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UM-0086-A2
CANgate User’s Manual Page 16
Command Reference
Commands and Parameters
In this section, literal text (to be entered exactly as shown) is shown thus: RECV .
Variable parameters are shown as: CANport .
Optional parameters are surrounded by braces. If multiple parameters are surrounded by braces, eg.
CMD
param1 param2 { param3 param4 }
then one or more of the parameters may be omitted, starting with the rightmost parameter. That is, you can specify either:
CMD param1 param2 or
CMD param1 param2 param3 or
CMD
param1 param2 param3 param4
If parameters have their own individual braces, eg.
CMD param1 param2 { param3 } { param4 }
then each optional parameter can be either specified, or not. So as well as the above choices you could also specify:
CMD param1 param2 param4
All optional parameters have a defined default value, which is what will be used if the parameter is not specified.
Remember that CANgate commands are not case sensitive, so
recv
is equivalent to
RECV
.
Slot Definition Commands
RECV – Receive Standard-ID CAN Messages
{ slot }
RECV
CANport RxID { startByte{
.
bit} endByte{
.
bit} sampleRate } {
FORMAT
formatOptions }
where:

slot is the memory slot being defined (integer, 0-150 ). If not specified then 0 is assumed. If CANgate is in Run Mode
then zero is the only value that can go here.

CANport is the CAN port to use (integer, 1-2 )

RxID is the 11-bit CAN identifier to listen for (integer, 0-0x7FF )

startByte{ . bit} is the starting bit position of the field of interest within the 8-byte CAN data field. Bytes are numbered
from 1 to 8, bits are numbered from 8 (MSB) down to 1 (LSB). If startByte is not specified then 1 is assumed. If . bit is
not specified then .8 is assumed.

endByte{ . bit} is the ending bit position (inclusive) of the field of interest within the 8-byte CAN data field. If endByte is
not specified then 8 is assumed. If . bit is not specified then .1 is assumed.

sampleRate is the rate at which to return values to the host (integer, in ms, must be multiple of 100ms). May also be
ALL , in which case a value is returned on receipt of every matching CAN message. If this parameter is 0 or not
specified, the memory slot will only return data when it is polled by the host system (using the RP command).

formatOptions specify how the data value is to be formatted when it is returned to the host system; see FORMAT
Sub-command
(P21)
for more details. if not specified, data will be returned in raw hexadecimal format.
A
RECV memory slot captures all messages on the specified CAN port with the specified standard identifier, and extracts the
required data field. When polled (using the RP command), or at the intervals specified by the sampleRate parameter, the slot
will return the most recent value for the data field. If no messages have been received, nothing will be returned (other than
the configured static formatting text, which is specified by the
FORMAT sub-command and by default is just CRLF).
The SNOOP command
(P24)
can be used to determine which CAN identifiers are being broadcast on a CAN network.
Note: If the sampleRate parameter is set to ALL , it is not guaranteed that every CAN message will be returned. Many CAN
networks operate at high speed, and some parameters are broadcast at very frequent intervals. The rate at which these
messages arrive may exceed the bandwidth of the host RS232 connection, or the processing capabilities of the CANgate.
Examples
RECV 1 0x220
Receive messages on CAN port 1 with ID 0x220. When polled, return all 8 data bytes (in hexadecimal) of the most recent
message.
RECV 1 0x603 1 2 FORMAT "P1:%d\n"
Receive ID 0x603 messages. When polled, return the first two data bytes as a single decimal integer, prefixed by
P1:
.
Remember – if DeTransfer is used to send the above command then it would need to be entered as
RECV 1 0x603 1 2 FORMAT "P1:%d\\n"