Danfoss CAN User guide

HN.50.Y1.0210-1998

Tech Note

CAN bus components

HN.50.Y1.02 is new

Introduction

Book 9 Partition 5

Danfoss has introduced a new remote control system with CAN bus components that will give customers greater flexibility as far as their particular application needs are concerned. In the new series, focus has been particularly concentrated on:

• Improved performance

• Lower installation costs

• Easier servicing

• Improved safety

• Flexibility CAN components can be used together with

PVG 32, PVG 120 and PVG 83.

What is CAN bus The CAN (Controller Area Network) bus was

originally designed for the automobile industry. It is a serial communication interface in which special emphasis is placed on the following parameters:

• Safety

• Reliability

• Real time control

• Costs (installation/service)

Introduction

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CAN communication

CAN communication works on the prioritising of messages, thus CAN uses familiar and established methods such as CSMA/CA (Carrier Sense, Multiple Access with Collision Avoidance) with improved capability to avoid collision (non-destructive bit arbitration). This means that the message with the lowest identification code will have access to the bus before other messages, ensuring that the capacity of the bus can be utilised to the maximum.

The speed of the bus is limited by its length, see below.

CANopen CAN components communicate using a

protocol. A protocol can be compared to a language. The different protocols on the market are adapted to the applications in which they are used. The CANopen protocol is particularly suitable for mobile applications. There are many suppliers on the market whose products work together with CANopen, therefore it is easy to put together a comprehensive CANopen system.

CANopen uses objects for communication. The most common are:

Service Data Object(SDO)

SDOs transfer large amounts of information that is not time-critical eg setting-up parameters.

Process Data Object (PDO)

PDOs are used to transfer data that are timecritical. For example, joysticks transfer signals via PDOs.

NMT is a special part that handles emergency situations and other network administration.

Via an emergency object, the individual nodes (components) are able to send a warning of emergency situations. In this way, other CANopen components are able to identify the node point from which the emergency call was sent.

CANopen specifies an Object Dictionary (OD) that describes all parameters in the product. This OD does not function solely as a specification file, but also as an interface with other CANopen devices. In other words, a description is given detailing which parameters are necessary to activate the different functions the product can perform.

CAN communication is best understood in the following way:

Instead of sending a message from component A to unit B, it is broadcast. Each component, a PVG CIP for example, is then able to listen in and col-lect information relevant to it selv. The message format is designated COB (Communication Object), which applies to all messages.

A COB has an identification code (COB-ID) that makes it possible for a component, a PVG CIP for example, to sort and prioritise transmitted communication objects (COBs). The COB-ID clearly identifies the COB in a network.

Baud rate

Bus length

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The example above shows the structure of a joystick COB.

1. A COB is started by sending a 0 (start of frame).

2. An identification code (COB-ID) is sent and through bit arbitration the message having the lowest bit identification code is allowed to continue.

3. RTR (Remote Transmission Request) specifies whether the sender wishes to receive or send data to the message receiver.

4. DLC specifies the length of the data field.

5. The data field contains information on, for example, joystick data.

6. The CRC field is used as a safety control for finding bit error.

7. The receipt field is a position in which all other components acknowledge receiving a message.

Prop 1 Prop 4Prop 3 Prop 1-4 Push 1 Push 2Prop 2

Start of frame

Identification code

RTR (Remote Transmission Request)

DLC (Data Length Code)

Data field CRC

Receipt field

Push...

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CAN components supplied by Danfoss can be identified from the abbreviation CIP (CAN Interfaced Product). We supply the following:

• PVG CIP

• Prof 1 CIP

• CIP Configuration Tool Our objective is to supply CAN components

which are not only capable of communicating with our own products, but also with other

Danfoss CAN concept standard available components. There are

many suppliers of CANopen components on the market and therefore it is simple, inexpensive and very flexible to set up a comprehensive system.

The CIP Configuration Tool is designed to guide hydraulic system designers/ service technicians through system setup.

Prof 1 CIP The Prof 1 CIP joystick is available in many

mechanical configurations. To simplify the way in which this information is shown in the COB, the maximum configuration possibilities are always built in. Depending on the actual configuration of the joystick, some of the fields for proportional or on/off signals contain no information. The joystick sends information on the first PDO (Process Data Object). As standard, it sends cyclically at T

= 10 ms. The Emergency Object is used if a fault arises in the joystick.

Prof 1 CIP can be ordered as described in Tech Note HN.50.Z3 Joystick Prof 1. New modules for Prof 1 CIP are shown in the table below.

Prof 1 CIP contains new functions often requested in hydraulic systems:

Joystick guide (x - y interlook)

This function ensures that only the first proportional signal activated from the control lever is sent (prop 1 or prop 2).

Memory function

This function makes it possible for the user to hold a proportional function by pressing a selected memory button (on/off) in the joystick. The associated proportional signal can be deactivated by pressing the memory button again or by activating the proportional function in the opposite direction.

PVG CIP is designed to control up to eight sections equipped with PVEO, PVEM, PVEH or PVES, and versions with float position control. PVG CIP is able to receive COBs sent in joystick format from four joysticks or other sources. The joystick signals are distributed to the PVEs in relation to the actual setup. The CAN signals are converted to proportional or on/off values on the output pins of the module. PVG CIP contains functions often used in hydraulic systems:

PVG CIP • Two different ramps (principle 1 from EH

boxes)

• Flow limitation

• Deadband compensation

• Gain

• Software tuning of spool characteristics

• Spool float position control

• Power saving

• Service and diagnosing

• Softwiring PVG CIP must be ordered as a separate com-

ponent with code number as follows.

Name Code no. 162B.... Pos. no. in code no. list Description

Length 230 mm with

Cable 6100 6

AMP 282404-1, male plug AMP 282107-1, tab house

Main function module with

5100 5 CAN electronics

electronics

Name

Code no.

Description

155U....

PVG CIP 5660 With AMP plug 1-967280-1, male plug

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Supply voltage U

10 - 30 V DC Max. supply voltage 36 V DC Max. pulsation (peak to peak) 5%

Common to PVG CIP & Prof 1 CIP

Power supply

Baud rate 10 Kbit/s - 1000 Kbit/s Communication profile CANopen ver. 3.0 Typical start-up time < 500 ms CAN Full CAN

CAN interface - ISO 11898 ver. 2.0 B

Emission EN 50081-2 Immunity EN 50082-2

HF immunity

ISO 14892 (60 V/m, 20 MHz - 1000 MHz)

ISO 13766 (60 V/m, 20 MHz - 1000 MHz)

EMC - EMC Directive (89/336/ECC)

Ambient temperature

Storage temperature -40°C to +90°C Operating temperature -30°C to +70°C

Environmental data

Technical data

Prof 1 CIP CAN_TERM Pin 1 CAN+ Pin 4

PVG CIP CAN_TERM Pin 16 CAN+ Pin 3

Termination

A CAN bus must be terminated at both ends where CAN+ and CAN- are to be connected via a 120 Ω resistor.

The CIP Configuration Tool is a program developed for setting up systems consisting of PVG CIP and Prof 1 CIP.

CIP Configuration Tool

Termination can be effected by connecting a jumper between the pins given below (a 120 Ω resistor is fitted in the component).

ISO 11898

Vehicles, interchange of digital information - Controller Area Network (CAN) for high-speed communication

CANopen communication profile for industrial systems, CiA

CANopen standard draft 3.0

Revision 3.0 EMC Directive 89/336/ECC ISO 14892 Agricultural and forestry machines - electromagnetic compatibility ISO 13766 Earth-moving machinery - electromagnetic compatibility

References

Name

Code no.

Description

155U....

CIP Configuration Tool 5670 Product contents

• CIP Configuration Tool

• CIP Downloading Utility

• CANview

• CAN dongle

• Documentation, examples, help files

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Prof 1 CIP data format The data format is independent of the mecha-

nical configuration. It is manufactured so that a signal for an 8-bit processor can be extracted without signal manipulation. This gives 8bit signal resolution, and in order to get full

resolution (10 bit) signal manipulation is necessary. This is standard on PVG CIP. The data format is “twos complement” and is shown in the figure below.

1 byte SIGN----MSB --------------------------------------------------------Prop1------------------------------------------------------------------2 byte SIGN----MSB --------------------------------------------------------Prop2-------------------------------------------------------------------3 byte SIGN----MSB --------------------------------------------------------Prop3-------------------------------------------------------------------4 byte SIGN----MSB --------------------------------------------------------Prop4-------------------------------------------------------------------5 byte rest_Prop4 - LSB rest_Prop3 - LSB rest_Prop2 - LSB rest_Prop1 - LSB 6 byte Push 8 Push 7 Push 6 Push 5 Push 4B Push 4A Push 3B Push 3A

8 bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit

SIGN = +/−

MSB = Most significant bit LSB = Least significant bit

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Voltage, neutral position 50% of U

Voltage, full flow port A

25% of U

Version with float position control 35% of U

Voltage, full flow port B

75% of U

Version with float position control 65% of U

Voltage, float position

Version with float position control 80% of U

control Alarm input signals

Low < 1,6 V High > 85% of U

Max. linearity deviation 3% Max. pulsation content (f > 2 kHz) 5% Max. band width 10 Hz Max. output current ± 1 mA

PVEM/H/S

Max. output current 1,2 A

PVEO

Max. output current 3 A

PVPE/PVPX

IP classification IP 66, IEC 529

Environmental data

Note: To ensure maximum safety, the normally open (NO) version of PVPE/PVPX is recommended.

PVE outputs 8 PVE types that can be connected

PVEO, PVEM, PVEH, PVES incl. versions with float position

PVPX/PVPE outputs 1 Resolution 9 bit (-100% to +100%)

AMP part no. 1-967280-1, PCB-connector AMP part no. 1-967281-1, Timer house

Plug type

AMP part 0-929937-1, junior contact

(Only part no. 1-967280-1 supplied with PVG)

AMP part 0-962876-2, micro contact AMP part no. 0-965643-1, cover Seals and plugs

CAN setting Slave only

Electrical

PVG CIP specification

Pin number Name

1 PVPX out 2 CAN+ 3 CAN+ 4 Alarm_1 5 Alarm_2 6 Gnd 7 Alarm_3 8 Alarm_4

9 Alarm_5 10 Gnd 11 Alarm_6 12 Alarm_7 13 Alarm_8 14 Gnd 15 U

16 CAN_TERM 17 Gnd 18 PVE1_A ♣ PVE1 signal ∇ 19 PVE2_A ♣ PVE2 signal ∇ 20 PVE3_A ♣ PVE3 signal ∇ 21 Gnd

Pin number Name

22 PVE4_A ♣ PVE4 signal ∇ 23 PVE5_A ♣ PVE5 signal ∇ 24 PVE6_A ♣ PVE6 signal ∇ 25 Gnd 26 PVE7_A ♣ PVE7 signal ∇ 27 PVE8_A ♣ PVE8 signal ∇ 28 Gnd 29 U

30 CAN31 CAN32 PVE1_B ♣ PVE1 U

∇

33 PVE2_B ♣ PVE2 U

∇

34 PVE3_B ♣ PVE3 U

∇

35 Gnd 36 PVE4_B ♣ PVE4 U

∇

37 PVE5_B ♣ PVE5 U

∇

38 PVE6_B ♣ PVE6 U

∇

39 Gnd 40 PVE7_B ♣ PVE7 U

∇

41 PVE8_B ♣ PVE8 U

∇

42 Gnd

Plug connections

♣ When using PVEO ∇ When using PVEM/H/S

Fail-safe condition Alarm condition

PVG CIP Prof 1 CIP PVG CIP

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Safety aspects Both PVG CIP and Prof 1 CIP are designed to

give maximum safety. They both incorporate self-test functions, signal protection and ‘watchdogs.

The self-test is performed when power is applied and before any of the PVE outputs are activated. The unit then goes to the operating function and a series of running tests are carried out. A list of these tests is given below.

Self-tests

PVG CIP Prof 1 CIP

1. Internal RAM test

2. External RAM test

3. EE-PROM test

4. FLASH test

5. Test of feedback monitoring (tests all outputs for short-circuiting to earth and Udc)

1. Watchdog

2. PVEH alarms

3. Signal protection

1. Watchdog

2. Potentiometer control

1. Internal RAM test

2. EE-PROM test

3. FLASH test

Running tests

PVG CIP Prof 1 CIP

As analog version

Environmental/mechanical

Proportional signals max. 4 Resolution 9 bit (-100% to +100%) Operating buttons on/off max. 6

DIP switch settings DIP no. 1

Open = CANopen min. master Closed = CANopen slave

DIP switch settings DIP no. 2

Open = Default baudrate and Node id Closed = Baudrate and Node id acc. to OD AMP part no. 282404-1, male plug

Plug type

AMP part no. 282403-1, female plug

Only part no. 282404-1

and no. 282107-1 supplied

AMP 282107-1, tab house AMP 282089-1, plug house Seals and plugs

Electrical

Prof 1 CIP specification

Pin number Name

1 CAN_TERM 2U

3 Frame 4 CAN+ 5 CAN-

Plug connections

To ensure optimum system function, two safety levels are used:

• Fail-safe condition

• Alarm condition

Alarm signal sent on bus so that a third unit is able to take appropriate action.

Depending on OD-index 2108 subindex 1, PVPX/PVPE dump valve dumps pressure in alarm condition. Because this is an NO valve (normally open) voltage must be cut off.

Neutral position signal sent from the joystick to all PVEs.

Alarm signal sent on bus so that a third unit is able to take appropriate action.

PVE forced to neutral position. Voltage supply to PVE cut off.

Alarm signal sent on bus so that a third unit is able to take appropriate action.

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Fail-safe condition arises when faults of the following types occur:

OD-index 2018 subindex 9 HEX

Activation of PVPX/PVPE

No PVPX => must not dump in alarm condition

PVPX can be controlled from an external source => must not dump in alarm condition

PVPX controlled from an external source, or by alarm condition => must dump in alarm condition

PVG CIP

Alarm condition arises on faults of the following types:

Prof 1 CIP

The table below shows at which settings PVPX/PVPE dumps in alarm condition.

Fault code HEX Description

500E PVEH alarm #1, pin 3 500F PVEH alarm #2, pin 3 5010 PVEH alarm #3, pin 3 5011 PVEH alarm #4, pin 3 5012 PVEH alarm #5, pin 3 5013 PVEH alarm #6, pin 3 5014 PVEH alarm #7, pin 3 5015 PVEH alarm #8, pin 3

Fault code HEX Description

PVEs that go into fail-safe

condition 1000 Generic fault All PVEs 5000 System hardware All PVEs 5001 Self-test fault, internal RAM All PVEs 5002 Self-test fault, external RAM All PVEs 5003 Self-test fault, EE-PROM All PVEs 5004 Self-test fault, FLASH All PVEs 5005 Self-test fault, feedback test # 1 PVE 1 5006 Self-test fault, feedback test # 2 PVE 2 5007 Self-test fault, feedback test # 3 PVE 3 5008 Self-test fault, feedback test # 4 PVE 4 5009 Self-test fault, feedback test # 5 PVE 5 500A Self-test fault, feedback test # 6 PVE 6 500B Self-test fault, feedback test # 7 PVE 7 500C Self-test fault, feedback test # 8 PVE 8 500D Self-test fault, feedback test PVPX All PVEs 5016 Watchdog fault All PVEs 6300

Joystick data format nonconformance All PVEs 8100 Communication fault No PVEs 8101 Protection fault PDO1 PVE controlled by PD01 8102 Protection fault PDO2 PVE controlled by PD02 8103 Protection fault PDO3 PVE controlled by PD03 8104 Protection fault PDO4 PVE controlled by PD04

Fault code hex Description

1000 Generic fault 5000 System hardware 5001 Self-test fault, internal RAM 5003 Self-test fault, EE-PROM 5004 Self-test fault, FLASH 5005 Proportional voltage outside range 5007 Proportional signal registered without corresponding direction change 500F Watchdog fault

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This component is located near the valve and acts as the interface between PVG and CAN bus. The interface can control up to eight PVEs and 1 PVPX/PVPE.

System parameters can be set in the OD (see overview, page 25), either by using CIP Configuration Tool or with a normal CANopen Configuration Tool.

Setting up PVG CIP can be divided into four main parts:

1) Identification of components a) Identification of PVE b) Identification of PVPX/PVPE

2) Setting up connections a) To other components on bus

(Prof 1 CIP)

b) Between data (joystick signals) and

PVE/PVPX

3) Setting system-related parameters a) Baudrate b) Node identification c) Softwiring

4) Setting hydraulic-related parameters a) Deadband compensation b) Signal gain c) Flow limitation d) Software tuning of spool characteristics e) Ramps (individual on each port, two

different settings for each port) f) Float position control g) Power saving

These components also contain facilities for fault location, servicing and restoring factory setting.

Component identification

To be able to communicate with PVG CIP it is necessary to identify the system components:

• Identification of PVE type

• Identification of PVPX/PVPE type

Identification of PVE type Type identification is used to specify how PVG

CIP is to control the PVEs. The types used are specified as follows:

0: Not accessible 1: PVEO

Units

2: PVEM 3: PVEH/S 4: PVEM (float position control)

5: PVEH (float position control) Max. 5 Min. 0 Standard 3 (PVEH/S) Precision 1 OD index 2018 HEX

PVE pins PVEH/S PVEM PVEO 1 + + Port A 2 Signal Signal Port B 3 Alarm N/A N/A

Frame Frame Frame

PVG CIP output/input will be on the following PVE pins, depending on type

Introduction to PVG CIP

+ 22 hidden pages