . . . . . . . . 106
6.8. Temperature Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107

CONTENTS
7. Protocol Independent Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

7.1. Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.1.1. Protocol Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109
7.1.2. Parameter Presettings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.2. Diagnosis LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
7.3. Error Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111
7.3.1. Self Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.3.2. Error During Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.3.3. Limited Operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.3.4. LED Error Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112
7.3.5. Standard error field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113
7.3.6. CAN Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 115
7.4. Parameter Concept . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.4.1. Parameters in EEPROM and RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.4.2. Efficiency of Parameter Changes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.4.3. Communication Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.4.4. Application Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.4.5. Reading and Writing Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.5. Preprocessing of Setpoints . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117
7.5.1. Over Temperature Protection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118
7.5.2. Fine control range or increased dynamics . . . . . . . . . . . . . . . . . . . . . . . . . 119
7.5.3. Setpoint reduction (Override) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
7.5.4. Ramps . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
8. Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
8.1. eDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
8.1.1. Creating a project with eDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124
8.1.2. Example program for using a function module . . . . . . . . . . . . . . . . . . . . . . . 125
8.1.3. Transferring an eDesign project to a controller . . . . . . . . . . . . . . . . . . . . . . . 128
8.2. HAWE DVD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
8.3. PSXCANc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.3.1. How to get a free PSXCANc License . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.3.2. Connection to the bus . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.3.3. Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.3.4. Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.3.5. Error Management . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.3.6. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.3.7. Advanced options . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8.3.8. PSXCAN Repair Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
8.3.9. 2 Point Calibration on PSXCAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
8.4. Electronic Datasheets (EDS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 162

CONTENTS
9. Starter-Set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
9.1. Components . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
9.2. Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164
10. Calibrating Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

10.1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
10.2. Calibrating Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
A. Appendix . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
A.1. Error Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 168
A.2. Error Description . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
A.2.1. NO_ERROR . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
A.2.2. CURRENT_CONTROL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
A.2.3. SFT_UBAT_RANGE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 170
A.2.4. VOL_SUPPLY_HIGH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
A.2.5. VOL_SUPPLY_LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
A.2.6. T_LIMIT_HIGH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 171
A.2.7. TEMP_HIGH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
A.2.8. TEMP_LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
A.2.9. CURRENT_ITG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 172
A.2.10. POS_ITG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
A.2.11. SFT_STROM_ZERO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
A.2.12. SFT_HALL_ZERO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 173
A.2.13. SFT_UBAT_ZERO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
A.2.14. SFT_HT_SHORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
A.2.15. SFT_HT_OPEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 174
A.2.16. SFT_PWM_SHORT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
A.2.17. SFT_PWM_OPEN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
A.2.18. SFT_OPEN_A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 175
A.2.19. SFT_OPEN_B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
A.2.20. SFT_CHANGE_COIL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
A.2.21. COIL_RES_HIGH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 176
A.2.22. COIL_RES_LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
A.2.23. SFT_RESIST_DIFF . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
A.2.24. SFT_RESIST_A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 177
A.2.25. SFT_RESIST_B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
A.2.26. RAMTEST . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
A.2.27. FLASH_CHECKSUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 178
A.2.28. EEPROM_CHECKSUM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
A.2.29. EEPROM_VERIFY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
A.2.30. WATCHDOG . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 179
A.2.31. STATE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180
A.2.32. STARTUP_SFT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

CONTENTS
A.2.33. LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

A.2.34. ILLEGAL_ERRTRANSMASK . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
A.2.35. ILLEGAL_VALVEDATA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
A.2.36. SETPOINT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 181
A.2.37. SETP_NEQU_NEUTRAL . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
A.2.38. SETP_TIMEOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
A.2.39. CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 182
A.2.40. GUARD_TIMEOUT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
A.2.41. POS_MINUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 183
A.2.42. POS_PLUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
A.2.43. POS_PLAUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
A.3. SDO Index CANopen 301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 184
A.4. SDO Index CANopen 408 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 187
A.5. Object Dictionary CiA-301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
A.5.1. Device Type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
A.5.2. Error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
A.5.3. Predefined error field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 191
A.5.4. COB-ID SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
A.5.5. Manufacturer device name . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 194
A.5.6. Manufacturer hardware version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
A.5.7. Manufacturer software version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
A.5.8. Guard time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
A.5.9. Life time factor . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 195
A.5.10. Store parameter field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
A.5.11. Restore default parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 196
A.5.12. COB-ID EMCY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
A.5.13. Consumer heartbeat time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
A.5.14. Producer heartbeat time . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 197
A.5.15. Identity object . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 198
A.5.16. Receive PDO communication parameter 0 . . . . . . . . . . . . . . . . . . . . . . . . 199
A.5.17. Receive PDO mapping parameter 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 199
A.5.18. Transmit PDO communication parameter 0 . . . . . . . . . . . . . . . . . . . . . . . . 200
A.5.19. Transmit PDO communication parameter 0 . . . . . . . . . . . . . . . . . . . . . . . . 200
A.5.20. Transmit PDO mapping parameter 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . 201
A.5.21. NMT startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
A.5.22. Teachversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 202
A.5.23. J1939 Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 203
A.5.24. supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 204
A.5.25. electronic temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 205
A.5.26. coil resistance A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206
A.5.27. coil resistance B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 206

CONTENTS
A.6. Object Dictionary CiA-408 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

A.6.1. Node-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
A.6.2. Bit rate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
A.6.3. Flowshare . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207
A.6.4. Tracking error tolerance limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 208
A.6.5. Curve Form A Number of Entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209
A.6.6. Curve Form B Number of Entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210
A.6.7. Override A Number of Entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211
A.6.8. Override B Number of Entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212
A.6.9. Nominal flow A number of entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
A.6.10. Nominal flow A value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
A.6.11. Nominal flow A unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213
A.6.12. Nominal flow B number of entries . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
A.6.13. Nominal flow B value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
A.6.14. Nominal flow B unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 214
A.6.15. Voltage supply lower limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
A.6.16. Voltage supply upper limit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
A.6.17. Self test max delay . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
A.6.18. Power Reduction start temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 215
A.6.19. Power Reduction end temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 216
A.6.20. Setpoint timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
A.6.21. Output inverting sign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 217
A.6.22. Vpoc demand value generator ramp acceleration2 (A-positive) . . . . . . . . . . . . . 218
A.6.23. Vpoc demand value generator ramp deceleration2 (A-negative) . . . . . . . . . . . . . 218
A.6.24. Vpoc demand value generator ramp acceleration2 (B-positive) . . . . . . . . . . . . . 219
A.6.25. Vpoc demand value generator ramp deceleration2 (B-negative) . . . . . . . . . . . . . 220
A.6.26. Section Info . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
A.6.27. PDO setpoint format (HAWE/CiA-408) . . . . . . . . . . . . . . . . . . . . . . . . . . . 221
A.6.28. Device control word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
A.6.29. Device status word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
A.6.30. Device mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
A.6.31. Device control mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 222
A.6.32. Device error code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
A.6.33. Vpoc setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223
A.6.34. Vpoc actual value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224
A.6.35. Vpoc demand value generator ramp type . . . . . . . . . . . . . . . . . . . . . . . . . 224
A.6.36. Vpoc demand value generator ramp acceleration (A-positive) . . . . . . . . . . . . . . 225
A.6.37. Vpoc demand value generator ramp deceleration (A-negative) . . . . . . . . . . . . . 225
A.6.38. Vpoc demand value generator ramp acceleration (B-positive) . . . . . . . . . . . . . . 226
A.6.39. Vpoc demand value generator ramp deceleration (B-negative) . . . . . . . . . . . . . 227
A.6.40. Vpoc dither type . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228
A.6.41. Vpoc dither amplitude . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228

CONTENTS
A.6.42. Vpoc dither frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229
Suggestions for improvement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231
Bibliography . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 232
Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234
Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 241

LIST OF FIGURES
List of Figures
1.1. Training . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17
1.2. Setup of a Complete Valve Section with Electronics and Connector . . . . . . . . . . 23
1.3. Structure of spool position control closed loop - VDMA Fluidprofile [13] chapter 8.1.2.26
1.4. electronic housing with contact-pod . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
1.5. AMP mating Connector and its corresponding pin assignment . . . . . . . . . . . . . 28
1.6. Additional Accessories for the AMP Connector . . . . . . . . . . . . . . . . . . . . . . 29
1.7. AMS-mating connector and its corresponding pin assignment . . . . . . . . . . . . . 30
1.8. Additional Accessories for the AMS Connector . . . . . . . . . . . . . . . . . . . . . . 31
1.9. DT-mating connector and its corresponding pin assignment . . . . . . . . . . . . . . 33
1.10. Pin numeration DT-Mating Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33
1.11. Required components for DT-Connector . . . . . . . . . . . . . . . . . . . . . . . . . . 33
2.1. Recommended Architecture for Grounding and Shielding of CAN Bus Systems . . . 39
2.2. Shielding bus lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
2.3. Format of a Data Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
2.4. Bustopologie . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 44
3.1. Flowchart Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

3.2. Flowchart Life Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53
3.3. Communication State Machine CiA-301 . . . . . . . . . . . . . . . . . . . . . . . . . . . 61
5.1. Device State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

5.2. Activation of the PLVC41 CAN Masters . . . . . . . . . . . . . . . . . . . . . . . . . . . 89
5.3. Overview of the CAN Nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
5.4. 50% setpoint reduction by flow sharing . . . . . . . . . . . . . . . . . . . . . . . . . . . 91
5.5. Add device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93
5.6. append CANopen Manager as device . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94
5.7. CANopen Manager selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95
5.8. configuration of the hearbeat producer time . . . . . . . . . . . . . . . . . . . . . . . . 95
5.9. selection of CANopen device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.10. configuration of heartbeat consumer time . . . . . . . . . . . . . . . . . . . . . . . . . 96
5.11. SDO configuration telegramm . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.12. Sync CANopen Master configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97
5.13. Sync CANopen master configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98
5.14. SDO configuration of device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 99
7.1. Illustration of Over Temperature Protection . . . . . . . . . . . . . . . . . . . . . . . . 119

7.2. Nonlinear Curve Transformation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

LIST OF FIGURES
7.3. Ramp Characteristics and Control Parameters . . . . . . . . . . . . . . . . . . . . . . 121
8.1. Start screen eDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

8.2. Example for lines with different data types . . . . . . . . . . . . . . . . . . . . . . . . 125
8.3. Opening an example project . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126
8.4. Example Project "Control PSX-CAN Valve" . . . . . . . . . . . . . . . . . . . . . . . . 126
8.5. Schematic hardware structure of the example program "Control PSX-CAN Valve" . 127
8.6. User interface HAWE.eUpdate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
8.7. Desktop Icon . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.8. Start-up dialog filled with information . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
8.9. Bitrate selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
8.10. Information about detected nodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131
8.11. Firmware download . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132
8.12. Verify the correct firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133
8.13. Parameter table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134
8.14. Error table . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136
8.15. Scope together with setpoint generator . . . . . . . . . . . . . . . . . . . . . . . . . . 137
8.16. Application: toolbar . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137
8.17. Datalogger . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138
8.18. Edit a CAN message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
8.19. Get to Repair Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 139
8.20. PSXCAN Repair Window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140
8.21. Info tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 141
8.22. Preparation tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
8.23. Reset to Factory Settings tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 142
8.24. Destination section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8.25. Source and Destination missmatch . . . . . . . . . . . . . . . . . . . . . . . . . . . . 143
8.26. Successful reset . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144
8.27. Adjust tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
8.28. Firmwareversion . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.29. Connection to valve block . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 146
8.30. Setpoint Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147
8.32. Export all . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148
8.34. Adjust tab . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 149
8.35. Select section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.36. Setpoint slider . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.37. Successful control change . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 151
8.38. Successful Adjust 0 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.39. Operational mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 153
8.40. Successful Adjust min. A-side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154
8.41. Successful Adjust min. A&B-side . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 155

LIST OF FIGURES
8.42. Scope window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

8.43. Window arrangement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156
8.44. Record scope . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157
8.45. Endstop and Maximum Calibration Point A-side . . . . . . . . . . . . . . . . . . . . . 158
8.46. Endstop and Maximum Calibration Point B-side . . . . . . . . . . . . . . . . . . . . . 159
8.47. Successful Adjust max . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160
8.48. Successful Reboot . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 161
9.1. Cable provided with the starter-set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

9.2. PCAN-USB-adapter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165

LIST OF TABLES
List of Tables
1.1. Symbols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 18
1.2. Electrical Parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.3. Electrical Parameters CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
1.4. Electrical Parameters PSL - 12V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.5. Electrical Parameters PSL - 24V . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
1.6. Operating Conditions and Environmental Checks . . . . . . . . . . . . . . . . . . . . . 25
1.7. Protection class of connectors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34
2.1. Recommended Bus Line Length Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

2.2. CAN Data Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42
3.1. Entries in the Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

3.2. CANopen Default Identifier Distribution . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
3.3. Format Node Guarding Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
3.4. Content Node Guarding Response Messages . . . . . . . . . . . . . . . . . . . . . . . 52
3.5. Format Heartbeat Telegrams . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
3.6. Description of PDO transmission types . . . . . . . . . . . . . . . . . . . . . . . . . . . 57
3.7. SDO Structure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.8. SDO Control Bytes M → S . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.9. SDO Control Bytes S → M . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
3.10. SDO Transfer Error Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.11. SDO Transfer Abort Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.12. SDO save . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59
3.13. Emergency Objects (EMCY) messages . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.14. Emergency Objects (EMCY) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.15. Error classes in the error register . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60
3.16. Permitted Telegrams, According to CSM State . . . . . . . . . . . . . . . . . . . . . . . 62
3.17. Transitions of the Communication State Machine CiA-301 . . . . . . . . . . . . . . . . 62
3.18. Communication Status . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62
3.19. NMT Commands for Controlling the CSM . . . . . . . . . . . . . . . . . . . . . . . . . . 63
3.20. Communication sequence LSS, readdress . . . . . . . . . . . . . . . . . . . . . . . . . 64
3.21. Communication Sequence LSS, Activation . . . . . . . . . . . . . . . . . . . . . . . . . 65
3.22. Communications Process, Broadcast . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
3.23. Communications process, response of the slaves to a Broadcast telegram . . . . . . 66
3.24. Requirement Identification Flashing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67
4.1. Set all nodes to Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

4.2. Format setpoint telegram CiA-401 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

LIST OF TABLES
4.3. Mapping of Setpoints to Oil Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

4.4. Messages that are in the configurable range . . . . . . . . . . . . . . . . . . . . . . . . 72
4.5. Zero setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72
4.6. Format Diagnosis Telegram CiA-401 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
4.7. Diagnostic Information in the PDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73
5.1. Meaning of the Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.2. States of the Device State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78
5.3. Device Control Word (DCW) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79
5.4. Device Control Word and Transitions of the Device State Machine . . . . . . . . . . . 79
5.5. LSB Device Status Word . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80
5.6. Boot up Sequence . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.7. Activation Sequence for all Slaves . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
5.8. Activation Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.9. Activation Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.10. RPDO (Setpoint Format) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82
5.11. Setpoint Scale . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.12. Examples for setpoint messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83
5.13. Device Control and Status Word (DCW and DSW) . . . . . . . . . . . . . . . . . . . . . 84
5.14. TXPDO (Actual Value Format) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
5.15. Nominal Increments per design size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86
5.16. Parameter Description Position Control Errors . . . . . . . . . . . . . . . . . . . . . . . 86
5.17. Node-IDs in the Process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88
6.1. J1939 Configuration Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

6.2. J1939 Parameter Group Numbers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101
6.3. Boot Up Message, Sent Once After Power Up . . . . . . . . . . . . . . . . . . . . . . 102
6.4. J1939 Setpoint Configuration Parameters . . . . . . . . . . . . . . . . . . . . . . . . . 102
6.5. Setpoint Message, to be Sent Cyclically . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.6. J1939 Status Configuration Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . 103
6.7. Status Message, Sent Cyclically . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104
6.8. Example for Status Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 105
6.9. Error Group Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
6.10. J1939 Configuration Parameter (prior to 2767) . . . . . . . . . . . . . . . . . . . . . . 107
6.11. J1939 Configuration Parameter (revision 2767 and later) . . . . . . . . . . . . . . . . 107
6.12. J1939 Temperature Request . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
6.13. J1939 Temperature Response . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 108
7.1. Error referring to parameter value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

7.2. Error description - startup selftest . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114
7.3. Assignment error message to operating time parameters . . . . . . . . . . . . . . . 114
7.4. CAN Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116
7.5. Parameter Temperature Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119
7.6. Parameter Curve Form . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 120

LIST OF TABLES
7.7. Parameter Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

7.8. Ramp Parameters 1. Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
7.9. Ramp Parameters 2. Ramp . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122
8.1. Bitrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135
9.1. Order Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163
10.1. Calibrating Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166
A.1. Overview of Possible Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

A.2. Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 186
A.3. Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 190

1. GENERAL INFORMATION
1 General Information
This document serves as an addition to the manual [10] and describes the variant of CAN actuated
PSL/PSV proportional valves. It is targeted at programmers as well as electricians to supply information
for programming or commissioning.
1.1 Training
Figure 1.1.: Training
A practical training for PSXCAN can be booked at https://www.hawe.com/service/

trainings/. There you will learn about the special requirements of a CAN bus system or the
CAN bus operation on the proportional directional spool valve type PSL. At the end of this training you
should be able to exchange a spool or a CAN-Bus attachment (electronics).
1.2 Scope of this Document
With the help of this documentation the commissioning of valve batteries and the development of ECU
software should be possible. Users of PSL/PSV CAN valve nodes get presented all essential device
properties.
As far as necessary basics of CAN technology will be explained. For detailed information about the
function of CAN networks or components please refer to literature like [14], [17] or [9].

1.3 Hazard Symbols and Notes
Please pay attention to the hazard symbols and notes given in Table 1.1. Text passages marked with
those symbols have increased significance.
Symbol Meaning Potential consequences
Impending danger Death or severe injuries
Dangerous situation Light injuries
Harmful situation Damage to components
Tips & information Fun at work
Table 1.1.: Symbols
1.4 Liability
This description is an integral part of the device. It contains information concerning the correct handling
of the PSL/PSV CAN valve node and must be read prior to installation or use.
WARNING
Non-compliance with the notes or any use outside the intended usage outlined
in the following, wrong installation or faulty handling can seriously impair and
endanger the safety of people and machinery and will result in the exclusion of
any liability and warranty claims.
Follow the instructions in the description.
The manufacturer of the complete system who selects hydraulic components is responsible for choos-
ing an adequate combination of products and assuring that all performance and safety requirements
of the application are met.
HAWE Hydraulik SE reserves the right to alter its products without prior notice. This also applies to
products already ordered provided that such alterations can be made without subsequent changes
being necessary in specifications already agreed.

This manual is aimed at all those persons who can be regarded as “competent” in the understanding of
the EMC- and the low-voltage guideline. The wiring of the valves must be performed by an electrician
and must be activated by trained programmers and/or service technicians.
WARNING
System integrators are responsible for the correct integration of all hardware
and software components.
Furthermore, it is up to the user to comply with the standards (e.g. DIN EN ISO 13849) relevant for his
usage and to realize a system architecture appropriate to the safety requirement.
NOTE
Monitor and feedback signal processed by integral electronics must not be
used for safety machine relevant function.
HAWE Hydraulik accepts no liability in case of technical or typographical defects in this manual.
HAWE Hydraulik accepts no liability for damage caused by any kind of delivery, performance or usage
of the produkt.
Usage names, trade names and trade marks are usually registered and protected names or characters,
which are subject to statutory provisions.
1.5 Transport and Storage
As with hydraulic components, care should be given to appropriate storage and suitable packaging of
the product. There are no special requirements arising from the combination of control electronics and
valve.
NOTE
The plastic connector socket can only carry a limited mechanical load and is
not suited for the use as handle! The socket might brake from the bank.
Don’t use the connector socket as handle.
1.6 Installation
The following notes must be observed to guarantee safe operation of the PSL/PSV CAN valve node
and to prevent shortening the product’s lifecycle through inappropriate operating conditions:

- The valves should not be mounted in the vicinity of machine parts and modules developing great
heat (e.g. exhaust).
- The distance to radio-emitting installations must be sufficient.
- There must be an emergency shutdown for the voltage supply. The emergency off switch must
be mounted on the machine or vehicle that is easily accessible for the machine or facility operator.
The machine or vehicle manufacturer must guarantee that a safe state is achieved when the
emergency off switch is activated.
- One of the safety mechanisms against bus interruptions supported by the device (Node Guarding
(see subsection 3.3.1) or Heartbeat (see subsection 3.3.2)) must be used.
- The power supply must be fuse-protected, in accordance with the maximum power consumtion
per valve bank. For every valve section a maximum current of approximately 1.5A at 12V power
supply and 0.8A at 24V must be provided for.
- Ground lines must be dimensioned in accordance with the maximum currents flowing through
them. The reference potential for all CAN bus participants connected to one branch should vary
as little as possible between the devices and be identical with the ground connection for the
power supply.
- All connectors used for joining the valve bank must be properly secured against water penetration
by applying all necessary gaskets and seals.
- The bus lines to be used must be suited to CAN bus networks. Preferably the lines should be
twisted and shielded. The characteristic impedance must be approx. 120 Ω.
- Terminating resistors with 120 Ω have to be provided for both two ends of the CAN bus network.
- Valve electronics and the respective solenoid body are sealed and screwed together. Therefore
they should not be separated. Care should be given to proper sealing during reassembly when
replacing the valve spool or valve body.
- In the event that the bus and power supply lines are separated from the valve sections during
maintenance or servicing, it is mandatory to use new cables for reassembly. Care has to be
taken that the end cap is properly positioned. Cables are available as spare parts.
- During installation and storage the valve bank must remain at a sufficient distance to strong
sources of magnetic fields (static or time varying).
- In case of parameter changes the enduser is responsible for the consistency of the transmitted
data. Not in any case the valve electronics can detect inconsistent parameters which might
cause undefined behaviour.

WARNING
Electric welding causes massive surges.
Electronics can be damaged.
All valve nodes must be disconnected during electric welding works.
The following has to be observed during operations:
- Proper operation is only guaranteed in a temperature range between -40 ◦ C to +85 ◦ C.
- If the device detects internal overheating, operations are limited to a certain temperature range,
i.e. at reduced performance.
- The power supply voltage must be within the specified working range. Excessive or permanent
deviations may damage the electronics.
WARNING
Especially the surface of the solenoid may become hot during operation!
In case of contact serious burns are possible.
Don’t touch the surface of the solenoid.
1.7 Maintenance, Repair and Disposal
Because the valve electronics do not contain any components that have to be serviced by the end
customer, it is not permitted to open the housing. Only the manufacturer may undertake repair or
service work.
NOTE
Unauthorized separation of valve electronics and solenoid leads to loss of war-
ranty claims!
Don’t separate valve electronics and solenoid unauthorized.
Disposal must be in accordance with national environmental laws.

1.8 Technical Data
1.8.1 General
Proportional directional spool valves serve to control both, the direction of movement and the load-
independent, stepless velocity of the hydraulic consumers.
This way several hydraulic actuators may be moved simultaneously, independently from one other at
different velocities and pressures. This applies as long as the sum required for the partial flows is
within the total delivery supplied by the pump and the pump can supply the pressure levels required
for operating all consumers. See also [10].
Advantages of the variant with CAN actuation are as follows:
- Simplified wiring
- Integrated position transducer
- Valve calibration done by producer, no need for alignment by end customer
- Configurable valve characteristics (linearization, fine control range etc.)
- Adjustable ramps (limited change speed of oil flow)
- Fast response behavior
- Maximum volume flow can be limited by parameter
- Diagnostic facility (temperature, current spool position, fault detection)
Figure 1.2 shows the layout of a CAN-PSL section. The housing for the solenoid and the electronics
are mounted on top of the spool valve section [10].

Spool valve section
Housing for the solenoid

34.75
104.2
Electronics
Connector
39
Figure 1.2.: Setup of a Complete Valve Section with Electronics and Connector
The connection socket attached to the electronics’ housing establishes the electric contact with the
element. At least one, maximum two, connection sockets shall be provided for each valve bank.
1.8.2 Electrical Parameters
Table 1.2 and Table 1.3 provide an overview of electrical parameters and their limit values for the valve
driver and its CAN interface.
Parameter Sym. Min Max Unit Comment

Supply voltage UB 10 30 V Maximum spool actuation can only be guaran-
teed as of 12V.
Current IB 0.05 2.0 A Current consumption depends on supply volt-
consumption age, elevated maximum currents are also pos-
sible (start-up moment).
Power consump- PB 1 50 W Valid for normal operation. During start-up
tion higher values might occur.
Table 1.2.: Electrical Parameters
For detailed information concerning CAN interface please refer to section 2.1.
Parameter Symbol Value range

Output voltage, bus supply VDD 5V
Transfer rate fbit 50k - 1Mbit/s
Slew rate SR 5 V/µs
Table 1.3.: Electrical Parameters CAN Interface

If the PSL/PSV CAN valve bank is operated as pass-through, i.e. it is fitted with two contact sockets
and integrated into the bus line, attention must be given to the maximum power load of the contact
sockets. If necessary those bus participants with high power consumption should not be supplied
through the valve bank, but receive their own power supply. It is recommended that the average
current at the contact sockets exposed to the greatest loads shall not exceed 10A.
The following two tables 1.4 and 1.5 show the current carrying capacity (at 25 ◦ C environmental
temperature) for all connector-base versions.
PSL2 PSL 3 PSL 5 Unit

standBy 50 50 50 mA
Imin 250 365 300 mA
Imax 645 500 700 mA
Table 1.4.: Electrical Parameters PSL - 12V
PSL2 PSL 3 PSL 5 Unit

standBy 30 30 30 mA
Imin 140 205 140 mA
Imax 350 430 380 mA
Table 1.5.: Electrical Parameters PSL - 24V
1.8.3 Hydraulic Parameters
Hydraulic parameters can be obtained from the document for HAWE PSL/PSV valves [10].
1.8.4 Environmental and Operating Conditions
Table 1.6 provides an overview of the operating conditions for which qualification tests had been
carried out.

Test criterion Industrial standard Comment

EMC Irradiation ISO 11452-2 60V/m
EMC Emission ISO 14982
Protection type IP67 DIN 40050-9
Salt spray test DIN EN 60068-2-11 500h
Shock test DIN EN 60068-2-29 25g, 3 axes
Vibration DIN EN 60068-2-6
Temperature change DIN EN 60068-2-14 -40 ◦ C - 85 ◦ C (1.5K/min)
Cold DIN EN 60068-2-1 -40 ◦ C
Moist warmth DIN EN 60068-2-30 95% humidity, 24h
Dry warmth DIN EN 60068-2-2 85 ◦ C, 16h
Table 1.6.: Operating Conditions and Environmental Checks
INFORMATION
The valves, type PSL/PSV, with integrated CAN control electronics can be operated
in an ambient temperature range between -40 ◦ C to +85 ◦ C. As high temperatures
accelerate the aging of electronic components, it is recommended to maintain sufficient
distance to heat sources when installing these components and to avoid exposure to
heat.
In addition, the basic rules for hydraulic components as specified in [10] must be observed, in particular
those measures aimed at limiting maximum oil temperature.
1.9 Variants
The PSX CAN family is produced as Standard and lite variant. Both variants can be mixed in a valve
bank according to application requirements.
1.9.1 CAN Standard
The CAN Standard variant uses current and position control to achieve optimal results. The structure
shown in figure 1.3 is therefore used.

Figure 1.3.: Structure of spool position control closed loop - VDMA Fluidprofile [13] chapter 8.1.2.
This variant is especially suited for applications that have higher requirements on:
- system dynamics,
- hysteresis and
- linearity
1.9.2 CAN lite
The CAN lite variant operates without closed loop position control, otherwise there are no structural
differences to figure 1.3. All features found in CAN Standard are supported and are configurable with
PSXCANc version 2.20.0 or newer.
For CAN lite a seperate EDS file is provided, which has a product code 2 in object 1018.2 that differs
from CAN Standard (value 1).
The spool position is controlled open loop, because there is no position indicator in this variant. Based
on this, the hysteresis is comparable to electrical and manual PSL variant.
This implies that there are no position based errors like POS_PLUS, POS_MINUS, POS_ITG,
POS_PLAUS, SFT_HALL_ZERO available.
The integrated closed loop current control ensures the independence from temperature and supply
voltage disturbances.
This variant is especially suitable for man operated applications or applications with lower hysteresis
requirements.

1.10 Accessories
1.10.1 Connector Socket
Connectors are available in three variants that are designated AMP, AMS and DT. Connection sockets
with integrated termination resistor are also available for delivery. The different possible configurations
can be selected from the type code in [1].
In the following Figure 1.4 a valve bank with a fitting connector is shown. Depending on the mating
connector an AMP Connector, an AMS Connector or a DT Connector can be placed on such a valve
bank.
Figure 1.4.: electronic housing with contact-pod
INFORMATION
Connection sockets can be fitted to either side of a valve bank. Dependent on the
customer application and the corresponding bus topology, valve batteries can be fitted
with one or two sockets. The internal connection forwards the CAN signal as well as
the supply voltage through the valve bank, enabling the bus to be continued on the
second connection socket.

NOTE
The plastic connector socket can only carry a limited mechanical load and is
not suited for the use as handle! The socket might brake from the battery.
Don’t use the connector socket as handle.
The mating connector to the AMP Connector and its corresponding pin assignment is shown in
Figure 1.5.
4 Power - / GND
3 CAN-H
2 CAN-L
1 Power +
Figure 1.5.: AMP mating Connector and its corresponding pin assignment
The mating connector to the AMP Connector (see Figure 1.5) can be ordered with the HAWE reference
number 6217 0180-00 or with the reference number 282764-1 from Tyco Electronics.

Additional accessories for the AMP Connector can be seen in the following Figure 1.6.
Figure 1.6.: Additional Accessories for the AMP Connector
1. AMP mating Connector
2. protection cap
3. small contacts for wires with a diameter of 0.5mm2 − 1.0mm2
4. large contacts for wires with a diameter of 1.5mm2 − 2.5mm2
5. single wire seal for small contacts
6. single wire seal for large contacts
To connect the wires of a cable to the fitting contacts, a crimping tool is necessary. More detailled
information can be found at the end of this chapter.

The mating connector to the AMS Connector and its corresponding pin assignment is shown in
Figure 1.7.
1 CAN-L
2 Power +
3 Power - / GND
4 CAN-H
Figure 1.7.: AMS-mating connector and its corresponding pin assignment
The mating connector to the AMS Connector (see Figure 1.7) can be ordered with the HAWE reference
number 6217 0181-00 or with the reference number 1-967 059-1 from Tyco Electronics.

Additional accessories for the AMS Connector can be seen in the following Figure 1.8.
Figure 1.8.: Additional Accessories for the AMS Connector
1. AMS mating Connector
2. protection cap
3. small contacts for wires with a diameter of 0.5mm2 − 1.0mm2
4. large contacts for wires with a diameter of 1.5mm2 − 2.5mm2
5. single wire seal for small contacts
6. single wire seal for large contacts
To connect the wires of a cable to the fitting contacts, a crimping tool is necessary.

A suitable crimping tool can be ordered under the reference number 729710 F28/95 e.g from the
company “Hoffmann GmbH Qualitätswerkzeuge”, Munich. This tool can be used for the assembly of
both, the AMP mating Connector and the AMS mating Connector.

The mating connector to the DT Connector and its corresponding pin assignment is shown in Figure 1.9.
1 CAN-H
2 CAN-L
3 Power +
4 Power - / GND
Figure 1.9.: DT-mating connector and its corresponding pin assignment
The corresponding pin numeration is depicted in Figure 1.10.
1 4
2 3
Figure 1.10.: Pin numeration DT-Mating Connector
NOTE
This pin numeration corresponds with the DT-Mating Connector. The assing-
ment of pin 1 of the Mating Connector meets contact 1 of the Connector re-
garding the DT-Connector which is positioned at the valve bank.
The DT-Connector is manufactured by Tyco Electronics, the manufacturer code is “DT06-4S”
Required components for the DT-Connector:

Housing manufacturer code DT06-4s 1 piece
Backshell with strain-relief item number 1011-263-0405 1 piece
Wedgelock item number W4S 1 piece
Female contacts item number 0462-201-16141 4 pieces
Figure 1.11.: Required components for DT-Connector

Protection class:
Connector: Protection class:

AMS IP 54
AMP IP 54
DT IP 68
Table 1.7.: Protection class of connectors
1.10.2 Cable specification
To achieve the best reliability possible, we recommend cables produced by the company “Lapp”. A
possible configuration connecting to a DT-Connector can be the “UNITRONIC BUS CAN” cable with a
diameter of 0.75mm2 (US specification: AWG 18-19). This cable can be bought with its item number
“2170270” at Lapp.
1.10.3 Software
Every valve section can be parameterized using the parameterization software PSXCANc (8.3), which
is distributed by HAWE.
Functionality of the Software:
• Firmware download
• Change values of the Parameters
• Errorhandling
• Watching of internal state variables of the valve
• manual setpoint generator
Standard procedure is to parameterize via the CANopen communication protocol and the associated
software tools. Configuration tools that support CAN electronic data sheets (EDS Files) can also be
used.
WARNING

1.10.4 Starter-Set
By Using the Starter-Set it is possible to communicate with HAWE CAN Valves and to test their
functionality. Mainly it is used by programmers of Controlling software and for bus simulation.
Articel: Partnumber:
Starter-Set 3405 4200-00
It is possible to get detailed information in chapter 9.
1.11 Protocol Versions
The valve actuation (PSL/PSV CAN valve nodes) might be ordered with different variants of the
communication protocol. Actually supported are the CANopen device profiles CiA-408 und CiA-401
as well as J1939.
For details about those protocols and their subversions please refer to chapter 4, chapter 5 and
chapter 6.
Regarding the selection of the appropriate protocol for the customer application please refer to
section 2.2 as well as subsection 3.2.1.

2. CAN INTERFACE
2 CAN Interface
CAN (Controller Area Network) has established itself as open and non-manufacturer-specific producer
standard for automotive applications and process automation. A wide variety of producers for sensors,
control units and actors make use of this technology.
In the following basics about CAN networks and especially the interface of electronically actuated
hydraulic components will be presented. The focus lies clearly on general information.
Hydraulic valves that are controlled via CAN bus are used to process digital setpoint commands and
supply the required volume of oil to the connected consumers. A setpoint generator with CAN interface
or an electronic control unit is in charge of generating the setpoints as well as coordinating the data
traffic in the entire system.
In general, ECUs connected to the CAN bus, must be able to solve the following tasks:
- Transmission of set point values and feedback of diagnostic data
- Parameter setting and start-up
- (Fault-) diagnosis
- Safeguarding against bus interruptions
Different protocols on layer 7 of the OSI reference model [8] are commonly used to arrange communi-
cation between the individual participants. The most widely used are:
- J1939
- CANopen
- DeviceNet
The following text represents a short overview of these and their characteristic differences. In addition,
general information is provided on CAN bus systems and notes on layouts.
For detailed information about function of CAN networks or components as well as the physical
properties of this bus system please refer to literature like [14] or [9].
For detailed information on protocols please refer to chapter 3, chapter 5 and chapter 6.

2. CAN INTERFACE
2.1 Hardware
The CAN bus (controller area network) is an asynchronous, serial bus system that requires only two
wires for the data transmission. According to their signal levels they are denoted by CAN_HIGH and
CAN_LOW.
Twisted-pair cables with a characteristic impedance of 108 − 132 Ω are recommended as bus line
(according to ISO 11898-2 “high speed medium access unit”).
The protocols CAN 2.0 A & B and J1939, based either on 11 or 29 bit address data, are commonly
used for data transmission formats (OSI layers 1 to 2). Both variants are supported by the PSL/PSV
CAN valve nodes on the hardware side.
The reference potential for the CAN bus is internally connected to the 0V signal of the power supply.
NOTE
The CAN transceivers of the valve electronics are not galvanically insolated
from the supply voltage.
If there are potential offsets, functional impairment and damage can happen.
It is up to the user to prevent level shifting between the (ground-) connections

of the various bus participants.
2.1.1 CAN Bus Bit Rate
Each bus system must be assigned to all participants identical transfer rates. A compromise between
the required transmission rate (or fault tolerance) and geometric length of the bus has to be found.
The transfer rate may vary depending on the length of the bus line. In Table 2.1 values can be defined.
Note the relationship between transmission rate (bit rate) and maximum allowable cable lengths. Also
note the embodiment (linear vs. star topology) of the bus system.
Transfer rate Bus length Maximum length for tap line

100 kbit/s 600 m 25 m
125 kbit/s 500 m 20 m
250 kbit/s 250 m 10 m
500 kbit/s 100 m 5m
1000 kbit/s <20 m 1m
Table 2.1.: Recommended Bus Line Length Limits
250kbit/s are used as standard setting for PSL/PSV valve nodes. It is suggested to use a linear bus
topology minimizing the length of tap lines. See also subsection 2.1.3.

2. CAN INTERFACE
2.1.2 CAN Bus Termination
Every CAN network must have two terminating resistors, each 120 Ω and installed at the respective
ends of the bus lines.
If power is switched off, 60 Ohms (two times 120 Ohms in parallel) should be measured between
CAN_HIGH and CAN_LOW, if termination is installed properly.
INFORMATION
Connection contact sockets, mounted to the valve bank and containing a bus termina-
tion, are available as accessory for the PSL/PSV CAN valve banks (see section 1.10).
The standard variant of these connection sockets does not have a termination.
2.1.3 Line Layout and Net Topology
NOTE
Improper wiring reduces the performance of the bus.
Star topology and too long tap lines lead to communication disorder.
The attempt to realize a linear network topology and to avoid tap lines should
generally be made.
If this is not possible, the maximum length of the tap lines should follow the specifications in Table 2.1,
appropriate to the respective transfer rate.
An exemplary diagram of a CAN network is illustrated in Figure 2.1.

2. CAN INTERFACE
A
CH CL
120Ω
CL
D
CH
120Ω
CH
CL
CH
CL
B C
CH
CL
E
central
- neutralpoint
ground
+ Power
Figure 2.1.: Recommended Architecture for Grounding and Shielding of CAN Bus Systems
Following recommandations can be derived from the example network:
- For suppression of interference radiation and/or minimizing of interference transmission at least

twisted signal lines should be applied for longer sections of the bus line. Additional shielded
cables with defined impedance (120 Ω) would be better.
- The construction of the bus network should preferably be linear and terminated at both ends
with a load resistance of 120 Ω.
- Shielding of the CAN line can be neglected if the bus lines are short with only low EMC loads.
See fieldbus device A.
- There must not be a potential shift between the individual CAN users. Ground (GND) lines of all
CAN devices have to be sufficiently dimensioned and routed together to one single point.
- If interference signals on the supply network are obtained, a local separation of the bus line is
recommended.
- Tap lines for connecting individual participants to the bus should be kept short. See fieldbus
device A.
- Medium length Tap lines should be twisted or shielded. See fieldbus device C.
- If the fieldbus device is far away from the main strand, a bus line leading to the participant and
further from there should be used, but no Tap line. See fieldbus device E.

2. CAN INTERFACE
In case of applicating shielded bus lines, one-sided direct connections of the shield should be
designated to avoid ground loops.
Figure 2.2 shows one possible example for shielding the bus lines. One can alternatively use
decoupling capacitors between the shield and the ground.
Figure 2.2.: Shielding bus lines
2.2 Protocol Philosophies Overview
The J1939 and CANopen protocols are examples for different protocol philosophies. Both protocols
are basically covering the solution to identical assignments:
- Unique assignment of set point to valve
- Format definition for setpoint and status messages
- Format definition for access to internal parameters/data
- Safeguarding mechanisms for bus interruptions
The two protocol families differ substantially in their approach to these assignments.
While CANopen [2], and its extension for hydraulic valves CiA-408 [5], are geared toward standardizing
the valves and hence the internal software, the focus of J1939 is on the Plug&Play functionality in the
vehicle section, without giving the valve producers any guidelines for implementation.
Concerning safeguards against bus interruptions , CANopen proposes two safeguarding mechanisms,
while J1939 leaves this issue all up to the user software.
WARNING
System integrator must take measures against communication disruption if
this can lead to dangerous situation, for example by implementing a second
shutdown path.

2. CAN INTERFACE
2.2.1 J1939
The J1939 protocol [11] was developed in the mid 80’s by SAE (Society of Automotive Engineers)
and was used rapidly and widely in the automation segment, above all in utility vehicles. It controls
communication between the different bus participants by making a sensible allocation of the 29-bit
address layer to the participants and applications. Fixed addresses and file formats are reserved
to enable the engine control devices, braking systems etc. to exchange information. For a good
description of this philosophy see also [15].
The advantage of this approach is its simplicity. With SAE’s catalog of identifiers (see also [11]) it is
possible to develop software tools that can decode any number up to 253 of participants connected to
the CAN bus and their messages. This enables direct and comprehensive diagnostics. An address
range for 16 “auxiliary valves” and their set point format is reserved for the valve actuation.
Key data for J1939:
- Higher-layer protocol, that uses CAN as physical layer
- Maximum bus length: 40 m
- Standard bit rate 250 kbit/s
- Maximum 30 physical nodes (ECUs) on one bus branch
- Maximum 253 individual participants (controller applications, CA). One control device can contain
multiple CAs
2.2.2 CANopen
The CANopen protocol was developed as European equivalent to J1939 by the company Bosch as
part of an ESPRIT project. Today the associated documentation is maintained and updated by the
user association CAN in Automation (CiA) (CiA). The protocol extension CiA-408 [5] is specifically
geared to fluid applications. It was created on the basis of the underlying documentation CiA-301 [2]
and the preparatory work of the VDMA.
CiA-408 in particular makes a few sweeping assumptions regarding the internal set-up of the device
software of electronically actuated hydraulic components. Thus, it presupposes the implementation of
two state machines (communication and application), which have to be initialised, before the valves
can be operated.
The master has to implement the start-up procedure.
CANopen has established itself as recognized standard, so that software, used for diagnosis and
parameterization, is commercially available. Instead of a fixed address catalog CANopen is using an
interface description (EDS electronic data sheet) that allows a detailed description of the scope of
services and the available interfaces for any CANopen participant.

2. CAN INTERFACE
Moreover, the protocol has also been integrated into the programming systems for PLC controls (e.g.
CODESYS). This means that the user only needs a minimum knowledge in order to integrate, for
example, the decentralized valve actuators into the programming by means of an EDS file.
2.3 CAN Basics
Independant of the protocol used, the bus bus physics of CAN-networks defined in the ISO 11898
causes similarities of all protocol implementations.
The following subsections provide a brief overview of essential characteristics.
2.3.1 Telegram
CAN messages are telegrams, which are data packages with a few bytes of user data. Table 2.2
shows the set-up of these telegrams.
Length 11-bit 29-bit Meaning

1 bit SOF SOF Start of frame
11/29 bit 11 bit CAN ID 29 bit CAN ID Identifier (priority)
1 bit RTR RTR Remote transmission request bit
6 bit Control field Control field Data length code, etc
0..8 byte Data Data Data field
2 byte CRC CRC Checksum
2 bit ACK ACK Acknowledge bit
7 bit EOF EOF End of frame
Table 2.2.: CAN Data Frame
The protocol families differ in the length of the address field (CAN identifier) that is prefixed to every
telegram. The size of the data field (see Table 2.2) is identical, consisting in every case of a maximum
of 8 bytes. This range is split up into individual data according to the specific protocol. Figure 2.3
shows the format of a 11-bit Data frame.

2. CAN INTERFACE
t) me
t) e
(2 ledg
(1 Fra
-
el ow
el t-of
bi
bi
kn
ar
Ac
St
d
Arbitration Control Field (6bit) Data Field CRC Field (16bit) End-of-Frame
Fi
Fi
Field (11bit) (0-8byte) Field (7bit)
RTR-Bit reserved CRC Delimiter ACK Slot ACK Delimiter
Figure 2.3.: Format of a Data Frame
2.3.2 Addressing
The address field allocated to every telegram has to assign recipient/sender/purpose to the telegrams.
Address fields with 29 bit (J1939) as well 11 bit (CANopen) have established themselves.
CAN object-ID (COB-ID) and/or CAN identifier (CAN ID) have established themselves as designation
for the address field.
All protocols have in common that every participant has or gets a number assigned that is unique
in the network. The standard designation for these participants is Node-ID. The conversion of the
node-ID to the COB-ID is specific to each protocol.
2.3.3 Data Formats
Fields with a length of 1, 2, 4 or 8 byte are commonly used for the transfer of data values. The little
endian data format is common for the values that are made up of multiple bytes, which means that the
most significant byte is transmitted last.
Negative values are transmitted as two’s complement. For more detailed information on that and
various different data formats, please refer to [2](chapter 9.1.4).
2.3.4 Typical Bus Setup
Figure 2.4 shows the typical structure of a CAN network (during commissioning).

2. CAN INTERFACE
Figure 2.4.: Bustopologie
In addition to different devices required for the actual application, a PC-supported diagnosis tool is
connected to the bus. It is used for monitoring the data flow and for configuring individual participants.
A master (controller unit) is installed on the bus in order to provide a variety of slave moduls (valve
nodes) with set point commands. It evaluates the feedback information coming from the nodes or it
evaluates the position information coming from various sensors connected to the bus.

3. CIA-301 REFERENCE
3 CiA-301 Reference
CANopen has become a widely used communication protocol providing a standard framework for
communication between devices in CAN networks. It is based on the CiA-301 [2] standard that is
published by the user association CiA (CAN in Automation (CiA)).
Corresponding documents may be acquired via internet under the following address:
http://www.can-cia.de/.
A more simplified form of integrating CANopen participants in various developer environments or

diagnosis systems (PC tools for commissioning) consists of inserting a detailed device specification
into corresponding programs through an EDS file.
Figure 2.4 provides a schematic overview of such an arrangement, which is one of the strong points of
CANopen.
For more appropriate introductions refer to text books like [9], [17] or [14]
Aim of this chapter is to offer a basic introduction into the philosophy of CANopen and to explain the
different elements of the standard. Reference is regularly made to specific features of the control of
hydraulic actuators.
3.1 Structure of the Documentation
In this chapter the basics of CANopen, i.e. the details given in the device profile CiA-301 [2] are
explained.
This is the basis for understanding the device profiles CiA-401 and CiA-408. See section 4 and 5.
For experts or impatient readers reference shall be made to section 5.2, which provides an exemplary
explanation of the boot-up operation and the transmission of set points according to CiA-408.
3.2 Essential Concepts of CANopen
In this section essential characteristics of CANopen systems will be presented. Those can be derived
directly from the CiA-301 standard.

3.2.1 Device Profiles
The users Group of CAN in Automation (CiA) attributes a number of several so-called “device profiles”
to the large number of different CAN devices, grouping them into classes according to their functionality.
Though essential properties (especially communication procedures) are defined in the device profile
CiA-301 [2], numerous device-specific extensions exist with specific characteristics depending on the
application.
With the assistance of the VDMA and various hydraulic component manufacturers the device profile
CiA-408 [5] was created for specific applications such as fluid engineering components like valves. It
is based on the profile entitled “Fluid Power Technology”, version 1.5, published by the VDMA.
The standard defines data formats and commands for the internal status administration, setpoint
transfer, parameterization and the processing of error states.
HAWE recommends its customers to select the CiA-408 protocol version due to its functionality and
flexibility. Chapter 5 offers detailed information about the special functions.
Alternatively (for a simplified actuation of the valve) the device profile CiA-401 [4] specialized on input
and output modules might be used. See also chapter 4. It offers the advantage of significantly lower
complexity.
3.2.2 CAN Master and CAN Slaves
The CANopen standard distinguishes between masters and slaves1 . A single network might contain
several masters as well as several slaves.
PSL/PSV CAN valve nodes serve as distributed actuators and behave therefore like CAN slaves. In
complex control assignments a CAN master, typically in form of a central control unit, is required for
their actuation and transmission of setpoints, activation commands etc. This unit has to oversee the
following assignments:
- Coordinated boot-up of the entire network
- Setpoint generation
- Setpoint transmission to individual valves
- Higher-order error management
- Function monitoring for activated CAN participants
- Transmission/evaluation of diagnosis information
- Higher-order functions, such as activating/deactivating of hydraulic power
1
terminology defined in CANopen DS301 4.4.1

Of elevated significance is the last mentioned point.
In the event that the connection to the control device is interrupted, the valves can detect this via
timeouts and will independently revert into a safe mode, i.e. they switch into a neutral position.
However, this assumes that one of two monitoring mechanisms, that are provided in the protocol, is
activated, which is strongly recommended. Please refer to subsection 3.3 for details.
WARNING
Potential danger of unwanted movement caused by broken cables!
3.2.3 Data Objects, Telegram Types
The CANopen standard [2] distinguishes between the following data objects (telegram types):
- PDO (Process data object)
- SDO (Service data object)
- NMT (Network management)
- EMCY (Emergency object)
- SYNC (Synchronization)
Process data objects (PDOs) are telegrams that are cyclically sent and apply to the actual function of
the particular CAN participant. PDOs are responsible for the major part of the busload in a CANopen
network. They undertake the most important task of the CAN participants: transmission of data to or
from a slave.
Service data objects (SDOs) are sent in irregular intervals and are used for parameterization.
The SDOs provide write and read access to the internal data of the valve, and to read out or
write parameters. Basic of this philosophy is the so-called object dictionary (see subsection 3.2.4),
representing a list of entries with the associated indices, which makes the internal data structures of
any slave accessible.
Please also observe the information given in subsection 3.2.5 regarding the directional information of
PDOs. See also section 3.5 for detailed information about sending and receiving SDOs.
In addition to the PDOs and SDOs there are also commands for network management (NMT) as
well as prioritized identifiers to communicate errors, so-called emergency objects (EMCY). See also
sections 3.2.6, 3.6 and 3.7.3 for details.

3.2.4 Object Dictionary
A so-called object dictionary determines the heart peace of the CANopen philosophy. Normally it
represents the main content of all devices build on CiA-301.
The key invention is to give all users of a CANopen slave access to all readable or writable parameters
in a standardized way. The purpose of device specific device profiles is to define parameters which
are generally valid for some group of application devices. This happens by introduction of access code
numbers (2byte index + 1byte sub-index).
It is left to device manufacturers to implement access possibilities to particular elements of the device
profile. Some device profiles also contain mandatory dictionary entries, enhancing the CiA-301.
The object dictionary is split up into the categories listed in table 3.1.
Type Index Draft Standard

Communication objects 0x1xxx CiA-301 V4.02 [2]
Manufacturer objects 0x2xxx See appendix A.4.21
Profile specific objects 0x6xxx CiA-401 V3.0 [4]
Profile specific objects 0x6xxx CiA-408 V1.5.2 [5]
Table 3.1.: Entries in the Object Dictionary
Telegrams, that are defined in CiA-301, enable the request of additional information on parameters
(like read or write permissions or physical units). As CiA-301 is the common basis for which a separate
address space is reserved and included in all specific profiles, numerous commercial software products
might be used for comfortably parameterizing CANopen slaves. The user does not have to deal with
details of the communication (to compose or analyze telegrams byte-by-byte).
This is also based on the concept of EDS (electronic data sheet) files in which all accessible parameters
of a CANopen slave can be defined. Please also refer to subsection 2.3.4 as well as section 8.4.
3.2.5 Nomenclature, Definitions, Notes
The following shows the communication functions in table format. Reference is made to uniform
designations for which the following definitions shall apply:
Direction Information
Data telegrams sent by the central control device to the valve, i.e. from master to slave, are designated
M → S. Telegrams going the opposite direction from slave to the central control device (master) are
designated with S → M . The information in the column DIR (direction) indicates the flow direction.

Telegram Length
In the case that a CAN telegram contains less than the maximum possible 8 byte, it will only be shown
with the number of required bytes. The table format does not explicitly show the length of the telegram.
It is recommended to send telegrams to the valves with an exactly specified length.
Addressing, IDs
Every CAN bus participant has a unique identifier from 0-127, the so-called node-ID. The implicit
assumption is that the central control device (the master of the network) has 0 as node-ID. Unless
explicitly specified otherwise, the designation node-ID always refers to the valve affected.
The destination address contained in every CAN telegram, which is also designated as CAN identifier,
is termed in the following as COB-ID (CAN object-ID).
RXPDOs, TXPDOs
Process data objects (PDOs) are telegrams that are frequently transmitted, e.g. actual values and
setpoints.
The designations RXPDO and TXPDO, which are contingent on the position, are generally omitted to
avoid misconceptions. In case that they will be used nonetheless, the valve serves as reference point.
Instead, the nomenclature is used whereby master = setpoint generator and slave = valve = setpoint
recipient. In most cases the direction of information S → M or M → S is explicitly specified.
Byte Sequence
Data bytes are numbered on the bus in the sequence of their transmission, i.e. starting with byte 0.
With data types made up of multiple bytes, MSB (most significant byte) signifies the highest value byte
and LSB (least significant byte) the lowest value byte.
Bit Fields
In bit fields the bit 0 designates the lowest value data bit.
Prefixed Integer Values
Negative numbers are displayed as one’s complement.

3.2.6 CANopen Default Identifier Distribution
Due to the 11-bit addressing the address space of CANopen comprises 211 = 2048 possible COB-IDs.
The number of 27 = 128 potential participants enables dividing the entire address space into 16
partitions with the length 128, which can have various functions assigned.
DIR Address range Hexadecimal COB-ID Function

M →S 0 0 0 NMT
M →S 128 0x080 128 Sync command
S→M 129 - 256 0x080 - 0x0FF 128 + Node-ID Emergency Object
S→M 384 - 511 0x180 - 0x1FF 384 + Node-ID TxPDO1
M →S 512 - 639 0x200 - 0x27F 512 + Node-ID RxPDO1
S→M 1408 - 1535 0x580 - 0x5FF 1408 + Node-ID TxSDO
M →S 1536 - 1701 0x600 - 0x67F 1536 + Node-ID RxSDO
S→M 1792 - 1829 0x700 - 0x77F 1702 + Node-ID NMT
Table 3.2.: CANopen Default Identifier Distribution
Table 3.2 shows this distribution. A telegram’s COB-ID initially allows to define the allocation to a
partition (from the 4 highest value bits). This defines the function, i.e. whether it is for example a PDO
from master to slave or for example a SDO answer from slave to master.
The last 7 bit of the COB-ID specify who is sending the telegram or to whom it is being sent. Please
note the direction information as listed in table 3.2. In the event that a slave is sending to a master, the
node-ID of the sending slave must be used. Telegrams sent from the master to a slave the node-ID of
the recipient must be used.
3.3 Safety Mechanisms
The task of all safety mechanisms implemented in CANopen is the detection of faults or interruptions in
communication. So it is specifically the role of mutual monitoring whether bus users are still operating
and able to communicate.
For actuators, in the case of a communication interruption, the typical risk is an unwanted activation.
A potential fault scenario is that the corresponding actuator will not notice the stop command of his

master because of a disturbed or interrupted communication and will remain active with the latest
setpoint.
CANopen provides seperated hedging mechanism (Node Guarding, Heartbeat) andf/or setpoint
transmission (Setpoint Timeout) to infer the full functionality of the bus communication.
CANopen offers two methods for protection:
- cyclic query of the status of the node by a master: “node guarding” principle
- automatic transmission of a cyclic message by cyclic slave/master: “heartbeat” principle
We strongly recommend to enable one of these two monitoring mechanisms on the part of the valve
node. The simultaneous use of both processes (Node Guarding, Heartbeat) is mutually exclusive
because of the use of different functionality in the same COB-ID.
More frequently used is the heartbeat process which is generally more flexible and requires less
bandwidth. The CiA-408 [5] favors heartbeat too.
The cyclical setpoint transmission could be activated without any problems among one of the mecha-
nisms mentioned above
3.3.1 Node Guarding
Node Guarding means actively query the state of the Communication State Machine of a slave by his
master. Therefore a bit (called RTR bit) that is reserved in a message header to retrieve messages is
used. The slave is asked to send its current state immediately (NMT state, state variable).
The basic procedure is described in figure 3.1. The supervising master sends a request message to
the monitored slave whose immediate response is expected. In the absence of it a state of emergency
“Node Guarding Event” is generated.

COB-ID=1792 + Node-ID
NMT Master NMT Slave
Remote transmit Request
request indication
0 1
1 6. . . 0
Node
confirm t s response
Guard
Time
request indication
Node
Guard
Time
indication
Node Guarding Event
Figure 3.1.: Flowchart Node Guarding
The format for request and response messages is decribed in tables 3.3 and 3.4.
DIR COB-ID B0
M →S 0x700 + Node-ID (RTR) -
S→M 0x700 + Node-ID See table 3.4
Table 3.3.: Format Node Guarding Telegram
Additionally it is possible to change a toggle bit in the response message for further monitoring which
confirms that the slave does not only respond, but also has intrinsic activity.
bit7 bit6 - bit0

Toggle bit Slave communication status see 3.7.1
Table 3.4.: Content Node Guarding Response Messages
In practice often more important than the function of supervision of the slaves is testing the connection
to the master. For this purpose the same request message is also used for the Node Guarding method
(see table 3.3).
The inquery for the condition of the monitored NMT-slaves should happen cyclically by the master.
The time between two requests is called the guard time. This value is used as the expected value for
the arrival of messages.

To configure a slave the object 100Ch is provided which indicates the guard time in milliseconds. By
configuring Parameter 115, namely PAR_NODEGARD_TIME the same settings can be achieved. The
default value is zero. A non-zero value of this parameter activates the Node Guarding mechanism.
The cyclic query message from the master gives the slave the possibility to examine the functioning of
the master. In order to become adjustable robust, a tolerance factor is defined how many times the
cycle time must be exceeded to actually activate an internal error (“life-guarding event”).
The so-called Life Time Factor, object 100Dh, is responsible for this. It can also be configured by
Parameter 115, namely PAR_NODEGUARD_FACTOR. The NMT slave checks to see if he was
interrogated within the so-called “Node Life Time”(Node Guard Time · Life Time Factor).
If this did not happen, the slave must act on the assumption that the NMT master is not in normal
operation. He then activates a “Life Guarding Event”. If the Node Life Time is 0, there is no monitoring
of the master.
In detail the timing is shown in figure 3.2. In case of monitoring the function of the master by the slave
the term “life guarding” is common.
NMT-Master NMT-Slave
request indication
0 1
1 6. . . 0
Node confirm t s response
Guard
Time
request indication
0 1
1 6. . . 0
confirm t s response
Node
Life s: Status NMT-Slave
Time1 t: toggle Bit
Life Guarding Event
1 : Node Life Time = Guard Time * Life Time Factor (CIA-301 Object 0x100C und 0x100D)
Figure 3.2.: Flowchart Life Guarding

3.3.2 Heartbeat
The Heartbeat process does not distinguish between master and slave, but between producers and
consumers of Heartbeats.
A producer “Heartbeat Producer” automatically sends his status in defined intervals in order to prove
his ability to communicate. The interval between two Heartbeat messages from a so-called Heartbeat
Producer is defined by the object 1017h or by the parameter 117 (PAR_HEARTBEAT_PRODUCER).
At a value of 0, the sending of Heartbeats is disabled.
DIR COB-ID B0
HP → HC 0x700 + Node-ID Slave Communication Status see 3.7.1
Table 3.5.: Format Heartbeat Telegrams
It is up to the other bus users to evaluate the sent Heartbeats; an evaluation is made by the so-called
“Heartbeat Consumer”.
A “heartbeat consumer time” is set in object 1016h, or in parameter 116, namely

PAR_HEARTBEAT_CONSUMER. This object contains an u32 data field in sub-index 1, which stores
the Heartbeat Time in bit 0 to 15. The consumer time should be 1.5 – 2 times longer than the producer
time to ensure that a missing heartbeat really is lost and not just delayed.
This time interval describes the maximum time until the next Heartbeat Telegram must be received.
Otherwise, a Heartbeat Event is generated.
For every “Heartbeat Consumer” an associated producer has to be named, whose Heartbeat should
be monitored. Corresponding configuration is done by passing the node-ID of the producer, which is
denoted in bit 16 to 23 as u8 of the object 1016h.
3.3.3 Setpoint
For activation of cyclical setpoint transmission the timeout parameter for expected setpoints has to be
set with a value different from 0.
The Object Setpoint timeout has the index 2200h and should be set with values 3 to 4 times as big
as the typical setpoint rate. Alternatively the setpoint timeout can be set via Parameter 119, namely
PAR_ERR_SP_TIMEOUT.
Heartbeat and setpoint timeout can be active together. In this case, a heartbeat telegram resets the
timeout counter for the setpoint timeout.
“Reading and Writing Parameters” is described in chapter 7.4.5.

3.4 Process Data Objects (PDOs)
As the detailed format definition for PDOs is not part of CiA-301 but is given in device specific profiles
like CiA-401 or CiA-408, only superficial information about PDOs can be given here.
3.4.1 Setpoints and Setpoint Processing
The different device profiles (CiA-301, CiA-401 and CiA-408) do not define a unique setpoint format.
CiA-408 has no detailed description how to do that, but refers to the VDMA fluid profile [13] section
7.1.2.
In order to avoid the impracticable use of physical units for volume flows, the setpoints for PSL/PSV
CAN valves are always scaled relative to the nominal maximum flow of the valve section. The
corresponding value range and the implementation of the direction information depends on the device
profile which is used.
The setpoint transmitted can also be (temporarily) changed by the valve. This happens for example if
the user has specified ramps, i.e. if quick setpoint changes shall be limited for mechanical reasons.
By changing the parameter the maximum flow can be limited, so that the software simulates a valve
with a smaller nominal quantity. In this case the quantity delivered by the valve corresponds with the
setpoint that has been linearly scaled down.
Given the appropriate parameterization a non-linear connection can be defined between setpoint and
valve opening, e.g. if the realization of a fine-tuning area shall be electronically realized.
3.4.2 Data Format for Setpoints
For data values made up of a multitude of single bytes the “little endian” format is mainly used in
CANopen systems. 2
In the little endian format the least significant byte (LSB) is stored in the smallest storage address.
This type of data coding is also known as “intel format”.
The little endian format is used, among others, for the CiA-408 setpoint definition, i.e. within the CAN
setpoint messages the higher-value byte is sent “later”. The typical setpoint length is 2 bytes.
In big endian encoded values, the most significant byte is stored on the lowest memory address. Typical representative
of this format are Motorola CPU’s and IBM mainframes. See also [2].
The curious term originates, according to [16], from the satirical novel Gulliver’s Travels by Jonathan Swift [12], in
which the dispute over whether an egg is turned over at its sharp or thick end, caused the inhabitants of Lilliput to split
into two hostile camps called the “little endian” and the “big endian”.

3.4.3 Actual Value
During operations every valve section provides cyclical feedback on the actual flow value calculated
from the position of the spool. Account must be taken in this context, that this is based on the
assumption that there is ideal pressure supply of the valve.
The actual values reported back from the valve always refer to the nominal amount in parts-per-
thousands specific to the hydraulic section.
Analog to the setpoints, the little endian format is also used for coding 2 bytes values.
3.4.4 Communication with PSL/PSV CAN-Tool
The PC servicetool uses Rx/Tx-PDO4 for communication purposes with connected PSL/PSV CAN
valves.
Additionally, PSL/PSV CAN valves use TxPDO3 for acyclic transmission of ASCII trace data. To
deactivate this transmission please set CANopen object 2010.0 to 1.
3.4.5 PDO transmission types
Typically the CANopen master can be configured to generate a cyclic SYNC message. The SYNC
message has a low COB-ID and therefore a high priority.
This ID is configured in object 1005h and has a default value of 0x80. For PSXCAN devices only the
default values of 0x80 is possible.
There is only one SYNC message producer, but there can be any number of SYNC consumer.
Configuration of PDO behaviour is done with:
• Receive PDO1 communication parameter with object 1400.2h
• Transmit PDO1 communication parameter with object 1800.2h
Possible parameter values are described in Table 3.6. Supported values for PSXCAN valves are
denoted with "+" in the “Supported” column.

Value Description Supported

0x00 synchronous (acyclic) -
0x01 synchronous (cyclic, every sync) +
0x02 synchronous (cyclic every second sync) +
0x03 synchronous (cyclic jeden third sync) +
... ... +
0xF0 synchronous (cyclic every 240th sync) +
0xF1 reserved -
... ... -
0xFB reserved -
0xFC RTR-only (synchronous) -
0xFD RTR-only (event-driven) -
0xFE event driven (manufacturer specific) -
0xFF event driven (device / application profile specific) +
Table 3.6.: Description of PDO transmission types
RTR-only types are not possible for Receive PDOs.
The default value for TPDO1 is event timer (0xFF), a configurable timer that emits one telegram every
x milliseconds. The value x is configured in 1800.5h or parameter 118 (CAN_STATUS_TIME). The
default value is 20ms.
3.5 Service Data Objects (SDOs)
The CANopen standard CiA-301 provides so-called SDOs (service data objects) to query or change
parameters of CAN slaves. A separate address range is provided for this as table 3.2 shows.
Generally, access takes place via a so-called index (16 bit) and a corresponding sub-index (8 bit). The
SDOs exchanged are of any size. An appropriate control byte is used to regulate the data transfer.
The assignment of index and sub-index is on close connection with the concept of the so-called object
dictionary. See also section 5.5.
3.5.1 SDO Structure
Table 3.7 shows the set-up of SDO telegrams. The control device is designated as master, while
the valves connected to the bus are depicted as slaves. The CAN object identifier (COB-ID) always
contains the node-ID of the slave, in one case as recipient of the request and in the other case as
sender of the answer.

DIR COB-ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4-7

S→M 1408 (0x580) + Control Index Index Subindex Data
Node-ID (Slave) byte LSB MSB
M →S 1536 (0x600) + Control Index Index Subindex Data
Node-ID (Slave) byte LSB MSB (reserved)
Table 3.7.: SDO Structure
A distinction must be made between reading and writing requests to the slave. In the case of a reading
request, the data field in bytes 4-7 is not used, while it contains the corresponding data in case of a
writing request.
The access and data type is coded in byte 0 (control byte) of the telegram. Table 3.8 provides a list of
potential values of the control byte that might occur in requests from master to slave.
DIR Control byte Meaning Bytes 4-7

M →S 0x40 Read access Reserved - initialized with 0x00
M →S 0x23 Write access 4-byte Data
M →S 0x27 Write access 3-byte Data
M →S 0x2B Write access 2-byte Data
M →S 0x2F Write access 1-byte Data
Table 3.8.: SDO Control Bytes M → S
Table 3.9 shows the slave’s answer, sent in case of success.
DIR Control byte Meaning Bytes 4-7

S→M 0x43 Read access 4-byte Data
S→M 0x47 Read access 3-byte Data
S→M 0x4B Read access 2-byte Data
S→M 0x4F Read access 1-byte Data
S→M 0x60 Acknowledgement Write access Reserved
Table 3.9.: SDO Control Bytes S → M
Attention should be given to the fact that write commands are answered with the same acknowledge-
ment telegram (0x60 in byte 0).
Every SDO received by and addressed to the slave is answered, although read- as well as write
commands can fail for different reasons, i.e. be rejected by the slave (or the master). Specific reasons
are transmitted in form of error codes using the answer telegram.

DIR Byte 0 Byte 1 Byte 2 Byte 3 Byte 4-7

S→M 0x80 Index Index Subindex abort code
Table 3.10.: SDO Transfer Error Message
Table 3.11 provides an overview of the abort codes that are supported by HAWE CAN PSL/PSV.
Abort Code Meaning

0x06090030 Parameter outside permitted range
0x06010002 Write command on read only parameter
0x06020000 Unknown index
0x06090011 Unknown sub-index
0x08090020 Transfer not possible
0x05040000 Protocol timed out
Table 3.11.: SDO Transfer Abort Codes
3.5.2 SDO save
To store parameter changes in EEPROM memory, a SDO Object 0x1010.1 save command is neces-
sary.
To avoid accidental storage, the command is only executed when signature “save” is used as command,
as shown in table 3.12.
DIR COB-ID B0 B1 B2 B3 B4 B5 B6 B7
M →S 0x600 + 4B Index Index Sub “s” “a” “v” “e”
Node-ID write LSB MSB Index
M →S 0x600+ 0x23 0x10 0x10 0x01 0x73 0x61 0x76 0x65
Node-ID
Table 3.12.: SDO save
3.6 Emergency Objects
Emergency objects (EMCY) are highly prioritized messages that are sent unrequested by one CAN
participant. These messages notify an important status change of the participant and are sent on
COB-ID 0x80h + node-ID with a length of 8 bytes. Emergency objects are triggered by the occurrence
of a device internal error situation and are transmitted from an emergency producer on the device.
An emergency object is transmitted only once per ’error event’. As long as no new errors occur on a
device no further emergency objects must be transmitted.

Event Action
After initialization the device enters the error Error message is sent with the error code
free state if no error is detected. ‘reset error / no error’.
The device detects an internal error indicated An emergency object with error code and
in the first three bytes of the emergency error register is transmitted. The error code is
message (error code and error register). filled in at the location of object 1003H
(pre-defined error field).
One, but not all error reasons are gone. An emergency message containing error
code 0000 (Error reset)
A new error occurs on the device. The device remains in error state and
transmits an emergency object with the
appropriate error code. The new error code is
filled in the array of error codes (1003H).
All errors are repaired. The device enters the error free state and
transmits an emergency object with the error
code ‘reset error / no error’.
Table 3.13.: Emergency Objects (EMCY) messages
DIR COB-ID B0 B1 B2 B3..B7

S→M 0x80 + Node-ID Error code Error code Error class 0
Table 3.14.: Emergency Objects (EMCY)
It is possible to fetch the amount of currently active errors by reading Object 1003.0h. Reading the
subindices 1003.1 to 1003.16 you get the corresponding error codes.
The error code in bytes 0 and 1 of the EMCY object is little endian formatted and possible error
messages are listed in the appendix A.
In addition, an error class is transmitted in the PDO byte 2, which can be recalled in the error register
(SDO index 1001h) too. Possible values for the error register are shown in table 3.15.
Bit Hex. bitmask Meaning

0 0x01 General error
1 0x02 Current
2 0x04 Voltage
3 0x08 Temperature
4 0x10 Communication error
5 0x20 Device profile specific
6 0x40 Reserved (always 0)
7 0x80 Manufacturer specific
Table 3.15.: Error classes in the error register

Error messages are identical for the CANopen profiles CiA-401 and CiA-408.
Independend from the emergency object the PDO allows a simplified but less detailed way to read
status and error messages. This is explained in section 5.2.5.
Additional information about error management that is not CANopen specific can be found in section
7.3.
3.7 Network Management
As a separate sub-functionality the CANopen standard defines the network management (NMT).
Specifically it is about the control of the communication behavior of different bus participants.
Usually CANopen slaves are configured to behave initially passive apart from a single bootup message.
After power up they are waiting to be enabled by their master.
The functions of network-management are closely linked with standardized internal state machines.
See also subsection 3.7.1.
3.7.1 Communication State Machine (CSM)
The startup of digital electronic bus devices is typically implemented by means of an internal state
machine which controls the boot-up of every device when when voltage is supplied. It might also
contain procedures for a self test and the start of the communication functions.
Some properties and characteristics of this state machine for CAN slaves directly follow the standard
CiA-301 [2], especially what regards the communication functionality. The corresponding state machine
is depicted in figure 3.3.
[C5]
Initialisation Pre-Operational Stopped
[C1] [C2]
[C7]
[C3] [C4] [C8]
[C6]
Operational
Figure 3.3.: Communication State Machine CiA-301
Contingent on the momentary status of the CSM only specific telegram types (see table 3.16) are
received or sent.

Telegram type Initialisation Pre-Operational Operational Stopped

Bootup message •
PDO •
SDO • •
Sync message • •
NMT • • •
Table 3.16.: Permitted Telegrams, According to CSM State
A start telegram sent by the master is required in order to activate a CANopen participant that has just
been switched on. This can either activate pinpointed individual participants or all at the same time.
The associated commands that cause transitions between the states are called NMT commands. See
section 3.7.3.
In general the CSM is used to administrate all communication. Remanent parameters (communication
parameters), which include addresses, timeouts, etc., are attributed to the CSM in the internal memory
of the CAN slave (EEPROM).)
Transition Explanation
C1 Power switch on the device
C2 Hardware initialization completed
C3,C7 (external) request pre-operational
C4,C8 (external) operational requirement
C5,C6 (external) request stopped
Table 3.17.: Transitions of the Communication State Machine CiA-301
Table 3.17 outlines the transitions shown in the state chart 3.3.
Table 3.19 shows the command sequences for the operating states of the slaves. If B1 = 0x00, the
command affects all nodes on the bus.
3.7.2 Communication State
The states shown in figure 3.3 are assigned numerical values.
Status Status (dez) Status (hex)

INIT 0 0x00
PREOPERATIONAL 127 0x7F
OPERATIONAL 5 0x05
STOPPED 4 0x04
Table 3.18.: Communication Status

These will be sent by the slave for example per Node Guard or Heartbeat protocol.
3.7.3 Network Management Telegrams (NMT)
The master controls the bus with NMT commands. This way individual slaves can be started and
stopped. Table 3.19 provides a list of commands for controlling the communication state machine of
the slaves.
DIR COB-ID B0 B1 Effect

M →S 0x00 0x01 Node-ID activate
M →S 0x00 0x02 Node-ID deactivate
M →S 0x00 0x80 Node-ID after pre-operational
M →S 0x00 0x81 Node-ID reset
M →S 0x00 0x82 Node-ID communication reset
Table 3.19.: NMT Commands for Controlling the CSM
The recipient-ID (node-ID) of the NMT telegram is specified in byte 1. If all slaves shall be addressed
B1 = 0x00 has to be sent.
3.7.4 LSS
A method for configuring and addressing is offered by the CiA 305 Draft Standard Proposals [3], the
so called Layer Setting Services (LSS). This allows the modification of communication parameters like
node-id.
The advantage of the process carried out, defined by CiA, is that thereby networks can be maintained,
where duplication of node-IDs arise. This may be the case if, for example, by alteration configured
valve banks or sections without prior redirection are connected to another CAN network.
The address setting by LSS is not based on the currently setted node-id but on a unique identification
of the device, checking it’s serialization. Internal data fields of the bus participant are used therefore:
- Vendor ID
- Product Code
- Revision Nr.
- Serial Number

These data, used for unique identification, correlate to the entry 0x1018 of the CANOpen Object
dictionarys (Identity Object). To detect those parameters for all participants connected to the bus, see
section 3.7.5.
A 32 Bit range is provided for each number. Therefore it is possible to identify each participant in a
theoretical address space of 128 bit.
For a correct address change the following consecutive steps must be carried out:
- Put each participant in configuration mode (Stop of the output)
- Activation of exactly one participant by unique combination of Vendor ID, Product Code, Revision
Nr. and Seriennumber
- Address change of the single activated participant
The messgae sent by the activated node, confirms the successful activation. The master has to ensure
the receipt of a response, taking the uniqeness of the serial number for granted. The address change
can take place now.
DIR COB-ID DLC B0 B1 Function

M →S 0x7E5 8 0x11 NNID Transmit new Node-ID
S→M 0x7E4 8 0x11 Error Code Acknowledgement change Node-ID
M →S 0x7E5 8 0xFB NSECID Transmit new Sections-ID
S→M 0x7E4 8 0xFB Error Code Acknowledgement change
Sections-ID
M →S 0x7E5 8 0xFC NBANKID Transmit new Bank-ID
S→M 0x7E4 8 0xFC Error Code Acknowledgement change Bank-ID
M →S 0x7E5 8 0x17 - Save configuration remanent
S→M 0x7E4 8 0x17 Error Code Acknowledgement storage
M →S 0x7E5 8 0x04 0x00 Quit configuration mode
Table 3.20.: Communication sequence LSS, readdress
The corresponding sequence is shown in table 3.20. The node commits the transmission of the new
Node-ID (NNID). In case of success an error code with value 0 will be returned, if the transmitted
Node-ID will not be accepted by the node, a error code with value 1 is returned. The diagnosis LED of
the node will be switched into the mode Identification Flashing, if the activation was successful. See
also section 3.7.6.
- remanent storage of the new address information: remantent storage of configuration has to
take place, in case of success, it will be committed by the bus device with 0.
- system reboot of the new addressed bus device: restart is necessary to activate the configuration.
This can be done by disconnection of its power or by reset request by NMT.

Identifiers 0x7E5 (from the Master) and 0x7E4 (from the Slave), on which the protocol is worked
through, are used for LSS communication. The specification provides that each telegram has to have
8 data bytes, even though parts will remain eventually unused. Unused bytes will be filled with the
value 0.
There is also a need to ensure, that devices to be configured are inactiv. This can be achieved by
stopping the Communikation Statemachine and subsequent invitation to quit the Configuration Mode.
See also 3.7.1.
DIR COB-ID DLC B0 B1 B2 B3 B4 Function

M →S 0x000 2 0x02 0x00 - - - All participants after
NMT Stop
M →S 0x7E5 8 0x04 0x00 - - - Configuration
mode waiting
M →S 0x7E5 8 0x40 LSB → MSB Vendor ID
M →S 0x7E5 8 0x41 LSB → MSB Product Code
M →S 0x7E5 8 0x42 LSB → MSB Revision Nr.
M →S 0x7E5 8 0x43 LSB → MSB Serial number
S→M 0x7E4 8 0x44 - - - - Acknowledgment
Table 3.21.: Communication Sequence LSS, Activation
Table 3.21 describes the sequence of the activation. All participants are set into the ‘Stopped Mode‘
by the master, urge all bus participants to quit the Configuration Mode and sends four consecutive
telegrams, attract exactley one participants.
3.7.5 Participant Identification by LSS
The mechanisms for readdressing of bus participants, as described in the previous paragraph, assumes
that including the serial number it must be known which devices are currently connected to the bus.
For activation of a participant all components of the Identity Objects are required.
This presents the user with the major challenge to have all this data available for using LSS Services.
To store the current valid data of all existing participants in the remanent storage of the master migth be
one potetial solution. At powerup the master migth compare the stored data with the reality. Therefore
missing devices (caused by change) are clearly identifiable.
This approach will not work if in case of service newly added bus participants have to be identified.
Therefore we offer as extension and addition to the LSS mechanismn of the CiA two other possibilities:
- Participant Identification by broadcast
- Activation of the diagnosis LED (Identification Flashing) in order to find participants. See also
sections 3.7.6.

A broadcast command ensures that all PSX valve nodes register themself and announce their serial
number.
For this reason the LSS mechanism of targeted re-addressing is appicable for newly added nodes.
The Identification Flashing is useful to explicitly associate the actually activated node with its installation
position. This is particularly important if multiple Bus Participants are changed simultaneously. Thus, it
can be verified, which participant (with unique serial number) is installed on which position.
Participant Identification by Broadcast
A telegram, part of the NMT address space, is used as broadcast object, see table 3.22.
DIR COB-ID DLC B0 Function

M →S 0x7E5 8 0xFF Broadcast for Participant Identification
Table 3.22.: Communications Process, Broadcast
A response of all slaves may be delayed, up to 3 second after the broadcast. To equalize the response
telegrams sent on the same COB-ID, each node chooses a random delay after receiving the request.
The associated response message contains the serial number of the node and its Node-ID, see table
3.23.
DIR COB-ID DLC B0 B1 B2 B3 B4 B5 B6 B7

S → 0x7E4 8 0xFF LSB MSB Node- BNK SEC
M Serial Serial ID
Table 3.23.: Communications process, response of the slaves to a Broadcast telegram
The master is able to detect possible duplications of node-ids in the incoming responses after a
broadcast telegram by using the node-id entry in B5. Furthermore, it is possible to readdress individual
slaves to a new node-id, using the serial number.
For further information, the term of bank (BNK) and the number to name the section (SEC, corresp-
ponds to the installation position) within the bank, will be transmitted. Newly delivered valve blocks ex
factory are initialized with those values.
Vendor ID
All HAWE CANOpen products have the Vendor ID 711 = 0x2C7, listed at the CIA.

Product Code
The Product Code of CAN PSX valves is 1.
Revision Nr.
Technical modifications may increase the revision number. This is the reason why 0xFFFFFFFF is
accepted as a wildcard additional to a readable revision number.
3.7.6 Identification Flashing
A red-green flashing sequence of the diagnosis LED is called Identification Flashing where red-green
alternate permanently. This enables locating of a CAN-PSX valve node in the CAN network, but only if
the master has activated the Identification Flashing especially for this participant.
This could be arranged in two ways:
- Activation by LSS (for preparation readdressing), see table 3.21
- Targeted activation of a single CAN-PSX valve node knowing it’s node-id
In the first case the Identification Flashing signals the successful participant activation, which must
preceed a Readdressing by LSS. Before the readdressing takes place, there is the possbility to control
the selection of the right participant and eventually stop the readdressing process.
An activation by node-id is described in table 3.24.
DIR COB-ID DLC B0 B1 B2 Function

M →S 0x7E5 8 0x37 Node-ID 0x07 Requirement Identification
Flashing
Table 3.24.: Requirement Identification Flashing
3.7.7 Participant Identification by operating the hand lever
There is another possbililty for a unique identification of CAN PSX valves if they are equipped with a
hand lever. Application is re-commissioning or the case of failure where single sections or blocks were
changed and have to be identified uniquely.
It is possible for a user/service technician to select a valve uniquely by using the hand lever. The
caused movement of the slide provokes internally a position error without appropriate setpoint value.
The valve mentions the deviation from the required position and places an error message on the bus
This behaviour depends on the following conditions:

- valve block is powered
- no settpoint setting
- Tracking error monitoring is activated (recommended default)
Under these conditions, using the belonging emergency objects, a participant identification is possible.
Therefore see sections 3.6 and 3.7.3.
Disadvantage of the method is, that the response is based on the node-id of current valve node.
Readressing is not possible if IDs are duplicated. Therefore CAN PSX valve nodes offer the additional
possibility to trigger the identification telegram by hand lever, as shown in table 3.23.
Precondition are:
- valve block is powered
- no settpoint setting
- affected (or all) participant(s) has (have) been set to the state NMT Stopp (see table 3.21)
- Tracking error monitoring is activated (recommended default) with parameter

RGL_CONT_LIM_DIST (nr. 58 > 0)

4 CiA-401 Reference
Distributed actuators and sensors used for distributed applications are the subject of CiA-401. Basic
features of communication are taken from CiA-301. A specialization in fluid power components is not
provided.
Since valves can be considered as actuators as well, for simple applications the use of this device
profile is logical.
4.1 Essential Characteristics
For end users, who do not want or need to use the functional range of CiA-408 in detail, CiA-401 is a
recommended alternative. The simplicity of the device profile ensures that bus participants can be put
into operation as fast as possible.
The simplified handling of the CiA-401 profile results in particular from the absence of the internal
state machine (as required in the CiA-408 [5] for standard-compliant hydraulic components) and a
much simplified fault management.
Using appropriate parameters, even the standard activation required for the CANopen slaves connected
to the bus, might be skipped. After voltage supply, CAN slaves will then be able to go into operation
automatically, without the need of an activation message from the master. See also subsection 4.2.1.
4.2 Startup
In principle, the boot-up behavior of a CANopen slave is defined by the base specification CiA-301. In
practice this means that activation must be done by the master before the slave is fully operational
(transmission and reception of PDOs).
For further simplification of the behavior, it is possible to achieve an automatic activation by means of
parameterization.
4.2.1 Automatic Startup
By default, a CAN slave behaves passively after the start and waits for the activation message from
his master.

DIR COB-ID B0 B1
M →S 0x00 0x01 0x00
Table 4.1.: Set all nodes to Active
Table 3.16 shows which functions are possible depending on the state of communication.
To achieve a further simplified handling, HAWE’s CAN PSL/PSV valve controllers can be configured to
activate the communication automatically. Object 1F80.0 serves this purpose as well as parameter 127
(PAR_NMTSTARTUP) does. If the default value 0 is changed to 3, automatic startup will be enabled.
After connecting the voltage supply, the CAN slave will be forced to enter into active communication
state and is ready to process PDOs or sends a status PDO.
The restriction, that has to be considered with automatic activation too, is the required sending of the
zero setpoint as the first setpoint to the valve in order to put it into operation.
See also subsection 4.3.4.
4.3 Setpoints
Setpoint values are cyclically transmitted from the master to the slave by PDO1(see Table 3.2)
4.3.1 Setpoint Message (PDO Master to Slave)
Setpoints can be communicated via process data objects (see section 3.4 PDOs ).
The HAWE PSXCAN DS401 firmware uses 8 bit setpoints with the following format:
DIR COB-ID B0 B1 B2 B3 B4 B5 B6 B7
M →S 0x200 + Node-ID SP0 SP1 SP2 SP3 SP4 SP5 SP6 SP7
Table 4.2.: Format setpoint telegram CiA-401
4.3.2 Setpoint Format
For the setpoint of a valve section, one byte is provided i.e a resolution of the workspace of the valve
(B-side - A-side) in 254 steps is possible.
Normally, only SP0 is used to tranfer setpoints to the valve, observing the setpoint bytes SP0 . . . SP7
listed in Table 4.2.
The setpoints are coded as signed integers (two’s complement). See also Table 4.3, where the
assignment of setpoint command and oil flow is shown.

Setpoint (HEX) Setpoint (DEZ) Meaning

0 0 Neutral
7F 127 100% A-side
81 -127 100% B-side
80 128 undefined
Table 4.3.: Mapping of Setpoints to Oil Flow
The consumption of only one byte of the setpoint telegram to control a valve opens the possibility to
use B0 - B7, using a setpoint telegram, to operate up to eight valves simultaneously.
Default setting is to use a separate message for each valve setpoint and the value of B0 (see Table 4.2)
as a setpoint command.
4.3.3 Several Setpoints per telegram
In some CAN networks for example by remote control receivers setpoints for several receivers are
bundeled into one telegram.
User who want use this functionallity to evaluate a single setpoint telegram for several valves should,
however, consider the following, please:
- Each valve section corresponds to a stand-alone CAN participant with its own and unique
node-ID. A valve bank consists of as many participants as there are CAN sections.
- Feedback on the status of the individual valves can therefore only be made through different
PDOs. The addresses are calculated from their node-ID. See Table 3.2.
- The COB-ID to be used for the setpoint cannot be derived clearly from the node-ID of the CAN
slave, but must be specified separately. Therefore parameter 123 (PAR_MULTI_SP_COBID,
range: 384-1279 or 0x180 - 0x4FF) of each valve, receiving from that telegram has to be
initialized with that COB-ID.
In CANopen object 0x2810 can be used for this purpose.
- Each valve section must be told which one of the eight user data bytes shall be used as setpoint.
This is achieved by setting parameter 124 (PAR_MULTI_SP_BYTE) to a value between 0 and 7.
In CANopen object 0x2811 can be used for this purpose.
- When assigning COB-IDs, it should be noted that it may cause collision with other messages,
which could have dangerous side effects.
Potentially Affected IDs may include:

COB-ID Comment
0x080+NodeID EMCY Messages
0x380+NodeID PSXCAN Terminal
0x480+NodeID PSXCAN valve -> PSXCANc Tool
0x500+NodeID PSXCANc Tool -> PSXCAN valve
0x700+NodeID Heartbeat, Bootup
0x7E4 und 0x7E5 NMT-Telegramme
Table 4.4.: Messages that are in the configurable range
WARNING
It is the Responsibility of the System integrator to prevent collision between
Messages!
4.3.4 Zero Setpoint for activation
When restarting or due to prior deactivation, the first setpoint sent to the valve has to be the zero
setpoint in order to put it into operation.
DIR COB-ID B0
M →S 0x200 + NodeID 0x00
Table 4.5.: Zero setpoint
Otherwise the acceptance of the non-zero setpoint will be refused and an internal error will be
generated.
This mechanism serves as a hedge against sudden displacement of the valve e.g. if communication to
the CAN master is interrupted.
4.4 Diagnostic Data (PDO Slave to Master)
In the device profile CiA-401, the feedback of diagnostic data is provided by the slaves. It should be
noted that each valve section acts as a self-sufficient participants and sends its own telegram. See
also subsection 4.3.3.

4.4.1 Frame Format
In operation, the valve periodically reports its diagnostic messages by PDO . See also section 3.4.
It should be noted that in contrast to setpoint messages the diagnostic messages obtain just one
telegram for each valve section.
DIR COB-ID B0 B1 B2 B3 B4 B5
S→M 0x180 + Node-ID DI0 DI1 DI2 DI3 DI4 DI5
Table 4.6.: Format Diagnosis Telegram CiA-401
The corresponding COB-ID is then calculated from the offset value for PDO1 (0x180) and the node-ID
of the valve section.
4.4.2 Data Content Response Message
In case of operation each valve section cyclically reports the actual flow value calculated from the
slider position. It should be noted that an ideal pressure supply of the valve is assumed.
The PDO also contains the error codes, error classes and a temperature reading.
The meaning of diagnostic information is shown in Table 4.6 in detail:
Byte Meaning Reference

DI0 Error class see Table 3.15
DI1 Error code reserved
DI2 Temperature electronics +50◦ C
DI3 Reserved
DI4 Oil flow
DI5 Oil flow inverted
Table 4.7.: Diagnostic Information in the PDO
4.5 Safety Policy
As protection against communication disruptions Node Guarding and Heartbeat are provided as
standard CANopen CiA-301 mechanisms, to ensure uninterrupted communication from slaves to
master control. See also section 3.3.

5 CiA-408 Reference
The standard CiA-301 is for CANopen essential and has been expanded with further additional device
specific requirements in order to offer a meaningful standardization of components. In this chapter
the device profile CiA-408 which was designated to hydraulic components with CAN interface will be
explained.
5.1 CiA-408 Specifics
This section explains the principal concepts derived from the CiA-408 standard “Device profile fluid
power technology proportional valves and hydrostatic transmissions” [5]. The requirements are specific
and focused on hydraulic components, typical parameters of these components and their behavior.
The standard in particular provides very detailed guidelines regarding the valve’s software behavior
for activation and error management. To this extent the specification goes far beyond the CANopen
typical object dictionary (directory) and its entries.
5.1.1 Operating Modes
CiA-408 defines a series of possible operating modes. For hydraulic valves it proposes the following
control and regulation modes in object 6043h (parameter 57, “PAR_DEV_CTRL_MODE”), as shown
in Table 5.1

Control mode Meaning

0 Control mode not defined (substitute value for valves)
1 Spool position control open loop
2 Spool position control closed loop (PSL CAN)
3 Pressure control valve open loop
4 Pressure control valve closed loop
5 p/Q-control valve
6 Open loop movement (substitute value for hydrostatic axis)
7 Velocity control axis
8 Force/pressure control axis
9 Position control axis
10 Positional dependent deceleration
11..127 Reserved
-1..128 Manufacturer-specific
-4 Spool position control open loop (PSLCAN lite)
Table 5.1.: Meaning of the Operating Modes
For PSL/PSV CAN valve nodes currently control mode 2 is supported. This means that the setpoint is
proportional to the required oil flow quantity. The position of the valve spool is measured internally and
adjusted to the position corresponding with the required flow.
5.1.2 State Machines
Following the specifications defined in [2] and [5], the control software of a CAN slave module must
make a distinction between two partially independent acting state machines.
Within CiA-301 the so-called communication state machine (CSM) was already established. It controls
the communication of the bus participants. See subsection 3.7.1. The communication state machine
(CSM) ensures the controlled startup of the communication interface and can be deactivated if required.
Figure 3.3 shows the corresponding state diagram.
The CiA-408 goes beyond the communication behavior defined in CiA-301 and sets guidelines
concerning the actual functionality of the bus participant. Therefore a so-called device state machine
(DSM) is defined.
For control (e.g. of a proportional valve), the necessary state transitions have to be required by
external activation commandsand This has to take place before operational readiness is achieved.
See subsection 5.1.3.
In order to start operating, the following sequence of commands is required according to CiA-408:
- Command to start communication (activation of CSM)

- Transition command in active status
- Transmission of a setpoint command with setpoint 0
After this starting sequence the valve is ready for operation and various setpoints other than zero can
be transmitted.
For a detailed presentation of the internal state machine and its control commands see also subsec-
tion 5.1.3.

5.1.3 Device State Machine (DSM)
The device state machine controls the actual functionality of the slave. Its internal states decide the
operating status and operational readiness of the valve.
Figure 5.1 shows the status diagram of the device state machine (DSM), while Table 5.2 outlines the
meaning of the individual states. The shown RMDH in the figure correspond to the Device Status
Word, shown in Table 5.4.
Not_Ready
[D0] do / RMHD=0000 [D13]
R=Ready
[D1]
M=Device Mode Active
H=Hold
Init D=Disabled
do / RMHD=1000 do / sends RMHD as
Device Status Word (DSW)
[D7] [D2]
Disabled Fault
do / RMHD=1001 [D10] do / RMHD=0001
[D6] [D3]
Hold Pre_Hold Fault_Hold

[D12]
do / RMHD=1011 [D11] do / RMHD=0011
[D5] [D4] [D9]
Device_Mode_Active Fault_Reaction
do / RMDH=1111 [D8] do / RMHD=0111
Figure 5.1.: Device State Machine

Condition Explanation
Not ready -Electronics is supplied
-Device initializes hardware and software
-Self test
-Device functionality is deactivated
Init -Parameters can be set
-Waits for state transition to “Active”
Disabled -Parameters can be set
-State transitions can be obtained through DCW
Hold -Parameters can be set
-State transitions can be obtained from DCW
-Hold setpoint is activated (HAWE: hold setpoint = 0)
-External setpoints are ignored
Device mode -Parameters can be set
Active -State transitions can be obtained through DCW
-The configured device mode is active
-Change device modes (index 0x6043) is not allowed
Fault reaction -Is activated automatically in case of errors
-Parameters can be set
-Run a configurable error response (eg: ramp down)
-Devices remain functional during a ramp down
Fault hold -Parameters can be set
-The actual or preset-hold value becomes setpoint
-External setpoints are ignored
Fault -Parameters can be set
Pre hold -Intermediate state, no functional significance
Table 5.2.: States of the Device State Machine

5.1.4 Device Control Word (DCW)
External control of the DSM is carried out by the master via the so-called device control word (DCW).
It is used to request the state transitions shown in Figure 5.1. The DCW is transmitted simultaneously
with the setpoint as integral part of the PDOs that are cyclically sent to the slave. See also Table 5.4
as well as subsection 5.2.3.
The content of the DCW is shown in figure Table 5.3. Only the last 4 bits are used for requesting
transitions of the device state machine. The upper byte is used to select operation modes and special
functions.
Bit DCW
0 Disable
1 Hold Enable
2 Device Mode Active
3 Reset Fault
4..13 reserved
14 Second Ramp Set
15 floating position
Table 5.3.: Device Control Word (DCW)
Transition Explanation Control Word

3 2 1 0
R M H D
D0 Switch on voltage supply for device Internal
D1 Hardware initialization successfully completed Internal
D2 Bit “Disable” high, self test successful x x x 1
D3 Bit “Hold” high x x 1 1
D4 Bit “Device Mode Active” high x 1 1 1
D5 Bit “Device Mode Active” low x 0 x x
D6 Bit “Hold” low x 0 0 x
D7 Bit “Disable” low x 0 0 0
D8 Error Internal
D9 Error reaction terminated Internal
D10 Error reset (to positive edge of R) 1 x 0 x
D11 Error reset (to positive edge of R) 1 x 1 x
D12 Error reaction terminated Internal
Table 5.4.: Device Control Word and Transitions of the Device State Machine

5.1.5 Device Status Word (DSW)
Every valve provides information on its actual status in form of a so-called device status word (DSW),
which is the counterpart to the device control word (DCW). It is cyclically sent to the master via PDO.
See also Table 5.5 and ??.
Last four bits LSB Meaning

0x0 Not Ready
0x1 Fault
0x2 -
0x3 Fault Hold
0x4 -
0x5 -
0x6 -
0x7 Fault Reaction
0x8 Init
0x9 Disabled
0xA Pre-Hold
0xB Hold
0xC -
0xD -
0xE -
0xF Device Mode Active
Table 5.5.: LSB Device Status Word
5.1.6 State Transitions
State changes, which are not actively triggered by the device control word, are called internal transitions.
Internal transitions can occur, for example if the supply voltage is switched on or if the slave detects an
error.
The transitions shown in the state chart in Figure 5.1 are explained in Table 5.4, whereby the last 4
columns show the device control word from Table 5.13.
In case the communication state machine switches into the mode Stopped or Initialization during
operations, a transition to Fault Reaction is automatically executed in the device state machine. This
can happen, for example, on account of a bus interruption.

5.2 Communication Procedure
The following provides an exemplary description of the setup and sequence of a communication
between master control and a valve segment according to CiA-408.
5.2.1 Startup Communication Functions
Immediately after the supply voltage has been activated all CAN nodes in the network will output an
one-time boot up sequence in form of a status message and will behave passively thereafter. See
table below:
DIR COB-ID B0
S→M 0x700 + Node-ID 0x00
Table 5.6.: Boot up Sequence
The timeout error detection is activated after the first setpoint telegram.
Even if no setpoint telegrams are sent to the valve yet, the corresponding error detection is still
deactivated via timeout.
A start telegram is required for further activation that releases the active communication state of the
bus nodes. The command described in Table 5.7 can also be used to start all CAN nodes connected
to the network.
DIR COB-ID B0 B1
M →S 0x00 0x01 0x00
Table 5.7.: Activation Sequence for all Slaves
After receipt of this telegram all connected valve nodes will switch into active communication state and,
if they are configured in such a way, will cyclically transmit Heartbeat, Node Guarding signals or status
messages.
Attention must be paid that a waiting period of approx. 700 ms is kept after the supply voltage has
been switched on, before all CAN participants can be expected to be able for communication.
5.2.2 Activation
The control sequence described in subsection 5.2.1 releases the communication of the valve node
but not its function. This requires transition into the “active” operating state. State transitions are
triggered with the so-called “device control word”, which is cyclically transmitted as element of the
setpoint telegram. See also subsection 5.1.4.

For safety reasons, attention must be given to the very first setpoint having the value 0 in the active
state. Any setpoint value other than zero will trigger an error. This applies also for interim deactivations.
This procedure protects against unwanted fast movement after a loss of communication. This could
happen when the radio transmission of a wireless joystick that is controlling valves is blocked by walls
or environmental influences.
The activation telegram (including zero setpoint) takes the following form:
DIR COB-ID B0 B1 B2 B3
M →S 0x200 + Node-ID 0x0F 0x00 0x00 0x00
Table 5.8.: Activation Telegram
The 0x0F in byte 0 requests the immediate state transition into the active state. In case of success the
request is acknowledged by the valve via PDO:
S→M 0x180 + Node-ID 0x0F 0x00 0x00 0x00 0x00 0x00
Table 5.9.: Activation Telegram
Byte 0 also contains the information regarding the activation state of the valve. The following two
sections provide a more detailed explanation of this example.
5.2.3 PDO Master to Slave (RXPDO)
The process data objects (PDOs) that were presented as examples in subsection 5.2.2 are used for
transferring setpoints. Activation command (as well as the specific deactivation) and valve setpoint are
grouped together within one telegram.
In keeping with CAN standard addressing format (see subsection 3.2.6) and the setpoint format
defined in CiA-408 [5] the PDOs for the setpoint transfer take the following format:
DIR COB-ID B0 B1 B2 B3
M →S 0x200 + Node-ID DCW SP
Table 5.10.: RPDO (Setpoint Format)
Key element of the setpoint telegram is the so-called “device control word” (DCW) that contains the
commands required for activation or deactivation. Of the 16 reserved bits only the four lowest value
bits from byte 0 are used to change the state of the device state machine(see Table 5.13).

The setpoint is transferred with 16 bit in bytes 2 and 3. There are 2 variants for scaling, which are
shown in Table 5.11. Positive setpoints will result in a volume flow from port P to port A, negative
setpoints creates a volume flow to B. Examples for setpoint messages are shown in Table 5.12.
The setting of the setpoint format takes place via object 2800h or parameter 128, namely
PAR_PROT_SUB. The default value is 1. The unchangeable PDO-mapping is listed in object 0x1600
(receive) and 0x1A00 (transmit).
Setpoint Index 2800.0 Min Max

CiA-408 408 0xC000 (-16384) 0x4000(16384)
HAWE Plug&Play 1 0xFC18 (-1000) 0x03E8(1000)
Table 5.11.: Setpoint Scale
Meaning B0 B1 B2 B3 setpoint
CiA-408
first setpoint message 0% 0x07 0x00 0x00 0x00 0
active A 18,3% 0x07 0x00 0xB8 0x0B 3000
active B 18,3% 0x07 0x00 0x48 0xF4 -3000
reset error A 50% 0x0F 0x00 0x00 0x20 8192
active B 50% 0x07 0x00 0x00 0xE0 -8192
active A 100% 0x07 0x00 0x00 0x40 16384
active B 100% 0x07 0x00 0x00 0xC0 -16384
HAWE Plug&Play
active A 20% 0x07 0x00 0xC8 0x00 200
active B 20% 0x07 0x00 0x38 0xFF -200
active second rampset A 50% 0x07 0x40 0xF4 0x01 500
active B 50% 0x07 0x00 0x0C 0xFE -500
active A 100% 0x07 0x00 0xE8 0x03 1000
active B 100% 0x07 0x00 0x18 0xFC -1000
active float 30% 0x07 0x80 0x2C 0x01 300
Table 5.12.: Examples for setpoint messages

Bit DCW DSW

0 Disable Disabled
1 Hold Enable Hold Enabled
2 Device Mode Active Device Mode Active
3 Reset Fault Ready
4..13 - -
14 Second Ramp Set -
15 floating position -
Table 5.13.: Device Control and Status Word (DCW and DSW)
The device control word tells the valve into which activation state it shall transfer.
The simultaneous transfer of multiple activation bits is also possible as the example in subsection 5.2.2
shows. The valve will then pass through all activation levels, and if required will finally reach the active
state.
For a more detailed insight reference is made of subsection 5.1.2 that outlines the concept of internal
state machines and state transitions in detail.
5.2.4 PDO Slave to Master (TXPDO)
The corresponding counterpart to the “device control word” is the cyclically transmitted “device status
word” (DSW). It is contained in the first two bytes of the status telegram and transmits information on
the activation state of the valve (see Table 5.13).
S→M 0x180 + Node-ID DSW Q E
Table 5.14.: TXPDO (Actual Value Format)
In addition, the PDO that the valve cyclically sends, contains data on the current flow Q. Values
from -1000 to 1000 are contained in bytes 2 and 3. They denote the estimated oil flow quantity in
parts-per-thousand as reference to the maximum flow (nominal quantity) of the associated valve
section.
CAN Standard variant estimate the flow by using the spool position. The CAN lite variant uses the
measured electrical current for this estimation.
For the PLVC Plug&Play version the PDO in bytes 4 and 5 is extended with the error information.
subsection 5.2.5 contains further details on error information.

5.2.5 Error Management and Error Codes
An internal error management system administers the errors detected by the valve. This includes both
errors from an external source (voltage limit values, insufficient spool deflection due to faulty pressure
supply, inappropriate setpoint transfers) as well as internal error states.
Depending on the severity of an error, an internal status transition is triggered and the valve (more
precisely its device state machine ) is transferred into another operating state. The information which
errors trigger what reaction is stored internally in configurable bit masks in the control software.
The transition D5 and D6 will be automatically executed, if an event in a PSX-CAN arises, being
configuered to “disabled” in the error transition mask. To change from device mode “disabled” to device
mode “acive”, no positiv edge to bit 3 of the DCW is necessary
If errors occur, the detailed error information is categorized and transferred to the CAN bus. Table 6.9
provides an overview of the error categories contained on bytes 4 and 5 of the PDO1 (S → M ). Some
error bits represent the combination of different errors belonging semantically together. An overview of
possible errors is shown in Appendix A.
5.2.6 Position Control Errors
To assist users in handling non normal operation modes related to position control the PSXCAN valve
allows the configuration of 3 warning / errors :
* POS_PLUS
- Spool moved further than requested
- Spool sends more oil to the consumer than requested
- Usually an error message
* POS_MINUS
- Spool moved not far enough
- Spool sends less oil to the consumer than requested
- Usually a warning
* POS_ITG
- Spool cannot follow the constant change of setpoint
- Per default deactivated
- Usually a warning

Since the amount of oil sent to the consumer cannot be measured, the valve has to rely on the
measured spool position to estimate the oil flow. To detect problems in the positive spool overlap, the
position control errors are based on the raw position. Table 5.15 shows typical position values for
nominal flow.
PSX Size Nominal Increments

2 1000
3 1500
5 and 7 2000
Table 5.15.: Nominal Increments per design size
In Table 5.16 parameters controlling the generation of position control errors can be found. The
parameter are prefixed with PAR_RGL_CONT_LIM (Parameter Regulator Contour Limit).
Parameters DIST TPOS ITG TNEG FAK_20

parameter 58 59 60 61 62
index
meaning allowed allowed allowed allowed time Temperature
position time integral deviation for Compensa-
deviation for deviation deviation POS_MINUS tion
POS_PLUS Multiplier
and
POS_MINUS
unit Position Milli- Integrator Milliseconds Factor/ 20
Increments seconds Incre- degrees
ments celsius
CANopen- 2085.1 2085.2 2085.3 2085.4 2085.5
object
range 0-1000 0-10000 0-20000 0-10000 1-100
Standard 265 500 0 500 5
Table 5.16.: Parameter Description Position Control Errors
POS_PLUS Error
A POS_PLUS error is triggered when the spool’s actual position remains more than a distance “x”
threshold above the desired target position over a certain period of time “t”.
- Distance “x” is PAR_RGL_CONT_LIM_DIST
- Period of time “t” is PAR_RGL_CONT_LIM_TPOS
This error is more serious than a POS_MINUS error because more oil is sent to the consumer, which
moves faster as result.

POS_MINUS Error
A POS_MINUS error is triggered when the spool’s actual position remains more than a distance “x”
threshold below the desired target position over a certain period of time “t”.
- Distance “x” is PAR_RGL_CONT_LIM_DIST
- Period of time “t” is PAR_RGL_CONT_LIM_TNEG
This error/warning is less serious than POS_PLUS because the actor is moving slower than expected.
Temperature Compensation Factor
Low ambient temperature can result in more viscous oil. To compensate this effect and to avoid false
error messages, the parameter PAR_RGL_CONT_LIM_FAK20 allows the compensation of the effect
by multiplying the allowed time deviation of the POS_PLUS and POS_MINUS errors by a factor per 20
degrees celsius.
Integral Deviation
Parameter RGL_CONT_LIM_ITG is a limit for generating the POS_ITG error. This error is triggered
when the PID controller hits the given limit for the integral part. This error is deactivated for the default
configuration.
5.3 Valve Nodes as Plug&Play Slave for PLVC Control Modules
As an advanced basis of the HAWE PLVC control device a Plug&Play configuration can be used
for CAN node. The external valves are managed -without communication is necessary in the user
program- by the operating system of the PLVC and can be used analog to already available output
valves.
Plug&Play functionality expects merely the following requirement for the address assignment: The
external and via CAN bus selected valves must be placed on CAN node-IDs from 32, all other data
traffic and the belonging observation and security functions are made by the PLVC.
The function block ACT_VALVE is used for control. Its documentation can be found in the PLVC
manual.

Example
1 prop (CHANNEL : = PLVC ID )
with
1 Channel = PLVC ID
Single valves are addressed with consecutive indexes starting from 2000.
The indices of the double valves are calculated from 2000 + 2 · n, where n is the number of the section.
The combination of the IDs is shown in Table 5.17.
Section number. PLVC ID Node-ID COB-ID of setpoint Actual COB-ID

1 2000 32 0x220 0x1A0
2 2002 34 0x222 0x1A2
3 2004 36 0x224 0x1A4
4 2006 38 0x226 0x1A6
5 2008 40 0x228 0x1A8
6 2010 42 0x22A 0x1AA
7 2012 44 0x22C 0x1AC
8 2014 46 0x22E 0x1AE
9 2016 48 0x230 0x1B0
10 2018 50 0x232 0x1B2
Table 5.17.: Node-IDs in the Process
Each connected CAN node receives the required setpoint message with control word on receive
PDO1. The CANopen standard addressing is essential.
The CAN bus master of the PLVC has to be actived. This is achieved by setting the parameter 0
or -1 in the communication menu (Parameters → Submenu 4: Communication) to 1 as shown in
Figure 5.2.

Figure 5.2.: Activation of the PLVC41 CAN Masters
The CAN bit rate must be set identical for all participants (Parameters → Submenu 7: Special
Parameters).
In menu Prop. Valves shown in Figure 5.3 (Prop. Valves → Submenu 6: CAN-Valves), the function
of the CAN nodes can be monitored. Here the setpoints, actual values and error messages are shown.

Figure 5.3.: Overview of the CAN Nodes
After committed setpoint message , the PLVC monitores the actual values of the CAN node on timeout
(about 200ms). When the CAN node has received a setpoint message, it monitors this setpoint
message on timeout (configurable).
5.4 Flow sharing
With flow sharing, sometimes called “Anti-Saturation” , one can evenly distribute the available pump
volume for all/some PSXCAN valves. This feature is available with firmware revision 2795 and greater.
Such situations will occur, when a machine is configured thus that the amount of oil needed to drive
several valves with 100%, setpoint exceeds the maximum pump flow. In these events the valves are
“undersupplied”. These situations have to be avoided, because the valves distribute the volumeflow
according to the load pressure of each function. The highest load pressure is serviced least.
Situations where undersupply occurs, can be avoided with this software module. To achieve this, all
valves are reducing their setpoints with a common factor, so that the sum of all volumeflow consumers,
does not exceed the pump volume.
Prerequisites for this are:
• the CAN-11 bit ID 0x790 can be used by the PSXCAN valves
• all valves are configured similar to participate in the flow sharing

• the setpoint cycle-time is reasonable low (10..50ms) to achieve good results
For priorisation of functions, two groups are available. Group 0 is served first, if then volume flow is
still available, it is distributet between the participants in group 1.
• parameter 21 (PAR_FLOWSHARE_CONFIG, CANopen-object 2017.1) configured to 1 enables

the flow sharing
• possible values for parameter 22 (PAR_FLOWSHARE_GROUP, CANopen-object 2017.2) are

currently 0 and 1
• parameter 23 (PAR_FLOWSHARE_PUMP_VOL, CANopen-object 2017.3) should be configured

1
a bit lower than the real pump flow in [ 10 lpm]
• the flow sharing algorithm uses the nominal flows, stored in Parameter 195 (PARA_Q_NENN)
and Parameter 197 (PAR_B_Q_NENN) that are also available via CANOpen SDO 2100.1 and
2101.1
• the flow sharing algorithm respects the configured overrrides in parameter 13 and 33
(PAR_A_OVERRIDE und PAR_B_OVERRIDE) that are available via CANOpen SDO 2092.1 and
2093.1
This kind of flow sharing is not able to detect if a zylinder is in endposition and does not require oil.
- Pumpflow: 30 lpm
- required flow: 10 + 10 + 10 + 20 + 5 + 5 = 60 lpm
- reduction factor: 50%
volumeflow in
[lpm] 20
10 10 10
10
5 5
5 5 5
2.5 2.5
Valves
Figure 5.4.: 50% setpoint reduction by flow sharing

5.5 CANopen Object Dictionary
section A.5 lists those portions of the object entries, which are read and/or changed with CAN PSL/PSV
valves via the CANopen communication protocol.
The following legend applies to all objects:
• rw = readable and writeable
• ro = value only readable
• wo = value only writeable
• s = signed Integer
• u = unsigned Integer
• 0x**= hexadecimal value
Specific parameterization software (“HAWE CAN Node Tool”) provides further options for diagnosis
and parameterization.
WARNING
5.6 Configuration of CANopen Master Devices
In this chapter CODESYS V3.5 Service Pack 9 is configured to work with PSXCAN valves in a
CANopen network.
The safety mechanism Heartbeat is described in subsection 3.3.2.
If heartbeat is used with PSXCAN valves the safety mechanism “Setpoint-Timeout” should be disabled
by setting object 2200 or parameter 119 to zero.
To achieve a basic communication the following configuration steps have to be done.
• insert the EDS file of the CANopen device into the IDE of the CANopen master device
• configure CANopen Master and add CANopen device
• configure heartbeat on master und slave device
• configure PDO an master und slave device

5.6.1 EDS File
To communicate with CAN enabled HAWE components with a CODESYS enabled device, the EDS file
of the component has to be made available to CODESYS. The EDS file can be found on the Website
http://www.hawe.com/edocs (Downloads for electronics components).
In CODESYS navigate to the menu Tools->Device-Repository. Use the button “Install” to select the
downloaded eds file with the file explorer.
5.6.2 Add CANopen-Manager
To add a CANopen-Manager right click on the CAN-bus and select “Add device”, like shown in
Figure 5.5.
Figure 5.5.: Add device
Select “3S - Smart Software Solutions GmbH” from the list of device manufacturer. Select
“CANopen_Manager”. Confirm the selection with “Add device” like shown in Figure 5.6.

Figure 5.6.: append CANopen Manager as device
In the next step CANopen devices can be attached to the CANopen manager.
5.6.3 Add CANopen-Device
Every CANopen device has to be configured in the corresponding CANopen manager in CODESYS.
To do this right click on the CANopen manager and select “Add device”.
Select the manufacturer “HAWE Hydraulik SE” in the next dialog.

Select “CANNode” (if more than one version is available, select the newest). Confirm your selection
with the button “Add device”.
5.6.4 Master heartbeat configuration
Select the configuration dialog of the CANopen manager with a double click like shown in Figure 5.7.

Figure 5.7.: CANopen Manager selection
the default Heartbeat Producer-Time of 200ms can be adapted to the need of the application, like
shown in Figure 5.8.
Figure 5.8.: configuration of the hearbeat producer time
5.6.5 Slave heartbeat configuration
Open the configuration dialog by double clicking the CANopen slave, as shown in Figure 5.9.

Figure 5.9.: selection of CANopen device
Select the expert configuration in the general section, to see all options as shown in Figure 5.10.
The Heartbeat-Consuming-Time can be checked or changed clicking on “Heartbeat-Consuming (1/1

active)”.
The value should be significantly lager as the producer-time, otherwise the communication state
machine of the slave would change to pre-operational because of the smallest timing problems (see
Figure 3.3). In Figure 5.10 the heartbeat-consuming-time is configured to 300ms.
Figure 5.10.: configuration of heartbeat consumer time

Check the configured value in the SDOs tab, like in Figure 5.11. The values for producer and consumer
time should match the values you configured.
In Figure 5.11 the hexadecimal diggits correspond to the configured values 300 (=0x12C) and 200
(=0xC8).
Figure 5.11.: SDO configuration telegramm
5.6.6 Configuration of transmit PDO at the Master
Set the Sync-Producing to active and the Cycle Period to 20000µs (=20ms), as shown in Figure 5.12.
Figure 5.12.: Sync CANopen Master configuration
5.6.7 Configuration of the Receive PDO at the Slave
The transmit PDO of the master controller is the receive PDO of the PSXCAN valve. The settings of
the PDOs are configutred at the PSXCAN valve.

Open the configuration of the “Receive PDO Communication Parameter” by double clicking. Select
“cyclical - synchron (type 1-240)” as transmission type.
The value shows the number of Sync objects of the CANopen manager (at the master) that have to be
received until the master sends a PDO.
Figure 5.13.: Sync CANopen master configuration
The configuration in subsection 5.6.6 and in Figure 5.13 ensures that the transmit PDO is sent every
20ms to the field device.
5.6.8 SDOs Configuration
The configuration tab SDO of the field device describes the configuration telegrams which the CANopen
manager in the master controller sends the field device.
Make sure to disable the option “generate all SDOs” in the SDO settings. Otherwise all default
parameter from the EDS-file are written into the slave during booting or after a reset of the slaves.
Figure 5.14 shows a valid configuration.

Figure 5.14.: SDO configuration of device

6. J1939 / ISOBUS
6 J1939 / ISOBUS
This chapter gives a minimum introduction in protocol implementation using 29-bit identifiers to drive
HAWE PSL/PSV CAN valves.
6.1 Basic information
Features of the J1939-Standard are implemented by HAWE PSL/PSV CAN valves.
Setpoint and Status messages are initially defined for ISOBUS in ISO 11783-7 (dated 10.08.2000).
Protocol specific configuration values are given in table 6.1
Beschreibung Defaultwert Parameter CANopen Index

Manufacturer Code 461 - -
Source Address 128 131 2220.1
Industry Group 0 132 2220.2
Vehicle System Instance 3 133 2220.3
Vehicle System 1 134 2220.4
Function Instance 2 135 2220.5
Function 129 136 2220.6
Table 6.1.: J1939 Configuration Values
6.2 Adressing
Typically, a valve bank consists of more than one valve section, every section has a unique number to
distinguish the different valves. In accordance with the CANopen protocol family every valve contains
the internal identification parameter Source Address in the range from 0-247 with a default value of
128.
This parameter can be configured with parameter 131 or CANopen index 2220.1.
Every valve section has to be considered as independent bus device, communication has to be
established separately and every valve section requires an individual setpoint telegram.
Parameter 111 (PAR_CAN_ID with CANopen index 2000) controls the selection of the Auxiliary Valve
given in table 6.2.
Using a value higher than 15 is not recommend for J1939 usage.

6. J1939 / ISOBUS
Auxiliary Valve Status PGN Command PGN

0 65040 65072
1 65041 65073
2 65042 65074
3 65043 65075
4 65044 65076
5 65045 65077
6 65046 65078
7 65047 65079
8 65048 65080
9 65049 65081
10 65050 65082
11 65051 65083
12 65052 65084
13 65053 65085
14 65054 65086
15 65055 65087
Table 6.2.: J1939 Parameter Group Numbers
6.3 Boot Up Message
After power up, every valve section sends once a boot-up message with Identifier 0x18EEFF00 +
Source Address that is detailed in table 6.3.
This message is described in SAE J1939-81 (May 2003) in chapter 4.1.1 in table 2.

6. J1939 / ISOBUS
Byte Bit Description

0 7-0 Least significant byte of Identity Number
1 7-0 Second byte of Identity Number
2 7-5 Least significant 3 bits of Manufacturer Code
2 4-0 Most significant 5 bits of Identity Number
3 7-0 Most significant 8 bits of Manufacturer Code
4 7-3 Function Instance
4 2-0 ECU Instance
5 7-0 Function
6 7-1 Vehicle System
6 0 Reserved
7 7 Arbitrary Address Capable
7 6-4 Industry Group
7 3-0 Vehicle System Instance
Table 6.3.: Boot Up Message, Sent Once After Power Up
6.4 Setpoint Command
Each valve section expects regularly incoming setpoint information. Parameters in table 6.4 configure
how setpoint commands are received in J1939 mode.
Parameter Name Default Min Value Max

Value Value (Example) Value
111 PAR_CAN_ID (Aux. Valve) 127 0 2 127
113 PAR_CAN_MASTER_ID 0 0 17 255
128 PAR_PROT_SUB 1 0 1939 32787
Table 6.4.: J1939 Setpoint Configuration Parameters
Example for Message: 0x0CFE3211
0x0C =3 = Priority
0xFE32 = 65074 = Auxiliary Valve Number 2 Command PGN
0x11 = 17 = Source Address of the master ECU
Table 6.5 describes the message content.
Note that parameter 111 (PAR_CAN_ID with CANopen index 2000) controls the selection of the
Auxiliary Valve given in table 6.2.

6. J1939 / ISOBUS
Identifier DLC B0 B1 B2
0x0CFE3000+0x100*CAN-ID+Master SA 3 or 8 Flow Res. Direction
Table 6.5.: Setpoint Message, to be Sent Cyclically
The setpoint is given in byte B0 as decimal number in the range of 0 − 250 equaling 0 − 100%. This
means setpoint scaling is 0.4 %.
In byte B2 the directional information is coded. If B2 = 0 the movement is blocked. B2 = 1 initiates

movement in A-direction, B2 = 2 in B-direction.
In case communication breaks down the valve deactivates itself. To restart after a communication
breakdown or immediately after power up, the valve expects at least for one cycle to get transmitted a
zero setpoint.
The Master Source Address restricts the Source Addresses that are allowed to send commands to the
adressed valve section. By default, parameter 113 with the name PAR_CAN_MASTER_ID is zero,
meaning there are no restrictions.
We suggest to send this message every 10..50ms. The HAWE default is 20ms.
6.5 Status Information
After boot-up every valve sends cyclically information about its status. Especially, the valves’ spool
position results in an estimation for the actual flow (assuming sufficient supply from the hydraulic
pump).
Parameters in table 6.6 configure how status messages are sent in J1939 mode.
The message format for the status information is given in table 6.7. Examples in decimal format are
given in table 6.8.

111 PAR_CAN_ID (Aux. Valve) 127 0 2 127
131 PAR_J1939_SA 128 0 130 247
128 PAR_PROT_SUB 1 0 1939 32787
118 PAR_CAN_STATUS_TIME 20 0 20 32000
Table 6.6.: J1939 Status Configuration Parameter

6. J1939 / ISOBUS
Example for Message: 0x0CFE1282

0x0C =3 = Priority
0xFE12 = 65042 = Auxiliary Valve Number 2 Estimated Flow PGN
0x82 = 130 = Source Address of the valve
Identifier DLC B0 B1 B2 B3 B4
0x0CFE1000 + 0x100 * Node- 8 Flow A Flow B Dir. Err. LSB Err. MSB
ID + Valve SA
Table 6.7.: Status Message, Sent Cyclically
The Source Address (PAR_J1939_SA) of the valve should be in the range of 128..247 to avoid conflicts
with Global Source Addresses that are defined by J1939.
The Source Address is configured through one of the following means:
• during commissioning by the system integrator
• before ordering by filling out the document [7]
The flow is given in byte 0 when the valve operates at port A (extend port), in byte 1 when port B
(retract) is driven. In both cases a value of 125 defines a flow of zero. Additional information about the
direction of the flow is given in byte 2.
Maximum flow (100%) for port A is B0 = 225 which corresponds with the nominal flow value of the
A-port. Maximum flow for port B corresponds with B1 = 225! That makes a resolution of 1% per bit for
both, port A and port B.
The estimated flow for the extend and retract port are always given in positive numbers. Returning
flow from the actuator is not estimated.
Caution: Different scaling is used for the Setpoint Command (0,4% per bit, see section 6.4) and the
actual value (1% per bit).
The directional information (port A active or port B active) is given in byte 2. B2 = 1 denotes operation
in A-direction, B2 = 2 in B-direction.
The combination of B0 = B1 = 125 and B2 = 0 stands for zero estimated flow, i.e. the valve spool is in
neutral/blocked position.

6. J1939 / ISOBUS
Identifier B0 dez B0 hex B1 dez B1 hex B2 Meaning

0x0CFE1181 125 0x7D 125 0x7D 0 Node 1; no flow
0x0CFE1383 225 0xE1 125 0x7D 1 Node 3; A port 100%
0x0CFE1484 125 0x7D 225 0xE1 2 Node 4; B port 100%
0x0CFE1585 145 0x91 125 0x7D 1 Node 5; A port 20%
0x0CFE1686 125 0x7D 145 0x91 2 Node 6; B port 20%
0x0CFE1585 175 0xAF 125 0x7D 1 Node 5; A port 50%
0x0CFE1686 125 0x7D 174 0xAE 2 Node 6; B port 49%
Table 6.8.: Example for Status Messages
The ISO 11783-7 suggests to repeat this message every 100ms. The default value HAWE uses is
20ms.
6.6 Error Information
Information of error status is given in bytes B3 and B4 of the status message. Both form together a
16-bit error message, where each bit represents an error group. Table 6.9 gives an overview of used
error groups.

6. J1939 / ISOBUS
Bit hex Meaning Possible error sources

0 0x1 Internal error (Selftest) STARTUP_SFT, EEPROM_CHECKSUM,
FLASH_CHECKSUM, RAMTEST,
EEPROM_VERIFY, WATCHDOG, STATE
1 0x2 Error Buscommand (Timeout, SETP_TIMEOUT, GUARD_TIMEOUT, SETPOINT
SP value)
2 0x4 Coil ressitance, current COIL_RES_HIGH, COIL_RES_LOW,
control CURRENT_CONTROL, CURRENT_ITG
3 0x8 Overtemperature, limited T_LIMIT_HIGH
functionallity
4 0x10 Spool position too far out POS_PLUS
5 0x20 Spool position can not reach POS_MINUS
target
6 0x40 Setpoint after restart != 0 SETP_NEQU_NEUTRAL
7 0x80 Supply voltage too high/low VOL_SUPPLY_LOW, VOL_SUPPLY_HIGH
8 0x100 Temperature too low TEMP_LOW
9 0x200 Temperature too high TEMP_HIGH
10 0x400 Parameter/Valve data invalid LIMIT, ILLEGAL_ERRTRANSMASK,
ILLEGAL_VALVEDATA
11 0x800 Sticky spool movement POS_ITG
12 0x1000 - -
13 0x2000 - -
14 0x4000 Position detectiuon failure POS_PLAUS
15 0x8000 Status message, System -
alive
Table 6.9.: Error Group Codes
Special meaning has error bit 15, which stands not for an error, but for the life status of the valve.
Because the individual bits are set independently of each other, several error bits can also appear
together. For example, error bit 6 "Setpoint after restart not equal to 0" together with error bit 15 would
result in the hexadecimal value 8040 (bit6 = 0x40 + bit15 = 0x8000 => 0x8040).
Error bits are set and reset automatically when the corresponding error condition is met or when it
disappears, respectively.
6.7 Migration of HAWE J1939 firmware prior 2767 to current firmware
Migration of HAWE J1939 firmware prior 2767 to current J1939/CANopen Combibuild firmware:
In J1939 firmware before 2767 auxiliary valve number and source address was defined only through
the CAN-ID. This could lead to situations with an address violation.

6. J1939 / ISOBUS
An example for parameters with firmware prior to 2767 is given in table 6.10 for a single section.

111 CAN_ID (Aux. Valve) 127 0 71 127
128 PAR_PROT_SUB 1 0 1939 32767
118 PAR_CAN_STATUS_TIME 20 0 20 32000
Table 6.10.: J1939 Configuration Parameter (prior to 2767)
The values above produce the following COB-ID and their related messages:
• 0x0CFE7711 = Setpoint Command Message

◦ 0x0C = Priority
◦ 0xFE77 = (65143)d = PGN for Auxiliary Pressures
◦ 0x11 = (17)d = Source Address of Cruise Control
• 0x0CFE57C7 = Status Information Message
◦ 0x0C = Priority
◦ 0xFE57 = (65111)d = PGN for Air Suspension Control
◦ 0xC7 =(124)d = Source Address of the valve
An example for Combibuild J1939 / CANopen DS408 r2767 and later that gives the same messages
like in prior r2767 is shown in table 6.11.

111 CAN_ID (Aux. Valve) 127 0 71 127
128 PAR_PROT_SUB 1 0 1939 32767
131 PAR_J1939_SA 128 0 199 247
Table 6.11.: J1939 Configuration Parameter (revision 2767 and later)
6.8 Temperature Information
The electronic temperature information can be requested with PGN 65164 and Auxiliary Temperature
1.
• Parameter Group Number (PGN) (65164)d ((0xFE8C)hex )
• PDU Format 254

6. J1939 / ISOBUS
• PDU Specific 140
• Default Priority 7
• Suspect Parameter Number (SPN) 441
• Start Position Byte 0 / Data Length 8 bits
• Byte Order Littel Endian
• Scaling 1 ◦ C / bit
• Offset -40
• Min Operational Range -40 ◦ C
• Max Operational Range 210 ◦ C
Only the first Section of each Valve Bank will answer the request given in table 6.12.
Identifier DLC B0 B1 B2
0x18EAFF01 3 0x8C 0xFE 0x00
Table 6.12.: J1939 Temperature Request
An Example for a Temperature Response is given in table 6.13.
Identifier DLC B0 B1 B2 B3 B4 B5 B6 B7
0x1CFE8CA6 8 0x47 0x00 0x00 0x00 0x00 0x00 0x00 0x00
Table 6.13.: J1939 Temperature Response
0xA6 = Value of PAR_J1939_SA (Parameter 131).
Actual temperature is: 0x47 = (71)d , Offset = -40, 71-40 = 31 ◦ C

7. PROTOCOL INDEPENDENT INFORMATION
7 Protocol Independent Information
Properties of PSL/PSV valve nodes, which don’t depend on the variant of the used communication
protocol directly, will be explained within this chapter. Protocols could be perceived as a shell which
surrounds a core of central device properties.
7.1 Configuration
HAWE offers the following options to adapt valve batteries to the specific needs of customers:
1. Independent adjustment by the customer; use of a protocol that enables adjustments (reparame-
terization).
2. Pre-configuration prior to delivery, no changes by the customer.
The minimal amount of information required for the ordering process are: the selection of a protocol
and an indication of the used CAN bit rate.
The configuration process is structured using an excel file [7] in which, relative to the associated
HAWE material number, customer predetermined specification data has to be entered.
The type and number of the in detail required additional information depends on the type of the desired
protocol.
7.1.1 Protocol Variants
The selection of a protocol variant is the essential criterion for determining the desired communication
behavior of HAWE CAN PSL/PSV valve operations.
HAWE offers CANopen standard-based protocol variants (CiA-401, CiA-408) as well as a 29-bit-based
protocol. The main properties of these are:
CiA-401
- General profile for local IO moduls
- Simple concept for activation, if necessary also automatic attempt without command from the
CAN master
- Possibility to activate several slave moduls from one setpoint telegram

CiA-408
- CANopen device profile that is specialized on hydraulic applications; typical parameters of

proportional valves are potentially adjustable by the user
- Preprocessing of setpoints
- Sophisticated concept for activation which ensures functions and automatic deactivation accord-
ing to the error status
29 bit
- Simple profile that uses 29 bit addressing
- Simple concept of activation, attempt without master
- No parameterisation
7.1.2 Parameter Presettings
Depending on the selected sub-variant specifying different default values is mandatory or optional.
In any case the addressing of the valve sections, i.e: the allocation of clear identification numbers, is
necessary.
7.2 Diagnosis LED
The PSL/PSV valve nodes are fitted with a two-colored LED to enable error diagnosis independent of
bus connection. Corresponding LED blink codes indicate the current operating state or error at the
front side of the valve. Please refer to subsection 5.1.2 for detailed information on operating states.
A green, permanently illuminated, LED indicates a faultless active status. The red LED is off in this
state. Non-active states, such as initialization, stand-by or error states are indicated with blink codes.
A detailed overview of these states is provided in subsection 7.3.4.

7.3 Error Management
An error management system integrated into the firmware of field bus devices has the duty to detect
error states that could potentially disrupt orderly operations, take up appropriate measures and
communicate the error states.
Generally the internal error management system is in charge of the following duties:
- Detecting errors
- Assigning unambiguous error codes
- Triggering the corresponding state transitions (switch off)
- Categorizing individual errors into groups
- Communication to the higher-order control device
The CANopen communication standard as well as J1939 do not define detailed description of the
internal error handling of CAN slaves. But they define an address range reserved for the singular
transmission of an error message including a specific error code.
HAWE PSL/PSV valves with CAN actuation contain an internal error management system which takes
over the above mentioned issues for every protocol variant. How error conditions are communicated
depends on the protocol version.
The following use of the term “error” is neutral in its meaning. As can be seen from the codings and
the transitions listed in Table 6.9 the significance an error can have covers a wide range, from mere
warning messages to the immediate emergency switch-off of the valve.
The user is therefore situated somewhere between availability and comprehensive diagnosis. The
same applies for the ability to reset error states.
This distinguishes between three categories:
- Automatic resetting, if the error is merely a warning (e.g. temporary overvoltage)
- Transition in switched-off mode, ability to reset via new activation and zero setpoint
- Serious error, triggers deactivation and cannot be reset via external command
- Error might be reset by external command; user can define desired error reaction
Configuration parameters exist for the last mentioned category, with which the valve behaviour might
be customized.

7.3.1 Self Test
After the supply voltage has been switched on, every PSL/PSV proportional valve with CAN control,
will undertake a detailed self test, during which it checks the integrity of the remanent storage (program
and data) as well as the functioning of all components that can be tested automatically.
The entire self test takes about 700 ms. In case an error state was detected, initialization is discontin-
ued; the valve remains in zero position and cannot be activated, even through external commands.
7.3.2 Error During Operation
Errors that occur during active operations (overvoltage, undervoltage, positioning error, etc.) are
classified by their seriousness and trigger an internal state transition.
7.3.3 Limited Operation
Operations are limited if the valve detects internal overheating, but can remain operative at a reduced
performance.
7.3.4 LED Error Codes
The PSL/PSV proportional valves have a diagnosis LED fitted to their top side enabling direct diagnosis
independent of the connection to the CAN bus.
The operating state or the last error occured are displayed via this two-colored LED. Following should
be noted:
- Operating states correspond to unicoloured blink codes
- Errors are stored in codes with two numerals
- The number of blinking sequences by the green LED stands for the first numeral (0x to 9x) of the
error code
- The number of blinking sequences by the red LED stands for the second numeral (0x to 9x)
- A long break indicates the beginning of the following code
- Serious errors have priority
- The used implementation of the LED flash codes does not conform to CiA-303
- If there is no pause between red and green, it’s a question about the identification flashing 3.7.6

In an error-free case the green permanent light signals the active valve mode, green flashing indicates
the other states of the device state machine (see also subsection 5.1.3).
Table A.1 shows the codes of the various operating modes as well as the error states.
7.3.5 Standard error field
Another option to get information on errors is to read from the standard error field. It contains the
previous 16 errors, that occured to the valve section. One can access this error field via parameters
490 up to 505 (PAR_ERR_LIST_0, _1, ... , _15).
The following Table 7.1 shows the error (double word 0) referring to the parameter value.
Bit Hex-value Error flag Description

0 1 EEPROM_CHECKSUM Checksum EEPROM failed
1 2 EEPROM_VERIFY EEPROM verify failed
2 4 EEPROM_WRITE wait until write is done
3 8 FLASH_CHECKSUM Checksum flash failed
4 10 STARTUP_SFT Startup failed
5 20 SETPOINT Setpoint not feasible
6 40 SETP_NEQU_NEUTRAL Setpoint has to be neutral at start
7 80 SETP_TIMEOUT Setpoint timeout
8 100 GUARD_TIMEOUT Node guarding failed
9 200 CURRENT_CONTROL Current control error (transistor/coil)
10 400 POS_MINUS Spool does not reach setpoint
11 800 POS_PLUS Spool overshoots setpoint
12 1.000 COIL_RES_HIGH Coil resistance too high
13 2.000 COIL_RES_LOW Coil resistance too low
14 4.000 VOL_SUPPLY_LOW Supply voltage too low
15 8.000 VOL_SUPPLY_HIGH Supply voltage too high
16 10.000 TEMP_HIGH Electronics temperature too high
17 20.000 TEMP_LOW Electronics temperature too low
18 40.000 T_LIMIT_HIGH Limited operation because of over temperature
19 80.000 CAN CAN internal fault
20 100.000 POS_PLAUS Internal spool position sensor not feasible
21 200.000 POS_ITG Sticky spool movment
22 400.000 CURRENT_ITG Current control error, possible supply problem
23 800.000 LIMIT Parameter exceeds limit
24 1.000.000 RAMTEST RAM test failed
25 2.000.000 STATE State machine error
26 4.000.000 WATCHDOG Software reset (watchdog)
Table 7.1.: Error referring to parameter value

The errors of the startup selftest are described in error (double word 1) Table 7.2
Bit Hex-value Error flag Description

0 1 SFT_UBAT_ZERO Supply voltage zero point exceeds limit
1 2 SFT_STROM_ZERO Current measurement zero point exceeds limit
2 4 SFT_HALL_ZERO Internal spool position sensor zero point exceeds
limit
3 8 SFT_HT_SHORT Short circuited main transistor detected
4 10 SFT_HT_OPEN Open main transistor detected
5 20 SFT_PWM_SHORT Short circuited PWM transistor detected
6 40 SFT_PWM_OPEN Open main PWM transistor detected
7 80 SFT_RESIST_A Coil resistance A-side exceeds limit
8 100 SFT_RESIST_B Coil resistance B-side exceeds limit
9 200 SFT_RESIST_DIFF Difference between coil resistance A and B side to
high
10 400 SFT_OPEN_A Coil side A open
11 800 SFT_OPEN_B Coil side B open
12 1.000 SFT_CHANGE_COIL Coil has to be changed soon
13 2.000 SFT_UBAT_RANGE Supply voltage exceeds acceptable limit
Table 7.2.: Error description - startup selftest
Parameter 506, called PAR_ERR_NR, with default value 0, increments with every recorded error.
Every error field has a parameter assigned, namely parameters 470 up to 485, called
PAR_ERR_LIST_X_T, where X has the same number as the error field itself. Those parameters output
the operation time until that assigned error occured.
The assignment of each error message parameter to its operating time parameter is shown in Table 7.3
Error Message Parameter Operation Time Parameter

490 470
491 471
.. ..
. .
504 484
505 485
Table 7.3.: Assignment error message to operating time parameters

7.3.6 CAN Errors
Another type of errors are CAN errors. With parameters 550 - 558 the total number of occurences of
one specific CAN error can be accessed. Table 7.4 shows the specific parameter number, the name of
the parameter and gives a short explanation to each CAN error.
No. Name Description

550 PAR_ERR_CAN_BUSOFF increases by one, if CAN controller enters bus-off state.
This happens, when the internal transmit error counter
exceeds the number of 255. The controller is not able to
transmit anything on the CAN anymore.
551 PAR_ERR_CAN_SILENT increases by one, if CAN controller enters the error pas-
sive state. This happens if either the reveive error counter
or the transmit error counter exceeds 127 but the transmit
error counter has to be less than 256 (otherwise bus-off
state). The error counters will decrement everytime, there
is a valid massage on the bus.
552 PAR_ERR_RX every CAN controller has its internal receive error
counter. This counter can be read via that parameter. The
counter increases with every time, the controller detects
an error concerning the reception of a CAN message.
553 PAR_ERR_TX every CAN controller has its internal transmit error
counter. This counter can be read via that parameter. The
counter increases with every time, the controller detects
an error concerning the transmission of a CAN message.
554 PAR_ERR_CAN_BIT increases by one, if the controller detects a message sent
by itself but with the signal being turned around at any
position except the arbitration field or the acknowledge
slot.
555 PAR_ERR_CAN_FORM increases, if one of the pre-defined recessive bits, namely
CRC delimiter, ACK delimiter and EOF bits, is not reces-
sive.
556 PAR_ERR_CAN_STUFF increases if a stuff error occurs. If a CAN controller re-
ceives six bits with the same value and as part of SOF,
arbitration, control, data and CRC field, the bit-stuffing
rule has been broken, which leads to that stuff error.
557 PAR_ERR_CAN_OTHER If an error, not described in that table occurs, this param-
eter increases. One can have a look at the error frame
on the bus to get more information on that errors.
continues on next page...

...continues from previous page

No. Name Description
558 PAR_ERR_CAN_OVER if a CAN controller receives a telegram while still having
an older telegram in the input buffer, the old telegram is
lost and cannot be processed by the controller. In that
case this parameter increases.
Table 7.4.: CAN Errors
To get an overview on the structure of a CAN Datatelegram including the declaration of each bit field
see Figure 2.3.
7.4 Parameter Concept
All internal control variables that significantly influence the program sequence are designated as
parameters. Unlike the constants they can be changed in principle. Parameters are stored in a
remanent data memory (EEPROM).
Which and how parameters can be changed by the (end) user, is determined by the communication
protocol used. The parameter set, that is generally available, is based on the objects fixed in the
CANopen device profile CiA-408. A reasonable selection of operating parameters for proportional
valves is set there.
The adjustments for parameters are limited when using other communication protocols.
Generally, one might distinguish between “communication parameters” and “application parameters”.
The first are responsible for all communication functions, while the latter concern the actual application
of a bus device.
7.4.1 Parameters in EEPROM and RAM
An EEPROM module serves as physical storage space for parameter data, where they are stored
together with the checksum information. A consistency check is performed when restarting the valve.
In the event of a parameter inconsistency, an internal error is triggered.
For their further usage the parameter data are copied to the RAM . In keeping with the CANopen
standard, changes to the parameters (write commands) refer exactly to this section of the RAM. To
make a change permanent the command “Save” must be executed.

7.4.2 Efficiency of Parameter Changes
WARNING
The bulk of parameter data only becomes effective once the valve is restarted
after being cut from the voltage supply. This applies in particular for such
essential communication parameters as the bit rate.
Parameter changes are not applied immediately and can lead to unexpected
behavior after the restart. Cause and effect may be deferred!
Conscious restart after change of parameters to assess impact immediately.
In the special case of Bit rate change by the user he has to take care that it is applied for all valves
of the same valve bank and subsequent saving of the changes in EEPROM is also done for all valves
that have been changed.
7.4.3 Communication Parameters
The communication parameters control the communication behavior of the Slave. Essential are the bit
rate setting, the node-ID of the slave, as well as activation or time constants for safety mechanism
such as Node Guarding or Heartbeat.
7.4.4 Application Parameters
Exemplary application parameters are the ramp settings that shall limit the oil flow’s speed of change
in the event of setpoint jumps.
7.4.5 Reading and Writing Parameters
The CANopen commands defined in CiA-301 are used for polling or changing the parameter values. A
detailed explanation how to execute reading and writing processes is provided by section 3.5.
7.5 Preprocessing of Setpoints
Various internal control parameters of HAWE PSL/PSV valve nodes can be set in a way that a
preprocessing of the setpoint commands (coming from controller or joystick) takes place. The following
aspects of the valve behavior can be affected by this parameter:
- Fine control range or increased dynamics: Nonlinear mapping of the setpoint to increase the
fine control range or sensitivity.

- Setpoint limitation (override): Linear reduction of setpoints. Simulates a valve with a smaller
nominal amount.
- Ramps: The rate of change of the oil flow is restricted.
- Reversal of the direction
WARNING
If the control parameters switch from the default settings, the valve regulates
an oil quantity that doesn’t correspond with the setpoint.
Ramps can lead to tracking of movements, even when the setpoint is 0.
Otherwise (default) the valve position follows the unmodified setpoint as fast as possible.
7.5.1 Over Temperature Protection
In order to counteract damage of control electronics by over temperature, an intern power limitation is
implemented, which limits self-heating in case of over temperature.
This will be accomplished by reducing the control currents that are generated by the control electronics.
To enable anymore (limited) operation of the valve the power limitation works continuously. The higher
the temperature gets, the more the power of the valve will be limited.
Having reached an intern temperature of 90 ◦ C the power limitation starts, at a temperature of 120 ◦ C
the valve is completely switched off. An illustration of this process can be seen in the following
Figure 7.1.
It should be pointed out that the intern temperature of the control electronics depends not only on
the ambient temperature but also on the oil temperature. According to the recommendations of the
hydraulic documentation appropriate action should be taken to limit oil temperature.

120
100
80
electricial power[%]
60
40
20
0
0 20 40 60 80 100 120 140
temperature [°C]
Figure 7.1.: Illustration of Over Temperature Protection
The values of both temperatures, where the limitation starts and where it stops, can be set in a certain
range by the user himself. The respective default values are 90 ◦ C and 120 ◦ C, i.e. if the parameters
will not be modified, the temperature is reduced in a temperature range from 90 ◦ C to 120 ◦ C (See
Figure 7.1). By changing the parameters it is only possible to start the limitation earlier, if required by
the user.
start temperature end temperature

parameters PAR_TEMP_REDUCT_START PAR_TEMP_REDUCT_END
parameter index 63 64
CANopen-object 2113 2114
range 65 ◦ C - 90 ◦ C 80 ◦ C - 120 ◦ C
default 90 ◦ C 120 ◦ C
Table 7.5.: Parameter Temperature Reduction
7.5.2 Fine control range or increased dynamics
Via object 0x2090.1 for side A and object 0x2091.1 for side B the characteristics of the valve can be
distorted. The non-linear mapping of setpoint to oil flow is shown in Figure 7.2.

A-side B-side
parameters PAR_A_KRUEMMUNG PAR_B_KRUEMMUNG
range -1000 to 1000 -1000 to 1000
default 0 0
Table 7.6.: Parameter Curve Form
1000
900
800
700
Oil Flow Nominal Amount [Per Mille]
600
500
400
300
200
100
0
0 100 200 300 400 500 600 700 800 900 1000
Setpoint [Per Mille]
Figure 7.2.: Nonlinear Curve Transformation
By default (curve form parameter 0) the curve corresponds with a linear characteristic (purple dotted
line).
If a fine control range is desired, i.e. a slow increase of the oil flow at low deflections of the control
devices, the curve form corresponding to the green solid curve in the figure can be activated in extreme
cases. This represents a curve form parameter of 1000.
In the opposite case (if an increased momentum in the starting range is desired), a curve form can be
adjusted according to the blue dashed dotted curve. This corresponds to a curve form parameter of
−1000. Values between −1000 . . . 1000 allow a gradual adjustment in either direction.
The curve form of the setpoints can be chosen independently for A and B side.

7.5.3 Setpoint reduction (Override)
The other modification parameters (0x2092 for A side and 0x2093 for B side) serve to reduce the
nominal amount. Default corresponds to a scaling with factor 1 (full nominal amount), this corresponds
to 1000 per mill. A change in value to 500 per mill would correspond to a bisection of the nominal
amount. The reduction of the setpoint may be selected independently for A and B side.
A-side B-side
parameters PAR_A_OVERRIDE PAR_B_OVERRIDE
range 0-1000 0-1000
default 1000 1000
Table 7.7.: Parameter Override
7.5.4 Ramps
Ramps are used for the damping of setpoint steps, i.e. they set a maximum rate of change of the
quantity of oil delivered from the valve. Ramps are denoted in milliseconds, this date refers to a
setpoint step from the zero position to the nominal amount. There exist two ramp sets which can be
toggled by PDO in Byte 0.
Actual Value
I II
t in ms
III IV
Figure 7.3.: Ramp Characteristics and Control Parameters
The corresponding control parameters are shown in Table 7.8 and Table 7.9.

Ramp time A acceleration (I) Ramp time A deceleration (II)

parameters PAR_A_RAMP_ACE PAR_A_RAMP_DECE
CANopen-object 6332.1 6333.1
default 1 1
Ramp time B acceleration (III) Ramp time B deceleration (IV)

parameters PAR_B_RAMP_ACE PAR_B_RAMP_DECE
default 1 1
Table 7.8.: Ramp Parameters 1. Ramp
Ramp parameters can be defined for both A and B side as well as increasing or decreasing setpoints,
i.e. acceleration and deceleration of the corresponding hydraulic consumers.
An exemplary movement as a time-speed diagram is shown in Figure 7.3. Phase (I) demonstrates
the case of the acceleration of a movement supplied by the A-side of the valve. The corresponding
slowing down (deceleration) complies with phase (II).
Similarly, the behavior of the movements fed by the B-side is influenced by control parameters. It should
be noted that phase (III), although representing a falling line in the time-speed diagram, corresponds
to an accelerated movement. Accordingly, the corresponding deceleration takes place in phase (IV).
Ramp time A acceleration Ramp time A deceleration

(2. Ramp) (2. Ramp)
parameters PAR_A_RAMP_ACE2 PAR_A_RAMP_DECE2
default 1 1
Ramp time B acceleration Ramp time B deceleration

(2. Ramp) (2. Ramp)
parameters PAR_B_RAMP_ACE2 PAR_B_RAMP_DECE2
default 1 1
Table 7.9.: Ramp Parameters 2. Ramp
The second ramp set is only accessible in firmware variants DS408 and PLVC Plug&Play. The ramp
set is capitalized via the device control word (DCW).

The properties of the DCW are described in subsection 5.2.3. If bit 0.5 (bit 13 of the DCW) in PDO0 is
1, ramp set 2 is assumed, otherwise ramp set 1 is used.

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8 Software
To support the commissioning of CAN PSL/PSV valves, different PC software tools are offered by
HAWE. Those tools can be obtained by DVD, USB Stick or online hawe.com. In particular, the following
steps will be facilitated:
• Direct communication of valve electronics by means of a parameterization and diagnostic tool

for CAN valves, the “PSXCANc” developed by HAWE
• Facilitated integration into CANopen Systems using EDS files
In any case, using PC technology, a connection of the PC to the CAN network is needed. For this,
usually, CAN-USB Dongles are used.
8.1 eDesign
HAWE eDesign is a graphical, cloud-based programming interface for hydraulic controls. It can
be reached via the address https://edesign.hawe.com. The use of eDesign is free. All you
need to do is register. With eDesign programs for the HAWE controllers CAN IO 14+, EV2S CAN
and EV2S BT can be created. The function modules for controlling a PSX-CAN valve actuation is
supported exclusively by the CAN IO 14+ controller.
8.1.1 Creating a project with eDesign
After logging in to the eDesign website, you can create a new project using Project → New. Enter at
least a project name and a control type. The start screen is shown in the following Figure 8.1.
Figure 8.1.: Start screen eDesign
The drop down list "Functions" groups different kind of functions. The PSX CAN valve actuation can
be found in the "Outputs" category. If you have created a function module, you can edit the module
or call the documentation using the context menu (right mouse button). The function blocks are

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connected to each other by selecting the connectors and dragging the connection line. These lines
represent the signal flow. The color of the connectors and connecting lines represents the data type.
Only connectors of the same colour can be connected to each other, which is also demonstrated in
Figure 8.2.
Figure 8.2.: Example for lines with different data types
By selecting the "Create program" button, you create a file from the project which you can download to
the controller. The finished program (HAWE Project File ".hwpf" format) is automatically downloaded
to the computer. The transfer of the file to the controller is described in subsection 8.1.3
8.1.2 Example program for using a function module
After logging in to eDesign, load the sample program "Control PSX-CAN valve" via the menu item
Project→Open→Examples. The corresponding menu is shown in Figure 8.3.

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Figure 8.3.: Opening an example project
If the "Control PSX-CAN Valve" sample project is selected, the project shown in Figure 8.4 is opened.
Figure 8.4.: Example Project "Control PSX-CAN Valve"
This project controls two valve sections, each with one PSX CAN valve actuation. These two
PSX CAN valve actuations are initialised with the NodeID 2 and 4. The structure described is shown
schematically in Figure 8.5

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Figure 8.5.: Schematic hardware structure of the example program "Control PSX-CAN Valve"
The PSX CAN valve actuation with the NodeID 2 has only one setpoint as input, which is sent on the
second Word of the CAN message on the COBID 0x680. Receiving the CAN message is done by the
function block "Receive CAN". The setpoint as input must be between the decimal values -1000 and
+1000. Here, the values of -1000 corresponds to a setpoint of -100.0 %, 0 to a setpoint of 0.0 % and
1000 to a Setpoint of 100.0 %. This function block returns the estimated volume flow as output.
The coil position is passed on to the "Send CAN" function block, which transmits the coil position on
the fourth word with COBID 0x685.
The PSX CAN valve actuation with the NodeID 4 is controlled via a joystick, which is connected with
pin A5 of the CAN IO 14+
The setpoint can be reduced using the "Receive CAN" function block. Furthermore, a switch is used
to change between the first and second ramp sets. The coil position as output signal is transmitted
on the second word of the "Send CAN" function block with COBID 0x685. The used joystick gets its
supply voltage of 5 V via PIN A7 of the CAN IO 14+. The CAN IO 14+ is configured that an input
signal between 0 V and 5 V is expected.

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8.1.3 Transferring an eDesign project to a controller
A successfully created project is offered for download in the .hwpf file format. This file can be transfered
to the CAN IO 14+ with the program HAWE.eUpdate. You can download HAWE eUpdate in eDesign
under Help→Downloads →HAWE eUpdate. The surface of the program is shown in Figure 8.6.
Figure 8.6.: User interface HAWE.eUpdate
Select your created project via the "Datei öffnen" ("Open file") button. For uploading, the CAN IO 14+
must be connected via a PEAK CAN USB dongle to the PC. Apart from the CAN IO 14+, there must
be no other power-supplied device on the CAN bus. Otherwise it is not possible to transfer the eDesign
project.
In the command bar next to the "Datei öffnen" ("Open File") button, the same bit rate has to be set
in the selection dialog as is set on the CAN IO 14+. Then the project can be transferred with the
command button „Beides übertragen“ ("Transfer both") to the CAN IO 14+.
8.2 HAWE DVD
A DVD containing PC software, is e.g. part of the Starter-Set (see chapter 9), but may also be obtained
independently from HAWE Hydraulik. For Example online from hawe.com The DVD contains the
following PSX-CAN specific elements:
- Service manual
- Technical data for PSL/PSV valves
- .NET 4.0 driver
- Driver for PEAK USB Dongle
- PC Software “PSXCANc”
- Current EDS Files
- PLVC funcktion block for Plug&Play control of PSX-CAN valves

8. SOFTWARE
- Documentation and programming system HAWE control devices (PLVC)
8.3 PSXCANc
The scope of this document is to describe the possible service interactions that can be performed
on HAWE PSL/PSV CANNode valve electronics. This can be realized e.g. by a HAWE developed
software tool, called PSXCANc. The list below shows the possible interactions:
• Import/Export/Change of parameters
• Commissioning/Scope
• Firmware updates
• Error management
The program can be started with the icon in Figure 8.7.
Figure 8.7.: Desktop Icon
8.3.1 How to get a free PSXCANc License
When you sart PSXCANs for the first time, you have to enter some information to get a computer
based license.
Please fill in owner name, company and mail with your personal information, e.g.:
Figure 8.8.: Start-up dialog filled with information
To register please:
1. Fill out the form.
2. Confirm the Privacy Policy.

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3. Click on "Register Online".
Alternatively you can request the license via e-mail:
• If you have an installed mailing application on your computer, then please press “Send Mail”
button. A mail dialog will be opened with the necessary information.
• If you have no possibility to send a mail directly from your computer, please press “Save
File” button and safe the license request file on an USB memory stick. Then send this file to
plvc@hawe.de.
• In resonse to this request we mail a license file. Please press “Load File” button to activate the
license on your computer.
8.3.2 Connection to the bus
Figure 8.9.: Bitrate selection
After starting the program the correct transfer rate has to be selected in the highlighted drop down
menu in Figure 8.9. By clicking the button right to the highlighted box, the program connects to the
CAN network.
The result of a successfull connect is shown in Figure 8.10. There you can see, that a slave with
node-id 36 was found. Additional details of the slave can be found in the debug window.

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The detected slaves are also shown in the menu bar that is labed “Current Nodes:”. By clicking on an
entry, the corresponding device is selected for further functions like firmware download.
The device state of the currently(!) selected device is displayed in the upper right corner of Figure 8.10.
The traffic light right next to the current device state allows the manual selection of the 3 most important
states:
• Device mode active (shown in green)
• Disabled (shown in yellow)
• Fault (shown in red)
For more information see subsection 5.1.3 and Figure 5.1.
Figure 8.10.: Information about detected nodes
8.3.3 Firmware
To download a firmware either use the green button in the tool bar, or the entry “Firmware->CANNode”
under the “Actions” menu shown in Figure 8.11.

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Figure 8.11.: Firmware download
You can download the firmware to all HAWE CANNodes found in the acutal CAN network by using
“Firmware->all CANNodes” in the “Actions” menu.
The following file manager window lets you choose the firmware that will be downloaded to the
CANNode(s). After a file is selected, the build properties of the this file are displayed for verification as
shown in Figure 8.12.

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Figure 8.12.: Verify the correct firmware
After selecting “yes”, the progress of the download can be tracked in the info line at the bottom of the
window. A successfull download is followed by a reboot of the device.

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8.3.4 Parameter
Figure 8.13 shows the parameter table. It is displayed when the highlighted button in the toolbar is
pressed or the related menu entry under “Actions” is selected.
Each column contains the parameters of one device.
In most cases but not in all the parameters of the different devices should be very similar. To support
this idea the background of each parameter is color coded with the following meaning:
• white: equal, ok
• yellow: ok, but not the default value
• red: different, maybe not ok (the PAR_CAN_ID must be different!)
Figure 8.13.: Parameter table
If the mouse cursor is moved over a parameter, the tooltip shows the parameter description, the
minimum and maximum value of the parameter.
The button “RestoreDefault”, when clicked, resets every parameter to its default value. The last two
buttons on the tool bar allow parameter import and export operations.
To change a parameter just click on its value field and type in the new value. Parameters are saved
into RAM and into EEPROM. If parameters are changed and commited to the device via the “Store”
button, they are saved into the RAM. To save parameters remanently use the button “Save2EE” after
“Store”.

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NOTE
Please keep in mind that EEPROMs have a limited number of write cycles.
If a change of parameters is necessary it is a good habit to document the

changes and export the parameter settings to a file.
Example - Change the NodeID
The parameter NodeID has the number 111 and is named “PAR_CAN_ID” (CANopen-object 2000), its
current value is displayed in the rigth column.
To change the value click into the value box and enter the new value. Confirm the value by clicking
“Enter”. After that store the changes by pressing “Store” and “Save2EE”.
NOTE
The changed NodeID is in effect after the next rebooted, by then it is accessible
with its old value.
Example - Change the Bitrate
The parameter Bitrate has the number 112 and is named “PAR_CAN_BAUDRATE” (CANopen-object
2001), its current value is displayed in the rigth column.
transfer rate hexadecimal value decimal value

125 kbit/s 0x125 293
250 kbit/s 0x250 592
500 kbit/s 0x500 1280
1000 kbit/s 0x1000 4096
Table 8.1.: Bitrate
To change the value click into the value box and enter the new value. It is possible to enter the
hexadecimal value or the decimal value ( see Table 8.1). The service tool will submit the correct value.
NOTE
Always make sure that all valves are set to the same bitrate!
Confirm the value with the key “Enter”. After that store the changes by pressing “Store” and “Save2EE”.

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NOTE
The changed Bitrate is in effect after the next reboot, until then it is only acces-
sible with its old value.
8.3.5 Error Management
Clicking the highlighted button in Figure 8.14 opens a window that displayes the current error status of
each found CANNode.
Figure 8.14.: Error table
Hovering the mouse cursor over the error, shows a tooltip that explains it. Possible errors in the first
row of Figure 8.14 are described in Table 7.1.
The second row in Figure 8.14 is dedicated to the startup selftest. These errors are described in
Table 7.2.
8.3.6 Commissioning
Scope
The scope allows to view the dynamic operation of the valves.

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By clicking the highlighted buttons shown in Figure 8.15, the scope window, datalogger and the
setpoint generator opens.
Figure 8.15.: Scope together with setpoint generator
The description of icons in the toolbar can be viewed in Figure 8.16.
Figure 8.16.: Application: toolbar
After starting the scope every variable is recorded even when the variable is not selected in the caption.
The meaning of items in the legend is given in the following list for most of the cases:
0. filtered current
1. unfiltered spool position
2. filtered supply voltage
3. filtered temperature
4. unfiltered current
5. filtered spool position
6. pwm setpoint
8. spool setpoint

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9. current setpoint
14. resistor A
15. resistor B
16. external setpoint
Datalogger
If the window „Datalogger“ is not closed, all scopes are saved into directory shown in figure 8.17 for
later offline viewing. The information is saved as hwdl file and can be reviewed using the „Import“
button.
Figure 8.17.: Datalogger
Setpoint generator
In general you have to ensure that the button “operational” is activated. In the window for modifying
the setpoint there are two sliders. The upper slider allows to choose a setpoint in per mill. Its update
rate is entered into an input box in the lower left corner of the window. The default update rate is
20 milliseconds. The lower slider shows the current flow in per mill. The user should be familiar
with section 5.2 (Communication Procedure), to be able to understand the mode of operation of the
setpoint generator.
8.3.7 Advanced options
By clicking the button “Operational” in the toolbar, a wake-up command will be sent to every CAN
device, whose state is changed to ’operational’ by the communication state machine.
The drop down box highlighted in Figure 8.18 allows to send individual customised CAN messages
with the format: COB-ID, Byte 0, Byte 1, . . . Byte 7.

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Figure 8.18.: Edit a CAN message
8.3.8 PSXCAN Repair Window
The Repair Window is accessible via Servicetools, if the CanNodeTool is connected to a PSXCAN
Valveblock.
Figure 8.19.: Get to Repair Window

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Figure 8.20.: PSXCAN Repair Window
General Information:
Valve bank(s): Number of valve banks and Bank ID of the valve banks (Parameter 411)
Valve sections: Number of valve sections and its ID‘s (Parameter 410)
CustomerOrderNo: Order No of the valve bank
MaterialNo: Material number of the valve bank
CustomerNo: Customer Number and Name can be entered in those two lines
Action:
Reset error List: Use this Button to clear all errors out of the standard error field (Parameter
491 - Parameter 505)
Set Trace Mode: Use this Button to get detailed Information in the Trace Window
Export All: Use this Button to save all datas in a hwpf file
Various tabs allows interaction with the PSXCAN.

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Info:
The Info tab gives information about each single section. Like e.g. CAN-ID, Section Number, Valve
Bank, Firmwareversion, Operating hours, Errors
This Information can be easily copied with a double click onto the line: “You can copy the following text
by doubleclicking the field”
Figure 8.21.: Info tab
Preparation:
Since HAWE Spare part sections or Electronics have the default parameter installed, a preparation is
requested to do before adding the section into the valve bank. The preparation tab allows to configure
a single PSXCAN section with the correct firmware and adjust the correct Bitrate. The HAWE project
file hwpf and the firmware is needed.
Clear Hydraulic Curve Characteristics: Is this tick box activated, the curvedata will be deleted.

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Figure 8.22.: Preparation tab
Reset to Factory Settings:
You can choose this option, if you have a “Factory settings” hwpf file. This will set everything (firmware,
curvedata and parameterset) back to factory settings.
Figure 8.23.: Reset to Factory Settings tab
Choose the source file and section with “Source”

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Figure 8.24.: Destination section
Choose the correct destination section. The tick boxes Firmware, Parameter and Hydraulic Curve
Characteristics are activated automatically. You can tick boxes off, if you don’t want this action.
If you choose a sections with different CanID‘s the following alarm will pop up.
Figure 8.25.: Source and Destination missmatch
In this case, make sure that you have choosen the correct Source and Destination section and press
the continue Button to start the procedure.
All steps of the procedure are listed in the Steps window. If everything is done and ok, the window will
be green. The steps can also be followed in the Trace window.

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Figure 8.26.: Successful reset
With the Button “Explorer Log/Backup” you will reach the path where the Export hwpf files were stored
before the Reset and after the reset.
Import Template
You can choose this option, if you have a “Template” or a “Factory settings” HWPF. This will overwrite
parameter configuration desired by the customer and will NOT overwrite curve characteristics.
The procedure is the same as in “Reset to Factory Settings”
Import HWPF
You can choose this option, if you have made a HWPF export yourself or have a “Factory settings”
HWPF. This will NOT write some Parameters, like CAN_BITRATE, SNR_HYD, PGELC, . . .
The procedure is the same as in “Reset to Factory Settings”

8. SOFTWARE
Adjust
In this window a zero calibration of the Hall Sensor and a 2 Point Calibration subsection 8.3.9 is
possible.
For a zero calibration of the Hall sensor switch the hydraulic off and make sure that the handlever is
not actuated. Then press Adjust 0.
Full adjustment:
If you want to carry out a 2 point calibration subsection 8.3.9 you must follow the steps 1-6. The
hydraulic must be off for Adjust 0 (Key3) and on the hydraulic on for Adjust min (Key4) and Adjust max
(Key5).
Figure 8.27.: Adjust tab
8.3.9 2 Point Calibration on PSXCAN
Requirements:
i) PSXCAN valve block must be connected correctly in your application.
ii) CanNodeTool PSXCANc installed on PC/Laptop with valid License. Peak-Dongle and USB driver
must also be installed (see chapter 9). User must have basic knowledge how to use PSXCANc.

8. SOFTWARE
iii) Firmwareversion on the valve block must be higher or equal 2469.
Figure 8.28.: Firmwareversion
iv)
NOTE
Ensure you have only one SetpointSource active. Setpoint Simulator and
Joystick together is not possible. Setpoint Simulator in the main Window
must be also inactive.
v) Connection with PSXCANc Softwaretool to the valve block.
Figure 8.29.: Connection to valve block
vi) Hydraulic switched off at start.

8. SOFTWARE
vii) No present errors (Setpoint Timeout possible, as long as the Setpoint Slider is not active).
Figure 8.30.: Setpoint Timeout
Recommendation:
i) Save data (Parameter, Hydraulic Curves Characteristics) with Export All.

Open the PSXCAN Repair Window
Press the Export All Button and choose the storage location of the data.

8. SOFTWARE
Figure 8.32.: Export all
ii) Note down Parameter 58 and set it to 0. (It means Position monitoring is switched off.)
NOTE
Store Parameter, but do not save to EEPROM!
iii) Setpoint Slider

One can move the set point slider by using the mouse for Step size 1 (press and hold
left mouse button). Or by using the arrow keys on your keyboard for Step size 10.
Step size + 10
Step size - 10
Procedure for full adjustment:
i) Open the PSXCAN Repair Window

8. SOFTWARE
ii) Click on the the Adjust tab
Figure 8.34.: Adjust tab

8. SOFTWARE
iii) Select the section for calibration
Figure 8.35.: Select section
The setpoint slider shows up at the bottom
Figure 8.36.: Setpoint slider

8. SOFTWARE
NOTE
Do not save to EEPROM! during the whole full adjustment procedure. The
software will safe the calibration points automatically.
iv) Min. and Max. calibration
Step 1: Delete the factory calibrated spool characteristics.

Skip this step and move directly to step 2, if you want to keep the factory calibrated spool
characteristics. This might be the case if you only changed the electronics or have a valve
with the same curve characteristics. Otherwise Press
Especially if you have a differt valve, you shoud set the curves back to default.
Step 2: Change device control mode to Current control.

Press
With this, you change from the usual Hall control mode into the Current control mode. A
green box shows the success of the action
Figure 8.37.: Successful control change

8. SOFTWARE
NOTE
If instead of a green rectangle (Calibrationpoint ok) a red rectangle
(Calibrationpoint is not ok) shows up. It is an indication that the cur-
rent or stroke is too big or too small. In that case, repeat the Calibra-
tion with other Setpoints. Hint: The position of the rectangle is no
indication for A- or B-side. It just shows, calibration ok or not ok. The
recognition for A/B side happens automatically.
Step 3: Adjust the spool position to center.

If the center position deviation is less than ± 30 (Scope Variable 1 - Hall Position [incre-
ments]) this step can be skipped.
Make sure, that the spool is really in the center position, before Pressing
A green box shows the success of the action
Figure 8.38.: Successful Adjust 0
Step 4: Adjust min.

Switch on your Hydraulic system (pump)

8. SOFTWARE
NOTE
Make sure that you have only one Setpoint source. Setpoint slider and
joystick at the same time is not possible.
If the node is not in the STATE DEVICE MODE ACTICE

(visible in the upper right corner of the CanNodeTool)
Press Operational
Figure 8.39.: Operational mode
Move the setpoint slider to the right = A side, to a point where the minimal movement/flow
occurs. An alternative, is the point where a movement is just not visible yet.
Press
A green box for each side shows the success of the action

8. SOFTWARE
Figure 8.40.: Successful Adjust min. A-side
Move the setpoint slider to the left = B side, to a point where the minimal movement/flow
occurs. An Alternative, is the point where a movement is just not visible yet.
Press

8. SOFTWARE
Figure 8.41.: Successful Adjust min. A&B-side
Step 5: Adjust max.

The max. Speed must be calibrated with the Scope window. Move the function A side
(cylinder, motor) carefully with the setpoint slider or with the actuation from your hydraulic
system to a point, where a movement is not possible anymore, even if you give a higher
setpoint for the flow. (Cylinder end stop reached)
- Open the scope window

8. SOFTWARE
Figure 8.42.: Scope window
Arrange the windows in a way that you have the Adjust Window and Scope Window next to
each other.
Figure 8.43.: Window arrangement

8. SOFTWARE
Choose the section for calibration (e.g. 509), Tick off other sections
Set Period to 40 ms
Choose Test 0 (Current) and Test 1 (Spool position)
Start Scope recording
Figure 8.44.: Record scope
Move the setpoint slider to the right = A side where the mechanical end stop is reached.
This is the point where the spool position in the scope window does not rise anymore (see
yellow line below), although the current rises (see blue line below). Decrease the current
with the slider, so that the spool position decreases about 70-100 Increments. If you reach
this position Press

8. SOFTWARE
Figure 8.45.: Endstop and Maximum Calibration Point A-side
NOTE
Distance between Endstop and Maximum Calibration Point shall be at
least 70 Inc.!
Do the same thing for the B-side.
Move the setpoint slider to the left = B side where the mechanical end stop is reached.
This is the point where the spool position in the scope window does not rise anymore (see
yellow line below), although the current rises (see blue line below). Decrease the current
with the slider, so that the spool position decreases about 70-100 Increments. If you reach
this position Press

8. SOFTWARE
Figure 8.46.: Endstop and Maximum Calibration Point B-side
NOTE
Distance between Endstop and Maximum Calibration Point shall be at
least 70 Inc.!

8. SOFTWARE
Figure 8.47.: Successful Adjust max
Step 6: Reboot PSXCAN section

In order to finish the procedure, press
A green box for each side shows the success of the action.

8. SOFTWARE
Figure 8.48.: Successful Reboot
NOTE
FINAL CHECK
Check Parameter 57 and 58 after Reboot. It must be set back to its original
value.
P 58 PAR_RGL_CONT_LIM_DIST: (value noted down in item ii))
Default value: 265
P 57 PAR_DEV_CTRL_MODE: 2 (Position control Mode)
-4 (CAN-Lite)
If Spools has been changed, do not forget to put the correct values into param-
eter 195 PAR_A_Q_NENN and 197 PAR_B_Q_NENN.
Procedure for single adjustment of Max./Min.:
It is sometimes necessary to adjust only one point Min. or Max. on one direction A or B. In this case
follow step 1 - step 3

8. SOFTWARE
NOTE
Skip this step and move directly to step 2, if you want to keep the factory cal-
ibrated spool characteristics. This might be the case if you only changed the
electronics or have a valve with the same curve characteristics.
Step 1
Step 2
Step 3 (If the center position deviation is less than ± 30 (Scope Variable 1
- Hall Position [increments]) this step can be skipped.)
and use only
Step 4 for A or B-side or
Step 5 for A or B-side.
Finish the procedure in any case with
Step 6
8.4 Electronic Datasheets (EDS)
For CANopen devices, manufacturers frequently offer machine-readable descriptions, so-called

electronic data sheet files, that allow standard software to access services of the device.
HAWE offers EDS files for the PSL/PSV CAN actuated valves on its download website hawe.com.
In addition to the EDS file the following objects:
- TxPDO3
- RxPDO4 und TxPDO4
are used for service communication and are not available for use.

9. STARTER-SET
9 Starter-Set
The purpose of the starter-set is, to enable communication with HAWE CAN valves, working on the
desk, without a totally functioning hydraulic overall system. Target group are primarily programmers of
the controller software of the system.
Using the starterkit a PC can be used as remote terminal (point to point connection to the CAN Dongle).
It is also possible to operate complete bussystem simulation, containing a lot of bus participants.
The scope of supply includes a valve section containing a magnet wafer. In case of activation it is
possible to follow the mechanical deflection of the electronic solenoids, to register wether and in which
strength a setpoint setting reaches actually the valve.
9.1 Components
Your Starter-Set should include following parts:
• Valve electronics with respective solenoid body
• 4-pole AMP mating connector connected by a CAN-Bus-cable with a D-Sub and two 4-mm-clip-
connectors (Figure 9.1)
• Installation-CD (see section 8.2) with driver software
• optional CAN USB Dongle (Fa. PEAK), see Figure 9.2
In addition to the delivery package a power supply (e.g.24V, 1A) is needed.
The Starter-Set and the required PEAK CAN USB Dongle can be ordered at HAWE Hydraulik SE
using the part number:
Articel Part number

PSX-CAN Starter-Set 3405 4200-00
PEAK CAN USB Dongle 6219 2001-00
Table 9.1.: Order Information

9. STARTER-SET
Figure 9.1.: Cable provided with the starter-set
If not otherwise requested, the valve electronics will be delivered with a CANopen DS408 firmware,
configured with a Bit rate of 250 kBit/s.
9.2 Commissioning
• connect the AMP-connector of the valve with the mating connector(Figure 1.5) with connection
cable
• connect the banana sockets following the polarization of the power supply (red corresponds
positive voltage)
• sufficient energy supply up to 1A at around 24V is typical
If the valve is mounted correctly, the LED on the top will start flashing.
For a direct connection of the cable with a USB-CAN Dongel or to get connected with other bus
participants it cantains a 7-pin Sub-D plug with CAN default setting (Pin 2 CAN-L, 7 CAN-H).

9. STARTER-SET
Futhermore, a switchable terminating resistor is integrated in the plug. It is possible to switch this
terminating resistor on or off by a little switch.
Additional information about terminating resistors and correct interpretation of CAN bus networks refer
to subsection 2.1.2.
The valve section itself and the connection socket don’t have a termination resistor.
Normally, the Sub-D plug is connected with PC by a CAN-USB-adapter. An overview of the permissible
limits is shown in Table 1.2. In principle, any PC-CAN Software can be used for actuation and
monitoring the functionality of the CAN-bus, for example CAN Open configurations-tools
Using the PC Software refering the DVD, follow the installation instructions. The user should be familiar
with section 5.2. You can get additional information in chapter 8.
This adapter can be ordered at HAWE Hydraulik SE with part number 6219 2001-00 or at PEAK-
System Technik (http://www.peak-system.com/).
Optionally you can choose between a standard

version and an opto-decoupled version. The opto-
decoupled version guarantees a galvanic isolation
up to maximum 500V between PC and CAN-side.
Furthermore a CAN-monitor und a programming-
interface is provided in this package.
Figure 9.2.: PCAN-USB-adapter

10. CALIBRATING INTERFACES
10 Calibrating Interfaces
In case of repair it is necessary to have the possibility to calibrate locally. Therefore firmware version
2421 or higher is required.
10.1 Overview
After attaching the electronics on the valve it is necessary to adjust the electronics to the valve. The
zero point as well as the calibrating points for minimal and maximal flow rate have to be set.
Ensure that the screws get fixed again with the correct torque given in HAWE Partsman.
To adjust the zero-point, the lever has to be in neutral position. The zero-point can be set.
The calibrating point for the minimal flow rate is reached as soon as the actor is moving.
The calibrating point for the maximal flow rate is reached as soon as the actor is moving with nominal
speed.
The position transducer has to be calibrated with a setpoint message by bus, using the handlever is
not possible. Following section explains the Bus-commands being used therefore.
10.2 Calibrating Messages
It is possible to store calibrating values by using the write access of a SDO (Service Data Object
SDO). The data content of a write command consists of a Magic Number1 , shown in Table 10.1. After
reception of the message the act valve checks if the neccessairy conditions for the calibrating step
are complied with. If so, the calibrating data is saved in the remanent memory of the valve and the
calibrating step is done.
Nr. Index Bedeutung Value

1 0x6043 Device Control Mode 0x01
2 0x2020.1 reset curve characteristics 0x489AB324
3 0x2020.2 Zero point adjustment 0x489AB328
4 0x2020.3 calibrating point; set minimal flow rate 0x489AB326
5 0x2020.4 calibrating point; set maximal flow rate 0x489AB327
Table 10.1.: Calibrating Messages
1
The magic number is a written value and defined to reduce the probability of a command running by accident

10. CALIBRATING INTERFACES
NOTE
The calibrating steps have to be performed in the given order.
The first step sets the operating mode to “current controlled” (also see subsection 5.1.1), so that all
operating points can be adressed.
WARNING
Attention: While calibrating, the object 0x1010.1 should not be executed, since
this would also save the Device Control Mode!
The lever has to be in neutral position for executing step 3.
Afterwards the operating points of minimal and maximal flow rate should be encountered by setpoint-
PDO’s for the A and the B side. The teach-in is done by the commands given in step 4 and 5.

A. APPENDIX
1 Appendix
1.1 Error Index
Error code Class LED code Meaning Reaction

0h No error
2211h 1 13 Current control error (transistor/coil) fault
3410h 2 65 Supply voltage exceeds acceptable limit
3411h 2 15 Supply voltage too high warning
3412h 2 16 Supply voltage too low warning
4110h 3 14 Limited operation because of over temper- warning
ature
4211h 3 25 Electronics temperature too high fault reaction
4212h 3 24 Electronics temperature too low warning
5230h 1 42 Current control error, possible supply prob- fault
lem
5231h 7 38 Sticky spool movment warning
5234h 1 52 Current measurement zero point exceeds
limit during self test
5235h 7 53 Internal spool position sensor zero point
exceeds limit during self test
5237h 2 51 Supply voltage zero point exceeds limit
during self test
5401h 7 54 Short circuited main transistor detected
during self test
5402h 7 55 Open main transistor detected during self
test
5403h 7 56 Short circuited PWM transistor detected
during self test
5404h 7 57 Open main PWM transistor detected dur-
ing self test
5405h 1 62 Coil side A open
5406h 1 63 Coil side B open
5407h 1 64 Coil has to be changed soon
5411h 1 37 Coil resistance too high warning
5412h 1 36 Coil resistance too low warning
Continuation on the next page ...

A. APPENDIX
... Continuation from the previous page (Table A.1)
Error code Class LED code Meaning Reaction

5413h 1 61 Difference between coil resistance A and
B side to high
5414h 1 58 Coil resistance A-side exceeds limit during
self test
5415h 1 59 Coil resistance B-side exceeds limit during
self test
5510h 0 26 RAM test failed fault reaction
5530h 1 33 Checksum flash failed fault
5531h 1 34 Checksum EEPROM failed fault
5532h 1 35 EEPROM verify failed fault reaction
6010h 0 Software reset (watchdog) warning
6100h 0 32 State machine error fault reaction
6101h 1 12 Startup failed fault
6320h 4 Parameter exceeds limit warning
6321h 7 46 Parameters for error transitions are incon-
sistent
6322h 7 - Internal valve data is inconsistent
8101h 4 - Setpoint not feasible disabled
8102h 4 21 Setpoint has to be neutral at start disabled
8103h 4 22 Setpoint timeout disabled
8110h 4 11 CAN internal fault disabled
8130h 4 23 Node guarding failed disabled
8301h 7 18 Spool does not reach setpoint warning
8302h 7 19 Spool overshoots setpoint disabled
8304h 7 41 Internal spool position sensor not feasible fault reaction
Table A.1.: Overview of Possible Errors

A. APPENDIX
1.2 Error Description
1.2.1 NO_ERROR
Name NO_ERROR
CANopen Error 0 ()
(Class)
Blinkcode
Description No error
Reaction
possible action
1.2.2 CURRENT_CONTROL
Name CURRENT_CONTROL
CANopen Error 2211 (1)
(Class)
Blinkcode 13
Description Current control error (transistor/coil)
Reaction fault
possible action Replacement of the valve section.
1.2.3 SFT_UBAT_RANGE
Name SFT_UBAT_RANGE
(Class)
Blinkcode 65
Description Supply voltage exceeds acceptable limit
Reaction
possible action Ensure that proper supply voltage is applied to the
device. If necessary, perform control measurement of
the supply.

A. APPENDIX
1.2.4 VOL_SUPPLY_HIGH
Name VOL_SUPPLY_HIGH
(Class)
Blinkcode 15
Description Supply voltage too high
Reaction warning
possible action Ensure proper power supply.
1.2.5 VOL_SUPPLY_LOW
Name VOL_SUPPLY_LOW
(Class)
Blinkcode 16
Description Supply voltage too low
Reaction warning
possible action Ensure proper power supply.
1.2.6 T_LIMIT_HIGH
Name T_LIMIT_HIGH
(Class)
Blinkcode 14
Description Limited operation because of over temperature
Reaction warning
possible action E.g. make sure the oil cooling’s limit temperature is
not reached.

A. APPENDIX
1.2.7 TEMP_HIGH
Name TEMP_HIGH
(Class)
Blinkcode 25
Description Electronics temperature too high
Reaction fault reaction
possible action Cause identification and repair.
1.2.8 TEMP_LOW
Name TEMP_LOW
(Class)
Blinkcode 24
Description Electronics temperature too low
Reaction warning
1.2.9 CURRENT_ITG
Name CURRENT_ITG
(Class)
Blinkcode 42
Description Current control error, possible supply problem
Reaction fault

A. APPENDIX
1.2.10 POS_ITG
Name POS_ITG
(Class)
Blinkcode 38
Description Sticky spool movment
Reaction warning
possible action Ensure correct hydraulically operating conditions (oil
filtering, etc.).
1.2.11 SFT_STROM_ZERO
Name SFT_STROM_ZERO
(Class)
Blinkcode 52
Description Current measurement zero point exceeds limit during
self test
Reaction
1.2.12 SFT_HALL_ZERO
Name SFT_HALL_ZERO
(Class)
Blinkcode 53
Description Internal spool position sensor zero point exceeds limit
during self test
Reaction

A. APPENDIX
1.2.13 SFT_UBAT_ZERO
Name SFT_UBAT_ZERO
(Class)
Blinkcode 51
Description Supply voltage zero point exceeds limit during self test
Reaction
1.2.14 SFT_HT_SHORT
Name SFT_HT_SHORT
(Class)
Blinkcode 54
Description Short circuited main transistor detected during self
test
Reaction
1.2.15 SFT_HT_OPEN
Name SFT_HT_OPEN
(Class)
Blinkcode 55
Description Open main transistor detected during self test
Reaction

A. APPENDIX
1.2.16 SFT_PWM_SHORT
Name SFT_PWM_SHORT
(Class)
Blinkcode 56
Description Short circuited PWM transistor detected during self
test
Reaction
1.2.17 SFT_PWM_OPEN
Name SFT_PWM_OPEN
(Class)
Blinkcode 57
Description Open main PWM transistor detected during self test
Reaction
1.2.18 SFT_OPEN_A
Name SFT_OPEN_A
(Class)
Blinkcode 62
Description Coil side A open
Reaction

A. APPENDIX
1.2.19 SFT_OPEN_B
Name SFT_OPEN_B
(Class)
Blinkcode 63
Description Coil side B open
Reaction
1.2.20 SFT_CHANGE_COIL
Name SFT_CHANGE_COIL
(Class)
Blinkcode 64
Description Coil has to be changed soon
Reaction
possible action
1.2.21 COIL_RES_HIGH
Name COIL_RES_HIGH
(Class)
Blinkcode 37
Description Coil resistance too high
Reaction warning

A. APPENDIX
1.2.22 COIL_RES_LOW
Name COIL_RES_LOW
(Class)
Blinkcode 36
Description Coil resistance too low
Reaction warning
1.2.23 SFT_RESIST_DIFF
Name SFT_RESIST_DIFF
(Class)
Blinkcode 61
Description Difference between coil resistance A and B side to
high
Reaction
1.2.24 SFT_RESIST_A
Name SFT_RESIST_A
(Class)
Blinkcode 58
Description Coil resistance A-side exceeds limit during self test
Reaction

A. APPENDIX
1.2.25 SFT_RESIST_B
Name SFT_RESIST_B
(Class)
Blinkcode 59
Description Coil resistance B-side exceeds limit during self test
Reaction
1.2.26 RAMTEST
Name RAMTEST
(Class)
Blinkcode 26
Description RAM test failed
1.2.27 FLASH_CHECKSUM
Name FLASH_CHECKSUM
(Class)
Blinkcode 33
Description Checksum flash failed
Reaction fault

A. APPENDIX
1.2.28 EEPROM_CHECKSUM
Name EEPROM_CHECKSUM
(Class)
Blinkcode 34
Description Checksum EEPROM failed
Reaction fault
1.2.29 EEPROM_VERIFY
Name EEPROM_VERIFY
(Class)
Blinkcode 35
Description EEPROM verify failed
possible action -
1.2.30 WATCHDOG
Name WATCHDOG
(Class)
Blinkcode
Description Software reset (watchdog)
Reaction warning

A. APPENDIX
1.2.31 STATE
Name STATE
(Class)
Blinkcode 32
Description State machine error
1.2.32 STARTUP_SFT
Name STARTUP_SFT
(Class)
Blinkcode 12
Description Startup failed
Reaction fault
possible action Restart the valve, if the error is reproducible, exchange
the valve.
1.2.33 LIMIT
Name LIMIT
(Class)
Blinkcode
Description Parameter exceeds limit
Reaction warning
possible action Control of the parameterization process.

A. APPENDIX
1.2.34 ILLEGAL_ERRTRANSMASK
Name ILLEGAL_ERRTRANSMASK
(Class)
Blinkcode 46
Description Parameters for error transitions are inconsistent
Reaction
possible action
1.2.35 ILLEGAL_VALVEDATA
Name ILLEGAL_VALVEDATA
(Class)
Blinkcode -
Description Internal valve data is inconsistent
Reaction
possible action
1.2.36 SETPOINT
Name SETPOINT
(Class)
Blinkcode -
Description Setpoint not feasible
Reaction disabled
possible action Adaptation of the controller software, send the correct
setpoints format.

A. APPENDIX
1.2.37 SETP_NEQU_NEUTRAL
Name SETP_NEQU_NEUTRAL
(Class)
Blinkcode 21
Description Setpoint has to be neutral at start
Reaction disabled
possible action Start with zero setpoints, and make sure that with
restart at least a zero setpoint is sent.
1.2.38 SETP_TIMEOUT
Name SETP_TIMEOUT
(Class)
Blinkcode 22
Description Setpoint timeout
Reaction disabled
possible action Regularly send a setpoint that arrives safely within the
prescribed monitoring period.
1.2.39 CAN
Name CAN
(Class)
Blinkcode 11
Description CAN internal fault
Reaction disabled
possible action Check the dimensioning of the CAN network. Is se-
lected bit rate appropriate to data traffic? Verification
of interfaces (connectors), termination etc.

A. APPENDIX
1.2.40 GUARD_TIMEOUT
Name GUARD_TIMEOUT
(Class)
Blinkcode 23
Description Node guarding failed
Reaction disabled
possible action The regularly sending of node guard requests or heart-
beats from the control unit has to be ensured. Possibly
also adapt to tight tolerance window on the bus load.
1.2.41 POS_MINUS
Name POS_MINUS
(Class)
Blinkcode 18
Description Spool does not reach setpoint
Reaction warning
possible action Control of mechanical function, absence of operator
intervention, maybe changing of too close tolerance
windows in the lag error monitoring. Please note that
extremely cold temperatures can slow the response
time of the valve.

A. APPENDIX
1.2.42 POS_PLUS
Name POS_PLUS
(Class)
Blinkcode 19
Description Spool overshoots setpoint
Reaction disabled
possible action Control of mechanical function, absence of operator
intervention, maybe changing of too close tolerance
windows in the lag error monitoring. Please note that
extremely cold temperatures can slow the response
time of the valve. An external back-up level should
be provided in order to disconnect hydraulic actuators
from the pressure supply when this fault is detected.
1.2.43 POS_PLAUS
Name POS_PLAUS
(Class)
Blinkcode 41
Description Internal spool position sensor not feasible
1.3 SDO Index CANopen 301
Index. Sub Name Default

1000h Device Type 408
1001h Error register 0
1003h 0 Predefined error field 0

A. APPENDIX
Index Sub Name Default

1003h A Predefined error field 0
1003h B Predefined error field 0
1003h C Predefined error field 0
1003h D Predefined error field 0
1003h E Predefined error field 0
1003h F Predefined error field 0
1005h COB-ID SYNC 0x80000080
1008h Manufacturer device name HAWE
1009h Manufacturer hardware version ””
100Ah Manufacturer software version ””
100Ch Guard time 0
100Dh Life time factor 0
1010h 0 Store parameter field 1
1010h 1 Store parameter field 1
1011h 0 Restore default parameters 2
1014h COB-ID EMCY $NODEID+0x80
1016h 0 Consumer heartbeat time 1
1016h 1 Consumer heartbeat time 0
1017h Producer heartbeat time 0
1018h 0 Identity object 4
1400h 0 Receive PDO communication parameter 0 2
1400h 1 Receive PDO communication parameter 0 $NODEID+0x200
1400h 2 Receive PDO communication parameter 0 255
1600h 0 Receive PDO mapping parameter 0 2

A. APPENDIX

1600h 1 Receive PDO mapping parameter 0 0x60400010
1600h 2 Receive PDO mapping parameter 0 0x63000110
1800h 0 Transmit PDO communication parameter 0 5
1800h 1 Transmit PDO communication parameter 0 $NODEID+0x180
1800h 5 Event Timer 20
1A00h 0 Transmit PDO mapping parameter 0 3
1A00h 1 Transmit PDO mapping parameter 0 0x60410010
1A00h 2 Transmit PDO mapping parameter 0 0x63010110
1A00h 3 Transmit PDO mapping parameter 0 0x604e0010
1F80h NMT startup 0
2011h 0 Teachversion 3
2011h 1 Teachversion Major 1
2011h 2 Teachversion Minor 0
2011h 3 Teachversion Patch 0
2220h 0 J1939 Identification 6
2220h 1 J1939 Source Adress 128
2220h 2 J1939 Industry Group 0
2220h 3 J1939 Vehicle System Instance 3
2220h 4 J1939 Vehicle System 1
2220h 5 J1939 Function Instance 2
2220h 6 J1939 Function 129
2900h 0 supply voltage 3
2900h 1 supply voltage 120
2900h 2 supply voltage 0x26
2900h 3 supply voltage 0xFF
2901h 0 electronic temperature 3
2951h 0 coil resistance A 1
2951h 1 coil resistance A 0
2952h 0 coil resistance B 1
2952h 1 coil resistance B 0
Table A.2.: Object Dictionary

A. APPENDIX
1.4 SDO Index CANopen 408
Index. Sub Name Default

2000h Node-ID 127
2001h Bit rate 592
2070h 0 Flowshare 3
2070h 1 Flowshare configuration 0
2070h 2 Flowshare group 0
2070h 3 Flowshare pump volume [1/10 lpm] 400
2085h 0 Tracking error tolerance limit 5
2085h 1 Tracking error tolerance limit position 265
2085h 2 Tracking error tolerance limit time [ms] for 500
POS_PLUS
2085h 3 Tracking error tolerance limit overflow integrator posi- 0
tion controller (grabs at changing setpoints)
2085h 4 Tracking error tolerance limit time [ms] for 400
POS_MINUS
2085h 5 elongation factor of RGL_CONT_LIM_TPOS per -20 5
kelvin
2090h 0 Curve Form A Number of Entries 3
2090h 1 Curve Form A 0
2090h 2 Curve Form A Unit 96
2090h 3 Curve Form A Prefix 0xFD
2091h 0 Curve Form B Number of Entries 3
2091h 1 Curve Form B 0
2091h 2 Curve Form B Unit 96
2091h 3 Curve Form B Prefix 0xFD
2092h 0 Override A Number of Entries 3
2092h 1 Override A 1000
2092h 2 Override A Unit 96
2092h 3 Override A Prefix 0xFD
2093h 0 Override B Number of Entries 3
2093h 1 Override B 1000
2093h 2 Override B Unit 96
2093h 3 Override B Prefix 0xFD
2100h 0 Nominal flow A number of entries 3
2100h 1 Nominal flow A value 250
2100h 2 Nominal flow A unit 0x4442
2100h 3 Nominal flow A prefix 0xFF

A. APPENDIX

2101h 0 Nominal flow B number of entries 3
2101h 1 Nominal flow B value 250
2101h 2 Nominal flow B unit 0x4442
2101h 3 Nominal flow B prefix 0xFF
2110h Voltage supply lower limit 90
2111h Voltage supply upper limit 300
2112h Self test max delay 150
2113h 0 Power Reduction start temperature 3
2113h 2 Power Reduction start temperature 0x2D
2114h 0 Power Reduction end temperature 3
2114h 2 Power Reduction end temperature 0x2D
2200h Setpoint timeout 1000
22F0h Output inverting sign 0
2300h 0 Vpoc demand value generator ramp acceleration2 3
(A-positive)
(A-positive)
(A-positive)
2300h 3 Vpoc demand value generator ramp acceleration2 0xFD
(A-positive)
2301h 0 Vpoc demand value generator ramp deceleration2 3
(A-negative)
(A-negative)
(A-negative)
2301h 3 Vpoc demand value generator ramp deceleration2 0xFD
(A-negative)
(B-positive)
(B-positive)

A. APPENDIX

(B-positive)
2302h 3 Vpoc demand value generator ramp acceleration2 0xFD
(B-positive)
(B-negative)
(B-negative)
(B-negative)
2303h 3 Vpoc demand value generator ramp deceleration2 0xFD
(B-negative)
2400h 0 Section Info 2
2800h PDO setpoint format (HAWE/CiA-408) 1
6040h Device control word 0
6041h Device status word 0
6042h Device mode 1
6043h Device control mode 2
604Eh Device error code 0
6300h 0 Vpoc setpoint 3
6300h 3 Vpoc setpoint 0xFD
6301h 0 Vpoc actual value 3
6301h 3 Vpoc actual value 0xFD
6330h Vpoc demand value generator ramp type 3
6332h 0 Vpoc demand value generator ramp acceleration (A- 3
positive)
positive)
positive)

A. APPENDIX

6332h 3 Vpoc demand value generator ramp acceleration (A- 0xFD
positive)
6333h 0 Vpoc demand value generator ramp deceleration (A- 3
negative)
negative)
negative)
6333h 3 Vpoc demand value generator ramp deceleration (A- 0xFD
negative)
6335h 0 Vpoc demand value generator ramp acceleration (B- 3
positive)
positive)
positive)
6335h 3 Vpoc demand value generator ramp acceleration (B- 0xFD
positive)
6336h 0 Vpoc demand value generator ramp deceleration (B- 3
negative)
negative)
negative)
6336h 3 Vpoc demand value generator ramp deceleration (B- 0xFD
negative)
6360h Vpoc dither type 1
6360h Vpoc dither type 2
6361h 0 Vpoc dither amplitude 3
6361h 3 Vpoc dither amplitude 0xFD
6362h 0 Vpoc dither frequency 3
6362h 3 Vpoc dither frequency 0xFD
Table A.3.: Object Dictionary

A. APPENDIX
1.5 Object Dictionary CiA-301
1.5.1 Device Type
Name Device Type

HAWE name Device Type
Index 1000
Description Device Type
Access | Type ro | u32
Min | Default | Max 1 | 408 | 32767
1.5.2 Error register
Name Error register

HAWE name Fehlerklasse
Index 1001
Description Error class
Min | Default | Max 0 | 0 | 255
1.5.3 Predefined error field
Name Number of errors

HAWE name ERR_NR
Index 1003.0
Description Number of errors
Name Standard error field 1

Index 1003.1
Description Standard error field 1
Min | Default | Max 0 | 0 | 32767

A. APPENDIX

Index 1003.2
Min | Default | Max 0 | 0 | 32767

Index 1003.3
Min | Default | Max 0 | 0 | 32767

Index 1003.4
Min | Default | Max 0 | 0 | 32767

Index 1003.5
Min | Default | Max 0 | 0 | 32767

Index 1003.6
Min | Default | Max 0 | 0 | 32767

Index 1003.7
Min | Default | Max 0 | 0 | 32767

A. APPENDIX

Index 1003.8
Min | Default | Max 0 | 0 | 32767

Index 1003.9
Min | Default | Max 0 | 0 | 32767

Index 1003.A
Min | Default | Max 0 | 0 | 32767

Index 1003.B
Min | Default | Max 0 | 0 | 32767

Index 1003.C
Min | Default | Max 0 | 0 | 32767

Index 1003.D
Min | Default | Max 0 | 0 | 32767

A. APPENDIX

Index 1003.E
Min | Default | Max 0 | 0 | 32767

Index 1003.F
Min | Default | Max 0 | 0 | 32767

Index 1003.10
Min | Default | Max 0 | 0 | 32767
1.5.4 COB-ID SYNC
Name COB-ID SYNC

HAWE name COB ID SYNC
Index 1005
Description COB-ID of synchronisation
Access | Type rw | u32
Min | Default | Max 1 | 0x80000080 |
1.5.5 Manufacturer device name
Name Manufacturer device name

HAWE name Manufacturer Device Name
Index 1008
Description Manufacturer device name
Access | Type CONST | string
Min | Default | Max - | HAWE | -

A. APPENDIX
1.5.6 Manufacturer hardware version
Name Manufacturer hardware version

HAWE name Manufacturer Software Version
Index 1009
Description Manufacturer hardware version
Min | Default | Max - | ”” | -
1.5.7 Manufacturer software version
Name Manufacturer software version

HAWE name Manufacturer Software Version
Index 100A
Description Manufacturer software version
Min | Default | Max - | ”” | -
1.5.8 Guard time
Name Guard time

HAWE name NODEGUARD_TIME
Index 100C
Description Cycle time of sending the telegram nodeguard [ms]
Min | Default | Max 0 | 0 | 10000
1.5.9 Life time factor
Name Life time factor

HAWE name NODEGUARD_FACTOR
Index 100D
Description Life time factor of nodeguard telegram (multiplier)

A. APPENDIX
1.5.10 Store parameter field
Name Number of entries

HAWE name CCA_SAVE_ALL_CMD_0
Index 1010.0
Description Number of entries
Name Save all parameters

Index 1010.1
Description Save all parameters
Min | Default | Max |1|
1.5.11 Restore default parameters

HAWE name CCA_RESTORE_ALL_CMD_0
Index 1011.0
Name Restore all default parameters

Index 1011.1
Description Restore all default parameters
Name Restore communication default parameters

Index 1011.2
Description Restore communication default parameters

A. APPENDIX
1.5.12 COB-ID EMCY
Name COB-ID EMCY

HAWE name EMCY_COB_ID
Index 1014
Description COB-ID of emergency object (= 0x80 + Node-ID)
Min | Default | Max 1 | $NODEID+0x80 | 32767
1.5.13 Consumer heartbeat time

HAWE name HEARTBEAT_CONSUMER_0
Index 1016.0
Min | Default | Max 1|1|1
Name Consumer heartbeat time 1

Index 1016.1
Description Cycle time of receiving the heartbeat of central control
[ms]
Min | Default | Max 0 | 0 | 32767
1.5.14 Producer heartbeat time
Name Producer heartbeat time

HAWE name HEARTBEAT_PRODUCER
Index 1017
Description Cycle time sending the heartbeat of central control
[ms]
Min | Default | Max 0 | 0 | 32767

A. APPENDIX
1.5.15 Identity object

HAWE name CCA_VENDOR_ID_0
Index 1018.0
Name Vendor ID
Index 1018.1
Description Vendor ID
Min | Default | Max 1 | 711 | 9999
Name Product code

Index 1018.2
Description Product code
Name Revision number

Index 1018.3
Description Revision
Min | Default | Max | 12 |
Name Serial number

Index 1018.4
Description Serial number

A. APPENDIX
1.5.16 Receive PDO communication parameter 0

HAWE name RPDO_0
Index 1400.0
Name COB-ID
Index 1400.1
Description Receive Process Data Object COB-ID
Min | Default | Max - | $NODEID+0x200 | -
Name Transmission type

Index 1400.2
Description Transmission type
Min | Default | Max 0 | 255 | 255
1.5.17 Receive PDO mapping parameter 0

HAWE name RPDO_MAP_0
Index 1600.0
Name PDO mapping entry 1

Index 1600.1
Description PDO mapping entry 1
Min | Default | Max | 0x60400010 |

A. APPENDIX

Index 1600.2
1.5.18 Transmit PDO communication parameter 0

HAWE name TPDO_MAP_0
Index 1800.0
Name COB-ID
Index 1800.1
Description Transmit Process Data Object COB-ID
Min | Default | Max - | $NODEID+0x180 | -
Name Transmission type

Index 1800.2
Description Transmission type
Min | Default | Max 1 | 255 | 255
1.5.19 Transmit PDO communication parameter 0
Name Inhibit time

HAWE name
Index 1800.3
Description Inhibit time

A. APPENDIX
Name Event Timer

Index 1800.5
Description Cycletime CAN status information [ms]
Min | Default | Max 0 | 20 | 32000
1.5.20 Transmit PDO mapping parameter 0

HAWE name TPDO_MAP_0
Index 1A00.0

Index 1A00.1

Index 1A00.2

Index 1A00.3
Min | Default | Max | 0x604e0010 |

A. APPENDIX
1.5.21 NMT startup
Name NMT startup

HAWE name NMTSTARTUP
Index 1F80
Description NMT startup behavior
Min | Default | Max 0 | 0 | 32767
1.5.22 Teachversion

HAWE name TEACH_V
Index 2011.0
Min | Default | Max -|3|-
Name Teachversion Major

Index 2011.1
Description Teachversion Major
Min | Default | Max 0 | 1 | 32767
Name Teachversion Minor

Index 2011.2
Description Teachversion Minor
Min | Default | Max 0 | 0 | 32767
Name Teachversion Patch

Index 2011.3
Description Teachversion Patch
Min | Default | Max 0 | 0 | 32767

A. APPENDIX
1.5.23 J1939 Identification

HAWE name J1939_IDENTIFICATION
Index 2220.0
Name J1939 Source Adress

Index 2220.1
Description J1939 Source Adress
Min | Default | Max 0 | 128 | 247
Name J1939 Industry Group

Index 2220.2
Description J1939 Industry Group
Name J1939 Vehicle System Instance

Index 2220.3
Description J1939 Vehicle System Instance
Name J1939 Vehicle System

Index 2220.4
Description J1939 Vehicle System

A. APPENDIX
Name J1939 Function Instance

Index 2220.5
Description J1939 Function Instance
Name J1939 Function

Index 2220.6
Description J1939 Function
Min | Default | Max 0 | 129 | 255
1.5.24 supply voltage

HAWE name ACTUAL_SUPPLY_VOLTAGE_0
Index 2900.0
Name Value
Index 2900.1
Description measured supply voltage [Volt]
Min | Default | Max 50 | 120 | 320
Name Unit
Index 2900.2
Description SI-unit, DS303 0x26 Volt
Min | Default | Max - | 0x26 | -

A. APPENDIX
Name Prefix
Index 2900.3
Description SI-unit prefix 0xFF = deci
Access | Type ro | s8
Min | Default | Max - | 0xFF | -
1.5.25 electronic temperature

HAWE name ACTUAL_ELEC_TEMP_0
Index 2901.0
Name Value
Index 2901.1
Description electronic temperature [degree Celsius]
Min | Default | Max -80 | 23 | 127
Name Unit
Index 2901.2
Description SI-unit, DS303 0x03 second
Name Prefix
Index 2901.3
Description SI-unit prefix 0x00 = none

A. APPENDIX
1.5.26 coil resistance A

HAWE name ACTUAL_R_A_0
Index 2951.0
Name Value
Index 2951.1
Description coil resistance A
Min | Default | Max -2 | 0 | 32767
1.5.27 coil resistance B

HAWE name ACTUAL_R_B_0
Index 2952.0
Name Value
Index 2952.1
Description coil resistance B
Min | Default | Max -2 | 0 | 32767

A. APPENDIX
1.6 Object Dictionary CiA-408
1.6.1 Node-ID
Name Node-ID
HAWE name CAN_ID
Index 2000
Description CAN node-ID
Min | Default | Max 0 | 127 | 127
1.6.2 Bit rate
Name Bit rate

HAWE name CAN_BAUDRATE
Index 2001
Description CAN bit rate, allowed values see below
Min | Default | Max 80 | 592 | 4096
1.6.3 Flowshare

HAWE name FLOWSHARE
Index 2070.0
Name Flowshare configuration

Index 2070.1
Description Flowshare configuration (off=0, on=1)
Access | Type rw | s16
Min | Default | Max -32768 | 0 | 32767

A. APPENDIX
Name Flowshare group

Index 2070.2
Description Flowshare group (unreduced=0, reduced=1)
Name Flowshare pump volume [1/10 lpm]

Index 2070.3
Description Flowshare pump volume [1/10 lpm]
Min | Default | Max 0 | 400 | 32000
1.6.4 Tracking error tolerance limit

HAWE name RGL_CONT_LIM
Index 2085.0
Name Tracking error tolerance limit position

Index 2085.1
Description Tracking error tolerance limit position
Min | Default | Max 0 | 265 | 1000
Name Tracking error tolerance limit time [ms] for POS_PLUS

Index 2085.2
Description Tracking error tolerance limit time [ms] for POS_PLUS
Min | Default | Max 100 | 500 | 10000

A. APPENDIX
Name Tracking error tolerance limit overflow integrator posi-

Index 2085.3
Description Tracking error tolerance limit overflow integrator posi-
Min | Default | Max 0 | 0 | 20000
Name Tracking error tolerance limit time [ms] for

POS_MINUS
Index 2085.4
Description Tracking error tolerance limit time [ms] for
POS_MINUS
Min | Default | Max 0 | 400 | 10000
Name elongation factor of RGL_CONT_LIM_TPOS per -20

kelvin
Index 2085.5
Description elongation factor of RGL_CONT_LIM_TPOS per -20
kelvin
1.6.5 Curve Form A Number of Entries

HAWE name A_KRUEMMUNG_0
Index 2090.0

A. APPENDIX
Name Value
Index 2090.1
Description Curve shape for side A
Min | Default | Max -1000 | 0 | 1000
Name Unit
Index 2090.2
Description SI-unit, DS303 0x60 permille
Min | Default | Max - | 96 | -
Name Prefix
Index 2090.3
Description SI-unit prefix 0xFD = milli
Min | Default | Max - | 0xFD | -
1.6.6 Curve Form B Number of Entries

HAWE name B_KRUEMMUNG_0
Index 2091.0
Name Value
Index 2091.1
Description Curve shape for side B
Min | Default | Max -1000 | 0 | 1000

A. APPENDIX
Name Unit
Index 2091.2
Name Prefix
Index 2091.3
1.6.7 Override A Number of Entries

HAWE name A_OVERRIDE_0
Index 2092.0
Name Value
Index 2092.1
Description Override (maximum limitation) for side A [permille]
Min | Default | Max 10 | 1000 | 1000
Name Unit
Index 2092.2

A. APPENDIX
Name Prefix
Index 2092.3
1.6.8 Override B Number of Entries

HAWE name B_OVERRIDE_0
Index 2093.0
Name Value
Index 2093.1
Description Override (maximum limitation) for side B [permille]
Min | Default | Max 10 | 1000 | 1000
Name Unit
Index 2093.2
Name Prefix
Index 2093.3

A. APPENDIX
1.6.9 Nominal flow A number of entries

HAWE name A_Q_NENN_0
Index 2100.0
1.6.10 Nominal flow A value
Name Value
HAWE name A_Q_NENN
Index 2100.1
Description Nominal flow A value [1/10 lpm]
Min | Default | Max 10 | 250 | 10000
1.6.11 Nominal flow A unit
Name Unit
HAWE name A_Q_NENN_2
Index 2100.2
Description SI-unit, DS303 0x4442 l/min
Name Prefix
Index 2100.3

A. APPENDIX
1.6.12 Nominal flow B number of entries

HAWE name B_Q_NENN_0
Index 2101.0
1.6.13 Nominal flow B value
Name Value
HAWE name B_Q_NENN
Index 2101.1
Description Nominal flow B [1/10 lpm]
Min | Default | Max 10 | 250 | 10000
1.6.14 Nominal flow B unit
Name Unit
HAWE name B_Q_NENN_2
Index 2101.2
Description SI-unit, DS303 0x4442 l/min
Name Prefix
Index 2101.3

A. APPENDIX
1.6.15 Voltage supply lower limit
Name Voltage supply lower limit

HAWE name SUPPLY_LOW_LIMIT
Index 2110
Description Lower limit voltage supply [1/10 V]
Min | Default | Max 80 | 90 | 240
1.6.16 Voltage supply upper limit
Name Voltage supply upper limit

HAWE name SUPPLY_HIGH_LIMIT
Index 2111
Description Upper limit voltage supply [1/10 V]
Min | Default | Max 100 | 300 | 310
1.6.17 Self test max delay
Name Self test max delay

HAWE name SFT_MAX_DEL
Index 2112
Description Maximum delay for selftest (correct voltage supply)
[1/10 sek]
Min | Default | Max 15 | 150 | 300
1.6.18 Power Reduction start temperature

HAWE name TEMP_REDUCT_START_0
Index 2113.0

A. APPENDIX
Name Value
Index 2113.1
Description Temperature reduction starts at [degree Celsius]
Name Unit
Index 2113.2
Description SI-unit, DS303 0x2D degree Celsius
Min | Default | Max - | 0x2D | -
Name Prefix
Index 2113.3
1.6.19 Power Reduction end temperature

HAWE name TEMP_REDUCT_END_0
Index 2114.0
Name Value
Index 2114.1
Description Temperature reduction ends at [degree Celsius]
Min | Default | Max 80 | 120 | 120

A. APPENDIX
Name Unit
Index 2114.2
Description SI-unit, DS303 0x2D degree Celsius
Min | Default | Max - | 0x2D | -
Name Prefix
Index 2114.3
1.6.20 Setpoint timeout
Name Setpoint timeout

HAWE name ERR_SP_TIMEOUT
Index 2200
Description Timeout for expected CAN setpoints [ms]
Min | Default | Max 0 | 1000 | 10000
1.6.21 Output inverting sign
Name Output inverting sign

HAWE name CHANGE_SGN
Index 22F0
Description Change sign for setpoint

A. APPENDIX
1.6.22 Vpoc demand value generator ramp acceleration2 (A-positive)

HAWE name A_RAMP_ACE2_0
Index 2300.0
Name Value
Index 2300.1
Description Ramp time A acceleration (second ramp set) [ms]
Min | Default | Max 1 | 1 | 32000
Name Unit
Index 2300.2
Name Prefix
Index 2300.3
1.6.23 Vpoc demand value generator ramp deceleration2 (A-negative)

HAWE name A_RAMP_DECE2_0
Index 2301.0

A. APPENDIX
Name Value
Index 2301.1
Description Ramp time A deceleration (second ramp set) [ms]
Min | Default | Max 1 | 1 | 32000
Name Unit
Index 2301.2
Name Prefix
Index 2301.3
1.6.24 Vpoc demand value generator ramp acceleration2 (B-positive)

HAWE name B_RAMP_ACE2_0
Index 2302.0
Name Value
Index 2302.1
Description Ramp time B acceleration [ms]
Min | Default | Max 1 | 1 | 32000

A. APPENDIX
Name Unit
Index 2302.2
Name Prefix
Index 2302.3
1.6.25 Vpoc demand value generator ramp deceleration2 (B-negative)

HAWE name B_RAMP_DECE2_0
Index 2303.0
Name Value
Index 2303.1
Description Ramp time B deceleration [ms]
Min | Default | Max 1 | 1 | 32000
Name Unit
Index 2303.2

A. APPENDIX
Name Prefix
Index 2303.3
1.6.26 Section Info

HAWE name VALVE_INFO
Index 2400.0
Name Valve Bank

Index 2400.1
Description Number of the valve battery
Name Valve Section

Index 2400.2
Description Number of the section in the valve block
1.6.27 PDO setpoint format (HAWE/CiA-408)
Name PDO setpoint format (HAWE/CiA-408)

HAWE name PROT_SUB
Index 2800
Description Protocol behavior 408 = strict, 1 = PLVC Plug & Play
Min | Default | Max 0 | 1 | 32767

A. APPENDIX
1.6.28 Device control word
Name Device control word

HAWE name CONTROLWORD
Index 6040
Description Last transmitted device control word
Access | Type rww | u16
1.6.29 Device status word
Name Device status word

HAWE name STATUSWORD
Index 6041
Description Last transmitted device status word
1.6.30 Device mode
Name Device mode

HAWE name DEV_MODE
Index 6042
Description Mode device (bus set value = 1, local = 2, auto = 5)
1.6.31 Device control mode
Name Device control mode

HAWE name DEV_CTRL_MODE
Index 6043
Description Device control mode
Min | Default | Max -127 | 2 | 127

A. APPENDIX
1.6.32 Device error code
Name Device error code

HAWE name DEV_ERR_CODE
Index 604E
Description Device error code
1.6.33 Vpoc setpoint

HAWE name SETPOINT_0
Index 6300.0
Name Value
Index 6300.1
Description last setpoint
Access | Type rww | s16
Min | Default | Max -32768 | 0 | 32767
Name Unit
Index 6300.2
Name Prefix
Index 6300.3

A. APPENDIX
1.6.34 Vpoc actual value

HAWE name ACTUALVALUE_0
Index 6301.0
Name Value
Index 6301.1
Description last actual value
Min | Default | Max -32768 | 0 | 32767
Name Unit
Index 6301.2
Name Prefix
Index 6301.3
1.6.35 Vpoc demand value generator ramp type
Name Vpoc demand value generator ramp type

HAWE name RAMP_FORM
Index 6330
Description Ramp form
Min | Default | Max -127 | 3 | 127

A. APPENDIX
1.6.36 Vpoc demand value generator ramp acceleration (A-positive)

HAWE name A_RAMP_ACE_0
Index 6332.0
Name Value
Index 6332.1
Description Ramp time A acceleration [ms]
Min | Default | Max 1 | 1 | 32000
Name Unit
Index 6332.2
Name Prefix
Index 6332.3
1.6.37 Vpoc demand value generator ramp deceleration (A-negative)

HAWE name A_RAMP_DECE_0
Index 6333.0

A. APPENDIX
Name Value
Index 6333.1
Description Ramp time A deceleration [ms]
Min | Default | Max 1 | 1 | 32000
Name Unit
Index 6333.2
Name Prefix
Index 6333.3
1.6.38 Vpoc demand value generator ramp acceleration (B-positive)

HAWE name B_RAMP_ACE_0
Index 6335.0
Name Value
Index 6335.1
Description Ramp time B acceleration [ms]
Min | Default | Max 1 | 1 | 32000

A. APPENDIX
Name Unit
Index 6335.2
Name Prefix
Index 6335.3
1.6.39 Vpoc demand value generator ramp deceleration (B-negative)

HAWE name B_RAMP_DECE_0
Index 6336.0
Name Value
Index 6336.1
Description Ramp time B deceleration [ms]
Min | Default | Max 1 | 1 | 32000
Name Unit
Index 6336.2

A. APPENDIX
Name Prefix
Index 6336.3
1.6.40 Vpoc dither type
Name Vpoc dither type

HAWE name Vpoc dither type
Index 6360
Description Vpoc dither type
Name Vpoc dither type

Index 6360
Description Ditherform
1.6.41 Vpoc dither amplitude

HAWE name B_DITHER_AMP_0
Index 6361.0
Name Value
Index 6361.1
Description Dither amplitude for side B [permille]
Min | Default | Max 0 | 350 | 1000

A. APPENDIX
Name Unit
Index 6361.2
Name Prefix
Index 6361.3
1.6.42 Vpoc dither frequency

HAWE name DITHER_PER_0
Index 6362.0
Name Value
Index 6362.1
Description Dither frequency on side A and B [ms]
Name Unit
Index 6362.2

A. APPENDIX
Name Prefix
Index 6362.3

A. APPENDIX
Suggestions for improvement
Suggestions for improvement referring to: PSXCAN Manual
Ideas to improve this manual:
Mistakes in this manual:
Sent by:
Name:
Company Name:
Adress:
Please send to: HAWE Hydraulik SE

Einsteinring 17
85609 Aschheim / Munich
Germany
email: techsupport@hawe.de

BIBLIOGRAPHY
Bibliography
[1] CAN-Direktansteuerung für Proportional-Wegeschieber Typ PSL und PSV. www.hawe.de.

HAWE Hydraulik SE. Munich, 2009.
[2] CiA. CiA 301 V4.0.2 – CANopen Application layer and communication profile. Tech. rep.
www.can-cia.org. Nuremberg: CAN in Automation e.V., Feb. 2011.
[3] CiA. CiA 305 V2.2.0 – CANopen Layer setting services. Tech. rep. www.can-cia.org. Nuremberg:
CAN in Automation e.V., Aug. 2008.
[4] CiA. CiA 401 V3.0.0 – CANopen Device profile for generic I/O modules. Tech. rep. www.can-
cia.org. Nuremberg: CAN in Automation e.V., June 2008.
[5] CiA. CiA 408 V1.5.2 – CANopen Device profile for fluid power technology proportional valves
and hydrostatic transmissions. Tech. rep. www.can-cia.org. Nuremberg: CAN in Automation e.V.,
Jan. 2005.
[6] Christian Dressler et al. CANdictionary V4. CAN in Automation e.V., May 2008. URL: http:
//www.can-cia.org/fileadmin/cia/pdfs/CANdictionary_v4.pdf.
[7] HAWE Hydraulik SE. CAN-knots parameter setting sheet. TypeMan+, B 7700 CAN Installation.
www.hawe.de. Munich, Mar. 2011.
[8] ISO/IEC. ISO/IEC 7498-1:1994 Information technology – Open Systems Interconnection – Ba-
sic Reference Model: The Basic Model. Tech. rep. ISO/IEC Copyright Office, June 1996. URL:
http://standards.iso.org/ittf/PubliclyAvailableStandards/s020269_ISO_
IEC_7498-1_1994(E).zip.
[9] Olaf Pfeiffer, Andrew Ayre, and Christian Keydel. Embedded Networking with Can and Canopen.
Copperhill Media Corporation, Apr. 2008. ISBN: 9780976511625. URL: http://amazon.de/
o/ASIN/0976511622/.
[10] Proportional-Wegeschieber Typ PSL und PSV. www.hawe.de. HAWE Hydraulik SE. Munich,
2009.
[11] SAE. SAE Truck and Bus Control Communications Network Standards Manual - 2007 Edition.
Society of Automotive Engineers, 2007. ISBN: 9780768019308. URL: http://amazon.co.
uk/o/ASIN/0768019303/.
[12] Jonathan Swift. “Gulliver’s Travels and Selected Writings in Prose and Verse”. In: New York:
J. Hayward, 1990. Chap. Travels into Several Remote Nations of the World in Four Parts. By
Lemuel Gulliver, First a Surgeon, and then a Captain of Several Ships. ISBN: 9781871061185.
[13] VDMA. Profile Fluid Power Technology – Proportional, Valves and Hydrostatic Transmissions,
Version 1.6. Tech. rep. www.vdma.org. Frankfurt/Main: Verband Deutscher Maschinen- und
Anlagenbau e.V., 2009.
[14] Wilfried Voss. A Comprehensible Guide to Controller Area Network. Copperhill Media Corpora-
tion, Aug. 2005. ISBN: 9780976511601. URL: http://amazon.de/o/ASIN/0976511606/.

BIBLIOGRAPHY
[15] Wilfried Voss. A Comprehensible Guide to J1939. Copperhill Media Corporation, June 2008.
ISBN : 9780976511632. URL: http://amazon.de/o/ASIN/0976511630/.
[16] Wikipedia. “Byte-Reihenfolge”. In: www.wikipedia.de (2009).
[17] Holger Zeltwanger (Hrsg). CANopen - Das standardisierte, eingebettete Netzwerk. VDE-Verlag,
July 2008. ISBN: 9783800728459.

GLOSSARY
Glossary
Parts of this glossary were made with the help of the CiA CANdictionary [6].
application profile
Application profiles define all communication objects and application objects in all devices of a
network.
bit time
Duration of one bit to get from the transmitter to the receiver.
boot-up message
CANopen communication service transmitted whenever a node enters the pre-operational state
after initialization.
bus
Topology of a communication network, where all nodes are reached by passive links. This allows
transmission in both directions.
bus arbitration
If at the very same moment several nodes try to access the bus, an arbitration process is neces-
sary to control which node may transmit while the other nodes have to delay their transmission.
The bus arbitration process used in CAN protocol is CMSA/CD (Carrier Sense Multiple Access/-
Collision Detection) with AMP (Arbitration on Message Priority). This allows bus arbitration
without destruction of messages.
CAN identifier
The CAN identifier is the main part of the arbitration field of a CAN data frame or CAN remote
frame. It comprises 11 bit (base frame format) or 29 bit (extended frame format) and indicates
certain information uniquely in the network. The CAN identifier value determines implicitly the
priority for the bus arbitration.
CAN in Automation (CiA)
The international users’ and manufacturers’ group founded in 1992 promotes CAN and supports
CAN based higher-layer protocols (www.can-cia.org).

GLOSSARY
CAN node
Synonym for CAN device.
CANopen
Family of profiles for embedded networking in industrial machinery, medical equipment, building
automation (e.g. lift control systems, electronically controlled doors, integrated room control
systems), railways, maritime electronics, truck-based superstructures, off-highway and off-road
vehicles, etc.
CAN_HIGH
Indicates the CAN_HIGH line in CAN-based networks. The CAN_HIGH line of ISO 11898-2
compliant transceiver is in recessive state on 2,5 V and in dominant state on 3,5 V.
CAN_LOW
Indicates the CAN_LOW line in CAN based networks. The CAN_LOW line of ISO 11898-2
compliant transceiver is in recessive state on 2,5 V and in dominant state on 1,5 V.
CiA-301
The CANopen application layer and communication profile specification covers the functionality
of CANopen NMT slave devices.
CiA-303
Recommendation for CANopen cabling and connector pin assignments, coding of prefixes and
SI-units as well as LED usage.
CiA-401
The CANopen device profile for generic I/O modules covers the definition of digital and analog
input and output devices.
CiA-408
The CANopen device profile for hydraulic controllers and proportional valves is compliant to
the bus-independent VDMA device profile fluid power technology – proportional valves and
hydrostatic transmission.
COB-ID
The COB-ID is the object specifying the CAN identifier and additional parameters (valid/- invalid
bit, remote frame support bit, frame format bit) for the related communication object.
communication object
A communication object consists of one or more CAN messages with a specific functionality, e.g.
PDO, SDO, emergency, Time, or Error Control.

GLOSSARY
communication profile
A communication profile defines the content of communication objects such as emergency, Time,
Sync, Heartbeat, NMT, etc. in CANopen.
CRC
See cyclic redundancy check.
cyclic redundancy check
The cyclic redundancy check (CRC) is performed by a polynomial implemented in the transmitting
as well as in the receiving CAN modules. The cyclic redundancy check in the CAN data frame
and CAN remote frame is a number derived from, and stored or transmitted with, a block of data
in order to detect corruption. By recalculating the CRC and comparing it to the value originally
transmitted, the receiver can detect some types of transmission errors.
data frame
The CAN data frame carries data from a producer to one or more consumers. It consists of
the start of frame bit, the arbitration field, the control field, the data field, the CRC field, the
acknowledge field, the end of frame field.
data type
Object attribute in CANopen and DeviceNet defining the format, e.g. Unsigned8, Integer16,
Boolean, etc.
device profile
A device profile defines the device-specific application data and communication capability based
on the related higher-layer protocol. For more complex devices these profiles may provide a
finite state automaton (FSA), which enables standardized device control.
DeviceNet
CAN based higher-layer protocol and device profiles definition. DeviceNet was designed for
factory automation and provides a well defined CAN physical layer in order to achieve a high
off-the-shelf plug-and-play capability. The DeviceNet specification is maintained by the ODVA
(www.odva.org) non-profit organization.
EDS
See electronic data sheet.

GLOSSARY
electronic data sheet
Electronic data sheets describe the functionality of a device in a standardized manner. CANopen
and DeviceNet use different EDS formats.
emergency
Pre-defined communication service in CANopen mapped into a single 8-byte data frame contain-
ing a 2-byte standardized error code, the 1-byte error register, and 5-byte manufacturer-specific
information. It is used to communicate device and application failures.
error code
CANopen specifies standardized error codes transmitted in emergency messages.
extended frame format
The extended CAN frame format uses the 29-bit identifiers in data frames as well as in remote
frames.
frame
Data link protocol entity specifying the arrangement and meaning of bits or bit fields in the
sequence of transfer.
Heartbeat
CANopen and DeviceNet use the Heartbeat message to indicate that a node is still alive. This
message is transmitted periodically.
heartbeat consumer time
The heartbeat consumer time defines the time when a node is regarded as no longer alive due
to a missing Heartbeat message.
higher-layer protocol
Higher-layer protocols define communication protocols compliant to the transport layer, session,
presentation, or application layer as specified in the OSI reference model.
Identification Flashing
Permanent switching between red and green of the diagnosis LED, used to identify the actual
activated node physically..
identifier
Generally the identifier corresponds to the ID of a CAN. See CAN identifier.

GLOSSARY
index
16-bit address to access information in the CANopen object dictionary; for array and records the
address is extended by an 8-bit sub-index.
ISO 11783
International standard defining the CAN based application profile used in agriculture and forestry
machines and vehicles. It is based on the J1939 application profile.
ISOBUS
Synonym for bus systems based on ISO 11783.
J1939
The application profile defined by SAE (www.sae.org) specifies the in-vehicle communication
in trucks and buses. It defines the communication services as well as the signals including the
mapping into CAN data frames by means of PGNs (parameter group numbers).
life guarding
Method in CAL and CANopen to detect that the NMT master does not guard the NMT slave
anymore. This is part of the error control mechanisms.
line topology
Networks, where all nodes are connected directly to one bus line. CAN networks use theoretically
just line topology without any stub cable. However in practice you find tree and star topologies
as well.
message
A message in CAN may be a data frame or remote frame.
network management
Entity responsible for the network boot-up procedure and the optional configuration of nodes. It
also may include node-supervising functions such as Node Guarding.
NMT
Abbreviation for network management in CAL and CANopen; See network management.

GLOSSARY
NMT master
The NMT master device performs the network management by means of transmitting the NMT
message. With this message, it controls the state machines of all connected NMT slave devices.
NMT slave
The NMT slaves receive the NMT message, which contains commands for the NMT state
machine implemented in CAL and CANopen devices.
node
Assembly, linked to the CAN network, capable of communicating across the network according
to the CAN protocols.
Node Guarding
Mechanism used in CANopen and CAL to detect bus-off or disconnected devices, which is part
of the error control mechanisms. The NMT master sends a remote frame to the NMT slave that
is answered by the corresponding error control message.
node-ID
Unique identifier for a device required by different CAN based higher-layer protocols in order
to assign CAN identifiers to this device, e.g. in CANopen or DeviceNet. Using the pre-defined
connection sets of CANopen or DeviceNet, the node-ID is part of the CAN identifier.
object dictionary
The object dictionary is the heart of any CANopen device. It enables access to all data types
used in the device, to the communication parameters, as well as to the process data and
configuration parameters.
OSI reference model
Layered communication model defining seven layers: physical, data link, network, transport,
session, presentation, and application layer. In CAN based networks normally just physical, data
link, and application layer are implemented.
parameter group number
The parameter group number (PGN) identifies uniquely the parameter group (PG). The PGN is
mapped into the 29-bit identifier.
PDO
See process data object.

GLOSSARY
PGN
See parameter group number.
pre-operational state
Part of the NMT slave state machine. In the NMT pre-operational state no CANopen PDO
communication is allowed.
priority
Attribute to a frame controlling its ranking during arbitration. In CAN data frames and remote
frames, the identifier (ID) gives the priority. The lower the ID, the higher is the priority.
producer
In CAN networks a transmitter of messages is called a producer.
receive PDO
The receive process data object (RPDO) is a PDO that is received by a CANopen device.
remote frame
With a remote frame another node is requested to transmit the corresponding data frame
identified by the very same identifier. The remote frame’s DLC has the value of the corresponding
data frame DLC. The data field of the remote frame has a length of 0 byte.
remote transmission request
Bit in the arbitration field indicating if the frame is a remote frame (recessive value) or a data
frame (dominant value).
reset
A CAN controller is reset by a command (may be hard-wired). Before the CAN controller transits
back to error active state, it has to detect 128 by 11 consecutive recessive bit times.
RPDO
See receive PDO.
RTR
See remote transmission request.
SDO
See service data object.

GLOSSARY
service data object
The service data object (SDO) is a confirmed communication service that provides access to all
entries in the CANopen object dictionary. An SDO uses two 8-byte CAN messages with different
identifiers. The SDO may transmit segmented any amount of data. Each segment (segmented
SDO) or a number of segments is confirmed (SDO block transfer).
SI-unit
International system of units for physical values as specified in ISO 1000:1983.
star topology
In some passenger cars, CAN networks are installed in a star topology terminating the network
in the center of the star.
sub-index
8-bit sub-address to access the sub-objects of arrays and records in a CANopen object dictionary.
termination resistor
In CAN high-speed networks with line topology, both ends are terminated with resistors (120 Ω)
in order to suppress reflections.
transmitter
A node from which a data frame or a remote frame originates; this node remains transmitter until
the bus is idle again or until the node loses arbitration.

INDEX
Index
A CANopen Standard Addressing . . . . . . . . . . . 50

CANopen-Manager . . . . . . . . . . . . . . . . . . . . . . . 93
ACT_VALVE . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87 CiA . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45
Activation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81 CiA-301 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45, 46
Address Field . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 CiA-401 . . . . . . . . . . . . . . . . . . . . . . 46, 69–73, 109
Address Space. . . . . . . . . . . . . . . . . . . . . . . . . . . . 50
CiA-408 . . . . . . . . . . . . . . . . . . . . . . 46, 74–99, 110
Adressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100
COB-ID . . . . . . . . . . . . . . . . . . . . 43, 49, 50, 64, 88
Advantages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
CODESYS . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42, 92
AMP Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 28
Commissioning . . . . . . . . . . . . . . . . . . . . . 136, 164
AMS Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . 30
Communication
Anti-Saturation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90
Disruption . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
B Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 81
State Machine . . . . . . . . . . . . . . . . . . . . 61, 75
Bitrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37, 130
Concept CANopen . . . . . . . . . . . . . . . . . . . . . . . . 46
Boot Up Message . . . . . . . . . . . . . . . . . . . . . . . . 101
Connection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 130
Broadcast . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66
Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Bus Interruptions . . . . . . . . . . . . . . . . . . . . . . . . . . 40
Connector Socket . . . . . . . . . . . . . . . . . . . . . . . . . 27
Bus Setup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
Control byte . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58
Bus Termination. . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Controlmodes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
Bustopologie . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43
CSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61, 75
Current Consumption . . . . . . . . . . . . . . . . . . . . . 23
C
Calibrating Interface . . . . . . . . . . . . . . . . . . . . . 166 D

CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36, 37
Basis Information . . . . . . . . . . . . . . . . . . . . . 36 Data Objects . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Data Frame . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 DCW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 79, 82
Hardware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Device Control Word . . . . . . . . . . . . . . . . . . . . . . 79
ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43 Device Profile . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36 Device State Machine . . . . . . . . . . . . . 75, 77, 85
Master . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Device Status Word . . . . . . . . . . . . . . . . . . . . . . . 80
Signal Lines . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Diagnosis LED . . . . . . . . . . . . . . . . . . . . . . . . . . . 110
Slave . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46 Diagnostic Information . . . . . . . . . . . . . . . . . . . . 73
Telegram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42 DSM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75
CAN_HIGH . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 State Transitions . . . . . . . . . . . . . . . . . . . . . . 80
CAN_LOW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 DSW . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 80, 84
CANopen . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41, 45 DT-Connector . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33

INDEX
E L
eDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124 Layer Setting Services . . . . . . . . . . . . . . . . 63–67

EDS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48, 162 Line Shielding for Signal Lines . . . . . . . . . . . . 38
EDS File . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93 Little Endian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
EEPROM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 LSB . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55
Electronic Data Sheet . . . . . . . . 34, 41, 45, 162 LSS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63–67
EMC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25, 38
EMCY. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 59
M
Emergency Objects . . . . . . . . . . . . . . . . . . . 47, 59
Endian . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49, 55 Maintenance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21
Environmental Conditions . . . . . . . . . . . . . . . . . 24 Migration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 106
Error . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59, 111–116
Codes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85
N
Information . . . . . . . . . . . . . . . . . . . . . . . . . . 105
Management . . . . . . . . . . . . . . . 85, 111, 136 Net Topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
Network Management . . . . . . . . . . . . . . . . . 47, 61
F Network Management Telegrams . . . . . . . . . . 63
NMT . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 50, 61, 63
Firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 131 Startup Command . . . . . . . . . . . . . . . . . . . . 63
Flow sharing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 90 Node Guarding . . . . . . . . . . . . . . . . . . . . 50, 51, 73
Node-ID . . . . . . . . . . . . . . . . . . . . . . . . . . . 43, 49, 50
Nominal Increments . . . . . . . . . . . . . . . . . . . . . . . 86
G
Galvanic Separation . . . . . . . . . . . . . . . . . . . . . . . 37
O
Object Dictionary . . . . . . . . . . . . . . . . . . . . . . 48, 92

H
Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . 75
HAWE Project File . . . . . . . . . . . . . . . . . . . . . . . 125 OSI Reference Model . . . . . . . . . . . . . . . . . . . . . 36
Heartbeat. . . . . . . . . . . . . . . . . . . . . . 50, 54, 73, 94 Over Temperature . . . . . . . . . . . . . . . . . . . . . . . 118
hwpf . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
I P
Identification Flashing . . . . . . . . . . . . . . . . . . . . . 67 Parameter . . . . . . . . . . . . . . . . . . . . . . . . . . 116, 134

Index . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48, 57 Electric . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19 Hydraulic . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 24
ISO 11898-2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37 Parameterization Software . . . . . . . . . . . . . . . . 34
ISOBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100 Participant Identification . . . . . . . . . . . . . . . 65–68
PDO . . . . . . . . . . . . . . . . . . . 47, 49, 50, 55, 73, 97
Pin assignment . . . . . . . . . . . . . . . . . . . . 28, 30, 33
J
Plug&Play. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 87
J1939 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 41, 100 PLVC Control Modules . . . . . . . . . . . . . . . . . . . . 87

INDEX
Position Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 85 Status Information . . . . . . . . . . . . . . . . . . . . . . . 103

Process Data Object . . . . . . . . . . . . . . . . . . . . . . 47 Subindex . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48, 57
Product Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Supply voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Protocol. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40 SYNC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 56
Philosophies . . . . . . . . . . . . . . . . . . . . . . . . . . 40 Synchronization . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109 Synchronous Transmission . . . . . . . . . . . . . . . . 56
Version . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46
PSXCANc . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129
T
R Tap Line Length . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

Tap Lines . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38
RAM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . 22
Ramps. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 Telegram
Reference Potential . . . . . . . . . . . . . . . . . . . . . . . 37 Length . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49
Revision Nr. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67 Types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47
RPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Temperature . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107
RXPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82 Temperature Protection . . . . . . . . . . . . . . . . . . 118
Termination Resistor . . . . . . . . . . . . . . . . . . 27, 38
Timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54
S
TPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
SDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47, 50, 57 Transfer . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128
Transmission . . . . . . . . . . . . . . . . . . . . . . . . . . 57 Transfer Rate. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37
Self Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 TXPDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84
Service Data Object . . . . . . . . . . . . . . . . . . . . . . . 47 Type Code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27
Setpoint . . . . . . . . . . . . . . . . . . . . . . . . . . 54, 70, 102
Message . . . . . . . . . . . . . . . . . . . . . . . . . . 70, 90
V
Reduction . . . . . . . . . . . . . . . . . . . . . . . . . . . 121
Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34, 124 Valve Section . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 23
Starter-Set . . . . . . . . . . . . . . . . . . . . . . . . . . . 35, 163 Variants . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 25
Startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69 Vendor ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66

DISCLAIMER
Disclaimer
Information in this document is provided solely in connection with HAWE products. HAWE Hydraulik
SE and its subsidiaries ("HAWE") reserve the right to make changes, corrections, modifications or
improvements, to this document, and the products and services described herein at any time, without
notice.
All HAWE products are sold pursuant to HAWE’s terms and conditions of sale.
Purchasers are solely responsible for the choice, selection and use of the HAWE products and services
described herein, and HAWE assumes no liability whatsoever relating to the choice, selection or use
of the HAWE products and services described herein.
No license, express or implied, by estoppel or otherwise, to any intellectual property rights is granted
under this document. If any part of this document refers to any third party products or services it shall
not be deemed a license grant by HAWE for the use of such third party products or services, or any
intellectual property contained therein or considered as a warranty covering the use in any manner
whatsoever of such third party products or services or any intellectual property contained therein.
UNLESS OTHERWISE SET FORTH IN HAWE’S TERMS AND CONDITIONS OF SALE HAWE
DISCLAIMS ANY EXPRESS OR IMPLIED WARRANTY WITH RESPECT TO THE USE AND/OR
SALE OF HAWE PRODUCTS INCLUDING WITHOUT LIMITATION IMPLIED WARRANTIES OF
MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE (AND THEIR EQUIVALENTS
UNDER THE LAWS OF ANY JURISDICTION), OR INFRINGEMENT OF ANY PATENT, COPYRIGHT
OR OTHER INTELLECTUAL PROPERTY RIGHT.
UNLESS EXPRESSLY APPROVED IN WRITING BY AN AUTHORIZE REPRESENTATIVE OF HAWE,

HAWE PRODUCTS ARE NOT DESIGNED, AUTHORIZED OR WARRANTED FOR USE IN MILITARY,
AIR CRAFT, SPACE, LIFE SAVING, OR LIFE SUSTAINING APPLICATIONS, NOR IN PRODUCTS OR
SYSTEMS, WHERE FAILURE OR MALFUNCTION MAY RESULT IN PERSONAL INJURY, DEATH,
OR SEVERE PROPERTY OR ENVIRONMENTAL DAMAGE.
Information in this document supersedes and replaces all information previously supplied.

HAWE Hydraulik SE
Einsteinring 17 | 85609 Aschheim/München | Postfach 11 55 | 85605 Aschheim/München | Germany
Tel +49 89 379100-1000 | Fax +49 89 379100-91000 | info@hawe.de | www.hawe.com
Release: 2.0.8-0-gcb9f880 (2021-09-23)

B7700 CAN Manual en

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B7700 CAN Manual en

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PSX CAN Valve Actuation

Release: 2.0.8-0-gcb9f880 (2021-09-23)

Printdate: September 23, 2021

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4.4.2. Data Content Response Message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 73

6. J1939 / ISOBUS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

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7. Protocol Independent Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . 109

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10. Calibrating Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

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A.2.33. LIMIT . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 180

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A.6. Object Dictionary CiA-408 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 207

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A.6.42. Vpoc dither frequency . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229

Suggestions for improvement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 231

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3.1. Flowchart Node Guarding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.1. Device State Machine . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77

7.1. Illustration of Over Temperature Protection . . . . . . . . . . . . . . . . . . . . . . . . 119

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7.3. Ramp Characteristics and Control Parameters . . . . . . . . . . . . . . . . . . . . . . 121

8.1. Start screen eDesign . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 124

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8.42. Scope window . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 156

9.1. Cable provided with the starter-set . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 164

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2.1. Recommended Bus Line Length Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . 37

3.1. Entries in the Object Dictionary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

4.1. Set all nodes to Active . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 70

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4.3. Mapping of Setpoints to Oil Flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71

5.1. Meaning of the Operating Modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

6.1. J1939 Configuration Values . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100

7.1. Error referring to parameter value . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113

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7.7. Parameter Override . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121

8.1. Bitrate . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 135

9.1. Order Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 163

10.1. Calibrating Messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 166

A.1. Overview of Possible Errors . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 169

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Figure 1.1.: Training

A practical training for PSXCAN can be booked at https://www.hawe.com/service/

1.2 Scope of this Document

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1.3 Hazard Symbols and Notes

Symbol Meaning Potential consequences

Impending danger Death or severe injuries

Dangerous situation Light injuries

Harmful situation Damage to components

Tips & information Fun at work

Table 1.1.: Symbols

Follow the instructions in the description.

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1.5 Transport and Storage

Don’t use the connector socket as handle.

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- The distance to radio-emitting installations must be sufficient.

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