Technical Explanation Revision: 5.0 QUASAR CAN …quasar.skaitek.ch/QUASAR/0013_DO_Quasar_CAN Protocol_V5.0.pdf · © by SEMIKRON / Technical Explanation / QUASAR CAN Protocol

© by SEMIKRON / Technical Explanation / QUASAR CAN Protocol / 2015-05-22

PROMGT.1026/ Rev.3/ Template Technical Explanation

Page 1/35

This manual is valid for SKAI2-HV 3-Phase IGBT Inverter

systems with part number 14284003.

1 Introduction ............................................................................................................................... 3 1.1 Purpose ............................................................................................................................... 3

1.2 Scope of document ................................................................................................................ 3

1.3 Intended Audience ................................................................................................................ 3

1.4 Document Conventions .......................................................................................................... 3

2 General setup ............................................................................................................................ 4 2.1 CAN Bit Rate ......................................................................................................................... 4

2.2 Node ID Assignment .............................................................................................................. 4

2.3 Multi-Byte Data ..................................................................................................................... 4

3 CANopen States ......................................................................................................................... 5 3.1 State “Initialization” .............................................................................................................. 5

3.2 State “Pre-operational” .......................................................................................................... 5

3.3 State “Operational” ............................................................................................................... 6

3.4 State “Stopped” .................................................................................................................... 6

3.5 State transitions.................................................................................................................... 6

3.6 Start-up communication ......................................................................................................... 6

4 Safety ....................................................................................................................................... 7

5 CANopen Messages ..................................................................................................................... 8 5.1 SDO .................................................................................................................................... 8

5.1.1 Rx-SDO ......................................................................................................................... 8

5.1.2 Tx-SDO .......................................................................................................................... 8

5.1.3 SDO Indices ................................................................................................................... 9

5.2 Tx-PDO (PDO mapping V2) ................................................................................................... 10

5.2.1 Tx-PDO1 – Inverter Status ............................................................................................. 10

5.2.2 Tx-PDO2 – System status .............................................................................................. 13

5.2.3 Tx-PDO3 – Motor status ................................................................................................. 13

5.2.4 Tx-PDO4 – Supplementary information ............................................................................ 13

5.3 Rx-PDO (PDO mapping V2)................................................................................................... 14

5.3.1 Rx-PDO1 – Reference values for test modes ..................................................................... 14

5.3.2 Rx-PDO2 – Limits for asymmetric limitation mode ............................................................. 14

Technical Explanation

QUASAR CAN

Protocol

Revision: 5.0

Issue date: 2015-05-22

Prepared by: CDA

Approved by: KeimTh

Keyword: QUASAR, CANopen, SKAI2, Q-Control

© by SEMIKRON / Technical Explanation / QUASAR CAN Protocol / 2015-05-22 Page 2/35

5.3.3 Rx-PDO3 – Command and reference values ...................................................................... 14

6 Examples ................................................................................................................................ 17 6.1 CANopen base communication .............................................................................................. 17

6.1.1 Node guarding .............................................................................................................. 17

6.1.2 NMT ............................................................................................................................ 17

6.1.3 SYNC Synchronization Object (CANopen) ......................................................................... 17

6.2 Motor control actual values and commands ............................................................................ 17

6.2.1 Rx-PDO2 and Rx-PDO3 .................................................................................................. 17

6.2.2 Tx-PDO1 to Tx-PDO4 ..................................................................................................... 18

6.3 Additional information and commands ................................................................................... 20

6.3.1 Information over SDO Messages ..................................................................................... 20

7 Appendix A – Legacy PDO mapping V1 ........................................................................................ 21 7.1 Error details (Rx-SDO index 0x209E) ..................................................................................... 21

7.2 Tx-PDO1 legacy PDO mapping V1 .......................................................................................... 23




7.6 Rx-PDO1 legacy PDO mapping V1 ......................................................................................... 27

7.7 MC test modes – SDO interface legacy PDO mapping V1 .......................................................... 27

7.7.1 Current regulator .......................................................................................................... 28

7.7.2 Closed loop control ........................................................................................................ 28

7.8 Examples for legacy PDO mapping V1 .................................................................................... 29

7.8.1 Motor control ................................................................................................................ 29

7.8.2 Clear errors .................................................................................................................. 30

7.8.3 Error Details ................................................................................................................. 30

8 Appendix A .............................................................................................................................. 32 8.1 Figures .............................................................................................................................. 32

8.2 Tables ................................................................................................................................ 32

8.3 Symbols and Terms ............................................................................................................. 33

8.4 References ......................................................................................................................... 34


1 Introduction

This document describes the CAN communication protocol of the QUASAR Motor Control Software running

on a SKAI2-HV 3-Phase IGBT Inverter system.

The CANopen protocol implemented in QUASAR is compatible with the standard and implements a proprietary communication profile.

1.1 Purpose

This document encloses all necessary protocol information to configure an ECU to control a SKAI2-HV 3-Phase IGBT Inverter system over CANopen.

1.2 Scope of document

This document describes the functionality of the implemented CAN communication protocol.

The main scope of the document is to describe the newest version of the CANopen profile implemented in

QUASAR. This version us named „PDO mapping V2“. For series applications this profile must be used.

For completeness the legacy protocol, named „PDO mapping V1“, is described at the end of this document. This profile is still selectable in QUASAR but must not be used in series applications.

1.3 Intended Audience

This document is written to be understood by electrical engineers with know-how in CANopen protocol application.

1.4 Document Conventions

The following graphical notations are used to inform about hints and important notes.

Gives additional useful information or hints how to improve or simplify a specific task.

Notifies about important issues or commonly made mistakes and how to omit them.

CAN objects are written <COB-ID>:{<byte 0>, .. ,<byte n-1>}, where COB-ID is a 3-digit hexadecimal number and <byte i> is a 2-digit hexadecimal number. For hexadecimal numbers a notation with the prefix “0x” is used.

Example 1:

Start operational state for all nodes: 0x000:{0x01, 0x00}

Example 2:

SYNC object: 0x080:{}


2 General setup

2.1 CAN Bit Rate

The default bit rate is 250 kBits/s. This bit rate allows the CAN network to have a maximum length of 250 meters. Bit rates up to 1 MBits/s are configurable for QUASAR.

Using Q-Control it is possible to jump from QUASAR to the bootloader. Doing this the bootloader will apply the CANopen configuration of the QUASAR firmware (bit rate and Node ID).

2.2 Node ID Assignment

The default Node ID is 0x7A. The default scope Node ID is 0x7E.

2.3 Multi-Byte Data

QUASAR uses a proprietary type system for data exchange.

Table 1 - Variable types

QUASAR Type Length [Bytes]

Description

DT_I8 1 signed char

DT_I16 2 signed short

DT_I32 4 signed long

DT_I64 8 signed long long

DT_U8 1 unsigned char

DT_U16 2 unsigned short

DT_U32 4 unsigned long

DT_U64 8 unsigned long long

DT_BOOL 1 signed char

DT_F32 4 float

The CANopen standard specifies that multi-byte data shall be placed in data objects as a sequence of consecutive bytes, starting with the least significant byte.

If a single parameter type is longer than one byte, data is partitioned to several bytes.

Example:

A 32-bit integer located in COB bytes 3-6 is partitioned as follows:

Table 2 - Little endianness of CANopen

Byte Contents

3 Bits 0-7

4 Bits 8-15

5 Bits 16-23

6 Bits 24-31


3 CANopen States

The CANopen State Machine handles the different states of CAN communication. QUASARs CAN protocol

bases on the CANopen specification. A remarkable difference is that a “reset node” command from the NMT master leads to device reset in QUASARs implementation of the CANopen State Machine (see Figure 1).

Figure 1 - CANopen State Machine in QUASAR

Table 3 –SDO message format

Transition Description

T01 HW ready to be initialized.

T02 Interface and protocol initialization finished. Boot-up service message is sent.

T03 / T06 NMT start node received

T04 / T07 NMT enter pre-operational received.

T05 / T08 NMT stop node received.

T09 / T10 / T11 NMT reset node received.

T12 / T13 / T14 NMT reset communication received.

3.1 State “Initialization”

In this state the CAN node is initialized. After completion QUASAR sends a boot-up service message (refer

to [3]) on the CAN bus.

3.2 State “Pre-operational”

As described in Figure 1 the CANopen state “pre-operational” is reached after each device reset (power off/on), node reset or with an explicit NMT command “enter pre-operational”.

When in “pre-operational” state, QUASAR allows the following functions:

receive and send SDO, e.g. for parameter transfer or firmware download node guarding if the CANopen node on QUASAR is configured as SYNC producer, SYNC messages will be sent

In this state, QUASAR is not able to receive any control commands as no PDO are processed.


3.3 State “Operational”

The state “operational” can only be reached if the CAN bus master sends an “enter operational” NMT command. In “operational” state, QUASAR is ready for operation.

3.4 State “Stopped”

When being in the state “stopped”, no communication is possible.

3.5 State transitions

After power-on all CAN nodes are in the pre-operational state. In this state communication with SDOs is possible. Use the NMT command 0x000:{0x01, 0x00} to change into the operational state for all nodes. Instead of the 0x00 (Broadcast) a single Node ID may be selected.

In the operational state the data transfers take place using PDO objects. These transfers take place just

after each SYNC object. Asynchronous and RTR triggered transfers are not used. The SYNC object is 0x080:{}.

3.6 Start-up communication

The QUASAR firmware incorporates a bootloader that allows updating the firmware. The bootloader is located in the FLASH sector A and will be called after power on of the SKAI2.

At start-up the CAN bus is in passive mode (loop back). During 10ms the bootloader scans the CAN bus for

a command to force it to remain in the bootloader (Rx-SDO with index 0x1F51). As soon as this command is received or if no valid QUASAR firmware is detected in the flash, the bootloader will change to active mode. The bootloaders bit rate is 250 kBits/s and cannot be parameterized.

To send the boot force command, the following configuration must be used (fixed configuration that cannot be modified):

Node ID: 0x10

Baudrate: 250kBit/s

In active mode the bootloader waits for FLASH programming commands that allow programming the QUASAR firmware to the flash.

If no boot force command is received the bootloader checks if the firmware is valid (verify the checksum of rest of the firmware). If a valid QUASAR firmware has been detected, it will be started. The protocol is defined in such a way that a firmware may be downloaded in a CANopen environment.

In normal applications no communication with the bootloader must

be handled.

The bootloader communication and the update functionality shall only be used in conjunction with Q-Control. The update functionality of the bootloader shall only be used by engineering. For series production the Semikron Downloader Tool must be used.


4 Safety

For safety purposes the node guarding protocol is used. The guarding is achieved through transmitting guarding requests (node guarding protocol) by the NMT Master. If a NMT Slave has not responded within a defined timespan (node life time) or if the NMT Slave’s communication status has changed, the NMT Master

informs its NMT Master Application about that event. QUASAR uses the guard time and life-time factor to determine the node life time.

Example:

Node ID = 0x7A

Guard time = 300 [ms]

Life time factor 10

Node life-time = 300ms * 10 = 3s

Protocol:

Master Slave: 0x77A:{} (RTR)

Slave Master: 0x77A:{Answer} (Answer: Bit 0-6: NMT state, Bit7 Toggle)

Please note that node guarding or any other NMT commands

produce CAN bus load. For periodic messages the send interval should be greater than 80ms.


5 CANopen Messages

This chapter provides information about the CANopen messages supported by QUASAR. The different

messages are used to exchange information to configure and control Motor Control.

For details about the PDO and SDO messages formats and interaction sequences please refer to [3].

Two protocol variants are available. The “PDO mapping V2” must be selected for series application. The legacy “PDO mapping V1” is still available for compatibility reasons for prototyping. The selection of the protocol variant only affects the layout of the PDO messages. The NMT and SDO messages are identical for both protocol variants.

With the QUASAR software, a CAN database in DBC format that defines the PDO mapping V2 is delivered.

5.1 SDO

SDO messages are lower prioritized than PDO messages. Therefore they are mainly for parametrization, maintenance commands and to read actual values. The communication uses a client/server model, where QUASAR is the server.

Table 4 –SDO message format

Byte Contents:

0 Command

1-2 Index (Object number)

3 Subindex

4-7 Max. 4 Bytes of data

The command byte has the following meaning:

Table 5 - Command byte of SDO messages

Nbr Type Function

0x23 Rx-SDO, Initiate download request Sends data from the client to the server (Data length max. 4 byte)

0x2B Rx-SDO, Initiate download request Sends data from the client to the server (Data length max. 2 byte)

0x2F Rx-SDO, Initiate download request Sends data from the client to the server (Data length max. 1 byte)

0x60 Tx-SDO, Initiate download response Confirmation of acceptance to the client

0x40 Rx-SDO, Initiate upload request Request data from the server

0x43 Tx-SDO, Initiate upload response Sends data from server to the client: length = 4 byte (Unsigned 32)

0x4B Tx-SDO, Initiate upload response Sends data from server to the client: length = 2 byte (Unsigned 16)

0x4F Tx-SDO, Initiate upload response Sends data from server to the client: = 1 byte (Unsigned 8)

0x80 Tx-SDO, Abort domain transfer Server signals error code to client

5.1.1 Rx-SDO

Rx-SDOs are sent from to client to the server. Over a SDO message, CAN objects (see chapter 5.1.3) may be read or written. The Rx-SDO has the COB-ID (0x600 + <Node ID>).

5.1.2 Tx-SDO

Tx-SDOs are sent by the server to the client. The message has the COB-ID (0x580 + <Node ID>).


5.1.3 SDO Indices

This chapter gives information to a number of useful SDO messages. These SDOs can be used to retrieve actual values. They are all read only objects.

Table 6 – Actual values over SDO

Name Index Type Unit Description

Analog in 1 0x2070 F32 V Analog input MP_AI_C1 scaled to 0..10V and the inputs are sampled every 1ms.

Analog in 2 0x2071 F32 V Analog input MP_AI_C2 scaled to 0..10V and the inputs are sampled every 1ms.

Digital inputs 0x20BA U8 n/a Actual status of the digital inputs. Bit 1: MP_DI_C1,

Bit 2: BP_DI_C2

Digital outputs 0x20B9 U8 n/a Actual status of the digital outputs. Bit 1: MP_DO_C1, Bit 2: BP_DO_C2

DCB temperature L1 0x2095 U8 °C Actual DCB temperature of L1

DCB temperature L2 0x20A2 U8 °C Actual DCB temperature of L2

DCB temperature L3 0x20A3 U8 °C Actual DCB temperature of L3

PCB temperature 0x2096 U8 °C Actual PCB temperature

Hall Sector 0x2097 U8 n/a Actual Hall Sector

First error (causing) 0x20AA U16 n/a First error detected. Entering error state.

Last error 0x20AB U16 n/a Last following error that has been detected.

Limiter number 0x20AF U8 n/a Shows which limiter has the smallest limitation factor.

Strongest limiter:

1: Motor temperature 2: Motor acceleration

3: PCB temperature 4: Junction temperature 5: Minimum DC link voltage 6: Maximum DC link voltage 7: SOA limitation 8: I2t limiter 9: Maximum motor speed

10: Speed reference 11: Mechanic power

12: DC link current 13: Maximum current from tables 14: DC link power

Torque limitation factor

0x20A7 F32 n/a Limitation factor applied (smallest factor).

Torque limitation flags 0x20AE U16 n/a Shows all limiters that calculate a limitation factor <1

Torque limited in Nm 0x2075 I16 Nm Actual limited torque scaled with 10 (10 = 1Nm)

For more SDOs, please refer to the electronic data sheet delivered with the QUASAR software (QUASAR_Vx.x.x.eds).


5.2 Tx-PDO (PDO mapping V2)

Tx-PDOs are sent by QUASAR to give information about the status of the inverter, the motor and details in motor control. Configuration parameters allow defining when each Tx-PDO will be sent (please refer to the

CANopen parameter section in [4]).

5.2.1 Tx-PDO1 – Inverter Status

Tx-PDO1 gives feedback about the status of the inverter and has the COB-ID (0x180 + <Node ID>). The encoding is done according to the table below.

Table 7 - Tx-PDO1 message content

Byte Format Resolution Contents

0-1 DT_U16 State Feedback

2-3 DT_U16 Causing Error

4-5 DT_U16 Last Error

6 DT_U8 System Warning

7 DT_U8 Option Status

State Feedback

Table 8 – State feedback word in Tx-PDO1

Bit Purpose

0-3 Inverter State

1: Initializing

2: Ready (PWM disabled)

3: Enable (PWM on)

4: reserved (Active Discharge)

5: Error

6: Initialization Failed

7: reserved (Parameter Mode)

8: Table Mode

9: Restart

10: Shutting Down

11–15: unused


Bit Purpose

4-7

Motor control mode:

0: Disabled

1: Torque control mode (In symmetric limitation mode the selected torque will be applied to the motor, the speed value will be interpreted as a speed limitation)

2: Speed control mode (In symmetric limitation mode the selected speed will be applied to the motor, the torque value will be interpreted as a maximum value of torque)

3: reserved (DC link voltage control mode)

4: unused

5: unused

6: unused

7: unused

8: Test Id/Iq

9: Test Closed Loop

10: reserved (Test duty cycle)

11: reserved (Test static vector)

12: reserved (Test open rotating vector)

13: unused

14: unused

15: unused

8 Limitation mode:

0: Symmetric speed or torque limit respectively

1: Asymmetric speed or torque limit respectively (Rx-PDO2 must be sent before Rx-PDO1)

9 Active Shortcut (ASC) State:

0: ASC off

1: ASC is active

10 Active Discharge State:

0: Active discharge off

1: Active discharge is active

11-13

Control Strategy

0: None (not operational)

1: FOC PSM

2: FOC IPM

3: IFOC ASM

4: reserved (ASM UF)

5: BLDC

6: unused

7: unused

14-

15

Unused


The system warning gives information about not critical, unexpected conditions that may require measures to be taking by the overlying control.

Table 9 – System warning in Tx-PDO1

Bit Purpose

0 Cutback limiter is active. The warning is only indicated in enabled state if the limitation is really applied.

1 Given limits in Rx-PDO 2 were adapted (e.g Low limit was greater than high limit).

2 In generator mode to torque limit is set to zero and limits cannot be hold

3 The actual speed is higher than the reference limits

4 Iq reduced to zero. Maximum speed with the actual DC link voltage is reached.

Option status

Table 10 – Option status feedback in Tx-PDO1

Bit Purpose

0 Digital input 1 state

0: input 1 inactive

1: input 1 active

1 Digital input 2 state

0: input inactive

1: input active

2 Digital output 1 state

0: output inactive

1: output active

3 Digital output 2 state

0: output inactive

1: output active


5.2.2 Tx-PDO2 – System status

Tx-PDO2 contains information about the torque and the DC Link and has the COB-ID (0x280 + <Node ID>). The encoding is done according to the table below.



0-1 DT_I16 0.01 [%] Reference torque after limitations

2-3 DT_I16 0.01 [%] Maximum available torque (only available for IPM and PSM)

4-5 DT_U16 0.1 [V] DC Link Voltage

6-7 DT_I16 10 [W] DC link power (mechanic power + losses)

5.2.3 Tx-PDO3 – Motor status

Tx-PDO3 contains information about the motor status and has the COB-ID (0x380 + <Node ID>). The

encoding is done according to the table below.



0-1 DT_I16 1 [rpm] Motor speed (>0 forward)

2-3 DT_I16 10 [W] Mechanic power

4-5 DT_I16 0.1 [Apeak] Phase current [Apeak]

6-7 DT_I16 0.1 [Nm] Torque [Nm]

5.2.4 Tx-PDO4 – Supplementary information

Tx-PDO4 contains additional information about the motor control and has the COB-ID (0x480 + <Node ID>). The encoding is done according to the table below.



0 DT_U8 1 [°C] Junction temperature or highest DCB temperature, with offset of 40°. 0 means -40°C

1 DT_U8 1 [°C] Motor temperature with offset 40°. 0 means -40°C

2-3 DT_U16 0.1 [°] Electrical angle (Theta electrical)

4 DT_U8 Cutback number

5-7 n/a n/a unused


5.3 Rx-PDO (PDO mapping V2)

Rx-PDOs are used to control the firmware. They therefore carry reference values, commands and other options. The Rx-PDOs are handled with priorities (lowest number of PDO is handled first). Therefore the

order of reception in QUASAR may differ from the order the PDOs were sent.

5.3.1 Rx-PDO1 – Reference values for test modes

QUASAR provides tests mode that are useful during commissioning. The test mode is selected over Rx-PDO1. This PDO is used to define the test mode specific reference values and its content is only considered

in case Command in Rx-PDO3 is set to “1: Update/Enable motor control” and a test mode is selected.

Rx-PDO1 has the COB-ID (0x200 + <Node ID>). The encoding is done according to the table below.

Table 14 - Rx-PDO1 message content


0-1 DT_I16 1 [Apeak] Id current / Iabs open rotating mode

2-3 DT_I16 1 [Apeak] Iq current

4-5 DT_I16 0.01 [Hz] Stator frequency. A range from 0..325Hz is supported. Requesting values above 325Hz will not be handled correctly.

6-7 unused

5.3.2 Rx-PDO2 – Limits for asymmetric limitation mode

Rx-PDO2 is used to define asymmetric limits and has the COB-ID (0x300 + <Node ID>). This PDO is only considered in case Command in Rx-PDO3 is set to “1: Update/Enable motor control” and Limitation Mode is set to asymmetric limits. The encoding is done according to the table below.



0-1 DT_I16 1 [rpm] Speed limit low

2-3 DT_I16 1 [rpm] Speed limit high

4-5 DT_I16 0.01 [%] Torque limit low

6-7 DT_I16 0.01 [%] Torque limit high

5.3.3 Rx-PDO3 – Command and reference values




0 DT_U8 Command

1 DT_U8 Control Mode

2 DT_U8 Options

3 DT_U8 unused

4-5 DT_I16 0.01 [%] Torque (reference / limit)

6-7 DT_I16 1 [rpm] Speed (reference / limit)

In order not get any unexpected behaviour, the Rx-PDO2 and Rx-

PDO1 must be sent before Rx-PDO3.


The Command defines the action that will be done. Depending on the Command other fields or other Rx-PDO contents will be considered.

Table 17 –State byte in Rx-PDO3

Bit Purpose

0-3 Command:

0: Disable motor control: (Command treaded in state ENABLED)

Disable motor control 1: Update/Enable motor control (Command only treated in state READY)

The control mode must be consistent with enable state 2: reserved (Enable active) 3: reserved (Disable active discharge)

4: Clear errors (Command only treated in state ERROR) 5: Restart request (Ignored in state ENABLED)

6: Table mode request (Command only treated in states READY and ERROR) 7: reserved (Parameter mode request) 8: Update options

4-7 reserved

The Motor control mode field will only be considered in case the Command field in Rx-PDO3 is set to “1: Update/Enable motor control”.

Table 18 – Control Mode byte in Rx-PDO3

Bit Purpose

0-3

Motor control mode:

Value considered for Command 1: Update/Enable motor control

0: Disabled



3: reserved (DC link voltage control mode) 4: unused 5: unused

6: unused 7: unused 8: Test Id/Iq 9: Test Open Rotating 10: reserved (Test duty cycle)

11: reserved (Test static vector)

12: reserved (Test open rotating vector) 13: unused 14: unused 15: unused

4 Limitation mode:

Value considered for Command 1: Update/Enable motor control

0: Symmetric speed or torque limit respectively 1: Asymmetric speed or torque limit respectively

(Rx-PDO2 must be sent before Rx-PDO3)

5-7 reserved

The content of Option will only be considered in case the Command field in Rx-PDO3 is set to “8: Update options”.


Table 19 - Option byte in Rx-PDO3

Bit Purpose

0 Multipurpose digital output 1 state

0: Switch Multipurpose digital output off 1: Switch Multipurpose digital output on

1 Multipurpose digital output 2 state

0: Switch Multipurpose digital output off 1: Switch Multipurpose digital output on


6 Examples

In this example, the control will be described step by step and the software PCAN-View will be used to

control the SKAI2.

The node ID 0x7A will be taken as reference.

To facilitate the understanding, this chapter will be separated in two subchapters:

- First steps to control the motor - First steps to read the SKAI2 information

6.1 CANopen base communication

6.1.1 Node guarding

The first frame to establish is the node guarding. According to the guard time from the SKAI2 (refer to [4]), the following frame must be send every X milliseconds.

0x77A: {0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00}

6.1.2 NMT

If the SKAI2 is in “Pre-Operational” mode (For example: after powering the converter), the SKAI2 need to be turned in the “Operational” mode.

ID Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0x000 0x01 0x7A 0x00 0x00 0x00 0x00 0x00 0x00

Decoded

message

Node ID:

0x7A

6.1.3 SYNC Synchronization Object (CANopen)

To obtain the different information from the SKAI2 (See page 9: Tx-PDO1, Tx-PDO2, Tx-PDO3 and Tx-PDO4), a “SYNC” frame could be send with a cyclic time or just when the user needs the information.

Example: SYNC


0x080 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00

Decoded

message

Node ID:

0x00

Broadcast

Remark: This frame is independent from the node ID. It means that each device will send their information messages after this SYNC. The Tx-PDOs from the SKAI2 can be set to be send every X “SYNC” messages

(refer to [4]), to avoid an overloading on the CAN bus.

6.2 Motor control actual values and commands

This chapter gives an example of how to encode and decode CANopen messages supported by QUASAR when using the PDO mapping V2. The examples given are using the default node ID 0x7A of the QUASAR firmware.

6.2.1 Rx-PDO2 and Rx-PDO3

With Rx-PDO3 and Rx-PDO2 the function of the inverter is controlled. The test modes available in Rx-PDO1 are usually not required in a productive system (implemented in Q-Control for tuning).


Example: Rx-PDO2 – Asymmetric limits in torque mode


0x37A 0x24 0xFA 0xD0 0x07 0x00 0x00 0x00 0x00

Decoded m

essage

Speed limit low:

1500 [rpm]

Negative value:

(0xFFFF-0xFA24 = 1500)

Speed limit high:

2000 [rpm]

(0x07D0 = 2000)

Torque limit low:

0% (ignored)

Torque limit high:

0% (ignored)

Example: Rx-PDO3 – Enable the inverter


0x47A 0x01 0x01 0x00 0x00 0x88 0x13 0xD0 0x07

Decoded m

essage

Command:

Update/ Enable motor control

Control Mode:

Torque control mode

Options:

No Output set

Unused Torque (reference / limit):

50[%]

(0x1388 = 5000)

(5000 * 0.01 = 50)

Speed (reference / limit):

2000 [rpm]

(0x07D0 = 2000)

6.2.2 Tx-PDO1 to Tx-PDO4

As mentioned before (See 6.1.3 page 17), when the SKAI2 receives a “SYNC”, then the TX-PDO are sent on the CANbus.

Example: Tx-PDO1


0x1FA 0x01 0x00 0x00 0x00 0x00 0x0D 0x11 0x07

Decoded m

essage

State feedback:

Inverter State: Ready

MC Mode: Disabled

Limitation: symmetric

ASC: off

Active Discharge: off

Control Strategy: None

Causing Error:

- None

Last Error:

- None

Warning:

Overtem-perature

Cutback limiter active

Option status:

Digital Inputs

1=active 2=active Digital

Outputs 1=active 2=inactive


Example: Tx-PDO2


0x2FA 0x00 0x00 0x10 0x27 0xFE 0x04 0x00 0x00

Decoded

message

Reference Torque after Limitations:

0%

Max available torque:

100%

(0x2710 = 10000)

DC Link voltage:

126.2 [V] (0x4FE = 1262)

DC Link power:

0 [W]

Example: Tx-PDO3


0x3FA 0xEF 0x03 0x00 0x00 0x00 0x00 0x00 0x00

Decoded

message

Motor speed:

1007 [rpm]

(0xEF03 = 1007)

Mechanical Power:

0 [W]

Phase Current:

0 [Apeak]

Torque:

0 [Nm]

Example: Tx-PDO4

ID Byte 0 Byte 1 Byte 2

Byte 3 Byte 4 Byte 5 Byte 6 Byte 7

0x4FA 0xB2 0x4B 0xCE 0x0C 0x00 0x00 0x00 0x00

Decoded m

essage

Highest

DCB temperature:

178 [°C]

(0xB2 = 178)

(178-40 =

135)

Motor

temperature:

35 [°C]

(0x4B = 75)

(75-40 = 35)

Electrical Angle

(Theta Elec):

327.8 [°]

(0xCCE = 3278)

Unused

Unused

Unused

Unused


6.3 Additional information and commands

6.3.1 Information over SDO Messages

SDO messages are used for the parameter interface but can also be used to retrieve additional information

or send commands.

The following example shows how to request the actual value of the limitation factor applied on the requested torque. This information is available over Index=0x20A7 with Subindex=0x0.

Example Request:


0x67A 0x40 0xA7 0x20 0x00 0x00 0x00 0x00 0x00

Decoded

message

Command

Upload request

Index Subindex

Example Response:


0x5FA 0x43 0xA7 0x20 0x00 0xDA 0xD3 0x12 0x3F

Decoded

message

Command

Upload response

Index Subindex Limitation Factor:

0.57 [pu]

Decoding according to IEEE 754


7 Appendix A – Legacy PDO mapping V1

The legacy PDO mapping V1 is still available in QUASAR. Due to its limitation, not all features of QUASAR

can be controlled over this mapping. Further this protocol provides less feedback information than the new protocol.

The legacy protocol can be selected over parameter PDO map version [0x20F6].

It is strongly recommended to use the new PDO mapping, because it provides much more state information.

7.1 Error details (Rx-SDO index 0x209E)

Table 20 - Additional information of some supported objects (PDO mapping V1)

Index Subindex Description

0x209E Error details

0x209E 1 Error details hardware, bit coded, Table 21 - Error details hardware

0x209E 2 Error 1 details system, bit coded see Table 22

0x209E 3 Error 2 details system, bit coded see Table 23

Index 0x209E, Subindex 1: Error details hardware, in case of SKAI2 inverter (error generated by LCU)

Table 21 - Error details hardware (PDO mapping V1)

Bit Contents

0 Voltage collector emitter bottom switch 1 too high



3 Voltage collector emitter top switch 1 too high



6 Under voltage trip detection bottom switch 1



9 Under voltage trip detection top switch 1



12 Over current phase 1 pos detection

13 Over current phase 1 neg detection





18 Over voltage DC-Link

19 Over temperature PCB


Bit Contents

20 Over temperature DCB1



Index 209E, Subindex 2: System Error1 details

Table 22 - System error 1 details (PDO mapping V1)

Bit Contents

0 Electronic over temperature DCB1



3 Electronic over temperature PCB

4 Reserved

5 DC link undervoltage detected

6 Motor over temperature sensor 1

7 Motor over temperature sensor 2

8 Over current U detected

9 Over current V detected

10 Over current W detected

11 Watchdog detected

12 Over speed detected

13 DC link overvoltage detected

14 Communication error

15 CANA failure

16 CANB failure

17 Application error 1

18 Application error 2

19 Node guard error motor 1

20 Node guard error motor 2

21 Reserved

22 Application timing error detected

23 Table error detected

24

25

Enable request was rejected (Inverter or motor type not configured)

Parameter setup error


Index 0x209E, Subindex 3: System Error 2 details

Table 23 - System error 2 details (PDO mapping V1)

Bit Contents

0 Motor temperature sensor (short circuit or open)

1 Difference between reference and actual Iq or Id too big

2 Referencing motor position failed

3 The MP_DI_C1 input indicates an error state

4 The encoder index occurred at unexpected position

5-15 Reserved

7.2 Tx-PDO1 legacy PDO mapping V1

Tx-PDO1 has the COB-ID (0x180 + <Node ID>). The encoding is done according to the table below.

Table 24 - Tx-PDO1 message content (PDO mapping V1)

Byte Format Resolution Contents V2 protocol availability

0 DT_U8 Mode of Operation Replaced by “State Feedback” in Tx-PDO1

1 DT_U8 Power Module Error Replaced by causing and last error in Tx-PDO1 / SDO [0x2088]

2 DT_U8 System Error2 Replaced by causing and last error in Tx-PDO1 / SDO [0x2089]

3 DT_U8 System Error1 Replaced by causing and last error in Tx-PDO1 / SDO [0x208A]

4 DT_U8 System Warning Tx-PDO1: System Warning

5 DT_U8 Status Replaced by “State Feedback” in Tx-PDO1

6-7 DT_I16 0.01[%] Maximum available torque

(only available for IPM and PSM)

Tx-PDO2: Maximum available torque


Mode of operation:

Table 25 - Operation mode in Tx-PDO1 (PDO mapping V1)

Bit Contents

0-7 Mode of operation:

0: OFF (switch off auxiliary supply allowed) 1: Vector control (IFOC)

2: BLDC control 3: Discharge capacitor 4: Open rotating mode 5: Stationary vector mode 6: Reserved

7: Switch off PWM

Power Module Error (Hardware detected):

Table 26 - Power module error in Tx-PDO1 (PDO mapping V1)

Bit Contents

0 Short circuit, Vce desaturation

1 5V supply under voltage

2 Inverter over temperature

3 Auxiliary supply under voltage

4 Over current I1, I2 or I3

5-6 Reserved

7 DC link over voltage

System Error 1:

Table 27 - System error 1 in Tx-PDO1 (PDO mapping V1)

Bit Contents

0 Electronic over temperature

1 DC link under voltage or over voltage detected

2 Motor over temperature

3 Over current

4 Watchdog

5 Over speed

6 Application error

7 Communication error

More detailed error flags can be found in the object 0x209E


System Error2:

Table 28 - System error2 in Tx-PDO1 (PDO mapping V1)

Bit Contents

0 Reserved

1 Reserved

2 Motor temperature sensor fault

3 Error in vector control loop, for example IqRef is different to IqAct

4 Reserved

5 Digital input MP_DI_C1 has indicated an error state

6 Encoder error

7 Reserved

System Warning:

Table 29 - System warning in Tx-PDO1 (PDO mapping V1)

Bit Contents

0 Electronic over temperature

1 Sensor trip detected

2 Reference or limits in Rx-PDO’s were adjusted to valid values

3 Capacitance discharge failure

4 Cutback limiter active (either DC-Link minimum or maximum, speed, acceleration, i2t ACIM, slip ACIM). The warning is indicated even if the drive is disabled and the limitation is not really

active.

5 Boot-up sequence not finished

6 At least one initialization failed

7 At least one device communication (EEPROM, CPLD, LCU, etc.) failed

Status:

Table 30 - Status in Tx-PDO1 (PDO mapping V1)

Bit Contents

0 Ready for operation

1 Error active

2 Digital input 1

3 Digital input 2

4 State of digital output 1

5 State of digital output 2

6-7 Reserved



Tx-PDO2 has the COB-ID (0x280 + <Node ID>) and the following 8 data bytes:



0-1 Signed16 0.01[%] Reference torque after limitations

Tx-PDO2: Reference torque after limitations

2-3 Signed16 0.1 Apeak Absolute motor phase current Iabs

Tx-PDO3 Phase Current

4-5 Unsigned16 0.1 V DC Link Voltage Tx-PDO2 DC Link Voltage

6-7 Signed16 0.1 Apeak Current Iq SDO [0x2090]


Tx-PDO3 has the COB-ID (0x380 + <Node ID>) and the following 8 data bytes:



0-1 Signed16 1 RPM Motor speed (>0 forward) Tx-PDO3: Motor Speed

2-3 Signed16 0.1 Deg Electrical angle (Theta electrical)

Tx-PDO4: Electrical angle

4-5 Signed16 0.1 A Current Id SDO [0x2093]

6-7 Signed16 10W Power estimation Tx-PDO3 Mech. Power


Tx-PDO4 has the COB-ID (0x480 + <Node ID>). The encoding is done according to the table below.



0 DT_U8 1 [°C] Motor temperature 1, with offset 40°. 0 means -40°C

Tx-PDO4 Motor Temperature

1 DT_U8 1 [°C] Motor temperature 2, with offset 40°. 0 means -40°C

n/a, not supported by SKAI2 HV

2 DT_U8 1 [°C] PCB temperature, with offset 40°. 0 means -40°C

SDO [0x2096]

3 DT_U8 1 [°C] DCB1 temperature, with offset 40°. 0 means -40°C

SDO [0x2095]

4 DT_U8 1 [°C DCB2 temperature, with offset 40°. 0 means -40°C

n/a

5 DT_U8 1 [°C] DCB3 temperature, with offset

40°. 0 means -40°C

n/a

6 DT_U8 1 [°C] Heat sink temperature, with offset 40°. 0 means -40°C

n/a, not supported by SKAI2 HV

7 DT_U8 1 Hall sector 1..6, 254 if motor is

referenced, 255 if index from encoder detected

SDO [0x2097]


7.6 Rx-PDO1 legacy PDO mapping V1


Table 34 - Rx-PDO1 message content (PDO mapping V1)

Byte Format Resolution Contents V2 protocol

0 DT_U8 Command

1 DT_U8 For further use



4-5 DT_I16 0.01 [%] Torque

6-7 DT_I16 1 [rpm] Speed

The command legacy byte is still supported for compatibility reason. It should not be used for new

implementations. It contains the following data:

Table 35 - Command byte in Rx-PDO1 (PDO mapping V1)

Bit Purpose

0 Enable:

0: disabled 1: enabled To enable the flag must be switched from 0 to 1

1 Control mode:



2 Limitation mode:

0: Symmetric speed or torque limit respectively 1: Asymmetric speed or torque limit respectively

3+4 Operation Mode:

x0: Auto Mode (FOC if referenced)

01: FOC control 11: BLDC control

5 Reserved

6 Multipurpose digital output

0: Switch Multipurpose digital output off

1: Switch Multipurpose digital output on

The mapped objects (see EDS file) can only be written by the Rx-PDO. Write accesses by Rx-SDO will be blocked by the firmware’s protocol handler (due to system security).

7.7 MC test modes – SDO interface legacy PDO mapping V1

QUSAR provides several test functions. They can be controlled either over Rx-PDO1 resp. Rx-PDO3 but also over the SDO interface.

It is strongly recommended to use Rx-PDOs to control test modes. If using the SDO interface, it is up to the external control to make sure that the SDO has been treated before Rx-PDO3 is sent. Otherwise the inverter may remain in an undefined state.

Test modes are only active if the test mode has been selected and PWM has been enabled using the Enable command.

The mode of test can be selected using the Rx-SDO objects provided in the following tables.


Table 36 - Test function (PDO mapping V1)


0x2060 0 Request number of subindex

0x2060 1 Select PWM test mode

Table 37 - Test mode selection (PDO mapping V1)


0 DT_U8 0 …6 Mode

0: Test mode disabled

1: D-axis and q-axis current test mode 2: Open rotating test mode (voltage) 3: Stationary vector

4: reserved (Duty cycle) 5: Closed loop rotating (current) 6: unused

7.7.1 Current regulator

In this test mode a current in d-axis and q-axis can be defined.

Table 38 - Id/Iq mode test function (PDO mapping V1)



0x2060 2 Set Iq for Id/Iq test mode Byte 0…3: Value of Iq

0x2060 3 Set Id for Id/Iq test mode Byte 0…3: Value of Id

7.7.2 Closed loop control

In this test mode a current is applied with a specific rotor frequency. Fixed speed simulated.

Table 39 - Closed loop test function (PDO mapping V1)



0x2060 14 Set stator frequency for closed loop test mode Byte 0…3: Value of frequency

0x2060 15 Set current for closed loop test mode Byte 0…3: Value of current


7.8 Examples for legacy PDO mapping V1

7.8.1 Motor control

The Rx-PDO1 (See 0 page 14) will be used to turn the PWM on and to choose the motor control (Torque or

speed).

7.8.1.1 Torque control

The following instruction is send:

Enable motor control

Torque 20.00% (2000: 0x7D0)

Speed 4000U/Min (4000: 0xFA0)

Example: Rx-PDO3


0x47A 0x01 0x01 0x00 0x00 0xD0 0x07 0xA0 0x0F

Decoded m

essage Command:

Enable

MC Mode:

Torque Control

Limitation Mode :

sym

MC Mode:

Digital outputs :off

Requested torque

Torque 20.00% (2000: 0x7D0)

Requested speed limit


7.8.1.2 Speed control

The following instruction is send:

Enable motor control

Torque 20.00% (2000: 0x7D0)



0x47A 0x01 0x02 0x00 0x00 0xD0 0x07 0xA0 0x0F

Decoded m

essage Command:

Enable

MC Mode:

Speed Control

Limitation Mode :

sym

MC Mode:

Digital outputs :of

f

Requested torque

Torque 20.00% (0x7D0 = 2000)

Requested speed limit

Speed 4000U/Min (0xFA0 = 4000)


7.8.2 Clear errors

To be sure to start in the best conditions, a “clear errors” is sent.


0x67A 0x2F 0x03 0x20 0x00 0x01 0x00 0x00 0x00

Decoded

message

Command

Index Subindex

7.8.3 Error Details

According to the application, it could be interesting to obtain more information about specific errors. These descriptions are classified in 3 different sub-indexes:

Subindex 1: Error details hardware

Subindex 2: System Error1 details Subindex 3: System Error2 details

To obtain the 3 subindexes, the following message can be sent:


0x67A 0x40 0x9E 0x20 0x01 0x00 0x00 0x00 0x00

0x67A 0x40 0x9E 0x20 0x02 0x00 0x00 0x00 0x00

0x67A 0x40 0x9E 0x20 0x03 0x00 0x00 0x00 0x00

Decoded

message

Command

Request

parameter from server (QUASAR)

Index Subindex

After reception of these messages, the SKAI2 will send an answer per subindex.

Example: Subindex 1


0x5FA 0x43 0x9E 0x20 0x01 0x00 0x00 0x04 0x00

Decoded m

essage Command

Parameters to the

client with data length=4

Index Subindex Error details hardware:

0x040000 = 0000’0100’0000’0000’0000’0000

Bit18 = 1 = Over voltage DC-Link


Example: Subindex 2


0x5FA 0x43 0x9E 0x20 0x02 0x40 0x01 0x00 0x00

Decoded

message

Command

Parameters to the client with data length=4

Index Subindex System error 1 details

0x000140 = 0000’0000’0000’0001’0100’0000

Bit6 = 1 = Motor over temperature sensor 1

Bit8 = 1 = Over current U detected


8 Appendix A

8.1 Figures

Figure 1 - CANopen State Machine in QUASAR ..................................................................................... 5

8.2 Tables

Table 1 - Variable types .................................................................................................................... 4

Table 2 - Little endianness of CANopen ............................................................................................... 4

Table 3 –SDO message format .......................................................................................................... 5

Table 4 –SDO message format .......................................................................................................... 8

Table 5 - Command byte of SDO messages ......................................................................................... 8

Table 6 – Actual values over SDO ...................................................................................................... 9

Table 7 - Tx-PDO1 message content ................................................................................................ 10

Table 8 – State feedback word in Tx-PDO1 ....................................................................................... 10

Table 9 – System warning in Tx-PDO1 .............................................................................................. 12

Table 10 – Option status feedback in Tx-PDO1 .................................................................................. 12

Table 11 - Tx-PDO2 message content ............................................................................................... 13



Table 14 - Rx-PDO1 message content .............................................................................................. 14



Table 17 –State byte in Rx-PDO3 ..................................................................................................... 15

Table 18 – Control Mode byte in Rx-PDO3 ......................................................................................... 15

Table 19 - Option byte in Rx-PDO3 .................................................................................................. 16

Table 20 - Additional information of some supported objects (PDO mapping V1) .................................... 21

Table 21 - Error details hardware (PDO mapping V1) ......................................................................... 21

Table 22 - System error 1 details (PDO mapping V1) ......................................................................... 22

Table 23 - System error 2 details (PDO mapping V1) ......................................................................... 23

Table 24 - Tx-PDO1 message content (PDO mapping V1) ................................................................... 23

Table 25 - Operation mode in Tx-PDO1 (PDO mapping V1) ................................................................. 24

Table 26 - Power module error in Tx-PDO1 (PDO mapping V1) ............................................................ 24

Table 27 - System error 1 in Tx-PDO1 (PDO mapping V1) ................................................................... 24

Table 28 - System error2 in Tx-PDO1 (PDO mapping V1) .................................................................... 25

Table 29 - System warning in Tx-PDO1 (PDO mapping V1) ................................................................. 25

Table 30 - Status in Tx-PDO1 (PDO mapping V1) ............................................................................... 25




Table 34 - Rx-PDO1 message content (PDO mapping V1) ................................................................... 27

Table 35 - Command byte in Rx-PDO1 (PDO mapping V1) .................................................................. 27

Table 36 - Test function (PDO mapping V1) ...................................................................................... 28


Table 37 - Test mode selection (PDO mapping V1) ............................................................................. 28

Table 38 - Id/Iq mode test function (PDO mapping V1) ...................................................................... 28

Table 39 - Closed loop test function (PDO mapping V1) ...................................................................... 28

8.3 Symbols and Terms

Letter Symbol Term

CAN Controller Area Network

CANopen Communication protocol for CAN bus

Client/Server Request/response communication model. The client requests a server to send

data or to write data. CANopen uses this communication model for SDO message transfer.

COB-ID Communication Object Identifier

ECU Engine control unit (or Electronic Control Unit)

FOC Field Oriented Control (vector control)

HW Hardware

ID Identifier (e.g. CANopen node ID)

LCU Logic Control Unit

Master/Slave Communication model where one master controls several slave nodes. CANopen uses this communication model for the network management.

MC Motor Control, the part in QUASAR controlling the motor

Motor In this document “motor” is used as a general term. When referencing to “motor”, an electric machine in generator or motor mode or any other load or

source is meant.

NLSF Non-linear state feedback (Cross-coupling decoupling)

NMT Network Management (CANopen)

PC Personal Computer

PCB Printed Circuit Board

PDO Process Data Object (CANopen)

RTR Remote Transmit Request (CANopen)

Rx Receive (CAN messages)

SDO Service Data Object (CANopen)

SKAI2 SEMIKRON (SK) advanced integration, 3 phase inverter with DSP controller

SKAI2 HV High voltage SKAI2

SW Software

SYNC Synchronisation Object (CANopen)

TOP Top IGBT

Tx Transmit (CAN messages)

VCU Vehicle control unit

A detailed explanation of the terms and symbols can be found in the "Application Manual Power Semiconductors" [2]


8.4 References

[1] www.SEMIKRON.com

[2] A. Wintrich, U. Nicolai, W. Tursky, T. Reimann, “Application Manual Power Semiconductors”, ISLE

Verlag 2011, ISBN 978-3-938843-666

[3] CAN in Automation (CiA), “CiA 301, CANopen”, CiA 2011

[4] Ch. Dardel, “0011_DO_QUASAR_User Manual”, Semikron 2015

http://www.semikron.com/


HISTORY

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SEMIKRON reserves the right to make changes without further notice herein to improve reliability, function or design. Information furnished in this document is believed to be accurate and reliable. However, no

representation or warranty is given and no liability is assumed with respect to the accuracy or use of such information, including without limitation, warranties of non-infringement of intellectual property rights of any third party. SEMIKRON does not assume any liability arising out of the application or use of any

product or circuit described herein. Furthermore, this technical information may not be considered as an assurance of component characteristics. No warranty or guarantee expressed or implied is made regarding delivery, performance or suitability. This document supersedes and replaces all information previously supplied and may be superseded by updates without further notice.

SEMIKRON products are not authorized for use in life support appliances and systems without the express written approval by SEMIKRON.

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Tel: +49 911-65 59-234 • Fax: +49 911-65 59-262

[email protected] • www.semikron.com

Documents

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