Motion Protocol CPR-CAN-V2

for
Closed Loop motor controller
 Version 1.5
July 17, 2024
© Commonplace Robotics GmbH
CONTENTS

Contents

1 About this document 2

1.1 Contact . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2
1.2 Target group and qualification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3
1.3 Symbols Used . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2 Introduction 4
2.1 Brief description of the protocol . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.2 Communication procedure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4
2.3 Communication parameters . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.4 Configuration software ModuleCtrl . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5
2.5 Demo software with sources . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 5

3 CAN Messages 6
3.1 Motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.1.1 Position CMD 0x14 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.1.2 Velocity CMD 16bit 0x25 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
3.1.3 Torque CMD 0x16 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 7
3.2 Response to motion commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
3.3 Process CMD 0x01 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3.1 Reset Error 0x06 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3.2 Set position to 0 0x08 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10
3.3.3 Enable Motor 0x09 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3.4 Disable Motor 0x0A . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
3.3.5 Referencing 0x0B . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3.6 Rotor alignment 0x0C . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 12
3.3.7 Ping 0xCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.3.8 EEPROM write enable 0xCD . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13
3.4 Parameter V2 0x94 & 0x96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.1 Save parameters 0x94 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
3.4.2 Read parameters 0x96 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5 Special CAN messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15
3.5.1 Startup message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5.2 Environmental parameters 0x12 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5.3 Extended error messages . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 16
3.5.4 Output encoder position . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17

©2024 Commonplace Robotics GmbH 1

1 ABOUT THIS DOCUMENT

1 About this document

1.1 Contact

Commonplace Robotics GmbH

Gewerbepark 9-11
Im Innovationsforum
D-49143 Bissendorf

Tel.: +49(0)5402 / 968929-0

Fax: +49(0)5402 / 968929-9
E-Mail: info@[Link]

Internet: [Link]

©2024 Commonplace Robotics GmbH 2

1 ABOUT THIS DOCUMENT

1.2 Target group and qualification

This protocol documentation is aimed at technically trained professionals such as:
• Programmers
• Development Engineers

Experience with the following is required:

• Hardware-related programming e.g. with C++
• Knowledge of the CAN fieldbus
• ESD procedures when working with electronics

This documentation supplements the product documentation of the motor controllers. Knowledge
of this documentation is assumed.

1.3 Symbols Used

All notes in this document follow a consistent form and are structured according to the following
classes.

The WARNING notice alerts the reader to possible dangerous situations.

, Disregarding a warning can possibly result in moderate injury to the user.
• Within a warning, this describes ways to avoid hazards.

This note indicates possible incorrect operation of the product.

ð Failure to comply with this notice may possibly result in damage to this product
or other products.

©2024 Commonplace Robotics GmbH 3

2 INTRODUCTION

2 Introduction

2.1 Brief description of the protocol

The CPR-CAN-V2 protocol is used for communication between a controller and the drive modules.
The controller sends position setpoints or speeds to the motor controllers via the CAN field bus, and
these respond with their current status.

The calculation of acceleration ramps and the interpolation between target points takes place in the
controller, not in the motor controller. The controller sends the target position to the motor controller
at short intervals of 10 to 50 ms.

The operation is thus comparable to the CANopen operation mode IPO or CSP. An operation mode
like CANopen ProfilePosition is not supported.

In addition to transmitting the position or speed specifications, the controllers can be parameterized
via the protocol.

2.2 Communication procedure

This example is intended to illustrate the communication sequence in positioning mode.

1. Starting the motor controller

2. Start of a cyclically called function which sends a position specification every 20 ms (chapter
3.1.1)

3. Aligning the positions of motorcontroller and master software. There are two options:
Reset the current position to 0 (Chapter 3.3.2). Initialization of the setpoint position in the
master software also with 0.
This option is recommended for the first tests.
Reading the current motor position from the CAN message answers (Chapter 3.2) and using
this position as current setpoint position in the master software.
This option is recommended for real applications.

4. Reset error on the axis. (Chapter 3.3.1)

5. Enable axis (chapter 3.3.3) so that error byte in response shows 0x00 (chapter 3.2).

6. Slowly change the target position in the cyclically sent position specification. The axis now
follows the preset.

The following graphic shows the movement from 0 to 800 tics. The interpolation with acceleration
and deceleration ramps takes place in the controller, which sends the target positions marked by
points cyclically to the motor controller.

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2 INTRODUCTION

800

Position [Tics] 600

400

200

0
0 100 200 300
Time [ms]

2.3 Communication parameters

CAN baud rate 500kBaud

Communication frequency 20 bis 100 hz

2.4 Configuration software ModuleCtrl

The ModuleControl configuration software is available to the user for simple control of all axis func-
tions. This supports the bootloader and the parameter interface.

[Link]
tware_ModuleCtrl

2.5 Demo software with sources

For a quick start in developing your own control, a sample program is available on GitHub:

[Link]
ocolDemoClient

Included is a VisualStudio2019 project in CSharp that connects to and drives a motor controller. All
source files are included, these can be used as a starting point for your own development.
To run the code and test your own applications you need the following components:

1. Visual Studio 2019 or later

2. PCAN-USB CAN to USB Interface from PEAK-System Technik GmbH

3. Motor controller with motor

4. Connection cable depending on motor controller

©2024 Commonplace Robotics GmbH 5

3 CAN MESSAGES

3 CAN Messages

3.1 Motion commands

Motion commands fall into the category of cyclic commands. These commands must be sent repeat-
edly from the motion master to the motor controller in a fixed time. The basic cycle is 50ms. If the
motion master does not keep to this time and exceeds a specified time, the motor controller goes into
an error state. When changing between two motion commands, the axis interrupts the execution and
stops the motion. Only after reset and enable a new movement in the new mode is possible.

3.1.1 Position CMD 0x14

The Position CMD puts the axis into the positioning mode. This mode is comparable with the CANopen
operating mode IPO or CSP. The specification of the position is done in Encodertics. The motor con-
troller tries to reach the target position as fast as possible, no path with target speed and acceleration
ramps is calculated. If the target position is too far away from the current position, this can lead to
unexpected behavior or a shutdown.

1. Message to the motor controller

0 1 2 5 6 7

0x14 unused Position Timer DOut

Position 32-bit position of the motor in [Tics]

Timer Value for checking the correct order of messages
DOut If the motor controller has outputs, they can be set here

2. Response from motor controller

Standard response CANV2 (chapter 3.2)

3.1.2 Velocity CMD 16bit 0x25

This mode is comparable to the CANopen operating mode ProfileVelocity.

1. Message to the motor controller

0 1 2 3

0x25 Velocity Timer

Velocity Preset speed with 16bit in [RPM] as int16

Timer Value for checking the correct order of messages

2. Response from motor controller

Standard response CANV2 (chapter 3.2)

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3 CAN MESSAGES

3.1.3 Torque CMD 0x16

This mode is comparable to the CANopen operating mode ProfileTorque.

1. Message to the motor controller

0 1 2 3

0x16 Torque Timer

Torque Specification of the Desired torque in engineering units between [-1024-1024]

Timer Value for checking the correct order of messages

2. Response from motor controller

Standard response CANV2 (chapter 3.2)

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3 CAN MESSAGES

3.2 Response to motion commands

The motor controllers respond to all motion commands with a uniform response.
CAN-ID = BoardID + 1
0 1 4 5 6 7

DIn +
errorCode Position Current
Flags

errorCode Error byte see below for more information

Position 32-bit current axis position in [Tics].
Current Current RMS current in [mA]
DIn + Flags The inputs of the motor controllers, as well as the flags are explained below

The motor controller sends an error byte in every CANV2 response. This can define various error
states.
7 6 5 4 3 2 1 0

OC DRV ENC LAG COM MNE ESTOP TEMP

TEMP Over temperature The temperature of the motor controller or the motor is
above the defined value in the parameters.
ESTOP Emergency stop / no voltage The voltage at the motor controller is below the set limit
value. This may indicate a defective fuse or emergency
stop.
MNE Motor not activated The movement of the motor is not enabled, it is not in
control.
COM Communication failure The motor controller requires CAN messages at regular
intervals. If the distance between the messages is too
large or the messages do not arrive, the motor controller
stops the movement.
LAG Following error The motor controller monitors the following error, if this
is greater than the value set in the parameters, the motor
controller stops the movement.
ENC Encoder error The motor controller has detected an encoder error. Er-
rors can be triggered by both the motor or the output en-
coder.
DRV Driver error A driver error can have various causes. One possible
cause is exceeding the maximum speed from the parame-
ters. With the closedloop motor controllers, the error also
occurs with problems with the initial rotor position.
OC Over current The RMS current in the motor controller was above the
allowed value in the parameters.

The byte field for the inputs as well as the referencing flags of the motor controller is differentiated in
the nibble. The low nibble contains the inputs, the high nibble the referencing flags.

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3 CAN MESSAGES

7 6 5 4 3 0

Flag Flag Flag axis

unused DIn
referenced aligned ready

Flag referenced Axis is referenced

Flag aligned Initial finding of the rotorfield orientation complete
Flag axis ready Axis is ready for motion commands
DIn State of the digital board inputs

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3 CAN MESSAGES

3.3 Process CMD 0x01

This category includes control instructions which are not sent cyclically to the board.

3.3.1 Reset Error 0x06

This message resets all errors on the board.

Depending on the board version the board has irreversible errors, these cannot be reset. An example
is an error in the motor wiring.

1. Motor controller message

0 1

0x01 0x06

2. Response from motor controller

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x0106 0x0001 0x0000

3.3.2 Set position to 0 0x08

This message must be sent to the controller 2 times within 20 ms. This command sets the Current to
0. The controller then goes into an error state.

1. 1. Motor controller message

0 1 2 3

0x01 0x08 0x00 0x00

2. 1. Response from motor controller CMD received

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x0108 0x0001 0x0000

3. 2. Response from motor controller CMD ok

Only sent if CMD is ok. CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x0208 0x0001 0x0000

4. 2. Motor controller message

0 1 2 3

0x01 0x08 0x00 0x00

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3 CAN MESSAGES

5. 3. Response from motor controller CMD received

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x0108 0x0001 0x0000

6. 4. Response from motor controller CMD ok

Only sent if CMD is ok. After this response, the motor controller has set the position to 0.
CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x0208 0x0002 0x0000

3.3.3 Enable Motor 0x09

Activates the motor. Only possible if no error is present.

1. Motor controller message
0 1

0x01 0x09

2. Response from motor controller

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x0109 0x0001 0x0000

3.3.4 Disable Motor 0x0A

Deactivate motor. The power output stage switches off the current to the motor.

No Safe Stop!
, This function does not represent a safe stop. It is possible that the motor con-
tinues to be supplied with voltage.

1. Motor controller message

0 1

0x01 0x0A

2. Response from motor controller

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x010A 0x0001 0x0000

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3 CAN MESSAGES

3.3.5 Referencing 0x0B

Request for referencing. The message must be sent to the motor controller several times.

1. 1. Motor controller message

0 1

0x01 0x0B

2. 1. Response from motor controller

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x020B 0x0001 0x0000

3. 2. Motor controller message

0 1

0x01 0x0B

4. 2. Response from motor controller

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x020B 0x0002 0x0000

5. Error from motor controller Referencing active. Referencing of the axis is already active.
CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x07 0x00 0x020B 0x0098 0x0000

3.3.6 Rotor alignment 0x0C

For the operation of closed loop motor controllers it is necessary that they know the initial rotor ori-
entation. This can be recalibrated by the following command. This command must also be sent
twice.

1. 1. Motor controller message

0 1

0x01 0x0C

2. 1. Response from motor controller

CAN-ID = BoardID + 2

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3 CAN MESSAGES

0 1 2 3 4 5 6 7

0x06 0x00 0x020C 0x0001 0x0000

3. 2. Motor controller message

0 1

0x01 0x0C

4. 2. Response from motor controller

CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0x06 0x00 0x020C 0x0002 0x0000

3.3.7 Ping 0xCC

The controller responds to this message with the startup message.

1. Motor controller message

0 1

0x01 0xCC

2. Response from motor controller

The CAN message sent corresponds to the startup message. (chapter 3.5.1)

3.3.8 EEPROM write enable 0xCD

Before parameters can be stored on the motor controller, the EEPROM must be enabled with this
message. The motor controller does not respond to this message.
0 1

0x01 0xCD

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3 CAN MESSAGES

3.4 Parameter V2 0x94 & 0x96

The following parameter interface is available for the closed loop motor controller. This uses a struc-
ture consisting of index and subindex.
The description of the corresponding parameters with index and subindex can be found in the prod-
uct documentation of the motor controllers.

3.4.1 Save parameters 0x94

1. Enabling the EEPROM (chapter 3.3.8)

2. Message to motor controller

0 1 2 3 6

0x94 Index SubIndex Data

Index category of the parameter

SubIndex parameter in the category
Data 32bit value of the data

3. Message from motor controller: Transmission ok

CAN-ID = BoardID + 2
0 1 3 4 5 6 7

0x06 0x00 0x0068 Adress 0x0000

Address Calculated EEPROM Address

4. Error from motor controller: EEPROM not enabled

The EEPROM was not enabled before, see chapter 3.3.8
CAN-ID = BoardID + 2

0 1 3 4 5 6 7

0x07 0x00 0x00AA Index SubIndex

Index category of the parameter

SubIndex parameter in the category

5. Error from motor controller: Not stored

The data could not be stored in the EEPROM.
CAN-ID = BoardID + 2

0 1 3 4 5 6 7

0x07 0x00 0x0068 Index SubIndex EEPROM Address

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3 CAN MESSAGES

Index category of the parameter

SubIndex parameter in the category
EEPROM Address EEPROM Address to be written

3.4.2 Read parameters 0x96

Interruption of the cyclic messages

ð For transmitting the parameters the cyclic CAN messages must be interrupted.
The response for reading the parameters and the standard response (chapter
3.2) share the response ID BoardID + 1.

1. Message to motor controller

0 1 2

0x96 Index SubIndex

Index category of the parameter

SubIndex parameter in the category

2. Message from motor controller: Transmission ok

CAN-ID = BoardID + 1
0 1 2 3 6

0x96 Index SubIndex Data

Index category of the parameter

SubIndex parameter in the category
Data 32bit value of the data

3. Error from motor controller: Error while reading

CAN-ID = BoardId + 2
0 1 2 3 4 5 6 7

0x07 0x00 0x0067 Index SubIndex

Index category of the parameter

SubIndex parameter in the category

3.5 Special CAN messages

This section contains the description of special CAN messages, e.g. the motor controllers send various
status information cyclically without request.

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3 CAN MESSAGES

3.5.1 Startup message

When the motor controllers are started, they send a defined message. This message helps to identify
the motor controller.
CAN-ID = BoardID + 2
0 4 5 6 7

Restart HW-
0x01020304 Version
cause Ident

HW-Ident Board identification

Version Major and minor version of the firmware

The following values are implemented for the identification of the board:

DIN-RAIL CL BLDC 0x50 Closed Loop BLDC motor controller for DIN rail mount-
ing with CPR backplane bus
DIN-RAIL CL STEPPER 0x51 Closed Loop stepper motor controller for DIN rail mount-
ing with CPR backplane bus
ON-AXIS CL BLDC 0x52 Closed Loop integrated motor controller for on axis
mounting
DIN-RAIL CL DC 0x53 Closed Loop DC motor controller for DIN rail mounting
with CPR backplane bus
dsPIC33EP128GM Boot loader 0x89 Boot loader for motor controller dsPIC33
dsPIC33EP256GM Boot loader 0x8A Boot loader for motor controller dsPIC33
dsPIC33EP128MC Boot loader 0x8B Boot loader for motor controller dsPIC33
dsPIC33EP256MC Boot loader 0x8C Boot loader for motor controller dsPIC33

3.5.2 Environmental parameters 0x12

The motor controller sends a message once per second with the current voltage, as well as the motor
and board temperature.
CAN-ID = BoardID + 3
0 1 2 3 4 5 6 7

0x1200 Voltage Temp Motor Temp Board

Voltage Current voltage at motor controller [mV]

Temp Motor Motor Temperature [m°C]
Temp Board Temperature Motor Controller [m°C]

3.5.3 Extended error messages

The motor controller sends a message with the detailed status information once per second. For an
evaluation of the individual bytes please use the configuration software ModuleControl.
CAN-ID = BoardID + 2

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3 CAN MESSAGES

0 1 2 3 4 5 6 7

Motor Rebel Control

0xE0 ADC Error reserved
Error Error Error

Motor Error Byte with errors of the motor

ADC Error byte with errors of the AD converter
Rebel Error byte with rebel encoder errors
Controll Error byte with control errors

3.5.4 Output encoder position

The Igus Rebel is equipped with on-axis motor controllers, the axes have an output encoder. If the
output encoder is parameterized, the motor controller sends the output position once per second.
CAN-ID = BoardID + 2
0 1 2 3 4 5 6 7

0xEF 0x0000 0x7E Encoder Position

Deg r ee
Encoder Position Position of the output drive in 100

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