ifm programmers guide byte command protocol api description · 2019-02-21 · 2.2 8 ifm...

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Programmer’s Guide

Byte Command Protocol

API Description

English

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ifm Programmer’s Guide Byte Command Protocol API Description 2017-08-08

Contents

Contents

1 Preliminary note 3

1.1 Copyright .............................................................................................................................. 3 1.2 General ................................................................................................................................ 4 1.3 Symbols and formats used .................................................................................................. 5 1.4 History of the instructions ..................................................................................................... 5

2 Byte Mode Commands 6

2.1 Command Format (Byte Mode) ........................................................................................... 6 2.1.1 Example – Command Format ....................................................................................................... 7

2.2 Extended Command Format (Byte Mode) ........................................................................... 8 2.2.1 Example – Extended Command ................................................................................................... 8

2.3 Process Data Messages ...................................................................................................... 9 2.3.1 CAN data frame reception ............................................................................................................ 9 2.3.2 Transmit CAN data frame ........................................................................................................... 11 2.3.3 CAN remote frame reception ...................................................................................................... 12 2.3.4 Transmit CAN remote frame ....................................................................................................... 13

2.4 Feedback messages ..........................................................................................................14 2.4.1 CAN message transmission feedback ........................................................................................ 14

2.5 Diagnosis data messages ..................................................................................................15 2.5.1 Device ID .................................................................................................................................... 15 2.5.2 Hardware / Software version ...................................................................................................... 15 2.5.3 Error status ................................................................................................................................. 17 2.5.4 Interfaces version ....................................................................................................................... 18 2.5.5 Device busy / command not supported ...................................................................................... 18

2.6 CAN Controller setup messages........................................................................................19 2.6.1 Change / request receive channel ID settings ............................................................................ 19 2.6.2 Change / request receive channel mask settings ....................................................................... 20 2.6.3 CAN baud rate ............................................................................................................................ 21 2.6.4 CAN controller reset ................................................................................................................... 22 2.6.5 Set / request active / passive mode ............................................................................................ 22 2.6.6 Change / request receive channel cycle time ............................................................................. 23

2.7 Host interface configuration messages ..............................................................................24 2.7.1 Feedback / output settings ......................................................................................................... 24

2.8 Device parameter settings .................................................................................................25 2.8.1 Change / request Timestamp settings ........................................................................................ 25 2.8.2 CANopen object dictionary access ............................................................................................. 26

2.9 Hardware access commands .............................................................................................27 2.9.1 Reset device ............................................................................................................................... 27 2.9.2 Request analog channel value ................................................................................................... 27 2.9.3 Set Communication password .................................................................................................... 28 2.9.4 Reset Communication password ................................................................................................ 28

3 Commands and Devices 29

4 Index 31

5 ifm weltweit • ifm worldwide • ifm à l’échelle internationale 32

3


Preliminary note Copyright

1 Preliminary note

Copyright ............................................................................................................................................... 3 General .................................................................................................................................................. 4 Symbols and formats used .................................................................................................................... 5 History of the instructions ...................................................................................................................... 5

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1.1 Copyright 23939

© All rights reserved by ifm electronic gmbh. No part of this manual may be reproduced and used without the consent of ifm electronic gmbh.

All product names, pictures, companies or other brands used on our pages are the property of the respective rights owners:

AS-i is the property of the AS-International Association, (→ www.as-interface.net)

CAN is the property of the CiA (CAN in Automation e.V.), Germany (→ www.can-cia.org)

CODESYS™ is the property of the 3S – Smart Software Solutions GmbH, Germany (→ www.codesys.com)

DeviceNet™ is the property of the ODVA™ (Open DeviceNet Vendor Association), USA (→ www.odva.org)

EtherNet/IP® is the property of the →ODVA™

EtherCAT® is a registered trade mark and patented technology, licensed by Beckhoff Automation GmbH, Germany

IO-Link® (→ www.io-link.com) is the property of the →PROFIBUS Nutzerorganisation e.V., Germany

ISOBUS is the property of the AEF – Agricultural Industry Electronics Foundation e.V., Deutschland (→ www.aef-online.org)

Microsoft® is the property of the Microsoft Corporation, USA (→ www.microsoft.com)

PROFIBUS® is the property of the PROFIBUS Nutzerorganisation e.V., Germany (→ www.profibus.com)

PROFINET® is the property of the →PROFIBUS Nutzerorganisation e.V., Germany

Windows® is the property of the →Microsoft Corporation, USA

http://www.as-interface.net/

http://www.can-cia.org/

http://www.codesys.com/

http://www.odva.org/

http://www.io-link.com/

http://www.aef-online.org/

http://www.aef-online.org/

http://www.microsoft.com/

http://www.profibus.com/

4


Preliminary note General

1.2 General 23719

This manual describes the structure and commands used by the Byte Command Protocol. This protocol is supported by all CAN to wireless gateways from ifm electronic. It is meant for communication with a remote host via the interface supported by the device. This manual extends the device specific manuals. In case of uncertainties please also refer to the device manuals of your specific gateway device.

The CAN to wireless gateways connect a CAN network to a remote host using a specific interface like Bluetooth or WLAN. The Byte Command Protocol serves for bi-directional transparent CAN message transmission between the host and the CAN network as well as for the transfer of commands between host and gateway. Since all CAN to wireless gateways work on the same protocol any application software can be easily extended to use different communication interfaces by just exchanging the basic communication routines.

Most of the commands are supported by all gateways, in some cases special commands are not supported by single devices. The table in chapter Commands and Devices (→ S. 29) gives you an overview on the commands supported by each single gateway-type.

Normally all commands which influence devices settings are only stored in the volatile RAM memory of the gateway, after a reset the settings stored in the devices non-volatile memory are used again. You can change these settings with the device specific configurator software or – if supported by the device – via CANopen. Exception: The command "CAN baud rate (→ S. 21)" is stored permanently.

The latest versions of the drivers, software, firmware, documentations and further information and support are available on our website:

→ ifm weltweit • ifm worldwide • ifm à l’échelle internationale (→ S. 32)

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Preliminary note Symbols and formats used

1.3 Symbols and formats used 23938

WARNING

Death or serious irreversible injuries may result.

CAUTION

Slight reversible injuries may result.

NOTICE

Property damage is to be expected or may result.

Important note Non-compliance can result in malfunction or interference

Information Supplementary note

► ... Request for action

> ... Reaction, result

→ ... "see"

abc Cross-reference

123 0x123 0b010

Decimal number Hexadecimal number Binary number

[...] Designation of pushbuttons, buttons or indications

>

1.4 History of the instructions 23712

Versions Topic Date

1.0 New creation of the document 2017-08

6


Byte Mode Commands Command Format (Byte Mode)

2 Byte Mode Commands

Command Format (Byte Mode) ............................................................................................................. 6 Extended Command Format (Byte Mode) ............................................................................................ 8 Process Data Messages ....................................................................................................................... 9 Feedback messages ........................................................................................................................... 14 Diagnosis data messages ................................................................................................................... 15 CAN Controller setup messages ......................................................................................................... 19 Host interface configuration messages ............................................................................................... 24 Device parameter settings ................................................................................................................... 25 Hardware access commands .............................................................................................................. 27

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2.1 Command Format (Byte Mode) 23721

Byte(s) Value Description

SOF (Start of Frame)

‘C’ SOF marks the beginning of the command. ‘C’ (0x43) is the default setting. For some devices this value can be changed. This manual always shows the default setting.

Length 0x00-0xFF The length byte includes the number of data bytes + the number of command bytes following.

Command 0x00-0xFF Command byte, values 0x00 to 0xFE are direct commands, the value 0xFF means that the next byte contains a command extension

Data xx Data content

Checksum xx Contains the XOR checksum of the SOF, Length, Command and the Data-bytes.

EOF (End of Frame)

<CR> EOF byte marks the end of the command. 0x0D (Carriage Return) is the default setting. For some devices this value can be changed. This manual always shows the default setting

"--" means that this value is not of interest

"xx" means that the field contains the configuration / reply value

Each message which changes or requests the settings of the CAN device is replied by a message with the same command byte, containing the new settings.

Request commands normally do not require additional parameters (no "Data" field).

Exceptions are mentioned in the command description.

7


Byte Mode Commands Command Format (Byte Mode)

2.1.1 Example – Command Format 23722



‘0x43’ SOF marks the beginning of the command.

Length 0x0B The length byte includes the number of data bytes + the number of command bytes following.

Command 0x00 11 bit ID CAN message

Data 0x07, 0x89, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18

ID (0x789) (MSB first) CAN-message Data content

Checksum 0xCE Contains the XOR checksum of the SOF, Length, Command and the Data-bytes.

EOF (End of Frame)

0x0D EOF byte marks the end of the command.

8


Byte Mode Commands Extended Command Format (Byte Mode)

2.2 Extended Command Format (Byte Mode) 23723

The Extended Command Format is only available for certain devices. The table in chapter Commands and Devices (→ S. 29) gives an overview on the commands supported by each device type.



‘C’ SOF marks the beginning of the command. ‘C’ (0x43) is the default setting. For some devices this value can be changed. This manual always shows the default setting.

Length 0x00-0xFF The length byte includes the number of data bytes + the number of command bytes following.

Extended Command

0xD0-0xDF Command byte, values 0xD0 to 0xDF are extended commands

Data xx Byte 0: CAN-Channel (starting at 0 for CAN 1) / 128 … 255 reserved for module (WLAN / GSM / GPS…) Byte 1: Command Byte 2: Data content


EOF (End of Frame)

<CR> EOF byte marks the end of the command. 0x0D (Carriage Return) is the default setting. For some devices this value can be changed. This manual always shows the default setting

"--" means that this value is not of interest

"xx" means that the field contains the configuration / reply value

>

2.2.1 Example – Extended Command 23724



‘0x43’ SOF marks the beginning of the command.

Length 0x0D The length byte includes the number of data bytes + the number of command bytes following.

Command 0xD0 Extended Command

Data 0x01 0x00 0x07, 0x89, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18,

CAN-Channel: 2 Command: 11 bit ID CAN message ID (0x789) (MSB first) CAN-message Data content

Checksum 0x19 Contains the XOR checksum of the SOF, Length, Command and the Data-bytes.

EOF (End of Frame)

0x0D EOF byte marks the end of the command.

9


Byte Mode Commands Process Data Messages

2.3 Process Data Messages 23725

These messages are used to transmit received CAN messages to the host or to send CAN messages from the host to the CAN network.

>

2.3.1 CAN data frame reception 23726

CAN data frame messages are received by the gateway from the CAN bus.

These CAN data frame messages are transferred to the host interface in the following format.



‘C’ SOF marks the beginning of the command.

Length xx The length byte contains the number of data bytes + the number of command bytes following.

Command 0x00 0x01 0x02 0x03

11 bit ID CAN message received 11 bit ID CAN message received, message contains an additional 32 bit timestamp value. 29 bit ID CAN message received 29 bit ID CAN message received, message contains an additional 32 bit timestamp value.

Data For 11 bit ID messages :

0x00-0xFF Byte 0-1: 11 bit CAN ID (MSB first) additional data bytes: Up to 8 CAN data bytes + an additional 32 bit timestamp value (only if timestamp option is enabled, see below)

For 29 bit ID messages:

0x00-0xFF Byte 0-3: 29 bit CAN ID (MSB first) additional data bytes: Up to 8 CAN data bytes + an additional 32 bit timestamp value (only if timestamp option is enabled, see below)


EOF (End of Frame)

<CR> EOF byte marks the end of the command.

If a timestamp is desired, this option must be enabled with the corresponding command message (→ Change / request Timestamp settings (→ S. 25)).

The usage as extended command is possible (→ Extended Command Format (Byte Mode) (→ S. 8))

10



Example – Receive 23937

Byte # Byte(s) Value Description

1 SOF (Start of Frame)

'C' SOF marks the beginning of the command.

2 Length = 1 + 14 = 0xF The length byte contains the number of command bytes following + the number of data bytes.

3 Command 0x01 11 bit ID CAN message received, message contains an additional 32 bit timestamp value.

4, 5 Data 11 bit ID 0x07, 0x89 ID: 0x789

6 ... 13 CAN data 0x11, 0x12, 0x13,

0x14, 0x15, 0x16, 0x17, 0x18

Data: 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18

14 ... 17

Timestamp 0x23, 0x22, 0x21,

0x20 Timestamp: 0x23222120

Checksum 0xCB Contains the XOR checksum of the SOF, Length, Command

and the Data-bytes.

EOF (End of Frame)


11



2.3.2 Transmit CAN data frame 23727

In order to transmit CAN data frame messages to the CAN bus, the host interface sends data to the gateway in the following format.





Command 0x00 0x02

Transmit 11 bit ID CAN data frame Transmit 29 bit ID CAN data frame

Data For 11 bit ID messages:

0x00-0xFF Byte 0-1: 11 bit CAN ID (MSB first) additional data bytes: Up to 8 CAN data bytes

For 29 bit ID messages:

0x00-0xFF Byte 0-3: 29 bit CAN ID (MSB first) additional data bytes: Up to 8 CAN data bytes


EOF (End of Frame)


The usage as extended command is possible (→ Extended Command Format (Byte Mode) (→ S. 8)).

12



2.3.3 CAN remote frame reception 23728

CAN remote frame messages received by the gateway from the CAN bus are transferred to the host interface in the following format.





Command 0x04 0x05 0x06 0x07

11 bit ID CAN remote frame received 11 bit ID CAN remote frame received, message contains an additional 32 bit timestamp value. 29 bit ID CAN remote frame received 29 bit ID CAN remote frame received, message contains an additional 32 bit timestamp value.

Data For 11 bit ID remote frames:

0x00-0xFF Byte 0-1: 11 bit CAN ID (MSB first) additional data bytes: DLC (CAN remote frame Data Length Code) + an additional 32 bit timestamp value (only if timestamp option is enabled, see below)

For 29 bit ID remote frames:

0x00-0xFF Byte 0-3: 29 bit CAN ID (MSB first) additional data bytes: DLC (CAN remote frame Data Length Code) + an additional 32 bit timestamp value (only if timestamp option is enabled, see below)


EOF (End of Frame)


If a timestamp is desired, this option must be enabled with the corresponding command message (→ Change / request Timestamp settings (→ S. 25)).


13



2.3.4 Transmit CAN remote frame 23729

In order to transmit CAN remote frame messages to the CAN bus, the host interface sends data to the gateway in the following format.





Command 0x04 0x06

Transmit 11 bit ID CAN remote frame Transmit 29 bit ID CAN remote frame

Data For 11 bit ID remote frames:

0x00-0xFF Byte 0-1: 11 bit CAN ID (MSB first) additional data byte: DLC (CAN remote frame Data Length Code)

For 29 bit ID remote frames:

0x00-0xFF Byte 0-3: 29 bit CAN ID (MSB first) additional data byte: DLC (CAN remote frame Data Length Code)


EOF (End of Frame)



14


Byte Mode Commands Feedback messages

2.4 Feedback messages 23731

These messages contain feedback data which allows the user to check the correct transmission of CAN messages.

>

2.4.1 CAN message transmission feedback 23732





Command 0x20 0x21 0x22 0x23 0x24 0x25 0x26 0x27

11 bit ID CAN message transmitted 11 bit ID CAN message transmitted, feedback contains an additional timestamp of the transmission time 29 bit ID CAN message transmitted 29 bit ID CAN message transmitted, feedback contains an additional timestamp of the transmission time 11 bit ID CAN remote frame transmitted 11 bit ID CAN remote frame transmitted, feedback contains an additional timestamp of the transmission time 29 bit ID CAN remote frame transmitted 29 bit ID CAN remote frame transmitted, feedback contains an additional timestamp of the transmission time

Data For 11 bit ID messages / remote frames:

0x00-0xFF 0x00-0xFF

Byte 0-1: 11 bit CAN ID (MSB first) additional data bytes (not on remote frame feedback): Up to 8 CAN Data bytes + an additional 32 bit timestamp value (only if timestamp option is enabled, see below)

For 29 bit ID messages / remote frames:

0x00-0xFF 0x00-0xFF

Byte 0-3: 29 bit CAN ID (MSB first) additional data bytes(not on remote frame feedback): Up to 8 CAN Data bytes + an additional 32 bit timestamp value (only if timestamp option is enabled, see below)


EOF (End of Frame)


If feedback messages are desired, the feedback option has to be enabled by the corresponding command (→ Feedback / output settings (→ S. 24)).

If a timestamp is favored, this option must be enabled by the corresponding message (→ Change / request Timestamp settings (→ S. 25)).


15


Byte Mode Commands Diagnosis data messages

2.5 Diagnosis data messages 23733

>

2.5.1 Device ID 23734





Command 0x40 Device ID string (request: no additional data bytes)

Data (only on reply)

0x00-0xFF ID string (only on response)


EOF (End of Frame)


The last 2 data bytes of the ID String contain a 16 bit value for individual device identification. This value can be manipulated with the devices individual configurator software.

>

2.5.2 Hardware / Software version 23735





Command 0x41 Hardware / Software version (request: no additional data bytes)


0x00-0xFF Byte 0-1 : Hardware version of the device Byte 2-3 : Software version of the firmware Byte 4-5 : Software version of the bootloader


EOF (End of Frame)


16



Example – Reading Hardware / Software version 23981

Read Request Device Response

Byte # Byte(s) Value Byte # Byte(s) Value

1 SOF (Start of Frame) 'C' 1 SOF (Start of Frame) 'C'

2 Length 0x01 2 Length 0x07

3 Command 0x41 3 Command 0x41

4 Checksum 0x03 4, 5 Data Hardware version

0x02. 0x01

5 EOF (End of Frame) <CR> 6, 7 Software version firmware

0x02, 0x00

7, 8 Software version bootloader

0x00, 0x00

9 Checksum 0x04

10 EOF (End of Frame) <CR>

17



2.5.3 Error status 23736





Command 0x42 Error status (request: no additional data bytes)


0x00-0xFF Byte 0: bit 0: CAN receive buffer overflow bit 1: CAN transmit timeout bit 2: CAN error counter overflow bit 3: CAN bus-off error bit 4: Host interface syntax error bit 5: Host interface format error bit 6: Host interface transmit buffer overflow bit 7: not used Byte 1 (Last error code of the CAN controller): ‘0’: No Error ‘1’: More than 5 equal bits in a sequence have occurred ‘2’: Received message does not have the right format ‘3’: Transmitted Message was not acknowledged ‘4’: Not possible to set recessive level during transmission ‘5’: Not possible to set dominant level during transmission ‘6’: received CRC check sum was incorrect


EOF (End of Frame)


If a timestamp is favored, this option must be enabled by the corresponding message (→ Change / request Timestamp settings (→ S. 25)).

Each time the error status changes, an error status message is generated automatically.


18



2.5.4 Interfaces version 23737





Command 0x44 Interfaces version (e.g. Bluetooth module, WLAN-module, …) (request: no additional data bytes)


0x00-0xFF ASCII coded version string


EOF (End of Frame)


The usage as extended command is possible (→ Extended Command Format (Byte Mode) (→ S. 8)). Modul is selectable.

>

2.5.5 Device busy / command not supported 23739





Command 0x48 Device cannot execute command (only response on other commands)

Data 0x00-0xFF Reserved for future use


EOF (End of Frame)



19


Byte Mode Commands CAN Controller setup messages

2.6 CAN Controller setup messages 23741

>

2.6.1 Change / request receive channel ID settings 23742





Command 0x50 0x51

Request receive channel ID settings (needs one additional data byte = channel number) Change receive channel ID settings (needs at least two additional data bytes, the channel number and the channel settings)

Data 0x00-0xFF 0x00-0x07

Byte 0: Receive object number (range depends on gateway device) 0…15 Byte 1: bit 0: 0 = channel disable, 1 = channel enable bit 1: 0 = receive 11 bit ID, 1 = receive 29 bit ID bit 2: 0 = change 11 bit ID, 1 = change 29 bit ID Byte 2-3: 11 bit ID if byte1, bit 2 = 0 Byte 2-5: 29 bit ID if byte1, bit 2 = 1


EOF (End of Frame)


If the change message contains no ID information (length byte < 4) the last ID setting remains. In this case byte 1, bit 2 is ignored.


20



2.6.2 Change / request receive channel mask settings 23743





Command 0x52 0x53

Request receive channel mask settings (needs one additional data byte = channel number) Change receive channel mask settings (needs at least two additional data bytes, the channel number and the channel settings)

Data 0x00-0xFF 0x00-0x07

Byte 0: Receive object number (range depends on gateway device) 0…15 Byte 1: bit 0: 0 = channel disable, 1 = channel enable bit 1: 0 = receive 11 bit mask, 1 = receive 29 bit mask bit 2: 0 = change 11 bit mask, 1 = change 29 bit mask Byte 2-3: 11 bit mask if byte1, bit 2 = 0 Byte 2-5: 29 bit mask if byte1, bit 2 = 1


EOF (End of Frame)


If the change message contains no mask information (length byte < 4) the last mask setting remains. In this case byte 1, bit 2 is ignored.


21



2.6.3 CAN baud rate 23744





Command 0x56 0x57

Request CAN baud rate parameters (no additional data bytes) Set CAN baud rate Parameters

Data 0x00-0xFF Byte 0: 0xFF if no CIA conform standard baud rate, else: 0x00 : 10 kBit / sec 0x01 : 20 kBit / sec 0x02: 50 kBit / sec 0xFE: 100 kBit / sec 0x03 : 125 kBit / sec 0x04: 250 kBit / sec 0x05: 500 kBit / sec 0x06: 800 kBit / sec 0x07: 1 MBit / sec 0xFF: BTR values are used Byte 1: BTR0 Value (device dependent, only if Byte 0 = 0xFF) Byte 2: BTR1 Value (device dependent, only if Byte 0 = 0xFF) Byte 3: BTR2 Value (device dependent, only if Byte 0 = 0xFF) Byte 4: BTR3 Value (device dependent, only if Byte 0 = 0xFF)


EOF (End of Frame)


If data byte 0 is set to 0xFF, the BTR values are used to set nonstandard baud rates. If a standard baud rate is used, the BTR values are not necessary, if they are used anyway, they are ignored!

If you need to set a baud rate that is not supported by the standard settings of the device, please contact our support for further information:

→ ifm weltweit • ifm worldwide • ifm à l’échelle internationale (→ S. 32)


22



2.6.4 CAN controller reset 23745





Command 0x58 CAN controller reset (no additional data bytes)


EOF (End of Frame)


The "CAN Controller Reset" command performs a complete reset of the CAN controller, including the timestamp value, receive and transmit buffers.

The CAN controller reset also resets the error status of the device. For this reason, after the CAN controller reset, an error status message is generated, to update the error status.


>

2.6.5 Set / request active / passive mode 23747





Command 0x5A 0x5B

Request active / passive mode (no additional data bytes) Set active passive mode

Data 0x00-0x01 0x00 device = active mode 0x01 device = passive mode


EOF (End of Frame)



23



2.6.6 Change / request receive channel cycle time 23748





Command 0x5C 0x5D

Request CAN cycle time parameters (no additional data bytes) Set CAN cycle time parameters

Data 0x00-0xFF 0x00-0xFF

Byte 0: Receive object number (range depends on gateway device) 0…15 Byte 1: Cycle Time in 10 ms

Checksum xx Contains the XOR checksum of the start byte, the length byte, the command byte and the data bytes.

EOF (End of Frame)



24


Byte Mode Commands Host interface configuration messages

2.7 Host interface configuration messages 23749

>

2.7.1 Feedback / output settings 23750





Command 0x60 0x61

Request feedback settings (no additional data bytes) Set feedback settings

Data 0x00-0x07 Byte 0: bit 0: 1 = CAN output on / 0 = CAN output off bit 1: 1 = Transmit can message feedback on / 0 = feedback off bit 2: 1 = Server feedback on / 0 = server feedback off bit 3: 1 = RS232 interface on / 0 = RS232 interface off


EOF (End of Frame)


If the serial output is disabled, the received CAN messages are stored in the RAM of the CAN device. If this buffer is full, a buffer overflow error is indicated. If the output is enabled, all stored messages are transmitted immediately to the host interface.


25


Byte Mode Commands Device parameter settings

2.8 Device parameter settings 23751

>

2.8.1 Change / request Timestamp settings 23752





Command 0xA0 0xA1

Request timestamp settings (request: no additional data bytes) Set timestamp settings

Data 0x00-0x13 Byte 0: bit 0: 1 0

= Timestamp on , = Timestamp off

bit 1: 1 0

= Relative timestamp, = Absolute timestamp

bit 4: 1 = Error and Echo Feedback timestamp on

0 = Error and Echo Feedback timestamp off


EOF (End of Frame)


If the "Timestamp-Mode" is selected, a 32 bit counter (100 µs resolution) value is inserted after the last data byte of each received CAN message. All messages on the host interface side which contain a timestamp are in the correct chronological order.

If a timestamp should be inserted after the echoed messages ("Transmit Server Feedback" or "Send CAN Message Feedback") and the error messages, The ‘Error and Echo Feedback timestamp’ has to be activated additionally.

The difference between "relative-" and "absolute-mode" is that the counter value is reset after each received message in "relative-mode".

The "Error and Echo Feedback" timestamp is only transmitted if the timestamp mode is enabled.


26


Byte Mode Commands Device parameter settings

2.8.2 CANopen object dictionary access 23756





Command 0xA5 Read / Write in the object dictionary

Data 0x00-0xFF Request: Byte 0: Command: 0x01 write ,0x00 read (no additional data bytes)

Byte 1-2: Index (LSB first)

Byte 3: Sub-index

additional data bytes: Data (LSB first)

Response Byte 0: Result: 0x40 read success 0x80 read failure (no additional data bytes) 0x41 write success (no additional data bytes) 0x81 write failure (no additional data bytes)

Byte 1-2: Index (LSB first)

Byte 3: Sub-index

additional data bytes: Data (LSB first)


EOF (End of Frame)


27


Byte Mode Commands Hardware access commands

2.9 Hardware access commands 23757

>

2.9.1 Reset device 23758





Command 0xC0 Set reset device

Data --


EOF (End of Frame)


The devices respond to this command with the Command Device ID (→ S. 15).

For some device this command does not lead to a hardware reset since the communication to the host would be lost otherwise:

CANwireless

>

2.9.2 Request analog channel value 23759





Command 0xC2 Request analog channel value (needs 1 additional data byte containing the channel number)

Data 0x00-0x03 0x00-0xFF

Byte 0 (channel number): 0x00: Supply voltage Byte 1: analog value (for channel 0…2, see description below)


EOF (End of Frame)


28


Byte Mode Commands Hardware access commands

2.9.3 Set Communication password 23761





Command 0xC6 Request communication password check

Data xx Command Byte 0…n: Password string (default: "GSMONLIN") Response Byte 0: 0 = password checked and OK If password check failed, there is no response from the device


EOF (End of Frame)


This message is very important to unlock the whole functionality of byte mode interface at CANremote GSM/UMTS. A session is only possible with a check of the correct communication password!

>

2.9.4 Reset Communication password 23762





Command 0xC7 Reset communication password check


EOF (End of Frame)


This message locks the byte mode interface. This command should be send at the end of a communication session.

29


Commands and Devices Hardware access commands

3 Commands and Devices 23763

The table below gives a summary of all existing commands and indicates which device supports them. The usability of a command for a device is marked with a "S", "E" or "S / E". these acronyms stand for:

S The device supports this command only in the standard command format (→ Command Format (Byte Mode) (→ S. 6))

E The device supports this command only in the extended command format (→ Extended Command Format (Byte Mode) (→ S. 8)).

S / E The device supports this command in the standard command format and in the extended command format.

Message Type Command CANwireless

(CR3130 / CR3131)

CANremote (CR3114)

Process Data Messages (→ S. 9) 0x00 S S

0x01 S S

0x02 S S

0x03 S S

0x04 S S

0x05 S S

0x06 S S

0x07 S S

0x09 S

Feedback messages (→ S. 14) 0x20 S S

0x21 S S

0x22 S S

0x23 S S

0x24 S S

0x25 S S

0x26 S S

0x27 S S

Diagnosis data messages (→ S. 15) 0x40 S S

0x41 S S

0x42 S S

0x44 S S

0x48 S S

CAN Controller setup messages (→ S. 19) 0x50 S S

0x51 S S

0x52 S S

0x53 S S

0x56 S S

0x57 S S

0x58 S S

0x5A S S

0x5B S S

0x5B S S

0x5C S S

0x5D S S

30


Commands and Devices Hardware access commands

Message Type Command CANwireless

(CR3130 / CR3131)

CANremote (CR3114)

Host interface configuration messages (→ S. 24)

0x60 S S

0x61 S S

Device parameter settings (→ S. 25) 0xA0 S S

0xA1 S S

0xA5 S

Hardware access commands (→ S. 27) 0xC0 S S

0xC0 S

0xC6 S S

0xC7 S S

31


Index

4 Index

B

Byte Mode Commands ............................................................................ 6

C

CAN baud rate ....................................................................................... 21

CAN controller reset .............................................................................. 22

CAN Controller setup messages ........................................................... 19

CAN data frame reception ....................................................................... 9

CAN message transmission feedback .................................................. 14

CAN remote frame reception ................................................................. 12

CANopen object dictionary access ........................................................ 26

Change / request receive channel cycle time ....................................... 23

Change / request receive channel ID settings ...................................... 19

Change / request receive channel mask settings ................................. 20

Change / request Timestamp settings................................................... 25

Command Format (Byte Mode) ............................................................... 6

Commands and Devices ....................................................................... 29

Copyright.................................................................................................. 3

D

Device busy / command not supported ................................................. 18

Device ID ............................................................................................... 15

Device parameter settings ..................................................................... 25

Diagnosis data messages ..................................................................... 15

E

Error status ............................................................................................ 17

Example – Command Format ............................................................... 7

Example – Extended Command .............................................................. 8

Example – Reading Hardware / Software version ................................ 16

Example – request - response............................................................... 10

Extended Command Format (Byte Mode) .............................................. 8

F

Feedback / output settings .................................................................... 24

Feedback messages ............................................................................. 14

G

General .................................................................................................... 4

H

Hardware / Software version ................................................................. 15

Hardware access commands ................................................................ 27

History of the instructions ........................................................................ 5

Host interface configuration messages ................................................. 24

I

ifm weltweit • ifm worldwide • ifm à l’échelle internationale ................... 32

Interfaces version .................................................................................. 18

P

Preliminary note ....................................................................................... 3

Process Data Messages .......................................................................... 9

R

Request analog channel value .............................................................. 27

Reset Communication password ........................................................... 28

Reset device .......................................................................................... 27

S

Set / request active / passive mode ...................................................... 22

Set Communication password ............................................................... 28

Symbols and formats used ...................................................................... 5

T

Transmit CAN data frame ...................................................................... 11

Transmit CAN remote frame.................................................................. 13

32

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A, SL

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CND

CZ

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F

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H

I

IL

IND

J

MAL

MEX

N

NA

NL

NZ

P

PL

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RO

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RUS

S

SGP

SK

THA

TR

UA

USA

VN

ZA

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