CAN Communication Protocol

​
1. Network System Control and Communication Network Protocol

​
1.1 Significance and Purpose of Formulating This Protocol

​
According to the system requirements and actual work needs, this protocol focuses on the
communication of each electronic control unit of the pure electric micro vehicle, and formulates
the control and communication system protocol, which will provide the basis and standard for
the direct communication of component controllers.

​
1.2 Scope of Application of the Protocol
​
This protocol is mainly used for the communication between the components of each system of
the pure electric micro vehicle.
​
1.3 International Specifications and Related Documents Referred to in This Protocol

​
This protocol is formulated according to the requirements of the pure electric micro vehicle
system and with reference to relevant international specifications. The main international
specifications followed and referred to include:
​
• GT/T 19596 Terms of Electric Vehicles
​
• ISO 11898 - International Organization for Standardization ISO standard, Road Vehicles -
Digital Information Exchange - High-Speed Communication Controller Area Network CAN2.0
Specification
​
• SAE J1939 Controller Area Network CAN Communication Protocol for Commercial Vehicle
Control Systems
​
1.4 Network Nodes and Topology Structure
​
The CAN network involves the following communication nodes, and the abbreviations,
addresses and descriptions are as follows:
​
Chinese Name Abbreviation Address Description
​
​
​
​
Battery Management BMS 244(0xF4)
System
​
​
Motor Controller MCU 239(0xEF)
​
​
​
Instrument Display DPLY 40(0x28)
Controller
​
​
​
 Multimedia Controller​ MMC​ 56(0x38)​
On-board Charger​ CCS​ 229(0xE5)​
Broadcast Address​ BCA​ 80(0x50)​
Fast Charging Interface​ FCS​ Output by BMS​

Among them, R is a 120Ω terminal resistor.​

1.5 Network Hardware Requirements​
• The network system supports hot plugging. The power supply should have reverse
connection protection and power loss detection function.​
• The controller power supply should comply with the provisions of GB/T11858.3 standard.
The designed ECU should be able to operate within the range of 130V DC voltage, and also
work normally within the range of external power supplies of the vehicle, such as 220V AC
and 750V fast charging voltage.​
• The CAN bus communication cable adopts a shielded twisted pair (flame retardant, 0.5mm),
which consists of a twisted pair CAN_H, CAN_L and a shielding wire CAN_SHLD.​
• The wiring topology of the network is a compact linear structure to avoid cable reflection.
The cable of the ECU connected to the main bus network should be less than 150mm. To
minimize standing waves, nodes cannot be connected at equal intervals on the network, and
the node distance must be greater than 100mm. The access lines cannot be of equal length,
and the maximum length of the access lines should be less than 1m.​
• All nodes have optical coupling isolation, and the power supply needs to be isolated.​
• The communication cable should be kept away from the power line (more than 0.5m) and
the 12V control line (more than 0.1m).​
• The terminal resistors (120Ω) are installed at both ends of the network line and are
temporarily installed in the MCU and the instrument.​
• The cable shielding layer is continuously conductive in the vehicle. It is required that the
network socket of each component has a shielding layer connector, and the grounding
method of the shielding wire is to select a suitable position for single-point grounding during
the vehicle wiring.​
1.6 Transmission Rate and Fill Format​
• Bus transmission rate: 250kbps​
• Fill format: Intel​
• Reserved bytes: Bits are filled with 0 by default.​
• Data sending format: Bit is from msb (bit8) to lsb (bit1), Byte is from LSB (Byte1) to MSB
(Byte8), and the cross-Byte filling method is to fill the high bits into the high section and the
low bits into the low section.​
1.7 Message Structure​
P​ R​ DP​ PF​ PS​ SA​ DATA​
3​ 1​ 1​ 8​ 8​ 8​ 0~64​
Note 1:​ P is the priority, set from the highest 0 to the lowest 7. Safety is 1, partial function loss is 2,
operation is 3, request is 4, and display is 7. (The priority is determined according to the
actual message, not according to the node.)​
Note 2:​ R is the reserved bit for future development. In this standard, it is set to 0.​
Note 3:​ DP is the data page, used to select the auxiliary page of the parameter group description.
In this standard, it is set to 0.​
Note 4:​ PF is the PDU format, used to determine the format of the PDU and the correspondence
between the data and the parameter group number.​
Note 5:​ PS value is the destination address. (For broadcast messages, it is DPU2.)​
Note 6:​ SA value is the source address.​
Note 7:​ Data field. If the given data length is less than or equal to 8 bytes, all 8 bytes of the data
field can be used.​
二、 Network Communication Messages
1. Battery Management System Messages
1.1 BMS Basic Information Message 1

Sen Re Cycle
der cei ID
（ms）
ver

0x18FF28F4 BYTE BIT

Whether the charging cable is
1
connected 0: not connected; 1: connected
2 Battery pack charging status
D 0: not charging; 1: charging
B P Battery pack power shortage 0: not in power shortage; 1:
3
M L 100 1 status in power shortage
D P P S
S Y P R 4
P F S A Battery pack ready status 0: not ready; 1: ready
5 Discharge contactor status 0: open; 1: closed
6 Charge contactor status 0: open; 1: closed
7~8 Reserved
2 SOC Effective value 0~100; scale factor 100
 1%/bit
3 g g
6 0 0 2 4 2 u w
5 0 4
5 4 ff u
, u ,
g
g g
u g
Off ,
f
W g g,
4 f w g

5 g w effective value 0~10000，unit V，range（

6 g high 0~1000）V. Offset value: 0， factor
 0.1V/bit
0x00:failure-free
0x01:Level 1 fault
7 f u g (serious fault, immediate shutdown)
0x02: f u f u ,

0x03: f u f u ,
8 f u HE fault handling section

1.2 BMS Basic Information Message 2

Sen Re
der cei
ID
（ms）
ver
0x18FE28F4 BYTE BIT
1 Highest single cell voltage low byte Effective value 0~10000, unit mV, scale
D P P S factor 1mV/bit
P R 2 Highest single cell voltage high byte
P F S A
D 3 Lowest single cell voltage low byte Effective value 0~10000, unit mV, scale
B
P 6 0 0 2 4 2 4 Lowest single cell voltage high byte factor 1mV/bit
M 100
L 5 0 4 Effective value 0~255, unit °C, offset -40,
S 5 Single cell highest temperature
Y 4 4 scale factor 1°C/bit
Effective value 0~255, unit °C, offset
6 Single cell lowest temperature
-40, scale factor 1°C/bit
7 Maximum allowable discharge current low byte Effective value 0~10000, unit A, offset 0, scale
factor
 8 Maximum allowable discharge current low byte 0.1A/bit。

The contactor status can reserve the status reporting of the heating contactor, pre-charge contactor, etc.

1.3 BMS Voltage Detailed Information Message

Report the voltages of all battery cells.
The starting value of PF is 200 (0xC8). For each frame sent, the PF value is incremented by 1 until the data
transmission is completed. The PF value is less than 249.

ID
（ms）

0x18C828F4 BYTE BIT

1 （PF-200）*4+1 cell highest single cell voltage high byte
D P P S
D P R 2 （PF-200）*4+1 cell highest single cell voltage low byte
B P F S A
P 3 （PF-200）*4+2 cells highest single cell voltage high byte
M 500 effective value 0~10000，
L 6 0 0 2 4 2 4 （PF-200）*4+2 cells highest single cell voltage low byte
S Unite mV，
Y 0 0 4 5 （PF-200）*4+3 cells highest single cell voltage high byte
scale factor 1mV/bit
0 4 6 （PF-200）*4+3 cells highest single cell voltage low byte

7 （PF-200）*4+4 cells highest single cell voltage high byte

8 （PF-200）*4+4 cells highest single cell voltage low byte

1.4 BMS Temperature Detailed Information Message

 Report all temperature sampling values.
The starting value of PF is 180 (0xB4). For each frame sent, the PF value is incremented by 1 until the data
transmission is completed. The PF value is less than 199.

ID
（ms）

0x18B428F4 BYTE BIT

1 （PF-180）*8+1temperature probe temperature value
D P P S
D P R 2 （PF-180）*8+2temperature probes temperature value
B P F S A
P 3 （PF-180）*8+3temperature probes temperature value Effective value 0~255, unit °C,
M 500
L 6 0 0 2 4 2 4 （PF-180）*8+4temperature probes temperature value
S offset -40, scale factor 1°C/bit
Y 0 0 4 5 （PF-180）*8+5temperature probes temperature value
0 4 6 （PF-180）*8+6 temperature probes temperature value
7 1 （PF-180）*8+7 temperature probes temperature value
8 （PF-180）*8+8 temperature probes temperature value

1.5 BMS Charging Demand Message

ID
（ms）

0x18FFE5F4 BYTE BIT

D P P S 1 Highest allowable charging terminal voltage low byte
B C P R Resolution 0.1V, offset 0
P F S A 2 Highest allowable charging terminal voltage high byte
M C 1000
6 0 0 2 2 2 3 Highest allowable charging current low byte
S S Resolution 0.1V, offset 0
5 2 4 4 Highest allowable charging current high byte
5 9 4 Bit1：
5
0： ger starts to charge ；
 1： , close charge
Bit2~8：
6..8 0x00

1.7 Charger Feedback Information Message

0x18FF50E5 BYTE BIT

D P P S 1 Output voltage low byte

P R Resolution 0.1A/bit, offset 0
P F S A 2 Output voltage high byte
6 0 0 2 8 2 3 Output current low byte
5 0 2 Resolution 0.1A/bit, offset 0
4 Output current high byte
5 9 1 Hardware fault 0 - normal; 1 - hardware fault
C 2 Charger temperature fault 0: normal; 1: charger over temperature protection
C 1000 3 Low voltage power limit mode 0: input voltage normal; 1: input voltage is low, enter low power mode
S 4 Input voltage status 0: input voltage normal; 1: input overvoltage or undervoltage fault
5 Output overcurrent 0: output current normal; 1: output overcurrent
5
0: charger off state
6 Start status 1: in charging state

7 Communication status 0: communication normal; 1: communication receive timeout

0: battery connection normal
8 Battery connection status 1: battery reverse connection or not connected
6..8 Reserved set to 0x00

2. Motor Controller Messages

2.1 Message 1 for Communication between Motor Controller and Instrument
 ID
（ms）

0x18F560EF BYTE BIT

Bit2-bit1：

00--Neutral
1~2 Gear status
01--Drive

10--Reverse
D
M 3 Brake status 0 - no brake; 1 - with brake
P
C 50 Bit5-bit4：
L D P P S 1
U P R 00 - default mode;
Y P F S A Operating mode 01 - economic mode;
10 - high speed mode;
4~5 11 - reserved

6 Controller status
0—not ready；1—ready
7 Power limit status 0 - normal operation; 1 - power reduction operation

8 Reserved
2 Fault code See controller fault code description
 3 Motor speed low byte
4 Motor speed high byte 1rpm/bit，offset 0

2 2 5 Trip mileage low byte

9 0.1km/bit， ffset:0
6 0 0 4 3
6 6 Trip mileage high byte
5 9
7 Vehicle speed
1kph/bit, offset: 0
8 Reserved

2.2 Message 2 for Communication between Motor Controller and Instrument

ID
（ms）

0x18FA60EF BYTE BIT

D P P S 1 Battery voltage low byte

P R 0.1V/bit，offset 0
P F S A
2 Battery voltage high byte
D 3 Motor current low byte
M
P 0.1A/bit，offset 0
C 50 4
L Motor current high byte
U
Y 2 2
9 5 Motor temperature low byte
6 0 0 5 3
6 6 0.1℃/bit，offset 0, over 130℃
0 9 Motor temperature high byte
7 Controller temperature low byte
8 Controller temperature high byte 0.1℃/bit，offset 0, over 70℃
3. Message of Multimedia Controller

ID
（ms）

0x18FF5028 BYTE BIT

Bit2-bit1：
00：Normal
1 1.2
User mode 01：Economy
D P P S 10：Sport
M M P R
P F S A 11：Reserved
M C 1000
3...
C U 1 Reserved
8
2
6 0 0 2 8 4 3
5 0 0 4
5 5
6..8

4. Message of Instrument Controller

5、Message of Charger
ID
（ms）

C
0x18FF50E5 1000 BYTE BIT
C
 S D P P S 1 Output voltage low byte
P R Resolution 0.1V/bit, offset 0
P F S A 2 Output voltage high byte
6 0 0 2 8 2 3 Output current high byte
5 0 2 4 Resolution 0.1A/bit, offset 0
Output current low byte
5 9 1 Hardware fault 0- ;1-Hardware Fault
2 Charger temperature fault 0-Normal 1-Overtemperature protection of chrager
3 Low voltage power limit mode 0- ut voltage normal;1： w input voltage,enter low power mode
4 Input voltage status 0- ut voltage normal;1： input voltage or low voltage fault
5 Output overcurrent 0- utput current;1- utput overcurrent
5
0： f charger
6 Start status 1： ging state
7 Communication status 0： unication;1： unication receiving timeout
0：
8 Battery connection status 1：
6..8 Reserved set to 0x00
The charger has a 12V voltage.

三、 Fault Handling Strategy

Appendix: BMS Faults

Fault code: 0XX - BMS, 1XX - Controller.

Fault Level Fault Code Code Meaning Handling Measures Remarks

No Fault 0 Normal Mode

Level 1 1-20 Severe Fault Stop immediately and

evacuate passengers
Limit the power to 50%. The vehicle
travels to an appropriate location
Level 2 21-60 Common Fault within 20 minutes and then stops
and reports to professional personnel
for handling
 Level 3 61-99 Alarm Fault Alarm and display on the instrument

Explanation:
1. When multiple levels of faults occur simultaneously, only report the code of the highest level fault (for example, if both level 1 and level 2 faults occur simultaneously, only report the fault
code of level 1 fault).
2. If multiple faults occur simultaneously in the same fault level, the fault codes are sent out in turn, with a turn-taking cycle of 1 second.

1. Level 1 Faults
Fault Level Fault Name Code Fault Description Handling Measures Component

01 BMS reports that the motor power is limited to 0, and BMS

Severe Over Battery maximum temperature > battery high temperature disconnects the discharge contactor after 3 seconds
protection value
（1-20） Temperature Alarm
BMS reports that the motor power is limited to 0,
Total Voltage Ultra High 02 Total voltage > total voltage protection upper limit value. and disconnects the discharge contactor after 3 seconds

03 BMS reports that the motor power is limited to 0,

Total Voltage Ultra Low Total voltage < total voltage protection lower limit value. and disconnects the discharge contactor after 3 seconds

04 Discharge current > discharge current protection value. BMS reports that the motor power is limited to 0,
Severe Discharge and disconnects the discharge contactor after 3 seconds
Overcurrent Severe overcurrent, which may be caused by a short
circuit.
Battery single cell maximum voltage BMS reports that the motor power is limited to 0,
Single Cell Severe Overvoltage 05 > single cell battery high voltage protection value and disconnects the discharge contactor after 3 seconds
Battery single cell minimum voltage BMS reports that the motor power is limited to 0,
Single Cell Severe Undervoltage 06 < single cell battery low voltage protection value and disconnects the discharge contactor after 3 seconds
BMS reports that the motor power is limited to 0,
Insulation Resistance Too Low 07 Insulation resistance value < 30K and disconnects the discharge contactor after 10 seconds

2. Level 2 Faults
Fault Level Fault Name Code Fault Description Handling Measures Component
 Temperature Too High 21 Battery maximum temperature > battery high temperature BMS reports and limits the motor power to 50% BMS
（21-60） Alarm alarm value
Temperature Too Low Alarm 22 Battery minimum temperature < battery low temperature alarm value BMS reports and limits the motor power to 50%
Battery single cell maximum voltage > single cell battery high voltage
Single Cell Voltage High 23 alarm value
BMS reports and limits the motor power to 50%
Battery single cell minimum voltage < single cell battery low voltage alarm
Single Cell Voltage Low 24 value
BMS reports and limits the motor power to 50%
Current Overcurrent 25 Discharge current < discharge current alarm value BMS reports and limits the motor power to 50%
BMS Internal 26 BMS master control module and slave control module BMS reports and limits the motor power to 50%
Communication Fault communication abnormality

SOC Low 27 SOC < 10% BMS reports and limits the motor power to 50%
Battery single cell maximum and minimum voltage difference
Battery Voltage Difference Large 28 > voltage difference limit value
BMS reports and limits the motor power to 50%
Battery maximum and minimum temperature difference
Battery Temperature Difference Large 29 > temperature difference limit value
BMS reports and limits the motor power to 50%

3. Level 3 Fault

Fault Level Fault Name Code Fault Description Handling Measures Component

SOC Slightly Low 61 SOC< 30% displays the fault code on the instrument BMS
Battery Voltage Battery single cell maximum and minimum voltage difference
（61-99） Difference Larger 62 > voltage difference alarm value
displays the fault code on the instrument

Battery Temperature Battery maximum and minimum temperature difference

Difference Larger 63 > temperature difference alarm value
displays the fault code on the instrument
BMS receives charger feedback information BMS requests the charger to stop charging,
Charger Hardware Fault 64 and reports the corresponding fault and displays the fault code on the instrument
BMS receives charger feedback information
Charger Temperature Fault 65 and reports the corresponding fault
BMS requests the charger to stop charging,
and displays the fault code on the instrument
Charger Voltage 66 BMS receives charger feedback information BMS requests the charger to stop charging,
and displays the fault code on the instrument
Power Limit Fault and reports the corresponding fault

Charger Input 67 BMS receives charger feedback information BMS requests the charger to stop charging,
and displays the fault code on the instrument
and reports the corresponding fault
Voltage Fault
BMS receives charger feedback information BMS requests the charger to stop charging,
Charger Output Overcurrent 68 and reports the corresponding fault and displays the fault code on the instrument
BMS receives charger feedback information BMS requests the charger to stop charging,
Charger Start Fault 69 and reports the corresponding fault and displays the fault code on the instrument
BMS receives charger feedback information
Charger Communication Fault 70 and reports the corresponding fault
BMS requests the charger to stop charging,
and displays the fault code on the instrument
Charger Battery 71 BMS receives charger feedback information BMS requests the charger to stop charging,
Connection Fault and reports the corresponding fault and displays the fault code on the instrument
Appendix: Explanation of AC Motor Controller Fault Codes
Number Name Alarm Method Handling Fault Countermeasure
Method
101 High Pedal Fault Long Beep Do Not Operate Check the pedal and return it to the original position

102 Pre-charge Fault One Long and Check whether the power board is obviously damaged, and check whether the cable
Two Short Beeps Do Not between the power board and the control board is reliably connected.
Operate

103 Overcurrent One Long and Stop The first step is to adjust the control parameters, and the second step is to adjust the
Three Short Beeps output torque. If the problem cannot be solved, return to the factory for repair.

104 Controller One Long and Stop Check whether the fan is working normally and whether the air duct is smooth.
Overheating Four Short Beeps
105 Main Circuit One Long and Stop Check the main circuit fuse, contactor, emergency stop switch, etc.
Power off Five Short Beeps
106 Current One Long and
Stop Return to the factory for repair.
Sampling Six Short Beeps
Circuit Fault

107 Encoder Fault One Long and Stop Check the encoder wiring harness and check whether the encoder is damaged.
Seven Short Beeps
108 BMS Fault One Long and Stop BMS fault or battery pack abnormality.
Eight Short Beeps
109 Battery Pack One Long and Stop Need to charge.
Under Voltage Nine Short Beeps
110 Battery Pack One Long and Stop Check whether the battery is normal and appropriately reduce the energy feedback.
Over Voltage Ten Short Beeps
111 Motor One Long and Stop Stop cooling or increase the motor cooling method.
Overheating Eleven Short Beeps
113 Accelerator Fault One Long and Stop Check whether the accelerator wiring is normally connected. If it is damaged, it needs to
Thirteen Short Beeps be returned to the factory for repair.