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ASI CANopen Programming Guide

Use this guide if your system controls or monitors the controller over a CAN bus, for example from a vehicle control unit, a display or a battery management system (BMS).

The guide covers:

  • CAN settings and features, such as 29-bit extended IDs, termination, sleep on sync loss and auto-operational mode.
  • The ASI CANopen implementation: message format, endianness, Service Data Objects (SDO), Network Management (NMT), SYNC, heartbeat and emergency (EMCY) messages.
  • Transmit and receive Process Data Objects (TPDO and RPDO), and how to customize them.
  • Step-by-step examples, including battery RPDO and display TPDO setup.
  • The ASI CAN object dictionary.

Protocol documents

ASI CANOpen Protocol

Please see the Command Timeouts for more details.

Fault and warning settings

  • CAN bus fault and CAN bus warning (Faults2 bit 5 and Warnings bit 4): to disable both, disable Communications Configuration Vector bit 1 CAN faults (address 58).
  • Remote CAN fault (Faults2 bit 12): cannot be disabled while Communications Configuration Vector bit 7 CAN enable is enabled.
  • Missed CAN message (Warnings2 bit 7): cannot be disabled.