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Overview

esd Protocol for CAN Modules Rev. 3.2

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Summary of Contents for CAN-CBM-PLC/331-1

Page 1: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 CAN CBM SIO1 CAN CBM SIO4 CAN RS 232 RS 422 RS 485 or TTY Interface CAN CBM PLC 331 1 Automation Computer with CAN Interface Hardware Manual ...

Page 2: ...e reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 205 30165 Hannover Germany Phone 49 511 372 98 0 Fax...

Page 3: ...n CPU331 Rev 1 1 SIO3311 Rev 1 1 SIO4 Rev 1 0 Changes in the chapters The changes in the user s manual listed below affect changes in the hardware as well as changes in the description of the facts only Chapter Changes versus previous version Description of CAN CBM SIO4 module and CAN CBM PLC 331 1 module inserted Technical details are subject to change without notice ...

Page 4: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 ...

Page 5: ... 15 3 2 Serial Interface X100 9 pin DSUB Male 17 3 2 1 Configuration 17 3 2 2 Connection of the Various Serial Interfaces at DSUB9 Connector 19 3 2 2 1 The RS 232 Interface 19 3 2 2 2 RS 422 Interface 20 3 2 2 3 RS 485 Interface 20 3 2 2 4 TTY 20 mA Interface 21 3 2 3 Connection of the Various Serial Interfaces on RJ45 Sockets 22 3 2 3 1 RS 232 Interface 22 3 2 3 2 RS 422 Interface 23 3 2 3 3 RS 4...

Page 6: ...2 4 P200 P230 8 pin RJ45 Socket 31 4 4 2 Pin Assignment of the 8 Pin RJ45 Sockets P200 230 32 4 4 3 Pin Assignment of the Adaptor Cable RJ45 DSUB9 Female 33 4 4 4 Connection of the Adaptor RJ45 DSUB25 Socket 35 4 5 Voltage Feed X101 UEGM 37 5 Configuration of the CAN CBM PLC 331 1 2 Module 39 6 Correctly Wiring Electrically Insulated CAN Networks 49 7 Circuit Diagrams 53 ...

Page 7: ...dwithfive serial interfaces The physicalinterfaceoftheserial interfaces can be configured like the CAN CBM SIO1 module via piggybacks The described CAN CBM modules use a 68331 micro controller which buffers the CAN data into a local SRAM Data security and consistency are guaranteed up to 1 Mbit s in the CAN network The firmware optional protocols also is held in the flash The ISO 11898 compatible ...

Page 8: ...equest or developed with the help of GNU C surroundings By use of the RS 232 interfaceasmodem connection a remote maintenance of the CAN net can be done in remote operation In addition to RS 232 you can also choose between RS 422 RS 485 or also TTY 20 mA as a physical interface It is connected via a DSUB9 connector Beyond that the CAN CBM SIO4 is connected via four additional RJ45 sockets On reque...

Page 9: ... CAN ID HIGH CAN ID LOW SERIAL LED 2 LED 1 Serial Interface 1 P230 Serial Interface 2 P200 Serial Interface 3 P200 Serial Interface 4 P200 Power Supply X101 CAN or DeviceNet X400 Power Supply X101 Serial Interface 5 X100 Coding Switch SW211 High Coding Switch SW210 Low Terminal Interface 1 2 Front View with Connectors and Coding Switches 1 2 1 CAN CBM SIO1 and CAN CBM PLC 331 1 1 2 2 CAN CBM SIO4 ...

Page 10: ...01 6 pin screwed connector UEGM 24 V voltage supply X400 Combicon style 5 pin MSTB2 5 5 5 08 CAN or DeviceNet CAN CBM SIO4 only P200 RJ45 socket serial interface 1 P230 RJ45 socket serial interface 2 3 4 Temperature range 0 50 C ambient temperature Humidity max 90 non condensing Case dimensions B x H x T width 25 mm CAN CBM SIO1 CAN CBM PLC 331 1 40 mm CAN CBM SIO4 height 85 mm depth 83 mm includi...

Page 11: ...eviceNet Interface Number of CAN interfaces 1 x CAN option 1 x DeviceNet CAN controller SJA1000 CAN 2 0A B Electrical insulation of CAN interface from other units via optocouplers and DC DC converter Physical layer CAN Physical layer in accordance with ISO 11898 transmission rate programmable from 10 kbit s to 1 Mbit s Physical layer DeviceNet option Physical layer in accordance with DeviceNet spe...

Page 12: ... in the product package 1 4 1 CAN CBM SIO1 CAN CBM SIO4 In standard mode without protocol the unit transmits a CAN frame on the CAN identifier set before when receiving 8 ASCII characters or after receiving a configurable end mark such as CR LF or EOT and after a settable time out expired after no characters had been received anymore 1 4 2 CAN CBM PLC 331 1 The CAN CBM PLC 331 1 Module can be conf...

Page 13: ...ner C 2840 19 CAN CBM SIO Co CANopen Slave C 2840 18 Connection cable 8 pin RJ48 to 8 pin RJ48 Length 2 m C 2401 30 Adaptor 8 pin RJ45 to 25 pin DSUB male Pin arrangement without tools independently configurable C 2401 34 Adaptor 8 pin RJ45 to 25 pin DSUB female Pin arrangement without tools independently configurable C 2401 36 Adaptor 8 pin RJ45 to 9 pin DSUB female Pin arrangement without tools ...

Page 14: ... Please state clearly in order RS 485 adaptor TTY 20mA passive TTY 20mA active X 1930 02 X 1930 04 X 1930 06 X 1930 08 CoDeSysRTOS UH IEC1131 3 PLC developing system with 5 program languages for RTOS UH PC Host P 4071 02 CAN CBM PLC 331 MD Additional user manual in English 1 C 2845 20 1 If ordered together with the module the manual is included in the product package Table 1 5 2 Order information ...

Page 15: ...SUB9 Channel 5 RxID1 RxID2 RxID3 RxID4 RxID5 TxID1 TxID2 TxID3 TxID4 TxID5 CAN CBM PLC 331 1 CAN Identifier must be set by CoDeSys The CAN CBM PLC 331 1 doesn t use the coding switches for any setting Attention The Rx Identifier RxID5 and the Tx identifier TxID5 are assigned to terminal interface on DSUB9 on CAN CBM SIO4 module On CAN CBM SIO1 module with only a single serial interface the Rx Iden...

Page 16: ...entifier Offset HEX Identifier Offset HEX TxID1 TxID2 TxID3 TxID4 TxID5 0 1 2 3 4 TxID1 0 RxID1 RxID2 RxID3 RxID4 RxID5 5 6 7 8 9 RxID1 1 Table 2 2 Offset of the identifier in default setting Calculation of the base value and the identifier base value 10 x coding switch value identifier base value offset HEX ...

Page 17: ...he coding switch is 11 and the base value is A x 11 AA The identifier values then arise as follows AA offset HEX identifier CAN CBM SIO4 CAN CBM SIO1 Identifier Value HEX Identifier Value HEX TxID1 TxID2 TxID3 TxID4 TxID5 AA AB AC AD AE TxID1 AA RxID1 RxID2 RxID3 RxID4 RxID5 AF B0 B1 B2 B3 RxID1 AB Table 2 3 Example for identifier settings ...

Page 18: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 14 ...

Page 19: ...7100 Opto Coupler HCPL7100 GND VC05D150 100µF 6 3V 2 2M 2 2nF 250V to CAN Controller CAN Transceiver 82C250 Si9200 5 n c X400 MSTB2 5 5 5 08 3 Unit Description 3 1 CAN DeviceNet Unit 3 1 1 Interface Circuit The CAN CBM modules are available with a CAN interface in accordance with ISO11898 or alternatively with a DeviceNet interface The same connector is used for both interfaces The connector assig...

Page 20: ...X00 5V VDD TX R GND BUSL RX BUSH 5V CAN CAN 3 2 4 TX00 GND VCC GND Opto Coupler HCPL7100 Opto Coupler HCPL7100 GND 22µF 35V to CAN Controller CAN Transceiver 82C250 Si9200 5 1 V Sense Comp SC CAP V PRLL5819 220pF DC SE 5V CAN_GND V V 1R 3K6 1 1K2 1 100µH PRLL5819 10M 10nF 500V MC34063A X400 MSTB2 5 5 5 08 n c X400 MSTB2 5 5 5 08 Fig 3 1 2 Circuit of DeviceNet interface ...

Page 21: ...an be parameterized The controller QUART 82C684 supports bit rates of up to 230 kbit s If the 4 interfaces are run at the same time only 38 4 kbit can be attained The controller integrated in the 68331 supports bit rates of up to 500 kbit s in this application Bit rates of over 38 4 kbit s can only be achieved by means of RS 422 and RS 485 interfaces With the RS 232 drivers used a maximum of 38 4 ...

Page 22: ...are The values in the second column represent the actual bit rates which result from the 68331 controller internal conversion Bit rate reference value bit s Bit rate actual value bit s 500 000 only 68331 38 400 19 200 9 600 4 800 2 400 1 200 600 300 500 000 38 462 19 231 9 615 4 808 2 404 1 199 600 2 299 9 Table 3 2 3 Settable bit rates ...

Page 23: ...rfaces is represented for channel 1 CAN CBM SIO1 and CAN CBM PLC 331 1 and channel 5 CAN CBM SIO4 The figures help to explain the short terms used in for the signals in the appendix Connector Assignment Furthermore the circuit diagrams of the various available piggybacks can be found in the appendix Circuit Diagrams The signal terms are specified exemplary for the connection of the CAN CBM modules...

Page 24: ...x Rx Tx 2 RTS 150 9 4 GND GND 5 5V 1 k 1 k TERM TERM GND Modem DCE CAN CBM Module Terminal DTE local signal terms pin numbers of the 9 pole DSUB connector 3 2 2 2 RS 422 Interface Fig 3 2 4 Connection diagram for RS 422 operation 3 2 2 3 RS 485 Interface Fig 3 2 5 Connection diagram for RS 485 operation In order to activate the terminating impedance network on the piggyback you have to connect pin...

Page 25: ...M Module Terminal DTE local signal terms pin numbers of the 9 pole DSUB connector 24V i 20mA i 20mA i 20mA 24V RxD RxD i 20mA TxD GNDA Rx Rx Tx Tx TxD 8 9 3 2 GNDA Modem DCE local signal terms pin numbers of the 9 pole DSUB connector 3 2 2 4 TTY 20 mA Interface Fig 3 2 6 Connection diagram for TTY operation passive Fig 3 2 7 Connection diagram for TTY operation active ...

Page 26: ...shown The figures should explain the short terms used in for the signals in the chapter Connector Assignment Furthermore thecircuitdiagramsofthevariousavailable piggybacks can befoundinthechapter Circuit Diagrams Asexamplefortheconnectioncabletheadapter cableRJ48 DSUB9 femalehasbeenshownherewhich is layed out for the RS 232 modem operation data communication equipment The conduction marked by RTS ...

Page 27: ... 8 9 4 GND 5 GND 5 5V 1 k 1 k TERM TERM CAN CBM SIO4 DTE Terminal DCE local signal terms pin numbers of the 9 pole DSUB connector if the adaptor cable RJ45 DSUB9 is connected pin numbers of the 8 pole RJ45 connector 3 2 3 2 RS 422 Interface Fig 3 2 9 Connection diagram for RS 422 operation 3 2 3 3 RS 485 Interface Fig 3 2 10 Connection diagram for RS 485 operation Pin 4 and 8 of the RJ45 socket le...

Page 28: ...le RJ45 DSUB9 is connected pin numbers of the 8 pole RJ45 connector 24V i 20mA i 20mA i 20mA 24V RxD RxD i 20mA TxD GNDA Tx Tx Rx Rx TxD 8 9 3 2 3 6 7 4 GNDA TTY aktive CAN CBM SIO4 DTE Terminal DCE local signal terms pin numbers of the 9pole DSUB connector if the adaptor cable RJ45 DSUB9 is connected pin numbers of the 8 pole RJ45 connector 3 2 3 4 TTY 20 mA Interface Fig 3 2 11 Connection diagra...

Page 29: ...ignal 1 CAN_GND 2 CAN_L 3 n c 4 CAN_H 5 n c Signal Terms CAN_L CAN_H CAN signal lines CAN_GND reference potential of the local CAN physical layer n c not connected 4 2 DeviceNet X400 5 pole Combicon Style Pin Position Pin Assignment Pin Signal 1 V 2 CAN 3 n c 4 CAN 5 V Signal Terms V Voltage supply feed UVCC 24 V 4 V reference potential of V and CAN CAN CAN CAN CAN signal lines n c not connected ...

Page 30: ...Connection of the Various Serial Interfaces at DSUB9 Connector You find the directions of the signals Rx Tx in the connection diagrams 4 3 1 RS 232 Interface X100 9 pin DSUB Male The signals CTS DSR and DCD are not evaluated by the CAN CBM modules Pin Position Pin Assignment Signal Pin Signal 1 DCD input DSR input 6 2 RxD input RTS output 7 3 TxD output CTS input 8 4 DTR output RIN input 9 5 GND 9...

Page 31: ...M SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 27 4 3 2 RS 422 Interface X100 9 pin DSUB Male Pin Position Pin Assignment Signal Pin Signal 1 6 2 Tx output Tx output 7 3 8 4 Rx input Rx input 9 5 GND 9 pin DSUB connector ...

Page 32: ... Pin Position Pin Assignment Signal Pin Signal 1 6 2 Rx Tx Rx Tx 7 3 8 4 Term for Rx Tx Term for Rx Tx 9 5 GND 9 pin DSUB connector The signals Term and Term are connected to a terminating impedance network on the board In order to activate the connection Term has to be connected to the Rx Tx signal and Term to the Rx Tx signal ...

Page 33: ... passive Interface X100 9 pin DSUB Male Pin Position Pin Assignment Signal Pin Signal 1 6 2 Tx transmitter Tx transmitter 7 3 I1 I2 8 4 Rx recipient Rx recipient 9 5 GND 9 pin DSUB connector The signals specified in brackets are assigned but are not required for operating this physical interface ...

Page 34: ...ive Interface X100 9 pin DSUB Male Pin Position Pin Assignment Signal Pin Signal 1 6 2 Tx transmitter GNDA 7 3 Tx transmitter Rx recipient 8 4 GNDA Rx recipient 9 5 GND 9 pin DSUB connector The signals specified in brackets are assigned but they are not required for operating this physical interface ...

Page 35: ...cket Only CAN CBM SIO4 is mounted with this interface Notes to the connection of the serial interfaces can also be taken from the chapter Connection of the Various Serial Interfaces at DSUB9 Connector You find the directions of the signals Rx Tx in the connection diagram 4 4 1 Serial Interface 2 4 P200 P230 8 pin RJ45 Socket Fig 4 4 1 Pin assignment of RJ45 socket ...

Page 36: ...nt RS 232 RS 422 RS 485 TTY passive TTY aktive 1 2 Tx Rx Tx Tx GNDA 3 TxD Data Output I1 Tx 4 Rx TERM 1 Rx Rx 5 GND GND GND GND GND 6 RxD Data Input Tx Rx Tx Tx Tx 7 CTS Handshake Input GND GND I2 Rx 8 RTS Handshake Output Rx TERM 1 Rx GNDA 1 The pins 4 and 8 of the sockets P200 P230 lead to a terminal resistance which is on the piggyback To activate the terminal resistance the signal TERM has to ...

Page 37: ... the Adaptor Cable RJ45 DSUB9 Female TheadaptorsRJ45 DSUB9 male orderno C 2401 40 andRJ45 DSUB9 female orderno C 2401 38 canoncebeconfiguredindepentlywithouttools TheconnectionbetweenadaptorandCAN CBM SIO4 occurs by the connection cable RJ45 RJ45 order no C 2401 30 The adaptor cable order no C 2401 30 is layed out for the operation of the CAN CBM SIO4 as data communication equipment receiver modem...

Page 38: ...r in chapter Connection of the Various Serial Interfaces at DSUB9 Connector will be helpful RJ45 socket DSUB9 socket Signal arrangement RS 422 RS 485 TTY passiv TTY aktiv 1 1 6 2 Rx out Rx Tx Rx out Rx out 3 3 I1 Rx out 8 4 Tx in TERM 1 Tx in GNDA 5 5 GND GND GND GND 6 2 7 Rx out Rx Tx Rx out GNDA 7 8 GND GND I2 Tx in 4 9 Tx in TERM 1 Tx in Tx in 1 The pins 4 and 8 of the sockets P200 P230 lead to...

Page 39: ... only the direction of the data transmission and not the direction of the current For the connection of the TTY signals the circuit layer in chapter Connection of the Various Serial Interfaces at DSUB9 Connector will be helpful Connector Pin Signal arrangment RJ45 socket DSUB25 socket RS 232 RS 422 RS 485 TTY passive TTY active 1 1 2 14 Rx out Rx Tx Rx out GNDA 3 3 RxD Data Output I1 Rx out 4 16 T...

Page 40: ...x Tx out GNDA 3 2 TxD Data Output I1 Tx out 4 16 Rx in TERM 1 Rx in Rx in 5 7 GND GND GND GND GND 6 3 RxD Data Input Tx out Rx Tx Tx out Tx out 7 5 CTS Handshake Input GND GND I2 Rx in 8 4 RTS 2 Handshake Output Rx in TERM 1 Rx in GNDA 1 The pins 4 and 8 of the sockets P200 P230 lead to a terminal resistance which is on the piggyback To activate the terminal resistance the signal TERM has to be co...

Page 41: ...les with a cross section of up to 2 5 mm The assignment of the connectors is the same at both sides of the case The connectors can be used alternatively The contact in the middle is designed for 24V and the two outer contacts are designed for GND Attention It is not permissible to feed through the 24V supply voltage i e using one side as a 24V input and the other side as a 24V output to supply oth...

Page 42: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 38 ...

Page 43: ...dule you have to follow the steps below 1 Import the various Files Install the Target Support Package by means of the installation program Install Target exe Check whether the EDS files of the desired modules are available in the subdirectory CoDeSys Targets ESD ESD_CAN Module of the library directory Import the desired EDS files if required 2 Start the CoDeSys Development Environment 3 Configurat...

Page 44: ...C CoDeSys Fig 2 Check libraries and compilation files 4 New POU When you acknowledge your selection in Target Platform with OK the dialog box New POU opens Fig 3 Dialog box New POU The PLC_PRG unit has been specially predefined and is automatically installed for every new project It must not be deleted or renamed does not apply for the use of task configuration You can find further information on ...

Page 45: ...ster Change to Resources register register lower left screen corner Select menu point PLC Configuration Fig 4 Select CAN master The PLC Configuration field appears on screen Click the field Hardware Configuration with the right mouse key and select the menu point Append Subelement and then CAN Master ...

Page 46: ...of two SYNC telegrams by the SYNC master The Com Cycle Period depends on slaves bus speed and internal data processing rate Attention Com Cycle Period must be larger than Sync Window Length to make sure that all SYNC consuming devices have received the synchronous PDOs Process Data Objects See also Fig 6 Sync Windows Length Shows the time which passes from the transmission of a SYNC until all sync...

Page 47: ... ID Identifier under which SYNC telegrams are transmitted and received Diagnose Address Here you have to specify a pointer under which the diagnose data is stored Node ID Identifier of the CAN CBM PLC 331 1 2 between 1 and 127 decimal specification If you acknowledge your selection with OK the CAN master in the PLC Configuration field is included into the configuration scheme under hardware config...

Page 48: ...ft mouse key a dialog box see Fig 8 will open in which you can specify the desired properties of the device selected If no entry or EDS file is available for the device you can substitute the unavailable EDS file by a TST file TST files are EDS files configured for simple applications The ending of the test file name TST files explains the respective function of the file TST xxyyzz trunk of name T...

Page 49: ... Address under which the diagnose data is stored Write DCF Creating a DCF file after an EDS file has been included if activated All process data in the CAN network are read or written via input and output address range of the CAN CBM PLC 331 1 2 module Via e g IB4 input byte 4 QB6 output byte 6 CAN specific data such as identifier RTR are not used in the application program itself If the options N...

Page 50: ...ment such as input and output address 9 Add further Modules In order to add further modules you have to repeat the steps described under 7 and 8 Example The module CBM AO4 EDS is selected as further module as described under 7 Append Subelements The dialog box properties CAN CBM AO4 opens Fig 10 Example CAN CBM AO4 The identifier of the desired module has got the node ID 6 the output address QB55 ...

Page 51: ...T_1 AT QB55 INT WriteOutput16_1H COBId0x306 name If another output module is added before the CAN CBM AO4 module the output address is automatically increased according to the number of outputs of the added module In order to prevent a change for all programs in which this address appears a name can be assigned to the global variable By clicking AT a small input window appears Here you can enter a...

Page 52: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 48 ...

Page 53: ... A CAN net must not branch exception short dead end feeders and has to be terminated by the wave impedance of the wire generally 120 Ω 10 at both ends between the signals CAN_L and CAN_H and not at GND 2 A CAN data wire requires two twisted wires and a wire to conduct the reference potential CAN_GND For this the shield of the wire should be used 3 The reference potential CAN_GND has to be connecte...

Page 54: ...ddead endfeeder shorterthan 0 3 m available as accessory Figure Example for correct wiring when using single shielded wires Terminal Resistance use external terminator because this CAN later be found again more easily 9 pin DSUB terminator with male and female contacts and earth terminal are available as accessories Earthing CAN_GND has to be conducted in the CAN wire because the individual esd mo...

Page 55: ...ire lengths lmin m 1000 800 666 6 500 333 3 250 166 125 100 66 6 50 33 3 20 12 5 10 37 59 80 130 180 270 420 570 710 1000 1400 2000 3600 5400 7300 25 50 100 250 500 650 1000 2500 5000 Table Reachable wire lengths depending on the bit rate when using esd CAN interfaces Examples for Suitable Types of Wire Manufacturer Type of wire Manufacturer Type of wire U I LAPP GmbH Co KG Schulze Delitzsch Straß...

Page 56: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 52 ...

Page 57: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 53 Circuit Diagrams 7 Circuit Diagrams ...

Page 58: ...CAN CBM SIO1 CAN CBM SIO4 CAN CBM PLC 331 1 Hardware Rev 2 0 54 ...

Page 59: ...CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 CAN CBM SIO CAN CBM SIO4 CAN RS 232 RS 422 RS 485 or TTY Interface Manual of the Module Specific Software ...

Page 60: ...es without notice to this or any of its products to improve reliability performance or design esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalde...

Page 61: ...opy 14 07 1999 Software version sio4_V1 0aE0 Changes in the chapters The changes in the user s manual listed below affect changes in the firmware as well as changes in the description of the facts only Manual Rev Chapter Changes versus previous version First revision Technical details are subject to change without notice ...

Page 62: ...CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 ...

Page 63: ...f the CAN CBM SIO and CAN CBM SIO4 Modules 3 1 3 1 First Tx activate Delay Parameter 0 3 2 3 2 CAN Tx Mode Parameters 1 9 11 19 21 3 2 3 3 Serial Mode Parameters 2 A 12 1A 22 3 5 4 Examples 4 1 4 1 Operation with Default Parameters 4 1 4 1 1 Basic Conditions Objective 4 1 4 1 2 Procedure 4 1 4 1 2 1 Set Identifiers 4 1 4 1 2 2 Transmitting the Data to the Serial Interface 4 2 4 1 2 3 Receiving Dat...

Page 64: ...CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 i 2 ...

Page 65: ...egardless of the CAN protocol you chose CAN CBM SIO CAN CBM SIO4 Serial Interfaces Manual of the Module Specific Software This manual for example looks into the functions of the type specific firmware the identifier assignment and the assignment of user parameters In this manual the esd CAN modules CAN CBM SIO4 and CAN CBM SIO will be described Both manuals are generally the same in contrast to th...

Page 66: ...ion identifier 700 By means of this protocol identifiers can be assigned to the modules user parameters can be set and watchdog functions can be activated Alternatively the modules can be controlled via the CMS protocol If this protocol has been implemented you will have to consult the manual CAN Application Layer LMT NMT and DBT in esd Modules for the CMS option This manual explains the CMS servi...

Page 67: ...d1 serial channel 1 RxId2 TxId2 serial channel 2 RxId3 TxId3 serial channel 3 RxId4 TxId4 serial channel 4 RxId5 TxId5 serial channel 5 The default values of the identifiers correspond to the settings via the coding switches Please refer to the hardware manual for a detailed description of the settings Module No setting of the coding switches CAN bit rate 125 kbit s Please note that the CAN CBM SI...

Page 68: ...rer name ASCII esd_han Product name has not been defined yet Module ID setting of coding switches Module name has not been defined yet CAN bit rate 125 KBIT s After a default RESET a Configuration Download to the module via the NMT protocol is absolutely necessary Table 1 2 2 Default settings of the module when operated with CAL ...

Page 69: ...ettings of parameters of the module Explanations of the terms for the user parameters in table 1 2 3 First Tx activate delay Delay after a RESET before the module starts transmitting messages to the CAN or the serial interfaces CAN Tx mode MinChar and MaxChar determine the minimum and maximum number of data bytes which are to be transmitted within the CAN frame on the CAN bus Inhibit time shows th...

Page 70: ...CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 1 6 ...

Page 71: ...and the assigned bus enabling of the CAN bus If data is lost during operation the intervals between transmission are to be prolonged or and the amount of transmitted bytes has to be decreased The data is transmitted to the module by the CAN bus via the Rx identifiers or via COBs 1 to 4 The user is free to select the amount of bytes to be transmitted esd Prot CAL Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 ...

Page 72: ...and Suspend Module All four channels are stopped simultaneously By means of the command Continue the channels are started again simultaneously If the module is in Suspended status data being received from the CAN bus and the serial interfaces will be stored in the toroidal core store The data transfer from CAN bus to serial interfaces principally has the following chronological course Fig 2 1 1 Da...

Page 73: ...ser parameter CAN Tx Mode Via Inhibit Time the delay between two transmissions on the CAN bus is determined Fig 2 2 1 Function of Inhibit Time MinChar and MaxChar determine the minimum and maximum number of data bytes which are to be transmitted on the CAN bus within a CAN frame The data is transmitted by the module via Tx identifiers or COBs 5 to 8 on the CAN bus esd Prot CAL Byte 1 Byte 2 Byte 3...

Page 74: ...CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 2 4 ...

Page 75: ...n load NMT The following table gives an overview of the user parameters of the CAN CBM SIO4 module Only parameters 00 02 are required for the CAN CBM SIO module User parameter No Parameter Value range Default settings 00 First Tx activate delay 10 000 msec 0000 FFFF 0 65535 msec 01 CAN Tx mode channel 1 0011 FF88 1411 02 Serial mode channel 1 0000 88FF 2273 03 reserved 04 08 not assigned 09 CAN Tx...

Page 76: ... Mode Parameters 1 9 11 19 21 By means of these parameters the Inhibit Time and parameters MaxChar and MinChar are specified Via Inhibit Time the delay between two transmissions on the CAN bus is determined MinChar and MaxChar determine the maximum and minimum amount of data bytes which are to be transmitted on the CAN bus within a CAN frame Starting from software rev 17 7e the function os paramet...

Page 77: ...maximum amount of data bytes to be transmitted in a CAN frame are specified The default setting is 11 i e each received byte is transmitted individually in one frame MinChar is only determined as described above if values between 1 8 are specified Values between 9 and F change the functionality of the parameter In this case the local software evaluates the entries of flags Carriage Return 0D or Li...

Page 78: ... Cr and message The data is transmitted after Cr without Lf had been received Neither Cr nor Lf Cr and Lf can be at the end of the are transmitted with the data E Lf As above but with Lf without Cr and without Lf F reserved Table 3 2 3 Selection of transmission status via parameter MinChar Examples 1 For MinChar value B has been selected Via the serial interface the data abcd Cr are received The C...

Page 79: ...arameter No sub command No Parameter Value range Default setting 02 Serial mode channel 1 0000 88FF 2273 12 Serial mode channel 3 0A Serial mode channel 2 1A Serial mode channel 4 22 Serial mode channel 5 Table 3 3 1 User parameter Serial Mode The two bytes of the parameter Serial Mode are structured as follows Serial Mode Byte 5 of INIT Id 700 Byte 6 of INIT Id 700 Parameter Rx Baudrate Tx Baudra...

Page 80: ...imum of 38 4 kbit s when at the same time using all four channels Parameter Rx Tx Bit rate bit rate Bit s HEX 0 38400 1 19200 2 9600 3 4800 4 2400 5 1200 6 600 7 300 8 150 9 7200 A 14400 B 28800 C 57600 D 115200 E 2304000 F 76800 Table 3 3 3 Setting the bit rate of the serial interfaces Mode The bits of parameter Mode are assigned with the following functions Bit 7 6 5 4 3 2 1 0 Assign RTS CTS Sto...

Page 81: ...uated and the controller transmits the available data at once provided the module is not in Suspend status The evaluation of bits can be taken from the following table CTS enable bit CTS evaluation 0 CTS input is ignored always at terminal interface 1 hardware handshake CTS input is evaluated default setting for channel 1 4 Table 3 3 6 Evaluation of CTS enable bits The RS232 driver used activate t...

Page 82: ... 7 Number of stop bits The terminal interface DSUB9 always operates with only one stop bit The setting 1 therefore is insignificant for this interface Parity Mode By means of these two bits the evaluation of the parity bits is determined Parity mode Evaluation Bit 4 Bit 3 0 0 parity evaluation when receiving data and transmitting the parity bit 0 1 reserved 1 0 no parity transmission no parity eva...

Page 83: ...ter Via these two bits the number of bits character is selected Bits per Character Number of transmitted bits Bit 1 Bit 0 0 0 5 not at terminal interface 0 1 6 not at terminal interface 1 0 7 1 1 8 default setting Table 3 3 10 Number of bits character For the terminal interface only the following combinations of Bits per Character and Parity Mode are permissible 7 data bits 1 parity bit 8 data bit...

Page 84: ...CAN CBM SIO CAN CBM SIO4 Software Rev 1 0 3 10 ...

Page 85: ...e 15E The Rx identifier is to be 15F 4 1 2 Procedure 4 1 2 1 Set Identifiers The identifier is determined for example by the coding switches It corresponds to the tenfold of the value set at the coding switches plus the identifier offset note The selection of any value is therefore not possible via the coding switches If you wish to do so the setting has to be made by means of the esd CAN protocol...

Page 86: ...re not required 4 1 2 3 Receiving Data from the Serial Interface Via Tx identifier TxId1 the data received by the serial interface is sent from the module to the CAN bus The module is operated with the default parameters and therefore each byte received is immediately transmitted The delay between initiating the individual transmissions by the CAN controller is 20 ms In this example the device con...

Page 87: ... 4 Byte 5 Byte 6 Byte 7 Byte 8 15E EE t 20ms TxId1 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 15E DD t 20ms TxId1 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 15E 88 Table 4 1 3 Transmitting received serial data to the CAN bus Bytes 2 8 of the individual Tx transfers are not transmitted because value 1 is set for MaxChar in default setting ...

Page 88: ...ransmission byte 5 For channel 1 this parameter is selected by means of sub command 02 The assignment of bit rate 19200 results in the values 1 for each nibble of byte 5 of the user parameter Byte 6 of the parameter Serial Mode should not be changed has to be transmitted as well however as have all user parameters Therefore the default value 73 is entered here CAN Id always module serial Byte 1 By...

Page 89: ...esd Protocol for CAN Modules Rev 3 2 esd CAN Protocol for CAN CBM SIO1 4 ...

Page 90: ...exte Doku MANUALS CAN Cbm SIO 331 Englisch ESD_SIO1 EN6 Date of Print 11 04 2001 Described Software Revision CAN kernel from revision 1 f HEX esd protocol from revision 0 HEX Module specific implementation refer to manual of the module specific software ...

Page 91: ...y performance or design esd assumes no responsibilityfor the use of any circuitry other than circuitry which is part of a product of esd gmbh esd does not convey to the purchaser of the product described herein any license under the patent rights of esd gmbh nor the rights of others esd electronic system design gmbh Vahrenwalder Str 205 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 9...

Page 92: ...meters 1 9 2 Overview of the Implemented Commands and Parameters 2 1 2 1 Overview of the Commands 2 1 2 2 Overview of the Returned Parameter Values 2 4 3 Description of the Commands and Parameters 3 1 3 1 Configuration Reply 3 1 3 2 System Parameters 3 7 3 3 Process TxIds 3 19 3 4 Process RxIds 3 22 3 5 Cyclic Tx Transfers Tx Activate Time 3 25 3 6 Process User Parameters 3 28 3 7 Service Request ...

Page 93: ...esd Protocol for CAN Modules Rev 3 2 i 2 ...

Page 94: ...uiry of the status of the CAN hardware controller up to application specific adjustments as e g the setting of so called user parameters The esd protocol offers functions which are comparable e g with the LMT layer management in the CAL CAN application layer Because the identifier allocation occurs by the esd protocol too its functionalities are partly similar to those of the DBT identifier distri...

Page 95: ...ET and a RESET by the general command RESET module reset the local components Furthermore the module is able to trigger a RESET independently when the hardware watchdog has expired This RESET also resets the local components without changing the stored parameters The listed RESETs only change the parameters of the module filed in the I C EEPROM if the conditions apply which are listed in the table...

Page 96: ... case the previous module no is deleted at power on active mod no 00 1b 00 ERROR x CAN Id f6Coding switches Parameter default I C EEPROM mod no 00 active mod no Coding switch no 2 00 OK 00 CAN Id f6Coding switches Parameter default I C EEPROM mod no 00 active mod no Coding switch no 3 00 OK 00 CAN Id f6I C EEPROM Parameter f6I C EEPROM active mod no I C EEPROM mod no x This value or status is of n...

Page 97: ...own in table 1 4 1 which are decisive for the selection of the default parameters will be explained Combination 1a If the positions of the coding switches are 00 when the module starts after a RESET the I C EEPROM data previously stored will be overwritten at the moment in which the adjustment is changed from 00 to any other value The firmware needs about 10 seconds for this Afterwards a local RES...

Page 98: ...h the previously changed and in the I C EEPROM stored parameters Requirements for this are I C EEPROM status OK a coding switch position unequal 00 and a module no stored in the I C EEPROM which has got a value unequal 00 The CAN identifier with which the module operates and all used parameters are taken from the I C EEPROM The actual module no with which the module is selected in the initialisati...

Page 99: ...GH to the parameter number and the switch LOW to the parameter value parameters see table below Only if previous step was step 4 if do not want to change more parameters set both coding switches to F to write the changed parameter s to the EEPROM 3 lights continuously flashes slow the local firmware verifies your settings of step 2 in 2 seconds 4 flashes fast lights continuously if this light stat...

Page 100: ...ol for CAN Modules Rev 3 2 1 7 1 6 2 Parameter Numbers and Values Coding Switch Meaning HIGH parameter number LOW 0 baud 0 F setting the CAN baudrate index values see table at page 11 1 E reserved F F write data to EEPROM ...

Page 101: ...ghts continuously module is working with default parameters lights continuously flash slow local firmware verifies parameter settings of coding switches see page 6 flash fast flash slow time to set parameter value by coding switches see page 6 flash fast lights continuously the changed parameter value is accepted see page 6 flash fast flash fast microcontroller writes parameter value to EEPROM see...

Page 102: ...y be allocated to other functions the transmitted data will be interpreted as initialisation parameter nevertheless Generally not all modules should be initialized with the same parameters To distinguish the modules the fourth byte of the six INIT Id bytes has to have the actual Module no of the wanted module at the initialisation The module no is a characteristic number in the area of 00 FE which...

Page 103: ...ct length and the functions corresponding to the module type of board If this is not the case the module would not react to the initialisation The table below shows the construction of the INIT Id In the command byte and the sub command bytes the function of the respective initialisationlevelis determined The module no selects the wanted module In the cells parameter 1 and 2 the wanted parameters ...

Page 104: ...f the modules in the first byte the contents of the received command byte and in the second byte the contents of the sub command byte is given This is not the case if the second byte is used for the display of other parameters or an unknown command or sub command byte had been sent to the module In the second case a message containing only one byte with the contents FF is given back to the CAN The...

Page 105: ...Overview esd Protocol for CAN Modules Rev 3 2 1 12 ...

Page 106: ... not be guaranteed anymore 2 1 Overview of the Commands Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Command Sub Command don t care Module No Parameter 1 Parameter 2 not used not used Request Configuration 00 00 Module Type 01 Active Switch 02 ASCII Id 03 Software Rev 04 reserved 05 Serial No Please write always 00 selected Module No 01 FF CTxId 0000 07FF These Bytes are not used Byte 1...

Page 107: ... 4 Byte 5 Byte 6 Byte 7 Byte 8 Command Sub Command don t care Module No Parameter 1 Parameter 2 not used not used Tx Activate Time 84 set 00 act T TxId1 01 act T TxId2 02 act T TxId3 n act T TxId n 1 Please write always 00 selected Module No 01 FF tx_act 0000 FFFF ms These Bytes are not used 04 request CTxId 0000 07FF Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Command Sub Command don ...

Page 108: ...are Module No Parameter 1 Parameter 2 not used not used Supervisor Commands FF 00 RESET Module Please write always 00 00 all Modules 01 FF selected Module AAAA RESET These Bytes are not used 01 reserved 02 Supervisor Watchdog 03 Default RESET AAAA Default Reset 04 Suspend Continue Module 5A5A suspend A5A5 continue 05 RESET CAN Status ...

Page 109: ...Command Request Sub Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 System Parameter 01 00 Saved Module No 01 00 saved Module No 01 Active Module No 01 01 active Module No 02 CAN Status Byte 01 02 cstat 03 Saved Bitrate 01 03 bust 0 bust 1 04 WD Tx Id 01 04 WTxId 05 WD Time 01 05 WDtime ms WDLifeTime Factor Command Request Sub Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte ...

Page 110: ...vate Time 04 00 Time TxId1 04 00 tx act1 ms 01 Time TxId2 04 01 tx act2 ms 02 Time TxId3 04 02 tx act3 ms 04 n Time TxId n 1 04 n tx act n 1 Command Request Sub Command Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 User Parameter 06 00 Para 0 06 00 Para0 01 Para 1 06 01 Para1 06 7F Para127 06 7F Para7F This Byte is not transmitted ...

Page 111: ...esd Protocol for CAN Modules Rev 3 2 2 6 ...

Page 112: ... the command request configuration Explanation of the Bytes Transmitted to the Module Command The command request configuration requests the transmission of the actual parameters of the module Sub command The sub command determines the configuration bytes which should reply Sub command Reply of the parameters 00 01 02 03 04 05 Module type Active switch ASCII Id Software rev reserved Serial number ...

Page 113: ...tch 00 01 switch 02 ASCII Id 00 a b c d e Mod No ASCIIH Mod No ASCIIL 03 Software rev 00 V ASCII level H ASCII level L rev esd cms prot rev 04 reserved 00 not defined 05 Serial number 00 05 u v w x y z Byte is not transmitted Table 3 1 3 Transmitting the adjusted configuration Explanation of the bytes transmitted by the module Sub command 00 module type Byte 1 The first byte replies the contents o...

Page 114: ... 13 14 15 16 17 18 19 1A 1B 1F 20 30 31 FE FF reserved CDO16 CDI16 CAI810 CAO812 CDIO16 16 CAI812 reserved CREL8 CSC595 CPIO16 8 CCOM4 CCOM1 PTIDAC SPS16 CMIO reserved CTERM CBIP CANSAT AIS16 CI488 CAN PT100 DMS4 CDMS4I CAN PCC CCOM1 XMIO4 reserved reserved LasCon I O SIO SIO4 reserved reserved Table 3 1 4 Examples for module type designations ...

Page 115: ...1 Reserved 1 1 1 1 1 0 0 0 0 1 These bits are read as 0 Table 3 1 5 Bits in parameter iomode Example At a CAN CMIO module the value 0F would be replied for iomode The value for a CAN CBM SIO is not defined at the moment Sub command 01 active switch Byte1 Byte2 See sub command 00 Byte 3 switch The byte switch replies the number adjusted on the coding switches If the module no filed in the EEPROM ha...

Page 116: ...d the exact value for the SIO4 is not defined at the moment Sub command 03 software revision Byte 1 See sub command 00 Byte 2 Byte 5 V level rev In ASCII code these bytes describe the revision number of the firmware of the CAN core used on the module Byte 2 and byte 4 are permanently allocated with the ASCII symbols V 56 or 2E In byte 3 and byte 5 the actual revision number is described Byte 6 con...

Page 117: ...II display V 1 0 a E 0 Table 3 1 7 Example for the ASCII software rev no V1 0aE0 Sub command 04 reserved Sub Command 05 serial number Byte 1 Byte 2 refer to sub command 00 Byte 3 8 Hardware serial number of the CAN module Byte 3 4 5 6 7 8 Parameter u v w x y z ASCII display A A 0 0 1 2 Table 3 1 7 Example for the ASCII serial no AA0012 ...

Page 118: ...orresponds to the adjustment of the coding switches provided no modification had been made so far By the sub command 01 it is possible to allocate another module no to the module The new number is active immediately after the setting and the number adjusted by the coding switches is ignored The CAN status byte offers various information about the condition of the module It is shown if the module h...

Page 119: ...3 2 1 Bytes of the commands store parameter module no bitrate and watchdog Setting the Commands and Parameters Command 81 Command The command 81 leads to the setting of parameters or to the activation of the commands The command 01 leads to the reply of the actual parameters Sub command The sub command selects the desired parameter interchange or the command to be executed Parameter1 Parameter2 Fo...

Page 120: ...meters have to be stored by the sub command store parameters before a power down or a RESET Sub command 02 set CAN status byte cstat A set access onto the CAN status byte sets the bits 2 and 7 of the byte to 0 All other bits of the status byte remain unchanged because they serve as read only information see also requesting the actual parameters Bit 2 shows that a CAN error has been detected by the...

Page 121: ...e it is possible that the CAN error bit of the CAN status byte is still active after only one reset because the error bit of the controller is still active Bit 7 of the byte has got the designation new on bus and shows if the module processes for the first time on the CAN A CAN master is able to evaluate and set the bit to zero to document on the module that it noted the presence of the module on ...

Page 122: ...es of the reachable line length lmin m BTR0 HEX BTR1 HEX 0 1 2 3 4 5 6 7 8 9 A B C D E 00 00 00 00 01 01 02 03 04 45 09 4B 18 5F 31 14 16 18 1C 18 1C 1C 1C 1C 2F 1C 2F 1C 2F 1C 1000 800 666 6 500 333 3 250 166 125 100 66 6 50 33 3 20 12 5 10 37 59 80 130 180 270 420 570 710 1000 1400 2000 3600 5400 7300 20 42 65 110 160 250 400 550 700 980 1400 2000 3600 5400 7300 The specifications in the table b...

Page 123: ...TimeFactor otherwise a RESET is triggered at the module Receiving the RTR or the command shows the module that the master is still active 4 If the remote request or the supervisor command arrives within the given time the module transmits a one byte containing message back on the Tx identifier The byte is constructed as follows Bit 7 6 5 4 3 2 1 0 Contents Toggle bit x x x x CMS State Table 3 2 4 ...

Page 124: ...sponse WDtime The watchdog time after that a local RESET is generated results from the time set in WDtime multiplied by the life time factor that is set in WDLifeTimeFactor The product has to be greater than 0 to enable the watchdog WDtime HEX Watchdog time in ms 0000 Watchdog disable default adjustment 0001 0002 0003 FFFF 1 2 3 65 535 Table 3 2 5 Allocation of the parameters to the watchdog time ...

Page 125: ... parameters it is reported to the module onto which CAN Id it should transmit the requested reply Decisive for the selection of the requested message is the sub command value received by the module The following table shows the information which the module transmits onto the CAN if a request command has been received Sub command Reply of the parameter Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte...

Page 126: ...In this cell the module no is returned which is actually stored in the EEPROM After a power on RESET or a RESET command this module no is the number with which the module is selected if no other module no had been stored after a RESET If the module operates with the default parameters then the value 00 is returned here always Sub command 01 actual module no Byte1 Byte2 See sub command 00 Byte 3 ac...

Page 127: ... STOP the bit is 0 Suspend bit bit 1 In bit 1 is described if the module is in condition suspended or in active condition By the supervisor command suspend module it is possible to put individual or all modules of the CAN into a delay condition In this operating mode the actual condition of the outputs of the selected module remains unchanged if available and cannot be changed anymore until the mo...

Page 128: ...ames for each individual connection pin because the names are filed in the EEPROM see also chapter Allocation of Pin Names I C busy bit 5 This bit is always 0 at the CAN CBM SIO module Default wake up bit 6 If the bit default start has the value 1 the module awoke with the default parameters after the last RESET New on bus bit 7 The bit new on bus can be evaluated by the CAN master to recognize if...

Page 129: ...en explained in the description of setting these registers Sub command 04 watchdog Tx identifier Byte1 Byte2 See sub command 00 Byte 3 4 WTxId H WTxId L These two bytes return Tx identifiers on which the module transmits the watchdog reply Sub command 05 watchdog time Byte1 Byte2 See sub command 00 Byte 3 4 WDtime Here the watchdog time is returned value range see Setting the watchdog time The val...

Page 130: ...y the Tx identifier CTxId request TxIds Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Function Command Sub command Not used Module no Parameter 1 Parameter 2 Value Request 02 00 n Always allocate with 00 Selected module no 01 FF CTxId 0000 07FF Set 82 TxId 0000 07FF Table 3 3 1 Bytes of the command set request TxIds Command By the command 02 the actual Tx identifiers are requested by the module After ...

Page 131: ... on which it should transmit the data is interchanged to the module by the parameters By the sub command it is selected which one of the possible Tx identifiers should be set or reset Sub command Tx identifiers on parameters 1 and 2 00 01 02 n TxId1 TxId2 TxId3 TxId n 1 Table 3 3 2 Selection of the identifiers by the sub command The following table shows how the bits of Tx identifiers have to be a...

Page 132: ... 02 n TxId n 1 02 n TxId n 1 Byte is not transmitted Table 3 3 4 Transmitting the actual Tx identifiers Explanation of the bytes transmitted by the module Byte 1 The first byte returns the contents of the received command byte here always 02 Byte 2 The second byte returns the contents of the received sub command byte The sub command designates the selected identifier Byte 3 Byte 4 In these two cel...

Page 133: ...the Rx identifiers actually used by the module Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Function Command Sub command Not used Module no Parameter 1 Parameter 2 Value Request 03 00 n Always allocate with 00 Selected module no 01 FF CTxId 0000 07FF Set 83 RxId 0000 07FF Table 3 4 1 Bytes of the command set request RxIds Command By the command 03 the actual Rx identifiers are requested by the module...

Page 134: ... interchanged to the module by these parameters on which it should transmit the data By the sub command it is selected which one of the possible Rx identifiers should be set or reset Sub command Rx identifiers on parameter 1 and 2 00 01 n RxId1 RxId2 RxId n 1 Table 3 4 2 Selection of the Rx identifiers by the sub command The following table shows how the bits of Rx identifiers have to be allocated...

Page 135: ... always 03 Byte 2 The second byte returns the contents of the received sub command byte The sub command designates the selected identifier Byte 3 Byte 6 In these cells the actual Rx identifier is returned The bits of the identifier are described in byte 3 and 4 or byte 5 and 6 and returned in that form as they have to be entered at setting in byte 5 and 6 See also table Bits of the Rx identifier i...

Page 136: ...unction Command Sub command Not used Module no Parameter 1 Parameter 2 Value Request 04 00 n Always allocate with 00 Selected module no 01 FF CTxId 0000 07FF Set 84 tx_act 0000 FFFF Table 3 5 1 Bytes of the command set request TxIds Command By the command 04 the actual Tx activate times are requested by the module After this request the module transmits the information on the identifier CTxId of b...

Page 137: ... which one of the four possible Tx identifiers the transmitted activate time should be allocated Sub command Tx activate time parameters 1 and 2 00 01 02 n tx_act 1 tx_act 2 tx_act 3 tx_act n 1 Table 3 5 2 Selection of the Tx activate time by the sub command The parameters of the activate time show the period of time from the last data transmission after which the module automatically starts a new...

Page 138: ... 6 Byte 7 Byte 8 00 TxId 1 04 00 tx_act1 01 TxId 2 04 01 tx_act2 02 TxId 3 04 02 tx_act3 04 n TxId n 1 04 n tx_act n 1 Byte is not transmitted Table 3 5 4 Transmitting the actual Tx activate times Explanation of the bytes transmitted by the module Byte 1 The first byte always returns the contents of the received command byte here always 04 Byte 2 The second byte returns the contents of the receive...

Page 139: ...ith 00 Selected module no 01 FF CTxId 0000 07FF Set 86 Para 0000 FFFF Table 3 6 1 Bytes of the command set request user parameters Command By the command 06 the parameter data are requested by the module After this request the module transmits the information on the identifier CTxId of byte 5 and 6 By the command 86 the parameters are set Sub command By the sub command the desired parameter is sel...

Page 140: ...ra7F Byte is not transmitted Table 3 6 2 Module transmits parameter contents Explanation of the bytes transmitted by the module Byte 1 The first byte returns the contents of the received command byte here always 06 Byte 2 The second byte returns the contents of the received sub command byte Byte 3 4 Para In these cells the actual parameter contents are returned Output 16 15 14 13 12 11 10 9 8 7 6 ...

Page 141: ...rameter 2 Value 7F Module no_LOW 00 FF Module no_HIGH 00 FF Always allocate with 00 CTxId 0000 07FF Table 3 7 1 Bytes of the command service request Explanation of the bytes transmitted to the module Command This command has got the value 7F Sub command1 Sub command2 By the sub commands the modules are selected which should be checked The modules are addressed by their module numbers To select an ...

Page 142: ...ives this command and if a short term CAN error existed bit error on CAN 1 or and if the bit new on bus is active the module transmits a message with the length 0 on the received Tx identifier No bytes are transmitted TxId Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 CTxId Byte is not transmitted Table 3 7 2 Reply by CTxId ...

Page 143: ...efault RESET During a local RESET the message outputs are activated The command Supervisor Watchdog can be called by the Supervisor to activate the watchdog functionality precondition is that the watchdog time and the life time factor are greater than 0 After the first activation the command has to be repeated within the time WDtime x WDLifeTimeFactor otherwise a local RESET is generated at the mo...

Page 144: ...AAA Default RESET 04 Suspend continue module 5A5A Suspend A5A5 Continue 05 Reset CAN error bit Table 3 8 1 Bytes of the supervisor commands Explanation of the bytes transmitted to the module Command The supervisor commands all have got the value FF Sub command The sub command selects the corresponding supervisor command Sub command Function 00 01 02 03 04 05 Reset module Reserved Supervisor Watchd...

Page 145: ... FF At this command all esd modules connected to this CAN net are accessed at the same time by the module no 00 Parameter 1 Depending on the sub command here are parameters interchanged which are specific for the function The commands RESET default RESET suspend continue modules and resetting the CAN error bits are only carried out if exactly the specified parameters are interchanged ...

Page 146: ... on the Tx identifier 567 The reply is requested by command 02 As actual module no the value 12 will be presumed here CAN Id Byte 1 command Byte 2 sub command Byte 3 always 00 Byte 4 module no Byte 5 CTxId H Byte 6 CTxId L 700 INIT Id 02 00 00 12 05 67 Table 4 1 1 Request of the Tx identifier Byte 7 and 8 are not needed for this command After this INIT Id had been transmitted to the module the mod...

Page 147: ...b command Byte 3 always 00 Byte 4 module no Byte 5 TxId H Byte 6 TxId L 700 INIT Id 82 00 00 12 01 AA Table 4 1 3 Setting the Tx identifier TxId1 Byte 7 and 8 are not needed for this command The Tx identifier TxId1 of the module is now assigned with the value 1AA The new identifier is active immediately after it has been received by the module ...

Page 148: ...odule RESET on the CAN RESET all modules This global RESET resets all modules But the default parameters are only restored on those modules whose coding switches are adjusted to 00 CAN Id Byte 1 command Byte 2 sub command Byte 3 always 00 Byte 4 RESET type Byte 5 Byte 6 700 INIT Id FF 00 00 00 global AA AA Table 4 2 1 RESET of all esd modules of the CAN The bytes 7 and 8 are not needed for this co...

Page 149: ...arameters by the command default RESET at the desired module The module no of the module is presumed with 12 here again CAN Id Byte 1 command Byte 2 sub command Byte 3 always 00 Byte 4 RESET type Byte 5 Byte 6 700 INIT Id FF 03 00 12 selective AA AA Table 4 2 3 Default RESET of an esd module on the CAN The bytes 7 and 8 are not needed for this command ...

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