Scanreco CANopen Node

G2B / G3B

Revision F

SCI INTERFACE ................................ ................................ ................................ ................... 2

CAN CONNECTION.............................................................................................................. 3
NMT, NETWORK MANAGEMENT ......................................................................................... 3
SDO, SERVICE DATA OBJECT ................................ ................................ .............................. 3
PDO CONFIGURATION ......................................................................................................... 7
DIGITAL CHANNELS CONFIGURATION ................................................................................... 8
SPEED MANAGEMENT.......................................................................................................... 9
SET MANAGEMENT ........................................................................................................... 10
EMERGENCY MESSAGE ...................................................................................................... 11
DOCUMENT HISTORY ................................ ................................ ................................ ........ 12
SCI Interface
The SCI interface is used for setting of internal parameters, some of these are related to the
CANopen functionality, see parameters below.

RX>SWID1/SWID2
These parameters can be used to configure; mini-master, node id and bus speed. The
Command SWID2 sets node id (1…127), while SWID1 sets both CAN bus speed (bits
and master/slave mode (bit 3) according to Table 1. SWID1 parameter values.
. Default values are slave, 250K (SWID1=3) and node-id 100 (SWID2=100).

1000K 800K 500K 250K 125K 100K 50K 20K

Slave 0 1 2 3 4 - 6 7
Master 8 9 10 11 12 - 14 15
Table 1. SWID1 parameter values.

RX>CAN_CONF
CAN_CONF is an 8 bit binary parameter. This can be used to configure if byte 7 in TPDO2
should correspond to the CANopen Error Register or CAN digital channel 33-40 or the ninth
analog actuator channel. It is also possible to configure if default CAN filter should be used or
not. G3B also has the possibility to be configured with or without CAN termination.

Bit Description
b3, b0 0, 0 = TPDO2, byte 7 - CANopen Error Register (Default)
0, 1 = TPDO2, byte 7 - CAN Digital channel 33-40
1, 0 = TPDO2, byte 7 - Analog actuator channel 9 (Only with b4=1)
1, 1 = Reserved
b1 0 = No CAN termination (Default)
1 = CAN Termination
(Only G3B)
b2 0 = No CAN filters (Default)
1 = Use pre-configured CAN filters
b4 0 = TPDO1 incl. logic
1 = TPDO1 excl. logic
b7-b5 Reserved
Table 2. CAN_CONF configuration.

RX>SSCM
SSCM (Speed and Set CAN Management) is an 8 bit binary parameter.
- bit0 to bit5 - reserved for future use.
- bit6 - specifies whether the set management must be commanded by CAN RPDO1 (1)
or usual SCI parameters (0).
- bit7 - specifies if RPDO4 has to be considered (1) or not considered (0) for speed
management.

Examples
SSCM = 0 – speed reduction and set management via CANBUS are disabled.
SSCM = 128 – only speed reduction via CANBUS is enabled. SET management remains
commanded by usual SCI parameters and receiver inputs.

SSCM = 64 – only SET management via CANBUS is enabled. Speed reduction via CAN is
disabled.

SSCM = 192 – both SET management and speed reduction via CANBUS are enabled.

RX>GENRED
GENRED (GENeral REDuction) is a decimal parameter. Valid values are from 0 to 100. This
value specifies the speed coefficient that has to be used when Speed CAN Management
(SSCM.bit7) is active and a 2 seconds timeout has passed without receiving any RPDO4
messages.

Examples
GENRED = 0 means that all movement are blocked (even DV is inactivate)
GENRED = 85 means 85 % of speed.
GENRED = 100 means 100% of speed (no reduction)

When SSCM.bit7=0 (speed reduction disabled), the GENRED parameter is ignored.

TRANSP
See description under PDO configuration.

DFC
See description under Digital channels configuration.

CAN Connection
The CAN bus is connected through the cable marked EX3. Cable 1 and 4 is CAN-H, cable 2
and 5 is CAN-L and cable 3 is signal ground.

NMT, Network Management

Simple bootup is supported. In slave mode state PRE-OPERATIONAL is entered after
initialization and a NMT bootup message is sent. In mini-master mode, state
OPERATIONAL is entered automatically and a NMT start message is broadcasted. The NMT
state transition messages are received at COB-ID 0. The RESET_NODE and RESET_COMM
messages both reinitializes the CANopen interface of the node.

SDO, Service Data Object

SDO listens to COB-ID (0x600 + node id), and transmits on COB-ID (0x580 + node id).
Expedited, segmented and block transfers are supported. Table 3 summarizes implemented
objects.

Index[#sub], hex Description

1000 Device Type
1001 Error Register
1003[31] Error Field
1005 Sync ID
1010[4] Store parameters
1011[4] Restore default parameters
1014 Emcy ID
1015 Emcy Inhibit Time
1017 Producer Heartbeat Time
1018[4] Identity Object
1200[2] Server SDO COB-ID
1400[5] RPDO1 Communication Parameters
1401[5] RPDO2 Communication Parameters
1402[5] RPDO3 Communication Parameters
1403[5] RPDO4 Communication Parameters
1404[5] RPDO5 Communication Parameters
1405[5] RPDO6 Communication Parameters
1600[8] RPDO1 Mapping
1601[8] RPDO2 Mapping
1602[8] RPDO3 Mapping
1603[8] RPDO4 Mapping
1604[8] RPDO5 Mapping
1605[8] RPDO6 Mapping
1800[5] TPDO1 Communication Parameters
1801[5] TPDO2 Communication Parameters
1802[5] TPDO3 Communication Parameters
1803[5] TPDO4 Communication Parameters
1804[5] TPDO5 Communication Parameters
1805[5] TPDO6 Communication Parameters
1A00[8] TPDO1 Mapping
1A01[8] TPDO2 Mapping
1A02[8] TPDO3 Mapping
1A03[8] TPDO4 Mapping
1A04[8] TPDO5 Mapping
1A05[8] TPDO6 Mapping
2000[255] Font set 1
2001[255] Font set 2
2002[255] Font set 3
2003[255] Font set 4
2004[255] Font set 5
2005[255] Icons
2006[255] Text strings
2007[255] Frames
2008[255] Real-time Control Data
2009[255] Real-time Frame Data
200A[255] Real-time icon/font Data
6000[8] Read digital (8x1byte)
6400[16] Read analogue (16x1byte)
6414[2] Write analogue (2x8byte)
Table 3. Object Dictionary.
PDO, Process Data Objects
There are six RPDOs and six TPDOs according to Table 4 – Table 15. TPDO1 and TPDO2
are sent periodically at default interval 50ms while the node is in state OPERATIONAL.

Byte no Description
0-7 Real-time Control Data
Table 4. RPDO1, COB-ID 0x200 + node id.

Byte no Description
0-7 Real-time Frame Data
Table 5. RPDO2, COB-ID 0x300 + node id.

Byte no Description
0-7 Real-time Icon/Font Data
Table 6. RPDO3, COB-ID 0x400 + node id.

Byte no Description
0 = Speed reduced to 0% for A
100 = No reduction for A
128 = Speed reduced to 0% for B
228 = No reduction for B
255 = No reduction for A and B
0 Speed Reduction Analogue output 1
1 Speed Reduction Analogue output 2
2 Speed Reduction Analogue output 3
3 Speed Reduction Analogue output 4
4 Speed Reduction Analogue output 5
5 Speed Reduction Analogue output 6
6 Speed Reduction Analogue output 7
7 Speed Reduction Analogue output 8
Table 7. RPDO4, COB-ID 0x500 + node id.

Byte no Description
0-7 Reserved for future use.
Table 8. RPDO5, COB-ID 0x000. (Not used)

Byte no Description
0-7 Reserved for future use.
Table 9. RPDO6, COB-ID 0x000. (Not used)
Byte no Description
127 = Neutral
0 = 100% dir B / Backward
254 = 100% dir A / Forward
0 Analogue input 1 / Lever 1
1 Analogue input 2 / Lever 2
2 Analogue input 3 / Lever 3
3 Analogue input 4 / Lever 4
4 Analogue input 5 / Lever 5
5 Analogue input 6 / Lever 6
6 Analogue input 7 / Lever 7
7 Analogue input 8 / Lever 8
Table 10. TPDO1, COB-ID 0x180 + node id.

Byte no Description
0 b7-b0 = CAN digital channel 1-8
1 b7-b0 = CAN digital channel 9-16
2 PCU Emergency Switchoff.
0 = Portable control unit is on.
255 = Portable control unit is off.
3 b7-b0 = CAN digital channel 17-24
4 b7-b0 = CAN digital channel 25-32
5 b2-b0 = Micro level
b3 = Micro right active
b4 = Micro left active
b5 = Reserved
b7-b6 = Radio quality
6 b1-b0 = Battery level
1, 1 = 75-100%
1, 0 = 50-75%
0, 1 = 25-50%
0, 0 = 0-25%
b7-b2 = Reserved
7 Error register (optionally CAN digital channel
33-40 or analog input channel 9, CAN_CONF
| BIT0 | BIT3)
Table 11. TPDO2, COB-ID 0x280 + node id.
Byte no Description
127 = Neutral
0 = 100% dir B
254 = 100% dir A
0 Analogue output 1
1 Analogue output 2
2 Analogue output 3
3 Analogue output 4
4 Analogue output 5
5 Analogue output 6
6 Analogue output 7
7 Analogue output 8
Table 12. TPDO3, COB-ID 0x380 + node id. (Optional – not used default)

Byte no Description
0-7 Reserved for future use.
Table 13. TPDO4, COB-ID 0x480 + node id. (Not used)

Byte no Description
0-7 Reserved for future use.
Table 14. TPDO5, COB-ID 0x000. (Not used)

Byte no Description
0-7 Reserved for future use.
Table 15. TPDO6, COB-ID 0x000. (Not used)

PDO configuration
All PDO’s can be configured as specified in the CANopen standard where it is possible to
choose if the PDO should be in use or not, mapping, transmission type, inhibit time and event
time.

Examples
By writing value 0x380 + node id to index 0x1802, sub-index 1 it is possible to activate
TPDO3. This is done by sending following CAN message with default node id (100):

ID (HEX) DLC Data (HEX)

664 8 22 02 18 01 E4 03 00 00

The PDO’s can be configured to be sent at different intervals then the default which is 50ms.
To set TPDO1 to be sent at 20ms interval the following CAN message should be sent:

ID (HEX) DLC Data (HEX)

664 8 2B 00 18 05 14 00 00 00
The PDO’s can also be configured to be sent on a certain SYNC interval, to configure TPDO2
to be sent on every second SYNC the following CAN message should be sent:

ID (HEX) DLC Data (HEX)

664 8 2F 01 18 02 02 00 00 00

The configuration must then be saved in order to have it active at next startup, this is done by
sending the following CAN message:

ID (HEX) DLC Data (HEX)

664 8 23 10 10 01 73 61 76 65

Valve mode (TRANSP 0)

This is the default configuration where analog outputs and dump valve are operational. In this
mode TPDO1 corresponds to the analog actuators including some parameter logic as
mapping, hold functions, direction inversion etc. Optionally, it can also be configured to
correspond to the analog actuators (levers/joysticks/potentiometer) without taking parameter
configuration into consideration, see description of parameter RX>CAN_CONF under
chapter SCI Interface.

Transparent mode (TRANSP 255)

The CU can also be configured to transparent mode where analog outputs and DV are
inactivated, this is achieved by setting parameter “RX>TRANSP 255” (default is 0), in this
mode TPDO1 corresponds to the analog actuators (levers/joysticks/ potentiometer) without
taking any parameter configuration into consideration.

TPDO3 (optional) corresponds to the analogue output value in percentage (127 steps in each
direction) where the value depends on all parameter configurations such as mapping, ramps,
start/stop values, micro level, blocking rules etc.

Digital channels configuration

It is possible to configure each digital function to a digital channel in TPDO2. This is done
through the SCI interface by using command ”RX>DFC x y” where x is the digital function
and y is the digital channel on CAN. See Table 16 for description of all digital functions.

DFC Description
1 On/Off 1
2 On/Off 2
3 On/Off 3
4 On/Off 4
5 On/Off 5
6 On/Off 6
7 On/Off 7
8 On/Off 8
9 On/Off 9
10 On/Off 10
11 On/Off 11
12 On/Off 12
13 On/Off 13
14 Display button C1
15 Display button C2
16 Display button C3
17 Start button
18 CU input 1
19 CU input 2
20 CU input 3
21 CU input 4
22 Virtual on/off
23 Virtual on/off
24 Virtual on/off
25 Virtual on/off
26 Display button C4
27 Display button L1
28 Display button L2
29 Display button R1
30 Display button R2
31 On/Off 31
32 On/Off 32
33 On/Off 33
34 On/Off 34
35 On/Off 35
36 On/Off 36
37 On/Off 37
38 Virtual on/off
39 Radio/Cable Indication (‘1’ = cable, ‘0’ = radio)
40 Transmitter on
Table 16. Digital functions in the SCI interface.

Speed Management
For speed reduction on CAN the RPDO4 will be used if parameter SSCM.bit7 is set. Each
byte of the RPDO4 eight bytes is used to specify the value of speed for the corresponding
proportional output channel (not the lever).

The RPDO4 is a coefficient that can reduce the output. It does not replace Start/Stop
parameters.

RPDO4 (0x500 + NodeID)

- byte 0 = speed for proportional output n° 1
- byte 1 = speed for proportional output n° 2
- byte 2 = speed for proportional output n° 3
- byte 3 = speed for proportional output n° 4
- byte 4 = speed for proportional output n° 5
- byte 5 = speed for proportional output n° 6
- byte 6 = speed for proportional output n° 7
- byte 7 = speed for proportional output n° 8

Direction A
When byte = 0 then speed = 0 (doesn't even activate the DV bit)
When byte = 100 then speed for direction A = 100%

Direction B
When byte = 128 then speed = 0 (doesn't even activate the DV bit)
When byte = 228 then speed for direction B = 100%
When byte = 255 then speed = 100% (no reduction) for both direction A and B

When both a MICRO level is selected and a RPDO4 speed reduction is specified, the lower
value will be used (no double reduction).

NOTE: Single speed reductions should always be transmitted for A or B direction.

When speed reduction direction specified in RPDO4 (A or B) doesn’t correspond to the

direction of the active movement, the last value received for the proper direction will be used.

Timeout
If RPDO4 is not received for more than 2 seconds (fixed), all proportional outputs will be
reduced to the fixed value specified in the GENRED parameter.

Set Management
RPDO1 is generally used to send command for the display. A special value of byte 0 of
RPDO1 (header) will change the meaning of this packet. RPDO1 (0x200 + NodeID) will
be used as special instructions based on the header, see Table 17 for using this for Set
Management.

Byte no Description
0 0x10 (Header – Custom command)
1 0x01 (Command – Set Management)
2 b0 = SET2 active/not active (1/0)
b1 = SET3 active/not active (1/0)
b2-b7 = Reserved
3-7 Reserved
Table 17. RPDO1, COB-ID 0x200 + node id, Command - Set Management.
The SCI parameter SSCM.bit6 specifies whether the Set Management is commanded by CAN
RPDO1 or usual SCI parameters. If the Set Management is commanded by usual SCI
parameters, the special RPDO1 message will be ignored.

When Set Management is operated by RPDO1, the selection of the SET must follow the
RPDO1.byte2.bit0 and bit1, ignoring all other SCI parameters involved in SET selection
(SETSEL, SETACK1, SETACK2, ORET1 and ORET2).

Timeout
If RPDO1 – Set Management command, haven’t been received within 2 seconds then the
working set will be the one with highest priority according to parameter SETPRIO.

Emergency message
The following CANopen Emergency message will be sent when an error has occurred in
system.

Byte no Description
0-1 Emergency error code (CANopen specific)
2 Error register (CANopen, object 1001h)
3-4 Manufacturer specific error code (7-segment
display error code)
5-7 Reserved
Table 18. EMCY, COB-ID 0x80 + node id.

For further details regarding the error codes, see Service Manual.
Document History
A Initial document version.
B Updated digital fields
C Updated digital fields
D Updated digital function description
E Updated with new SCI parameters, OD, PDO’s, examples, Emergency message etc
F Added G3B and removed G4, updated CAN_CONF, TPDO1, TPDO2, TPDO3