NGC CANbus Communication Specification - ngcontrols.com

1 NGC CANbus Communication Specification The NetGain Controls CANbus operates at 250 Kbps. Refer to for the data link layer, as well as SAE J1939. The complete NGC Specification is described in this document. Note: All numbers shown in this document are in decimal format unless otherwise specified with the prefixes 0x for hexadecimal or 0b for LayerThe recommended connector is RJ-45. Twisted pair cable should be used. The pinouts for the connectors are shown in the following illustration and Pin #Signal NameSignal Description1 CAN_HDominant High2 CAN_LDominant Low3 CAN_GNDG round4 ReservedReserved5 ReservedReserved6 CAN_SHLDCAN Shield, optional7 CAN_GNDG round8 CAN_V+Power, optionalThe WD1 RJ-45 connectors have routed to their pin 8 the WD1 constant 12V supply.

2 Both these power pins are protected by a resettable fuse and can each provide up to 150mA. CAN IdentifierCAN extended frame is used. The following table and descriptions detail the use of the extended 1: RJ-45 Pinout DiagramIdentifier 11 bitsIdentifier Extension 18 bitsPriorityRDPPDU Format (PF)PFPDU Specific (PS)Source Address (SA)321118765432187654321876543212827262 5242322212019181716151413121110987654321 0 The above table does not show the SRR and IDE bits that separate the lower two bits of PF from the higher 6 bits.

3 The SRR and IDE bits are defined by , and are not affected by the J1939 Specification . The major deviation in the NGC Specification from J1939 is the lack of address claiming. Addresses are hard-coded into the devices. It is possible that future revisions will include provision for network start-up as per are 8 possible priorities. However, only three are used: 3 = High 5 = Medium 8 = LowR: ReservedCurrently, only zero is used for this : Data PageCurrently, only zero is used for this parameter.

4 PF: PDU FormatThis parameter indicates whether the message is destination specific or broadcast. If the message is destination specific (PDU1), then PDU Format is 0-239. Otherwise, it is broadcast (PDU2), and falls in the ranges of 240-255. The majority of these values (both PDU1 and PDU2) are assigned under J1939 by the SAE. For destination specific, only 239 can be used for manufacturer-specific assignments. For broadcast, 255 is available for manufacturer-specific assignments. The bulk of the messages sent by NGC devices are broadcast.

5 PS: PDU SpecificThe purpose of PDU specific depends on whether PF is PDU1 or PDU2. If PF is PDU1 (destination specific), then PS holds the destination address. If PF is PDU2 (broadcast), then PS holds the Group Extension . SA: Source AddressThe source address is the address of the device placing the message on the bus. Network AddressesThe following devices are currently supported by the NetGain Controls CANbus protocol:NAMES ource AddressWarp-Drive Speed Controller (WD1), unit A 88 (0x58)Warp-Drive Speed Controller (WD1), unit A.

6 Do not communicate to this address for internal communications (0x59)Warp-Drive Speed Controller (WD1), unit B 90 (0x5A)Warp-Drive Speed Controller (WD1), unit B . Do not communicate to this address for internal communications (0x5B)Warp-Drive Speed Controller (WD2), unit A 92 (0x5C)Warp-Drive Speed Controller (WD2), unit A . Do not communicate to this address for internal communications (0x5D)Warp-Drive Speed Controller (WD2), unit B 94 (0x5E)Warp-Drive Speed Controller (WD2), unit B.

7 Do not communicate to this address for internal communications (0x5F)Interface Module (IM1)1 (0x01)Speed Sensor Block (SSB)28 (0x1C)Elithion BMS (EBM)50 (0x32)MessagesThe following table lists the possible messages currently used on the NGC CANbus network. Detailed descriptions of each message are listed after the DesignationMessage Description0 (PDU1)Clear error or warnings. Destination (PDU2)IM time and date. (PDU2) (PDU2) (PDU2) (PDU2) (PDU2)Set WarP-Drive motor current (PDU2)Set WarP-Drive battery current (PDU2)Set WarP-Drive motor voltage DesignationMessage (PDU2)Set WarP-Drive throttle (PDU2) (PDU2) (PDU2) (PDU2) (PDU2) (PDU2) (PDU2)Request non-interval (PDU2)Set Warp-Drive motor current (PDU2)WarP-Drive power (PDU2)WarP-Drive sensor related data including brake and (PDU2)WarP-Drive supply (PDU2)WarP-Drive logged (PDU2)Reserved9 (PDU2)

8 WarP-Drive configured forward limits and model (PDU2)WarP-Drive system info (PDU2)Warp-Drive system info. (PDU2)WarP-Drive configured reverse limits, motor current ramp, and installed (PDU2)Speed sensor (PDU2)Configuration byte for speed sensor specific message 0: WarP-Drive Error Clear. PS is usually the WarP-Drive address (88), and the SA is usually the IM address (1).Message Identifier: 0xCEF58'SA'PFPSSAPRDPC ycle Time (ms)239destinationsource300As NeededData Bytes: 1 PositionDataCommentsByte 00: Clear ErrorsBroadcast message 0: IM Time and Identifier: 0x20FF0001 PFPSSAPRDPC ycle Time (ms)25501800200 Data Bytes: 7 PositionDataCommentsByte 0 Second: 0-59 Byte 1 Minute: 0-59 Byte 2 Hour: 0-23 Byte 3 Day: 1-31 Byte 4 Weekday: 0-6 Zero referenced to 5 Month: 1-12 Byte 6 Year: 0-127 Years from message 1: message 2: message.

9 Short Command 0 (Reserved)Broadcast message : Short Command 1 (Reserved)Broadcast message : Short Command 2. Used to set new motor current limit in controller. SA can be any device intended for setting new motor current limits, Identifier: 0xCFF03'SA'PFPSSAPRDPC ycle Time (ms)25531, others300As NeededData Bytes: 5 PositionDataCommentsByte 02 Byte 0 indicates which short commandByte 1 Forward motor current limit, high byteByte 2 Forward motor current limit, low byteByte 3 Reverse motor current limit, high byteByte 4 Reverse motor current limit, high byteBroadcast message : Short Command 3.

10 Used to set new battery current limit in controller. SA can be any device intended for setting new battery current limit, Identifier: 0xCFF03'SA'PFPSSAPRDPC ycle Time (ms)25531, others300As NeededData Bytes: 3 PositionDataCommentsByte 03 Byte 0 indicates which short commandByte 1 Battery current limit, high byteByte 2 Battery current limit, low byteBroadcast message : Short Command 4. Used to set new motor voltage limit in controller. SA can be any device intended for setting new motor voltage Identifier: 0xCFF03'SA'PFPSSAPRDPC ycle Time (ms)25531, others300As NeededData Bytes: 5 PositionDataCommentsByte 04 Byte 0 indicates which short commandByte 1 Forward motor voltage limit, high byteByte 2 Forward motor voltage limit, low byteByte 3 Reverse motor voltage limit, high byteByte 4 Reverse motor voltage limit, low byteBroadcast message : Short Command 5.