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22 

CANid 

byte 0 

byte 1 

byte 2 

byte 3

byte 4 

byte 5 

byte 6 byte 7

0x600+NID 0x23 EnableOD 

Address lo 

EnableOD 

Address hi

0x01 Transmit 

CANid lo 

Transmit  

CANid hi 

0x00 0xC0

 

Example: Enable TPDO1 for the module with NID = 0x10, (EnableOD Address = 0x1800,  
                Transmit CANid = 0x180 + 0x10 = 0x190). 
 

CANid 

byte 0 

byte 1 

byte 2 

byte 3

byte 4 

byte 5 

byte 6 byte 7

0x620 0x23 0x00  0x18 0x01 0x90  0x01 0x00 

0xC0

 
 
8.9 

Transmit Process Data Object Mapping (TPDO MAPPING) 

 

Each TPDO transmits two PROCESS DATA OBJECTS (PDOs). Which PDOs are transmitted 
by the module in a particular TPDO can be configured by the user. 
  
Configuring a TPDO is a 4 step process: 
 

i)

 

Write a 0 to the TPDO Configuration OD Address, subindex 0x00. 

ii)

 

Enter the OD address of the 1

st

 PDO.  

(see Appendix D PROCESS DATA OBJECTS) 

iii)

 

Enter the OD address of the 2

nd

 PDO. 

iv)

 

Enter the number of PDOs in the TPDO. 

 
Also, the following information is required to successfully map a TPDO. 
 

TPDO ConfigOD 

Address 

EnableOD 

Address 

Transmit  

CANid 

TPDO1 

0x1A00 

0x1800 

0x180 + NID 

TPDO2 

0x1A01 

0x1801 

0x280 + NID 

TPDO3 

0x1A02 

0x1802 

0x380 + NID 

TPDO4 

0x1A03 

0x1803 

0x480 + NID 

 
Write a 0 to the TPDO Configuration OD Address, subindex 0x00 by performing a SDO Write 
as follows: 
 

CANid 

byte 0 

byte 1 

byte 2 

byte 3

byte 4 

byte 5  byte 6  byte 7

0x600+NID 0x2F ConfigOD 

Address lo 

ConfigOD 

Address hi

0x00 

0x00    

 
Configure the 1

st

 PDO by performing a SDO Write follows: 

 

CANid 

byte 0 

byte 1 

byte 2 

byte 3 byte 4 byte 5

byte 6 

byte 7 

0x600+NID 0x23 ConfigOD 

Address lo 

ConfigOD 

Address hi

0x01 0x20 0x00 PDO 

OD 

Address lo 

PDO OD 

Address hi

 

Содержание NOxCAN

Страница 1: ...NOxCAN NOx CAN Module Instruction Manual REV 1 11 12 04 08 ECM ENGINE CONTROL AND MONITORING...

Страница 2: ...OS Commands 0x20 0x21 and 0xDF B Added appendices F G H I 1 06 8 29 2007 Added kit photo fixed page numbering 2 0 1 07 10 26 2007 Changed Hearbeat rate from 10sec to 0 5sec 4 0 1 08 2 8 2008 Expanded...

Страница 3: ...veraging of Data 17 8 4 Returning the Pre Broadcast Averaging to Factory Default 18 8 5 Changing the NID 18 8 6 Changing the TPDO Broadcast Rate 20 8 7 Enable Transmit Process Data Object TPDO 21 8 8...

Страница 4: ...4...

Страница 5: ...eger contains 2 bytes unsigned 16 and has a range of 0x0000 0xFFFF 0 65535 6 One unsigned long contains 4 bytes unsigned 32 and has a range of 0x00000000 0xFFFFFFFF 0 4294967295 7 One single float con...

Страница 6: ...1 10 Manuals and Configuration software CD 13 01 1 Optional Pressure Compensation add P to kit part number 11 Pressure Sensor 0 75 psia 517 kPa 07 01 USA or 1 07 02 metric 12 Pressure Extension Cable...

Страница 7: ...7...

Страница 8: ...of the NOx sensor No matter what the NOx sensor is plugged into it will read the same NOx and O2 values since the factory calibration user zeros and user spans travel with the sensor 4 The main distur...

Страница 9: ...n identifying number known as the node identifier NID The allowable range for the NID is 0x01 to 0x7F When connecting other non ECM devices on the same CAN bus ensure that the following CANids are not...

Страница 10: ...ted on the CAN bus See ECM Error codes in Appendix A Approximately 5 seconds after power is applied the unit will start broadcasting CAN messages at a CAN baud rate of 500kbps All messages are related...

Страница 11: ...programmed TPDO broadcast rate see section 8 6 to determine minimum broadcast rate A TPDO contains two data values each data value corresponds to a measured parameter e g NOx Lambda AFR O2 FAR PHI etc...

Страница 12: ...yte write OD lo low byte of OD address OD hi hi byte of OD address Sub Subindex of OD address Data0 always contains the Least Significant Byte LSB of the data to be written to the OD A SDO Write will...

Страница 13: ...e 7 0x580 NID Size OD lo OD hi Sub Data0 Data1 Data2 Data3 Size 0x4F 1 byte response 0x4B 2 byte response 0x43 4 byte response OD lo low byte of OD address OD hi hi byte of OD address Sub Subindex of...

Страница 14: ...s 0x1018 subindex 0x02 4 byte integer unsigned 32 iii Revision Number located at OD address 0x1018 subindex 0x03 4 byte integer unsigned 32 iv Serial Number located at OD address 0x1018 subindex 0x04...

Страница 15: ...n of the NOx or O2 measurement three messages must be sent to the NOxCAN The procedure is as follows i SDO Write to OD address 0x5000 of the current NOx O2 value output by the module ii SDO Write to O...

Страница 16: ...r memory Therefore the SPAN will be ignored A successful SPAN can be determined by reading locations 0x5000 and 0x5001 in the OD by performing an SDO Read If the SPAN was successful those locations wi...

Страница 17: ...The defaults are 0 375 and are stored in non volatile memory EEprom in the module Note that O2 Lambda PHI AFR and FAR are calculated from the Ip1 measurement and therefore are affected by the Ip1 ave...

Страница 18: ...configuration mode If there is only one CANopen module on the CAN bus this process requires only one message If there are several CANopen modules on the same CAN bus the specific module must be ident...

Страница 19: ...ntrolled CAN id byte 0 byte 1 0x00 0x81 NID iii A third method is to send a command instructing the module to reset the CAN interface only CAN id byte 0 byte 1 0x00 0x82 NID Example Change the NID for...

Страница 20: ...yte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x60F 0x2B 0x00 0x18 0x05 0xF4 0x01 There is a minimum broadcast rate that is dependent on the number of modules transmitting on the CAN bus and how many TPDOs...

Страница 21: ...rform a SDO Write to the Enable OD Address for that particular TPDO as follows CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x600 NID 0x23 EnableOD Address lo EnableOD Address hi 0x01...

Страница 22: ...ess subindex 0x00 ii Enter the OD address of the 1st PDO see Appendix D PROCESS DATA OBJECTS iii Enter the OD address of the 2nd PDO iv Enter the number of PDOs in the TPDO Also the following informat...

Страница 23: ...0x602 0x2F 0x01 0x1A 0x00 0x00 0x602 0x23 0x01 0x1A 0x01 0x20 0x00 0x16 0x20 0x602 0x23 0x01 0x1A 0x02 0x20 0x00 0x18 0x20 0x602 0x2F 0x01 0x1A 0x00 0x02 8 10 Entering Fuel Constants The fuel constant...

Страница 24: ...1 0xDF Issuing this command sets configuration and module parameters as follows 1 NOx sensor enabled 2 1wire NOx sensor memory enabled 3 Expert mode disabled 4 Hydrogen fuel compatibility disabled 5 S...

Страница 25: ...FF Device Software 0x6100 61FF Device Software Internal 0x6200 62FF Device Software User 0x6300 63FF Device Software Data set 0x7000 70FF Additional Modules 0x8000 80FF Monitoring 0x8100 81FF Monitori...

Страница 26: ...ed 3x 2s Vsw 6 for 7sec 0x0032 Pulse Red 3x 2s Vsw 32V 0x0041 Pulse Red 4x 2s VS too high 0x0051 Pulse Red 5x 2s RVS to high 0x0052 Pulse Red 5x 2s VHcommanded VHactual 0 5V for 10sec 0x0061 Pulse Red...

Страница 27: ...0 0x02 Status The values that may be returned are listed below Status 0x00 Last command completed No error occurred No reply 0x01 Last command completed No error occurred The reply can now be read 0x0...

Страница 28: ...quires write to OD 0x5000 old value and 0x5001 desired value defZeroSpanSuccessful 0x00 defSenModNotReady 0xFD defZeroSpanDataInvalid 0xFE defOWZeroSpanWrFail 0xFF SpanO2 0x0E Set span for O2 requires...

Страница 29: ...r Pressure None DisableIP1Pcomp 0x1C Do not compensate IP1 for Pressure PCF 1 0 None ResetDeltaO2Table 0x1D Set all delta O2 values to 0 None ResetDeltaLambdaTable 0x1E Set all delta Lambda values to...

Страница 30: ...0 5 seconds by the NOxCAN module During normal operation the module is in operational mode NMT state 0x05 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x700 NID NMT state NMT state...

Страница 31: ...6 PDO Data Ip2raw bits 0x200E single float ERFL PDO Data Error bit flags 0x200F single float ERCD PDO Data ECM CANOpen Error Code 0x2010 single float PR10 PDO Data Praw bits 0x2011 single float PCF PD...

Страница 32: ...WIRE every time the sensor is connected to the module or the module is powered on The module can be configured to use generic sensor constants which can be modified by the user by issuing the proper E...

Страница 33: ...unsigned 16 RD WR MAX VH Volts 100 0x0B unsigned 16 RD WR MIN VH Volts 100 0x0C unsigned 16 RD WR NOMINAL VH Volts 100 0x0D unsigned 16 RD WR INCREMENT VH every 3sec Volts 100 0x0E unsigned 16 RD WR S...

Страница 34: ...gned 16 RD WR HYDROGEN OFFSET mA O2 10000 32768 0x3D unsigned 16 RD WR 0x3E unsigned 16 RD WR 0x3F unsigned 16 RD WR 0x5017 0x00 unsigned 16 RD WR EEPROM SENSOR TYPE A write to this location with sens...

Страница 35: ...543 7 013 7 513 8 045 8 609 10 9 209 9 844 10 518 11 231 11 987 12 788 13 634 14 530 15 477 16 477 20 17 535 18 650 19 827 21 068 22 377 23 756 25 209 26 739 28 349 30 043 30 31 824 33 695 35 663 37 7...

Страница 36: ...ection 4 0 and section 8 6 The module must be properly configured in EIB mode or Stand alone mode depending on how it will be used To convert from one mode to the other requires software reprogramming...

Страница 37: ...d start the Configuration Tool software Click on the Module tab Select the CAN adapter being used Then start the communication 3 Click on the Set to EIB Mode Wait for Done Message Stop communication a...

Страница 38: ...off the end of the module Use an 18mm socket without the wrench 5 Release the two tangs at each side of the module 6 Slide the PCB out Remove the jumper from JP4 You can hang it on one pin of JP4 whe...

Страница 39: ...0 The lambda module is now in EIB mode and can be on the EIB with a display To convert a module from EIB to Stand alone Mode The process is similar to the previously described procedure Note that in E...

Страница 40: ...BTU200 04 Power Supplies 04 01 AC DC Power Supply Universal 24VDC 4 2A 04 02 Vboost Supply 10 14VDC to 24VDC 14 5A 05 Linear O2 Sensors 05 01 NTK 6 mA 05 02 Bosch LSU4 2 05 03 Bosch LSU4 9 05 04 NTK 4...

Страница 41: ...06 Adapter to Lambda Wires NTK wire colors 10 07 Adapter to NTK 6 mA JAMP 10 08 Adapter to LSU4 2 10 09 Adapter to LSU4 9 10 10 Adapter to Lambda Wires Bosch wire colors 10 11 Adapter to NTK NOx Wires...

Страница 42: ...and Brass Plug 12 08 Pressure Line Assembly tubing hose fittings 19 USA 12 09 Inconel Shield 12 10 18 mm Cu Gasket 12 11 Pressure Line Assembly 6 mm tubing hose fittings 483 mm Metric 12 12 ISO tapere...

Страница 43: ...and Media 13 01 5200 Series Analyzer and Module Manuals and Configuration Software CD 14 Tools 14 01 18 mm x 1 5 mm Tap 14 02 18 mm x 1 5 mm Die 14 03 NPT Tap 14 04 ISO Tapered Tap 14 05 Antiseize 14...

Страница 44: ...bility and fitness for purpose whether express implied or arising by operation of law trade usage or course of dealing are hereby disclaimed The warranty is void if the display head is opened LIMITATI...

Страница 45: ...45 Los Altos CA 94023 0040 USA 408 734 3433 Fax 408 734 3432 www ecm co com ECMENGINE CONTROL AND MONITORING...

Страница 46: ...which this declaration relates are in conformity with the essential requirements of the following standards EN61326 1997 A2 2001 Class A Annex A EN61010 1 2001 Electrical Safety And therefore conform...

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