Table of Contents

1    Introduction

1.1  About this Document

Motivation	In order to make configuration and operation easier, many building components support some way of remote controlling. This remote controlling does not only make it possible for the janitor to monitor devices and open gates or doors, letting the roller blinds down etc. But it also to makes automatic changes, as turning down the temperature at 6 p.m. or perhaps even when the last person has left the building.
	In short: The communication between devices are becoming more and more common, and more and more different devices are connected to the main computer in order to allow what could be seen as an intelligent building.
	This document describes the protocol that will enable a remote control of pumps and thus make it possible to incorporate them in the main building management system.
Value Notation	All values in this document are decimal unless prefixed with "0x" for a hexadecimal value. The exception is the Example Telegrams, they are always in hexadecimal format (see below).
Example Telegrams	In this Document there are some communication samples, they looking like:
	701 1 05 Operational Heartbeat 181 8 00 00 05 00 00 10 03 80 TxPDO1
	The first block of three numbers is the hexadecimal 11-Bit CAN-ID, thereafter is a single number ranging from 0 through 8, it tells the user how many data bytes are transmitted. Last are the data bytes, each byte always in block of two hexadecimal numbers. After the numbers comes a brief explanation of the Telegram.
Symbols	Important information about something specific is written like this. It can contain tips and/or the information can be important and should be respected.

1.2  Scope of the Document

1.3  Terms

2    CAN

2.1  CAN Overview

Bus Topology	The CAN devices should be connected in a line, where each device may be connected to at most 2 other devices. An exception to this rule is possible (it is called Stub), see Cable Stubs below.
	The NodeId must be configured at each device (node), before this node can be added to the network. The NodeId can range from 1 to 127. However in order to use some Wilo specific features it is recommended to use the NodeId range 1 to 64.
	Please make sure that each NodeId is unique within the same network. If two nodes has the same NodeId it might go unnoticed, but data will collide and data will be lost.
Data Flow	CAN is a Multi-Master Network, that means that all devices can initiate a telegram themselves. Basically all Devices broadcast their current status on the network and all devices that has usage of this info can use it. Some CANopen terms for this automatic sending are Heartbeat, PDO, EMCY and TIME.
	It is also possible to request data from a specific Device, like the more conventional "Master-Slave"-communication. The CANopen term for this communication type is SDO.

2.2  Hardware Restrictions

2.3  Simple Communication

Overview	It is possible to communicate with Wilo CANopen devices without knowledge about CANopen, this can be extra interesting for simple PLC and BMS Systems.
Reading Device Data	The Wilo Devices are continuously sending information about itself on the bus. This Data can be read directly without any difficult implementation, a description of this can be found in the following sections.
Writing Device Data	In order to write values to the Wilo Device, two CAN Identifiers must be sent. The first one is the Generated Heartbeat (a constant message sent every second) and the other is the wanted settings: binding on/off, device on/off, setpoint, regulation mode and min/max modes. More information can be found in the following sections.
Mixing Simple and Complex Commands	The simplified information described here may not be used together with the more complex commands from other chapters without fully understanding the complete implication of this.

2.3.1 Bootup and Heartbeat

Device Bus Address (NodeId)	The address of a Wilo Device must be configured at the device itself, often through the use of a menu. The Bus Address is called NodeId.
	When using this Simple Communication please take care to set a NodeId between 1 and 64 (it is possible to select a NodeId up to 127, but a Wilo device with such a high NodeId will not support the simple communication described here).
Bus Presence	A Wilo device sends a Heartbeat every second on the bus. This heartbeat can be used to see if a specific device is present or not.
Bootup Sequence	When the Wilo device is powered up it sends a Bootup telegram. This bootup is followed by 5 seconds of Pre-Operational telegrams (telling others that this device is ready). After this, the main Operational state is entered as can be seen in the following example:
	701 1 00 Bootup 701 1 7F Pre-Operational Heartbeat 701 1 7F Pre-Operational Heartbeat 701 1 7F Pre-Operational Heartbeat 701 1 7F Pre-Operational Heartbeat 701 1 05 Operational Heartbeat
Simple Heartbeat Description	A Heartbeat has the CAN-ID ranging from 0x701 to 0x77F (0x700+NodeId). It must always have 1 Byte data, and this byte can be one of the following.
	00: Bootup 7F: Pre-Operational 05: Operational
Bootup Detection	A Bootup telegram can be used to detect if a new device has been introduced to the network, or if a present device has lost its power temporary.
Device Presence Detection	If a Wilo Device Heartbeat is not seen for more than 2 seconds (double the Heartbeat time) this device can be considered lost (detached from the network or powered off).

2.3.2 Simple Read

2.3.3 Simple Write Prerequisities

Generate Heartbeat	In order to use the Simple Communication described here, the device that is to communicate with the Wilo device must generate a heartbeat with a cycle of 1 seconds at the NodeId from the Wilo Device plus 64 (0x40). This Heartbeat must also contain the code Operational (05).
Example	If a Wilo Device is set to NodeId 9. A hearbeat with a 1 second cycle must be generated at NodeId 73 (0x49).
	709 1 00 Wilo Device 709 1 7F Wilo Device 709 1 7F Wilo Device 749 1 05 Generated Operational Heartbeat 709 1 7F Wilo Device 749 1 05 Generated Operational Heartbeat 709 1 7F Wilo Device 749 1 05 Generated Operational Heartbeat 709 1 05 Wilo Device 749 1 05 Generated Operational Heartbeat 709 1 05 Wilo Device 749 1 05 Generated Operational Heartbeat 709 1 05 Wilo Device 749 1 05 Generated Operational Heartbeat
Control Detection	As soon as the setpoints arrive at the pump the possibility to change the setpoint locally is disabled. The Generated Heartbeats are also monitored by the Wilo Device, and if a Generated Heartbeat is not seen within 2 seconds, an error (E54 Binding Lost) is generated in the pump. With this Error, the local setpoint menu is enabled again.
	Make sure that the generated Heartbeat is sent every second. If the pump does not receive a Heartbeat after 2 seconds, it will disable the Simple Write function and generate E54. If the heartbeat then starts again, E54 will disappear and the pump will activate the Simple Write function again.

2.3.4 Simple Write

	This data can be sent when a change should be issues, but it is a better practice to send the data continuously, depending on how "responsive" the system should be. When regulating actively it can be up to a 50ms cycle (at these speeds the bus usage must be monitored). If not imporatant at all the cycle can be about a minute or an hour. Usually it is about 5 seconds. It contains the wanted load, the wanted control mode and wanted on/off status (on/off, max min and some more).
	AAA B CC CC DD EE Regulation Data example message
	AAA is the value 256 (0x200) plus the NodeId of the device. B ist the number of bytes in this packet, it must be equal to 4. CCCC is the Wanted System Capacity in 0.01 Percent steps (see Par 2008h - Bus Setpoint (System)), sent with low byte first. DD is the Wanted Control Mode. 0=n-c, 4=p-c, 5=dp-c, 6=dp-v, 11=dp-c=f(T), 12=PID. (see Par 2009h - Bus Control Mode (System)). EE is the system command, bit 0=Pump On, bit 1=Ext Off Active, bit 2=Ext Max Active, bit 3=Ext Min Active, bit 4=Ext On Active, bit 5 activates the CCCC portion and bit 6 activates the DD EE portion. (alse see Par 204Ah - Selected Command (System)).
	Make sure that bit 5 and 6 of portion EE is set as wanted. If set as '1' it simultaneously blocks this function in the pump menu. If set to '0' the specified portion in the Simple Write is ignored.
	Make sure that the Simple Write Prerequisities are met before using simple writes. If they are not met, the Simple write will not work.

2.3.5 Simple One Time Configuration

3    CANopen

3.1  Supported Communication Objects

3.2  EMCY Codes (CAN 1.01)

3.3  Error Status Bits

3.4  CAN Specific Errors

3.5  Parameter Description Sample

If there is something important that must be done, it is usually written like this.

4 Complete - Parameter Documentation

4.1 Section CANopen

4.1.1 1000h - Device Type

For more information see CiA Draft Standard 301, Version 4.02, page 86

4.1.2 1001h - Error Register

For more information see CiA Draft Standard 301, Version 4.02, page 87

4.1.3 1003h - Pre-defined Error Field

For more information see CiA Draft Standard 301, Version 4.02, page 88

4.1.3.1 1003h Subindex 0 - Number of Errors

This Subindex is writeable, but only the value 0 is accepted, any other value generates an abort message (error code: 0609 0030h).

4.1.3.2 1003h Subindex 1 - Standard Error Field

4.1.3.3 1003h Subindex 8 - Standard Error Field

4.1.4 1005h - COB-ID SYNC

	For more information see CiA Draft Standard 301, Version 4.02, page 89.
	The bits 29 and 30 are not supported and must be 0.

4.1.5 1008h - Manufacturer Device Name

For more information see CiA Draft Standard 301, Version 4.02, page 91

4.1.6 100Ah - Manufacturer Software Version

For more information see CiA Draft Standard 301, Version 4.02, page 91

4.1.7 1010h - Store Parameter Field

For more information see CiA Draft Standard 301, Version 4.02, page 92.

4.1.7.1 1010h Subindex 0 - Number of Entries

4.1.7.2 1010h Subindex 1 - All Parameters

4.1.7.3 1010h Subindex 2 - Communication Parameters (1000h-1FFFh)

4.1.7.4 1010h Subindex 3 - Application Parameters (2000h-27FFh)

4.1.8 1011h - Restore Default Parameters

For more information see CiA Draft Standard 301, Version 4.02, page 94.

4.1.8.1 1011h Subindex 0 - Number of Entries

4.1.8.2 1011h Subindex 1 - All Parameters

4.1.8.3 1011h Subindex 2 - Communication Parameters (1000h-1FFFh)

4.1.8.4 1011h Subindex 3 - Application Parameters (2000h-27FFh)

4.1.9 1012h - COB-ID Time Stamp

	For more information see CiA Draft Standard 301, Version 4.02, page 97.
	The bits 29 and 30 are not supported and must be 0.

4.1.10 1014h - COB-ID EMCY

For more information see CiA Draft Standard 301, Version 4.02, page 98.

4.1.11 1016h - Consumer Heartbeat Time

For more information see CiA Draft Standard 301, Version 4.02, page 100.

4.1.11.1 1016h Subindex 0 - Number of Entries

4.1.11.2 1016h Subindex 1 - Consumer Heartbeat Time (I/O Module)

The default value of NodeId (bit 16 to 23) is $NODEID+64. NodeId must not be equal to the NodeId of this device or any other subindex of Par 1016h - Consumer Heartbeat Time, and it must be in the range of 1 to 127.

4.1.12 1017h - Producer Heartbeat Time

For more information see CiA Draft Standard 301, Version 4.02, page 101.

4.1.13 1018h - Identity Object

For more information see CiA Draft Standard 301, Version 4.02, page 101.

4.1.13.1 1018h Subindex 0 - Number of Entries

4.1.13.2 1018h Subindex 1 - Vendor Id

4.1.13.3 1018h Subindex 2 - Product Code

4.1.13.4 1018h Subindex 3 - Revision number

4.1.13.5 1018h Subindex 4 - Serial number

4.1.14 1200h - Server SDO Parameter 1

For more information see CiA Draft Standard 301, Version 4.02, page 103.

4.1.14.1 1200h Subindex 0 - Number of Entries

4.1.14.2 1200h Subindex 1 - COB-ID Client -> Server

4.1.14.3 1200h Subindex 2 - COB-ID Server -> Client

4.1.15 1400h - Receive PDO Communication Parameter 1

For more information see CiA Draft Standard 301, Version 4.02, page 106.

4.1.15.1 1400h Subindex 0 - Number of Entries

4.1.15.2 1400h Subindex 1 - COB-ID

The functions behind the bits 29 and 30 are not supported so bit 29 must be 0 and the bit 30 must be 1.

4.1.15.3 1400h Subindex 2 - Transmission Type

4.1.16 1600h - Receive PDO Mapping Parameter 1

For more information see CiA Draft Standard 301, Version 4.02, page 109.

4.1.16.1 1600h Subindex 0 - Number of Entries

4.1.16.2 1600h Subindex 1 - Mapping Entry 1

4.1.16.3 1600h Subindex 8 - Mapping Entry 8

4.1.17 1800h - Transmit PDO Communication Parameter 1

For more information see CiA Draft Standard 301, Version 4.02, page 111.

4.1.17.1 1800h Subindex 0 - Number of Entries

4.1.17.2 1800h Subindex 1 - COB-ID

The functions behind the bits 29 and 30 are not supported so bit 29 must be 0 and the bit 30 must be 1.

4.1.17.3 1800h Subindex 2 - Transmission Type

4.1.17.4 1800h Subindex 3 - Inhibit Time

4.1.17.5 1800h Subindex 4 - Compatibility Entry

4.1.17.6 1800h Subindex 5 - Event Timer

4.1.18 1801h - Transmit PDO Communication Parameter 2

For more information see CiA Draft Standard 301, Version 4.02, page 111.

4.1.18.1 1801h Subindex 0 - Number of Entries

4.1.18.2 1801h Subindex 1 - COB-ID

The functions behind the bits 29 and 30 are not supported so bit 29 must be 0 and the bit 30 must be 1.

4.1.18.3 1801h Subindex 2 - Transmission Type

4.1.18.4 1801h Subindex 3 - Inhibit Time

4.1.18.5 1801h Subindex 4 - Compatibility Entry

4.1.18.6 1801h Subindex 5 - Event Timer

4.1.19 1802h - Transmit MPDO Communication Parameter 3

For more information see CiA Draft Standard 301, Version 4.02, page 111.

4.1.19.1 1802h Subindex 0 - Number of Entries

4.1.19.2 1802h Subindex 1 - COB-ID

The functions behind the bits 29 and 30 are not supported so bit 29 must be 0 and the bit 30 must be 1.

4.1.19.3 1802h Subindex 2 - Transmission Type

4.1.19.4 1802h Subindex 3 - Inhibit Time

4.1.19.5 1802h Subindex 4 - Compatibility Entry

4.1.19.6 1802h Subindex 5 - Event Timer

4.1.20 1A00h - Transmit PDO Mapping Parameter 1

For more information see CiA Draft Standard 301, Version 4.02, page 112.

4.1.20.1 1A00h Subindex 0 - Number of Entries

4.1.20.2 1A00h Subindex 1 - Mapping Entry 1

4.1.20.3 1A00h Subindex 8 - Mapping Entry 8

4.1.21 1A01h - Transmit PDO Mapping Parameter 2

For more information see CiA Draft Standard 301, Version 4.02, page 112.

4.1.21.1 1A01h Subindex 0 - Number of Entries

4.1.21.2 1A01h Subindex 1 - Mapping Entry 1

4.1.21.3 1A01h Subindex 8 - Mapping Entry 8

4.1.22 1A02h - Transmit MPDO Mapping Parameter 3

For more information see CiA Draft Standard 301, Version 4.02, page 112.

4.1.22.1 1A02h Subindex 0 - Number of Entries