CANBUS Messages

This section summarizes the CANBUS messages used with the Controller. See the CANBUS Configuration page for more information about setting up the CANBUS interface.

Note

The examples in this section assume the Controller's CANBUS address is 0x80 while the Host device is 0x90. Different values must be substituted if your CANBUS network is designed differently.

Message Format

The controller sends and receives CAN 2.0b messages with 29-bit identifiers. The identifiers are formatted in the J1939 style. The controller emits status messages in the PDU2 (broadcast) range, and accepts command and control messages in the PDU1 (destination specific) format.

Control Message

The Control message allows directed (addressed) command sequences to be sent to the controllers. The payload contains up to 8 bytes, which are command-specific.

A command sent from a (source) to a (target) may be followed by a response from the (target) to the (source).

For example, a control message with priority 4, sent from device 0x90 to device 0x80 would have 0x10EF8090 as its 29-bit identifier.

The response would have identifer 0x10EF9080 as its 29-bit identifier.

The first byte of the message data in a Control message request is the 'function code', which indicates what function the controller is being asked to perform.

The first byte of the response to the Control message includes the same function code. If an error occurs (eg. unknown function code, etc), the response function code will have the most significant bit set and the second byte will contain an error code.

The error codes include

Code Meaning
1 Unknown Function Code
2 Illegal Address
3 Illegal Data Value
4 Device Failure
5 Device Busy

For example, sending (unknown) function code 0x20 to the controller: 0x10EF8090 20

The controller's response: 0x10EF9080 A0 01, which has the first byte as 0x20 with the MSB set, and 01 as the error code.

The controller supports Control messages longer than 8 data bytes, via the J1939-TP protocol. This protocol is not explained here but is documented in J1939 literature.

PGN: 0xEF00
Data: Byte 0 Byte 1 - Byte 7
Content: {Function} 0 or more bytes of function-specific parameters

The Function is an enumeration:

Function Selected Function
0x45 Read Parameter(s)
0x46 Write Parameter(s)
0x47 System Commands
0x50 Digital Control

Read Parameter(s) Function Code

One or more bytes of configuration or status parameters can be requested from the controller using this command. It is not normally necessary to read parameters, and any use of this command should be done in collaboration with Control Solutions, since the parameters or parameter values may change depending on controller model or software version.

A Read Parameters request consists of a 16-bit address, and the number of bytes to be returned.

Example

Read the CAN ID (parameter 0x0402)

                     FC  ADDRESS  LEN
Command:    10EF8090 45  04   02  01 
Response:   1CEF9080 45  80

The response indicates that the CAN ID of the unit is 0x80

Write Parameter(s) Function Code

One or more bytes of configuration parameters can be written to the controller using this command. It is not normally necessary to write parameters, and any use of this command should be done in collaboration with Control Solutions, since the parameters or parameter values may change depending on controller model or software version.

Example

Write the CAN ID (parameter 0x0402) to 0x81

                     FC  ADDRESS  Data
Command:    10EF8090 46   04 02   81 
Response:   1CEF9080 46  00 (00=Success)

Notice that the parameter change did not take effect immediately 
and the reponse is sent from the existing CAN ID (0x80).  
The new ID will take effect when the controller is reset or power cycled.

System Command

Example

Reset the controller

Command:    10EF8090 47 FB 
Response:   None

Warning

Using this command while the motor is running is not recommended. An abrupt stop to the motor could harm the equipment and/or the operator.

Digital Control

If enabled and configured, the Digital Control message provides a proportional drive level input and/or control of direction via CANBUS. Refer to Digital Control for more details.

Byte Length Parameter Description
0 1 byte Function 0x50 indicates Throttle Control message
1 1 byte Digital Pot Unsigned 0-255, indicates a proportional level. For example, to be used as a throttle value.
2 1 byte Digital Buttons Note: bits are active low (0=Active)Bit 0: Reserved, set to 1Bit 1: Reserved, set to 1Bit 2: Reserved, set to 1Bit 3: Reserved, set to 1Bit 4: 0=Quickstop. Behavior depends on quickstop configurationBit 5: 0=ReverseBit 6: 0=Indoor ModeBit 7: Reserved, set to 1
3 1 byte Digital Mode Bit 0: 0=Seat Empty. If the Seat Switch function is enabled, clearing this bit prevents motionBits 1-7: Reserved, set to 1

Example

Set Digital throttle to 25% 
(0x40 = 64 = 25% throttle)
Command:    10EF8090 50 40 FF         
Set Digital throttle to zero and set buttons to run forward 
(0x00 = 0 = 0% throttle)
Command:    10EF8090 50 00 FF     
Set Digital throttle to 50% and set buttons to run reverse and mode to FF 
(0x80 = 128 = 50% throttle)
Command:    10EF8090 50 80 DF FF     
Refresh CAN Timeout without changing any settings 
Command:    10EF8090 50     

Status Messages

Status messages are emitted by the controller at periodic intervals. Specific messages can be inhibited by configuring them. If status message are inhibited, they can be manually requested using a J1939 PGN request message using PGN 0x0nFF00.

PGN Request Example:

Request status FF01 
The first data byte is the status message number 0-7. The
number must be followed by 0xFF and 0x00 with no other data bytes.
Command:    10EA8090 01 FF 00    
Response:   10FF0180 0E 62 00 00 00  00  00  00        

Message definitions can vary according to Controller Model. Refer to the model-specific bus definition for exact field definitions.

FF00 Motor Drive Status Message

PGN:                0xFF00
Default Priority:   6
Interval:           100ms
Byte Length Parameter Description
0 1 byte Reserved
1 1 byte Output Current Measured output current in Amps
2 1 byte PWM Output Unsigned 0-255. Indicates proportion of output PWM (255=100%)
3 1 byte Reserved
4 1 byte Active current limit Uses the same format as cur_lb and cur_ub.
5 3 bytes Reserved

FF01 Monitor Status Message

PGN:                0xFF01
Default Priority:   6
Interval:           1000ms
Byte Length Parameter Description
0 1 byte Temperature Measured Controller temperature (C)
1 1 byte Supply Voltage Measured supply voltage(V) multiplied by 4
2 1 byte Reserved
3 1 byte State Of Charge The state of charge based on compensated voltage compared to the values of register 0x0327 and register 0x0328. A value of zero indicates the battery state of charge is at or below the Undervoltage warning threshold. A value of 100(decimal) indicates state of charge is at or above the Top Segment configured level.

FF02 Custom Status Messages 0-7

PGN:                0xFF02
Default Priority:   6
Interval:           500ms
Byte Length Parameter Description
0 8 bytes Reserved These eight bytes can be programmed to do read any RAM or EEPROM location. The values can be read once at power up or continuously. See Custom Status Configuration for more info.

FF03 System Status Message

PGN:                0xFF03
Default Priority:   6
Interval:           1000ms
Byte Length Parameter Description
0 1 byte System State Bitmapped state codes. See System State for more information.
1 1 byte Motor State Enumerated state codes. See Motor State for more information.
2 1 byte Communications Alarms Bitmapped state codes:
All 0's = Normal
Bit 0: CAN RX errors > 127
Bit 1: CAN TX errors > 127
Bit 2: Reserved
Bit 3: Reserved
Bit 4: Interprocessor comm error
Bit 5: CAN RX Silent for > 1 second
Bit 6: Digital Throttle command timeout
Bit 7: Incoming R/W Overload
3 1 byte Charge Mode When a compatible charger is attached, this byte indicates what the charger is doing.Bit 0-3 = 0: Not ChargingBit 0: PrechargeBit 1: Bulk ChargeBit 2: BalancingBit 3: FloatBit 7:Just changed from charge mode to drive mode. Key cycle or power cycle is required to clear this bit.
4 1 byte Fault Code Active fault (0=None) See Faults for specific fault codes.
5 1 byte Miscellaneous Diagnostics See Miscellaneous Diagnostics for more information.
6 1 byte PWM Limited See PWM Diagnostics for more information.
7 1 byte Stop Cause See Stop Diagnostics for more information.

FF04 Throttle Status Message

PGN:                0xFF04
Default Priority:   6
Interval:           100ms
Byte Length Parameter Description
0 2 bytes Throttle 1 Analog Unsigned (LSB, MSB) value which corresponds to the measured throttle voltage. 0=0V, 65535=5V
2 1 byte Throttle 1 Command Unsigned 0-255. Indicates proportion of scaled throttle (255=100%)
3 1 byte Reserved
4 2 bytes ANIN Input Voltage Unsigned (LSB, MSB) value which corresponds to the measured throttle voltage. 0=0V, 65535=5V. Note: resolution of the measurement is 12 bits and the input is not factory calibrated.
6 2 bytes Reserved

FF05 Speed Status Message

PGN:                0xFF05
Default Priority:   6
Interval:           250ms
Byte Length Parameter Description
0 2 bytes Actual RPM Unsigned (LSB, MSB). Measured motor speed in RPM. Only used in brushless system.
2 2 bytes Target RPM Unsigned (LSB, MSB). Only used for Brushless motor in speed control mode, target motor speed in RPM
4 4 bytes Reserved

FF06 Digital Control Status Message

PGN:                0xFF06  
Default Priority:   6
Interval:           250ms
Byte Length Parameter Description
0 1 byte Reserved
1 1 byte Reserved
2 1 byte Reserved
3 1 byte Reserved
4 1 byte Miscellaneous Status Bit 0: Reserved
Bit 1: 0=Indoor 1=Outdoor
Bit 2: Reserved
Bit 3: 1=Brake Release
Bit 4: 1=Quick Stop.
Bit 5: Seat Switch Active
Bit 6: Reserved
Bit 7: Reserved
5 1 byte Aux Bit 0: Reserved
Bit 1: Reserved
Bit 2: Reserved
Bit 3: Reserved
Bit 4: Reserved
Bit 5: Reserved.
Bit 6: 1=Forward
Bit 7: 1=Reverse

FF07 Custom Status Messages 8-15

PGN:                0xFF07
Default Priority:   6
Interval:           500ms
Byte Length Parameter Description
0 8 bytes Reserved These eight bytes can be programmed to do read any RAM or EEPROM location. The values can be read once at power up or continuously. See Custom Status Configuration for more info.