Letcan letourneu

LeTCAN for SRD.doc

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LeTourneau CAN Protocol For SR Drive Control and Monitoring

Protocol for communication between a Master host computer and LeTourneau Switched Reluctance Drives

October 8, 2007

LeTCAN for SRD.doc

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LeTourneau CAN Protocol
Table of Contents

1) INTRODUCTION................................................................................................................................................ 3 1.1) OVERVIEW OF THE LETOURNEAU CAN PROTOCOL ............................................................................................ 3 2) SPECIFICATIONS FOR THE LETOURNEAU CAN BUS ............................................................................ 4 2.1) FRAME SPECIFICATIONS...................................................................................................................................... 4 2.2) DATA FRAME IDENTIFIER ................................................................................................................................... 4 2.3) PRIORITY (3 BITS)............................................................................................................................................... 4 2.4) PREDEFINED ADDRESSES: ................................................................................................................................... 4 2.5) DATA FIELD ....................................................................................................................................................... 5 3) PRIORITY 0 MESSAGES -EMERGENCY COMMANDS FROM THE MASTER ................................... 6 4) PRIORITY 1 MESSAGES - EVENTS FROM THE DRIVES......................................................................... 7 5) PRIORITY 2 MESSAGES - PERIODIC COMMANDS FROM THE MASTER.......................................... 8 6) PRIORITY 3 MESSAGES - BROADCAST DATA FROMDRIVES............................................................. 8 7) PRIORITY 4 MESSAGES - ACK TO EMERGENCY COMMANDS ........................................................... 8 8) PRIORITY 5 MESSAGES - ACK TO EVENTS............................................................................................... 8 9) PRIORITY 6 MESSAGES – NETWORK ADMINISTRATION / TIME SYNC........................................... 9 10) MESSAGESEQUENCES AND FLOW CONTROL.................................................................................... 10 10.1) SEQUENCE OF EVENTS AT POWER UP .............................................................................................................. 10 10.2) DRIVE IDENTIFICATION.................................................................................................................................. 11 10.3) TIMESTAMP .................................................................................................................................................... 12 10.4) MASTER_OK ............................................................................................................................................... 13 10.5) SYNCHRONIZATION COUNTER........................................................................................................................ 13 10.6) START BROADCASTS ...................................................................................................................................... 14 10.7) START EVENTS............................................................................................................................................... 14 11) COMMAND DETAIL........................................................................................................................................ 15 12) BROADCAST DATA DETAIL ........................................................................................................................ 16 13) SR DRIVE FAULTS...