Nodes: Valid adresses: Bus:











shelfNodeId 1-48 CAN











backplaneNodeId 1-4











feederId 1-8 Modbus





































Name/Description Message Direction Message ID (11bit) PAYLOAD

From To Type (5bit) Node (6bit) Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8

Master Heartbeat Master All 1 0









Execute Shelf Command Master Shelf 2 shelfNodeId shelfCmd shelfCmdParam







Execute Feeder Command Master Shelf 3 shelfNodeId feederId feederCmd feederCmdParam feederTaskId




Execute Backplane Command Master Backplane 4 backplaneNodeId backplaneCmd shelfNodeId







Backplane Heartbeat & Shelf Status Backplane Master 5 backplaneNodeId presentShelves activeShelves





Backplane Event Backplane Master 6 backplaneNodeId backplaneEvent shelfNodeId







Assign ShelfNodeId Backplane Shelf 7 backplaneNodeId shelfNodeId








Shelf Heartbeat & Active Feederes Shelf Backplane, Master 8 shelfNodeId activeFeeders








Feeder Telemetry 1 Shelf Master 9 shelfNodeId feederId feederTaskState feederTaskStateParam feederCurrentTaskId feederState feederInputFlags feederLedState

Feeder Telemetry 2 Shelf Master 10 shelfNodeId feederId adcRaw24v adcRaw3v3 adcRawMotorCurrent feederErrorFlags

Feeder Telemetry 3 Shelf Master 11 shelfNodeId feederId feederUuidChunk feederUuid [12] (2 x 6)

Feeder Telemetry 4 Shelf Master 12 shelfNodeId feederId feederType softwareVersionMajor softwareVersionMinor softwareVersionBuild




Shelf Telemetry 1 Shelf Master 13 shelfNodeId adcRaw24v adcRaw3v3 shelfErrorFlags




Shelf Telemetry 2 Shelf Master 14 shelfNodeId feederId adcRawCemCurrent






Shelf Telemetry 3 Shelf Master 15 shelfNodeId shelfType softwareVersionMajor softwareVersionMinor softwareVersionBuild





Backplane Telemetry 1 Backplane Master 16 backplaneNodeId adcRaw24v adcRaw3v3 backplaneErrorFlags




Backplane Telemetry 2 Backplane Master 17 backplaneNodeId backplaneType softwareVersionMajor softwareVersionMinor softwareVersionBuild





























































































































Parameter Name Datatype Values Description



backplaneEvent ↶ uint8_t 1 – 4, 100 0 RESERVED











1 SHELF_INSERTED Shelf physically inserted but without communication yet.






2 SHELF_ASSIGNED Shelf been assigned nodeId and communication is successful.






3 SHELF_LINK_LOST Shelf communication has failed but is still inserted physically.






4 SHELF_REMOVED Shelf is removed physically.





















100 ASSIGN_ALL_FINISHED Assigning all shelves process has been finished.





















Note: Events 1..4 will come with corresponding parameter shelfNodeId.


















backplaneCmd ↶ uint8_t 1 – 4 0 RESERVED












1 DISABLE_ALL
Disable all levels in backplane.






2 DISABLE_ONE
Disable specific level. Provide shelfNodeId.






3 ASSIGN_ALL
Try to discover and assign all present shelfes.






4 ASSIGN ONE
Try to discover and assign shelf on specific level. Provide shelfNodeId.


















presentShelves ↶ uin16_t 0x0000 – 0x0FFF Bits 0-11 describe state of each level in backplane.






0 Shelf not present physically






1 Shelf is present physically


















activeShelves ↶ uin16_t 0x0000 – 0x0FFF Bits 0-11 describe state of each level in backplane.






0 Shelf is not active (no communication).






1 Shelf is active (communication estabilished).


















activeFeeders ↶ uint8_t 0x00 – 0xFF Each bit describes if corresponding feeder state.






0 Feeder is not active (not present & no communication).






1 Feeder is active (communication estabilished).


















adcRaw24v ↶ uint16_t 0 – 4095 Raw 12bit ADC value. System voltage (24V rail). Calculate to engineering value using below formula:





















((adcRaw24v * ADC_REF_V) / ADC_MAX_RAW) * ((ADC_24V_RES_H + ADC_24V_RES_L) / ADC_24V_RES_L)





















ADC_REF_V 3.3











ADC_MAX_RAW 4095











ADC_24V_RES_H 150000











ADC_24V_RES_L 10000























adcRaw3v3 ↶ uint16_t 0 – 4095 Raw 12bit ADC value. Logic voltage (3.3V LDO). Calculate to engineering value using below formula:





















((adcRaw3v3 * ADC_REF_V) / ADC_MAX_RAW) * ((ADC_24V_RES_H + ADC_24V_RES_L) / ADC_24V_RES_L)





















ADC_REF_V 3.3











ADC_MAX_RAW 4095











ADC_3V3_RES_H 5100











ADC_3V3_RES_L 10000























backplaneType ↶ uint8_t 1 Backplane PCB type. Reserved for future use (eg. For backplanes with less or more levels).






1 STANDARD
























backplaneErrorFlags ↶ uint8_t 0x00 – 0x1F Backplane Error Flags. Each bit corresponds to one error. If a bit is set (1), the error is asserted.






Bit:













0 Rail voltage too high.






1 Rail voltage too low.






2 Logic voltage too high.






3 Logic voltage too low.






4 Master heartbeat not received.






5-7 RESERVED
























shelfErrorFlags ↶ uint8_t 0x00 – 0x1F Shelf Error Flags. Each bit corresponds to one error. If a bit is set (1), the error is asserted.






Bit:













0 Rail voltage too high.






1 Rail voltage too low.






2 Logic voltage too high.






3 Logic voltage too low.






4 Master heartbeat not received.






5-7 RESERVED
























softwareVersionMajor ↶ uint8_t 0-255 Major Software Version. Together with softwareVersionMinor, softwareVersionBuild (major.minor.build) is written in firmware and should be marked in release package/tag.


















softwareVersionMinor ↶ uint8_t 0-255 Minor Software Version. Together with softwareVersionMajor, softwareVersionBuild (major.minor.build) is written in firmware and should be marked in release package/tag.


















softwareVersionBuild ↶ uint8_t 0-255 Build Software Version. Together with softwareVersionMajor, softwareVersionMinor (major.minor.build) is written in firmware and should be marked in release package/tag.


















shelfType ↶ uint8_t 1 Shelf type. Reserved for future use.






1 STANDARD
























adcRawCemCurrent ↶ uint16_t 0 – 4095 Raw 12bit ADC value. Current on CEM output (card edge slots on shelf). Calculate to engineering value using below formula:





















float v = (float)rawAdc * ADC_REF_V / ADC_MAX_RAW;






float iOut_A = (v <= CS_VOUT_LIN_MAX) ? (v * (TPS_CS_K / CS_R_GND)) : NAN;





















ADC_REF_V 3.3











ADC_MAX_RAW 4095











TPS_CS_K 500











CS_R_GND 510











CS_R_SER 270











TPS_CS_VIN_LIN_MAX 4.0











CS_VOUT_LIN_MAX (TPS_CS_VIN_LIN_MAX * (CS_R_GND / (CS_R_SER + CS_R_GND)))





















Note: Values higher than CS_VOUT_LIN_MAX should be marked as NaN – and treated as FAULT state.










Possible reasons for FAULT state:










Output short to GND










Power switch thermal swing/shutdown


















feederType ↶ uint8_t 1, 2 Feeder type.






1 STD_SINGLE












2 STD_DOUBLE
























feederUuidChunk ↶ bool 0, 1 Describes which UUID chunk is being sent, this was nessesary since UUID can't be send in one CAN payload.






0 First chunk (lower 6 bytes)






1 Second chunk (upper 6 bytes)


















feederUuid ↶ uint8_t [12] - Feeder 96 bit UUID (Unique identifier). It is split in two 48bits (6 bytes) chunks, to fit in the CAN frame. See feederUuidChunk.


















adcRawMotorCurrent ↶ uint16_t 0 – 4095 Raw 12bit ADC value. Feeder motor current. Calculate to engineering value using below formula:





















float i_A = (((float)rawAdc * ADC_REF_V) / (float)ADC_MAX_RAW - MOT_IPROPI_OFFSET_V) / MOT_IPROPI_V_PER_A;





















ADC_REF_V 3.3











ADC_MAX_RAW 4095











MOT_IPROPI_GAIN_UA_PER_A 1575











MOT_IPROPI_RES_OHM 1000











MOT_IPROPI_OFFSET_V 0











MOT_IPROPI_V_PER_A ((MOT_IPROPI_GAIN_UA_PER_A * 1.0e-6f) * MOT_IPROPI_RES_OHM)


















shelfCmd ↶ uint8_t 1, 2 Shelf command.






1 DISCOVER_FEEDERS Turns off all CEMs outputs, and starts power sequence, and discovering inserted feeders.






2 DISABLE_FEEDER Force disable one CEM output. Provide CEM index (feederId) as shelfCmdParam


















shelfCmdParam ↶ uint8_t 0 – 255 Parameter for shelf command. See shelfCmd.


















feederCmd ↶ uint8_t 1 – 7 Commands for feeder.






1 STOP Stops current movement.






2 FEED Starts feeding. Provide feederCmdParam with amount of products that should be dropped.






3 RETRACT Retracts feeder for loading.






4 LED_HIGHLIGHT Change led brightness without changing color. Provide feederCmdParam: 0=LED_NORMAL_BRIGHTNESS, 1=LED_MAX_BRIGHTNESS






5 LED_CHANGE_COLOR Changes LED behaviour/color. Provide feederCmdParam with led behaviour. See possible values feederLedState.






6 TRIGGER_MODE Changes trigger flap mode signal interpretation. Provide feederCmdParam: 0=TRIG_ON_PRESS, 1=TRIG_ON_RELEASE






7 BRAKING_MODE Change braking mode. Provide feederCmdParam: 0=BRAKE_MODE_COAST, 1=BRAKE_MODE_FORCE


















feederCmdParam ↶ uint8_t 0 – 255 Parameter for feeder command. See feederCmd.


















feederTaskId ↶ uint16_t 0-65535 TaskID for feederCmd. This should be send by controller (master) and incremented for each new task, to later reliable track specific task execution state.


















feederTaskState ↶ uint8_t 0 – 7 Feeder task state:






0 NO_TASK No command was received yet.






1 RECEIVED Command was received.






2 ACCEPTED Command is correct and can be executed.






3 REJECTED Command was either unknown or cannot be executed at a time.






4 BUSY Command is during execution. When current task was FEED, feederTaskStateParamwill contain amount of products dropped till now.






5 COMPLETED_SUCCESS Comand was completed with success. When current task was FEED, feederTaskStateParamwill contain amount of products dropped.






6 COMPLETED_DROPPED_WRONG_AMOUNT Comand was completed, but either dropped not enough products (not sufficient stock), or dropped too much (products glued together), feederTaskStateParamwill contain amount of products dropped.






7 FAILED Command execution failed (eg. Timeout or hardware issue)


















feederTaskStateParam ↶ uint8_t 0-255 Parameter for feeder task state. During, and after FEED command execution it will contain amount of products dropped.


















feederCurrentTaskId ↶ uint16_t 0-65535 Feeder will copy feederTaskId to feederCurrentTaskId when the task is received. This allows the controller to ensure that the feederTaskState it reads refers to the same task instance not a previous one.

































feederState ↶ uint8_t
Feeder state.






1 STOPPED












2 FEEDING












3 RETRACTING
























feederInputFlags ↶ uint8_t 0x00 – 0x3F Feeder input or settings flags. Each bit corresponds to one flag. If a bit is set (1), the flag is asserted.






Bit:













0 TRIGGER_MODE
0=TRIG_ON_PRESS, 1=TRIG_ON_RELEASE






1 BRAKING_MODE
0=BRAKE_MODE_COAST, 1=BRAKE_MODE_FORCE






2 TRIGGER
0=TRIGGER_PRESSED, 1=TRIGGER_RELEASED






3 LIMIT_SW_F
0=NOT_AT_LIMIT, 1=AT_LIMIT






4 LIMIT_SW_R
0=NOT_AT_LIMIT, 1=AT_LIMIT






5 MOTOR
0=STOPPED, 1=RUNNING






6 LED_BRIGHTNESS
0=LED_NORMAL_BRIGHTNESS, 1=LED_MAX_BRIGHTNESS






7 RESERVED
























feederLedState ↶ uint8_t 0 – 8 0 OFF












1 BLUE












2 BLUE_BLINK












3 GREEN












4 GREEN_BLINK












5 RED












6 RED_BLINK












7 YELLOW












8 YELLOW_BLINK
























feederErrorFlags ↶ uint8_t
Feeder Error Flags. Each bit corresponds to one error. If a bit is set (1), the error is asserted.






Bit:













0 Rail voltage too high.






1 Rail voltage too low.






2 Logic voltage too high.






3 Logic voltage too low.






4 Motor current too high






5 Motor open circuit.






6 Movement timeout.






7 Both limit switches are at limits.