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appsCAN Module 

(accelerator pedal position simulator module) 

and 

gpioCAN Module 

(general purpose input/output module) 

 

Instruction Manual 

 

 

 

 

 

 

 

 

 

 

 

 
           11-22-2009 

 
 
 

Содержание appsCAN Module

Страница 1: ...appsCAN Module accelerator pedal position simulator module and gpioCAN Module general purpose input output module Instruction Manual 11 22 2009...

Страница 2: ...Rights Reserved No part of this manual may be photocopied or reproduced in any form without prior written consent from ECM ENGINE CONTROL AND MONITORING Information and specifications subject to chang...

Страница 3: ...ECM s Configuration Tool 6 Via user programmed CAN communication see Appendix F Data Sent to RPDO and from TPDO Module 10 Producing a dbc File 12 Using the dashCAN Display 14 MOd Module Setup Option...

Страница 4: ...ii Complex measurement and control systems can be easily built with LambdaCAN NOxCAN NOxCANg and appsCAN gpioCAN modules...

Страница 5: ...les are tested in dynamometer cells it is no longer necessary to have a robot or actuator pushing on the accelerator pedal if these signals can be simulated The appsCAN module simulates accelerator pe...

Страница 6: ...a the parameter AO1 Both AO1 and VRF1 use GNDa1 as ground AO1 is sent in an RPDO to the module 5 The below table gives details of the analog outputs their voltage references and their grounds 6 All vo...

Страница 7: ...d their grounds 4 Range 0 to 15V 16 bit 5 All analog inputs share a common ground 6 C T below means Connector Terminal Number The left gray terminal is L the right black is R See Figure 1 below for co...

Страница 8: ...activated the delay width and triggering of the pulse are programmable in the Configure Start Pulse Signal task in the Configuration Tool v The default duty cycle and frequency on power up 3 PWMs are...

Страница 9: ...share GNDin as a ground 5 C T below means Connector Terminal Number The left gray terminal is L the right black is R See Figure 1 below for connector and terminal numbering Name C T Wire Color Gnd Na...

Страница 10: ...tion Tool software Click on the Modules tab select the CAN adapter and click on the START button The software will identify all modules on the bus and display them in the Module field If this does not...

Страница 11: ...parameters You can activate 0 1 2 3 or 4 TPDOs and RPDOs by checking the box beside the TPDO or RPDO Minimize the number of activated TPDOs and RPDOs to minimize the bus load TPDOs and RPDOs are selec...

Страница 12: ...8 The Configuration Tool with its Task Menu pulled down appears below A description of what the tasks do follows...

Страница 13: ...NC messages that can be transmitted One just SYNCs the one module selected The other SYNC s all the modules on the bus that have been configured to be SYNC d To SYNC just one module send a SYNC messag...

Страница 14: ...iple modules sending multiple TPDOs on the same CAN bus the minimum i e fastest broadcast rate is given by Minimum Broadcast rate ms The total number of TPDOs for all modules x 0 3125 For example if t...

Страница 15: ...M Duty Cycle for Ch 2 Commanded Duty Cycle on PWM channel 2 PWM3 PWM Duty Cycle for Ch 3 Commanded Duty Cycle on PWM channel 3 PWM4 PWM Duty Cycle for Ch 4 Commanded Duty Cycle on PWM channel 4 FRQA F...

Страница 16: ...hed Data package information from all the modules is stored in the one dbc file produced Programs importing the dbc file and applying it to the CAN data transmitted by the modules will see data etc id...

Страница 17: ...are state 0x00B1 N A CAN overrun 0x00B2 N A CAN passive mode 0x00B3 N A CAN heartbeat error 0x00B4 N A CAN recover bus off 0x00B5 N A CAN Tx CanId collision 0x00B6 N A Serial overrun 0x00B7 N A CAN ov...

Страница 18: ...the ENT button is pressed the displays will show the units of the parameters PCTG is dIM means dimensionless ex for AFR FAR PHI Lambda In RUN mode four things other than data can be displayed i ERR a...

Страница 19: ...the lower display The same module can be assigned to both channels or different modules can be assigned to each channel After entering MOd i e press ENT when MOd is displayed the serial numbers of the...

Страница 20: ...key 4 Press SYS to return to RUN mode CONF Configure Setup Option CONF setup appears at the end of the setup list on the lower display To enter CONF press the SYS key until MOd appears on the upper d...

Страница 21: ...17 Appendix A appsCAN Kit Contents...

Страница 22: ...nnector Kit 11 24 1 2 connectors 2 locks 24 terminals 12 plugs Note Left gray connector is Deutsch P N DTM06 12SA Right black connector is Deutsch P N DTM06 12SB Lock for connectors is Deutsch P N WM1...

Страница 23: ...rly configured in Stand alone mode or EIB mode depending on how it will be used When LambdaCAN and NOxCAN g modules are sold alone they are delivered in Stand alone mode When LambdaCAN and NOxCAN g mo...

Страница 24: ...d tighten ONLY turn from where it is seated If this nut is tightened too much the connector will crack and the enclosure will not be sealed 7 Connect the module to a power supply and a PC via a CAN co...

Страница 25: ...Module tab Select the CAN adapter being used Then start the communication Figure A1 Module prepared for Reprogramming P N 11 02 DC Power Cable DB9F Banana Plugs shown or P N 11 01 DC Power Cable To po...

Страница 26: ...for Done Message Stop communication and exit program The module is in Stand alone mode To convert a module from Stand alone Mode to EIB Mode 1 Use the Configuration Tool software to Set to EIB Mode 2...

Страница 27: ...to open the software 2 Create a new Database In the Database menu select New Give your database a name i e a folder name In INCA a Database means the current working directory Each project is created...

Страница 28: ...24 5 Configure the hardware Click on the icon for the workspace you created in step 3 Open the Hardware Configuration icon under the section text 6 Hardware A hardware configuration window will open...

Страница 29: ...s example we are using an ETAS ES591 1 Expand the selection tree by clicking the next to the hardware device model Expand the CAN selection and select CAN Monitoring Click OK 7 Associate the dbc When...

Страница 30: ...ion Another window will pop up to confirm the device to connect to Click OK 9 Open an Experiment Environment Click on the Experiment Environment button on the upper tool bar to open an Experiment Envi...

Страница 31: ...displayed graphs charts gauges numeric etc When complete click OK We have left all configurations at default for this example 12 A new sub window will be added to the Experiment Environment You do not...

Страница 32: ...stopped To begin CAN monitoring click on the Start Visualization icon blue triangle on the left hand tool bar To stop CAN monitoring click the Stop Measuring icon black square on the left hand tool b...

Страница 33: ...unLOCK dashCAN 1 Press SYS until LOCK is displayed Then press ENT 2 50 will be displayed Press until 60 is displayed Then press ENT dashCAN is now unLOCKed If an unauthorized person learns that 60 is...

Страница 34: ...e power terminals of the supplied harness is at least 11V You can lengthen the CAN communication wires using Eurofast 12mm cable Eurofast 12mm cable was designed specifically for CAN communication and...

Страница 35: ...te 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x700 NID value value NMT STATE see Section 8 0 for list of NMT States ii ERROR Broadcast rate 0 250sec DLC 6 CAN id byte 0 byte 1 byte 2 byte 3 b...

Страница 36: ...5879 1 5027 Configuring which PDOs are transmitted in a particular TPDO is also known as TPDO MAPPING and can be set by the user see Section 6 10 TPDO Mapping iv RECEIVE PROCESS DATA OBJECT RPDO DLC 8...

Страница 37: ...ent to the module with NID 0x10 on RPDO1 and contains 2 PDOs AO1V and PWM1 TPDO1 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x210 0xA0 0x1A 0x4B 0x41 0x79 0x58 0xC0 0x3F AO1V 0x409...

Страница 38: ...byte write OD lo low byte of OD address OD hi hi byte of OD address Sub Subindex of OD address Data0 always contains the Least Significant Byte LSB of the data to be written to the OD A SDO Write will...

Страница 39: ...e 5 byte 6 byte 7 0x580 NID Size OD lo OD hi Sub Data0 Data1 Data2 Data3 Size 0x4F 1 byte response 0x4B 2 byte response 0x43 4 byte response OD lo low byte of OD address OD hi hi byte of OD address Su...

Страница 40: ...ss 0x1018 subindex 0x02 4 byte integer unsigned 32 iii Revision Number located at OD address 0x1018 subindex 0x03 4 byte integer unsigned 32 iv Serial Number located at OD address 0x1018 subindex 0x04...

Страница 41: ...smit a non zero value Since RPDOs are sent as a pair of parameters the 2nd parameter you choose will also be applied If you do not wish to send a 2nd parameter you can configure it as the NULL paramet...

Страница 42: ...Default AO1V 0x5025 0x00 0V AO2V 0x5025 0x01 0V AO3V 0x5025 0x02 0V AO4V 0x5025 0x03 0V AO1 0x5025 0x04 0 AO2 0x5025 0x05 0 AO3 0x5025 0x06 0 AO4 0x5025 0x07 0 6 3 Configure PWM Resolution The PWM fre...

Страница 43: ...p resistor or an external load 1 configure as active low 100 duty cycle actives low side driver and pulls output to ground Pull up 0 configure as low side driver Pull up resister is disabled 1 configu...

Страница 44: ...fies in milliseconds how long to wait after receiving the start command to begin the pulse This value is a 16 bit integer with a valid range between 1 and 60000 Pulse Width Specifies in milliseconds h...

Страница 45: ...LSS Layer Select Services configuration mode If there is only one CANopen module on the CAN bus this process requires only one message If there are several CANopen modules on the same CAN bus the spec...

Страница 46: ...iii A third method is to send a command instructing the module to reset the CAN interface only CAN id byte 0 byte 1 0x00 0x82 NID Example Change the NID for the following module with multiple modules...

Страница 47: ...transmitting on the CAN bus and how many TPDOs have been enabled for each module If the broadcast rate is too fast the ECM Configuration Tool will not be able to identify or configure any of the modu...

Страница 48: ...Transmit CANid lo Transmit CANid hi 0x00 0x40 Example Enable TPDO4 for the module with NID 0x20 EnableOD Address 0x1803 Transmit CANid 0x480 0x20 0x4A0 CANid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5...

Страница 49: ...information is required to successfully map a TPDO TPDO ConfigOD Address EnableOD Address Transmit CANid TPDO1 0x1A00 0x1800 0x180 NID TPDO2 0x1A01 0x1801 0x280 NID TPDO3 0x1A02 0x1802 0x380 NID TPDO4...

Страница 50: ...RPDO There are four RPDOs each can be individually enabled to be received by the module as the mapped PDO data The module will ignore sent RPDOs if it is disabled The following OD addresses are requir...

Страница 51: ...Nid byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x620 0x23 0x00 0x14 0x01 0x10 0x02 0x00 0xC0 6 13 Receive Process Data Object Mapping RPDO MAPPING Each RPDO is sent to the module with two...

Страница 52: ...D Address hi 0x00 0x02 Example Map the PDO for FRQA Hz and PWM1 to RPDO2 for the module with NID 0x02 FRQA PDO OD Address 0x202D PWM1 PDO OD Address 0x2029 ConfigOD Address for RPDO2 0x1601 CANid byte...

Страница 53: ...x02 Status The values that may be returned are listed below Status 0x00 Last command completed No error occurred No reply 0x01 Last command completed No error occurred The reply can now be read 0x02 L...

Страница 54: ...ot allow CAN id s to be set by CANopen spec This affects RPDO s 1 4 EnableRPDOCOBReset 0x32 None RPDO CAN id s set by CANopen spec based on module s NID DisableSyncMode 0x33 None Disable updating outp...

Страница 55: ...seconds by the appsCAN module During normal operation the module is in operational mode NMT state 0x05 CAN id byte 0 byte 1 byte 2 byte 3 byte 4 byte 5 byte 6 byte 7 0x700 NID NMT state NMT state 0x0...

Страница 56: ...52...

Страница 57: ...N gpioCAN SIM300 SIM400 BTU200 To which this declaration relates are in conformity with the essential requirements of the following standards EN61326 1997 A2 2001 Class A Annex A EN61010 1 2001 Electr...

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Страница 60: ...Los Altos CA 94023 0040 USA 408 734 3433 Fax 408 734 3432 www ecm co com...

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