CAN/CAN-Gateway CG-ARM7/RMD User Manual EMS THOMAS WÜNSCHE Sonnenhang 3 D-85304 Ilmmünster Tel.
CAN/CAN - Gateway CG-ARM7/RMD User manual CG-ARM7/ RMD Document version: 2.00 Documentation date: June 22nd, 2005 No part of this document or the software described herein may be reproduced in any form without prior written agreement from EMS Dr. Thomas Wünsche. For technical assistance please contact: EMS Dr. Thomas Wünsche Sonnenhang 3 D-85304 Ilmmünster Tel. +49-8441-490260 Fax +49-8441-81860 Our products are continuously improved.
CG-ARM7/RMD CAN/CAN - Gateway Table of contents 1 Overview . . . . . . . . . . . . . . . . . . . . . 1 1.1 Features . . . . . . . . . . . . . . . . . . . . . 1 1.2 General description . . . . . . . . . . . . . . . . 1 1.3 Ordering information . . . . . . . . . . . . . . . 1 2 Handling . . . . . . . . . . . . . . . . . . . . . 2 2.1 Connection . . . . . . . . . . . . . . . . . . . . 2 2.2 Operation . . . . . . . . . . . . . . . . . . . . . 2 2.3 Configuration . . . . . . . . . . . . . . . .
CG-ARM7/RMD 1 CAN/CAN - Gateway Overview 1.1 Features • Connection of two physically separated • • • • CAN networks Filtering and mapping of identifiers Bus activity displayed by LED Gateway configuration via RS232 or CAN Wiring using a multiway connector 1.2 General description The CAN/CAN gateway CG-ARM7 connects two physically divided CAN networks. The capability of having individual baudrates on both segments, enables routing between them.
CAN/CAN - Gateway 2 CG-ARM7/RMD Handling 2.1 Connection The CG-ARM7 possesses a multiway connector for flexible wiring of the CAN interfaces and the power supply. The RS232 interface on the device is used for programming and for the output of diagnostic information. For normal operation it is not required. The connector assignment of the multiway connector and the RS232 interface is located in chapter “3.1 Pin assignment” in this manual or on your devices front panel. 2.
CG-ARM7/RMD CAN/CAN - Gateway • Storing the configuration file into the gateway 2.3.1 Configuration file The configuration file is a text file with the extension *.gcf. This file holds all data needed by the gateway for operation. A complete sample configuration is located in chapter “4.1 Configuration file”. The values can either be entered in decimal or hexadecimal notation. Using the hexadecimal notation, put the character “x” directly before the particular value.
CAN/CAN - Gateway CG-ARM7/RMD Example: # 1st comment key = value # 2nd comment version version The gateway requires a version number to identify the programmed configuration. The version number for the CG-ARM7 standard version is 1. This key must exist in each configuration file.
CG-ARM7/RMD CAN/CAN - Gateway Standard speeds recommend by CiA are located in chapter “4.2 Standard baudrates”. pidin, pidout program identifier The program identifiers (PIDs) are required for the gateway configuration via CAN. If you do not want to program the gateway via CAN, you can remove this keys from your configuration file. The PIDs determine which identifiers will be used for programming the gateway. “pidin” defines the identifier the configuration software uses to send requests to the gateway.
CAN/CAN - Gateway CG-ARM7/RMD # PIDs for CAN channel 2 # CAN 2: 29-bit IN-Id: 0x6E xpidin2 = x6E # CAN 2: 29-bit OUT-Id: 0x1FFE xpidout2 = x1FFE name configuration label For easier identification of the programmed settings, the configuration can be labeled. The configuration name must not have more than 32 characters and must not contain space characters or tabs. If this key is missing, no name will be assigned to the configuration.
CG-ARM7/RMD CAN/CAN - Gateway busoff bus off behavior This key defines the period in milliseconds, which shall be waited until the gateway gets bus on again after a bus off condition has occured. If this value is not defined, the device remains in bus off state. If a bus off time of 0 milliseconds is set, the gateway tries immediately to get bus on again. Example : busoff = 100 password password Using a password, the gateway can be protected against unauthorized access.
CAN/CAN - Gateway CG-ARM7/RMD password = 80 07 05 AF D6 B0 D1 # Security: normal password = 00 07 05 AF D6 B0 D1 fil routing The routing settings contain the filtering and mapping rules for a single identifier or ranges of identifiers. Only stated identifier or ranges of identifiers are transmitted and, if existent, the adequate mapping rule is applied. All incoming messages with identifiers to which no rule applies are ignored (defined program identifiers excepted).
CG-ARM7/RMD CAN/CAN - Gateway 3. outff: Defines the frame format for outgoing messages. The frame format for outgoing messages specifies whether the result of the filtering rule is sent via standard or extended identifier. If outff is set to ‘s’ standard frame format is specified. When set to ‘x’ extended frame format is defined. Structure of the filtering rule: Now that the key defines to which message the rule applies, further selections have to be made.
CAN/CAN - Gateway CG-ARM7/RMD Example: # The via CAN channel 1 # received extended # identifiers in the range # of 0x30 to 0x40 are # sent via CAN channel 2 # as standard identifiers in # the range of 0x400 to # 0x410. xfil1s = x30 - x40 : x400 # The via CAN channel 2 # received extended # identifier 0x1FFFFFFF # is sent via CAN channel 1 # as extended identifier # with the value 0x01.
CG-ARM7/RMD CAN/CAN - Gateway Setting up the PC interface: The PC interface is set in the upper left field. First you choose, if the gateway shall be accessed via RS232 or via CAN interface. If the configuration software recognizes, that you do not use an interface of EMS Dr. Thomas Wuensche you can not select CAN as your interface. Next the PC interface with which you want to connect to the CG-ARM7 has to be chosen. If you have selected RS232 as interface before, you set up the COM interface here.
CAN/CAN - Gateway CG-ARM7/RMD Process selection: In the right upper field of the configuration software you choose the process, you want to perform. • Program new configuration • • With this process you can program a new configuration to the device. Before starting you have to select the configuration you want to write to the gateway. Remove configuration from device This process deletes the current configuration on the CG-ARM7. Afterwards the gateway is in delivery state again.
CG-ARM7/RMD CAN/CAN - Gateway Optional device settings If the CG-ARM7 is password protected, you must activate the field “password” and fill in the correct password. Depending on the security level, it is possible to request information about the device even without password. If CAN has been chosen as the PC interface the “Inbound Program Identifier” (pidin), the “Outbound Program Identifier” (pidout) and the frame format for the program identifiers have to be set.
CAN/CAN - Gateway CG-ARM7/RMD The device is in programming mode. Blinking Routing of CAN messages is disabled. CAN 1 Active On There is bus activity on CAN 1. CAN 2 Active On 14 There is bus avtivity on CAN 2.
CG-ARM7/RMD 3 CAN/CAN - Gateway Technical Data 3.
CAN/CAN - Gateway CG-ARM7/RMD 3.2 Limiting values Stresses above the specified values can lead to permanent damage of the CG-ARM7. Parameter Min. Max. Unit Storage temperature -20 80 C 0 60 C -100 30 V Operating temperature Supply voltage Note: With respect to methods of measurement it is not possible to have ESD protection circuits at the CAN terminals. ESD protection on this terminals is determined by the ESD capability of the used CAN transceiver (Philips 82C251). 3.
CG-ARM7/RMD 4 CAN/CAN - Gateway Appendix 4.
CAN/CAN - Gateway CG-ARM7/RMD # All standard identifiers from CAN channel # 1 are sent as standard identfiers to CAN # channel 2 sfil1s=x0-x7FF # All standard identifiers form CAN channel # 2 are sent as standard identifiers to CAN # channel 1 sfil2s=x0-x7FF # All extended identifiers form CAN channel # 1 are sent as extended identifiers to CAN # channel 2 xfil1x=x0-x1FFFFFFF # All extended identifiers form CAN channel # 2 are sent as extended identifiers to CAN # channel 1 xfil2x=x0-x1FFFFFFF 4.
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