epic power CAN User manual

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Installation guide
CAN - CANopen Interface

Installation guide
CAN - CANopen Interface

Version 1.00
April 2020
Epic Power Converters S.L.

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CAN - CANopen Interface
Installation guide
1. PREFACE
Document version: 1.00
Language: English
Date: 16th April 2020
ABOUT THIS MANUAL
This manual is copyright of Epic Power Converters S.L. All Rights Reserved.
This manual is subject to change without prior notice.
This manual gives you the necessary information about the installation, commissioning and
operation of CAN - CANopen interface. We encourage that you read carefully these
instructions before the first power-up of the unit.
If you have any doubts regarding any procedure, please contact immediately with the
support team of epic power.
DOCUMENT HISTORY
Version
Date
Comment
v. 1.00
16th April 2020
•First version

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CAN - CANopen Interface
Installation guide
2. SAFETY
This manual contains warning and cautions, which are identified with safety symbols. The
warnings and cautions give important information on how to prevent not only injury and
damage to the equipment or your system but also personal injuries.
Read the warnings and cautions carefully and obey their instructions.
Safety precautions are classified into the following two categories in this manual.
WARNING
This symbol indicates information that, if ignored, lead to
dangerous conditions, personal injuries or even death due to
incorrect handling.
CAUTION
This symbol indicates information that, if ignored, lead to
dangerous conditions, personal injuries or physical damage due
to incorrect handling.
SAFETY PRECAUTIONS
Installation and application
CAUTION
The system has been designed for pollution level 2. Consult
epic power in any other circumstances.
WARNING
It is essential to strictly follow installation and/or maintenance
steps in order. Failure to do so may result in overvoltage or
overcurrent occurrence, increasing the risk of shock or causing
damage to the drive.
CAUTION
In case of malfunction, or doubt, contact epic power. NEVER
OPEN the CAN - CANopen interface. It is an extremely complex
electronic system. Reparation must only be undertaken by epic
power.

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CAN - CANopen Interface
Installation guide

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CAN - CANopen Interface
Installation guide
Contents of the Guide
1. PREFACE .............................................................................................................................4
ABOUT THIS MANUAL ................................................................................................................4
DOCUMENT HISTORY .................................................................................................................4
2. SAFETY................................................................................................................................5
SAFETY PRECAUTIONS ................................................................................................................5
3. GENERAL DESCRIPTION................................................................................................9
4. EXTERNAL DESCRIPTION .......................................................................................... 10
EPC Dual CAN interface Description (Optional).........................................................................15
EPC Connection Cable (optional) ..............................................................................................15
RJ-45 cable (Optional) ..............................................................................................................16
CAN Bus line terminator (Optional) ..........................................................................................16
5. INSTALLATION PROCEDURE .................................................................................... 17
6. IMPORTANT NOTICE OF CANOPEN ........................................................................ 18
7. IMPORTANT OBJECTS OF CANOPEN ...................................................................... 18
a. Object 0x6113: Input actual value ............................................................................................19
b. Object 611Bh: Input set values.................................................................................................20
c. Object 6200h: Output 1 command ...........................................................................................21
d. Object 6201h: Output 1 status..................................................................................................22
e. Object 6203h: Output 1 range ..................................................................................................25

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f. Object 6204h: Output 1 actual values.......................................................................................27
g. Object 6205h: Output 1 set values............................................................................................27
h. Object 6208h: Control mode ....................................................................................................31
i. Object 6209h: Extra values .......................................................................................................32
j. Object 6210h: Measures configuration.....................................................................................33
8. PDO CONFIGURATION.................................................................................................34
PDO mapping ...........................................................................................................................34
RPDO configuration..................................................................................................................34
TPDO configuration ..................................................................................................................36
9. EXAMPLES OF APPLICATION.................................................................................... 38
Typical application ...................................................................................................................38
Autonomous mode...................................................................................................................39
Control mode ...........................................................................................................................40
10. TECHNICAL DATA......................................................................................................... 41
11. TROUBLESHOOTING.................................................................................................... 41
12. DIMENSIONS................................................................................................................... 42

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CAN - CANopen Interface
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3. GENERAL DESCRIPTION
The CAN - CANopen interface expands the embedded communication protocols of EPC
series with the CANopen functionality (CiA 301 and CiA 453).
Fig. 1 CAN - CANopen interface (SKU: F.1003.1005)

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4. EXTERNAL DESCRIPTION
4 2 1
35
Fig. 2 CAN - CANopen interface top and bottom view
1) CONNECTOR 1:
EPC communication cable connector
This connector is used to communicate the DC/DC converter (EPC) and the CAN -
CANopen interface. It is a standard RJ-45 socket and its pinout can be seen in Fig. 3.
Fig. 3 Connector 1 Pinout

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CAN - CANopen Interface
Installation guide
Pin
Signal
Description
1
CAN_H
CAN high bus
2
CAN_L
CAN low bus
3
GND
GND
4
-
No connection
5
-
No connection
6
-
No connection
7
-
No connection
8
VCC
5V supply from EPC
If the installation has more than one EPC external interface module, this cable should
be connected to CONNECTOR of the upwards interface.
This cable can be provided by epic power (see 4.2), contact with [e-mail] for
its purchase.
2) CONNECTOR 2:
CAN Bypass connector
This is a CAN Bus bypass connector used where multiple interfaces are available at the
installation to create a daisy-chain. In this case, the cable should be connected to the
CONNECTOR of the downwards interface by a RJ-45 cable, category CAT5e or
higher, whose maximum length is 100 meters.
In case that there are no more interfaces, or this is the last one of the daisy chain, a
termination resistor must be installed. A terminator (see 4.4) can be purchased to epic
power by contacting with [e-mail].
The pinout of this connector is the same as CONNECTOR (See Fig. 3).
1
2
1

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CAN - CANopen Interface
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3) STATUS LED
An integrated multi-colour LED shows the state of the CAN - CANopen interface by means
of the light status and colour as indicated below:
Light Status
Description
ON
The LED is permanently on
OFF
The LED is permanently off
Flickering
The LED is alternating between on and off with a frequency of 10 Hz
Blinking
The LED is alternating between on and off with a frequency of 2,5 Hz
Flash
The LED starts with a short on (200 ms) followed by a long off (1000 ms)
Double flash
The LED starts with two short on (200 ms) followed by a short off (200 ms) and
finished by a long off (1000 ms)
Triple flash
The LED starts with three short on (200 ms) followed by a short off (200 ms) and
finished by a long off (1000 ms)
Quadruple flash
The LED starts with four short on (200 ms) followed by a short off (200 ms) and
finished by a long off (1000 ms)
Light Colour
Description
Orange
Communication with EPC Status
Green
CANopen Network State Machine Status
Red
CANopen Bus Physical Layer and errors of CANopen protocol Status
Communication with EPC Status (orange)
Light Status
Status
Description
ON
Starting
EPC CANopen lift interface Initialization
Blinking
Communication error
Communication with EPC converter could not be
established

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CAN - CANopen Interface
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CANopen Network State Machine Status (green)
Light Status
State of CANopen
Blinking
PRE-OPERATIONAL
Flash
STOPPED
ON
OPERATIONAL
CANopen Bus Physical Layer and errors of CANopen protocol Status (red)
Light Status
Status
Description
OFF
No error
CANopen interface is in working condition
Flickering
Auto-bitrate
Auto-bitrate detection is in progress
Blinking
Invalid configuration
General configuration error
Flash
Warning limit has been
reached
Error counter of CAN controller has reached or
exceeded the warning level
Double flash
Error control event
Heartbeat event has occurred
Triple flash
Sync error
Synchronizing message has not been received
within the configured communication cycle period
time out
Quadruple flash
Event timer error
An expected PDO has not been received before
the event timer elapsed
ON
Bus off
The CANopen bus is off
4) Node ID Configuration Switch
This switch allows to configure the Node ID of CANopen where 1st position is the LSB
(Least Significant Bit) and 5th position is the MSB (Most Significant Bit).
Switch ON is a  a .
If Node ID is configured as 0, ID number 104d will be used.

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CAN - CANopen Interface
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Fig. 4 Node-ID Configuration Switch
5) CANopen connector
This is the CANopen bus dedicated connector in standard RJ-45 socket with pinout as
detailed in Fig. 5.
The default bitrate is 125 kbps.
Fig. 5 Connector 5 Pinout
Pin
Signal
Description
1
CAN_H
CAN high
2
CAN_L
CAN low
3
GND
GND
4
N/C
5
N/C
6
N/C
7
N/C
8
N/C
ON
OFF

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CAN - CANopen Interface
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EPC Dual CAN interface Description (Optional)
CONNECTOR 7
CAN Bus #1.
Reserved for custom applications.
Terminal
Description
7A
GND
7B
CAN Low signal
7C
CAN High signal
7D
5V 0.1A Output
CONNECTOR 8
CAN Bus #2.
Connection with external controller.
Terminal
Description
8A
GND
8B
CAN Low signal
8C
CAN High signal
8D
5V 0.1A Output
CAN 1 and CAN 2 are electrically isolated.
EPC Connection Cable (optional)
Cable used to connect EPC DC/DC Converter with CAN - CANopen interface.
Fig. 7 EPC to CAN –CANopen interface connection cable (SKU: X.2001.0047)
Fig. 6 EPC Dual CAN interface (SKU: F.1003.1002)

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CAN - CANopen Interface
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RJ-45 cable (Optional)
Cable used to connect diverse EPC interfaces together in a daisy-chain mode.
CAN Bus line terminator (Optional)
The CAN Bus requires to be terminated by a 120 Ohm resistor; this can be achieved in
a confident way by using our terminator (see Fig. 8) in the last CAN - CANopen interface.
Fig. 8 RJ-45 CAN Bus terminator (SKU: M.1001.0122)

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CAN - CANopen Interface
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5. INSTALLATION PROCEDURE
1. Make sure EPC is OFF (HVDC and LVDC connections are voltage-free).
2. Plug Fig. 7 EPC to CAN CANopen interface connection cable in connector of
the CAN - CANopen interface and connector 8 of the Fig. 6 EPC Dual CAN interface (in
the DC/DC converter side).
If your installation consists on more than one EPC External interface, refer to the
following schematic (Fig. 9) for connection.
EPC
EPC
INTERFACE 1
EPC
INTERFACE 2
EPC
INTERFACE n
...
EPC
DUAL CAN
INTERFACE
Terminator

8
1 2 1212
Fig. 9 Connection diagram
3. Use the NODE-ID Configuration Switch to configure the ID node.
4. Plug the CANopen bus into CONNECTOR
5. Switch ON the EPC DC/DC Converter.
After turning ON the EPC DC/DC Converter, the CAN - CANopen interface is initialized with
the configuration from the EDS file.
In case that you have not received the EDS file, please check at www.epicpower.es or
contact us by email at sup[email protected].
1
4
5

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CAN - CANopen Interface
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6. IMPORTANT NOTICE OF CANopen
-The default bitrate is 125 kbps.
-In order to enable the EPC DC/DC Converter, CANopen device must be in operational
state and object 0x6200:02 must be switched ON (value 0xFD).
-Current values are shown in mA, voltage values in mV, time values in ms and power
values in W.
-Input objects show information of low side voltage connector.
-Output objects show information of high side voltage connector.
-In control mode, just one target value can be nonzero (i.e., if high side current is
desired to be controlled, low side current and high side power must be zero
commanded).
-Positive current is defined as charging current (energy goes from HVDC to LVDC
side). Negative current is defined as discharging current (energy goes from LVDC to
HVDC side).
-In case of an EPC error, the CAN - CANopen interface will send an error message to
the CANopen bus and change to pre-operational state. It is mandatory reset the
error before enabling the EPC again.
-TPDO is transmitted if one of the mapped objects changes its value.
Fig. 10 Struct of CANopen index
7. IMPORTANT OBJECTS OF CANopen
EDS file of this product is defined according to CiA 453. For more information, please
check EDS file of CAN - CANopen interface and CiA 453 specifications.
The most important objects of the EDS file are explained in this document.

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a. Object 0x6113: Input actual value
This object provides the actual values of low voltage side.
Index
6113h
Name
Input actual values
Object code
RECORD
Sub Index
01h
Description
Voltage
Access
R/O
PDO mapping
No
Value range
SIGNED 32
Unit
V
Scaling
1 mV/u
Default value
0
Sub Index
02h
Description
Current
Access
R/O
PDO mapping
No
Value range
SIGNED 32
Unit
A
Scaling
1 mA/u
Default value
0
Sub Index
03h
Description
Power
Access
R/O
PDO mapping
No
Value range
SIGNED 32
Unit
W
Scaling
1 W/u
Default value
0

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b. Object 611Bh: Input set values
This object configures low side voltage when EPC is in current control mode.
Current control mode can be set with low side current or high side current
(object 0x6205).
Sub-index 01h: Set current. If this value is nonzero and control mode (object
6208h) is 1, EPC will set this current in input (low voltage side). Set current
and set power of index output 1 set values must be zero to perform low
voltage side current control.
Index
611Bh
Name
Input set values
Object code
RECORD
Sub Index
01h
Description
Set current
Access
W/R
PDO mapping
Yes
Value range
SIGNED 32
Unit
A
Scaling
1 mA/u
Default value
0
Sub Index
02h
Description
Maximum low side voltage
Access
W/R
PDO mapping
No
Value range
UNSIGNED 32
Unit
V
Scaling
1 mV/u
Default value
Maximum voltage of low side of EPC
Sub Index
03h
Description
Minimum low side voltage
Access
R/O
PDO mapping
No
Value range
UNSIGNED 32
Unit
V
Scaling
1 mV/u
Default value
Minimum voltage of low side of EPC