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E2CAN Gateway LC
Revision:
1. 1
Date:
03.12.2012
GER.1088
Brunner Elektronik AG
Industriestrasse 27
CH-8335 Hittnau
tel. +41 (0)44 953 1010
fax. +41 (0)44 953 1019
www.beh.ch info@beh.ch
Copyright 2009 Brunner Elektronik AG. The whole content of this document is protected by copyright. All rights are the property of Brunner Elektronik AG. Copies,
transmissions, modifications or links for public or commercial purposes without the prior written consent of Brunner Elektronik AG are prohibited. All information on
technical data, dimensions, colors etc. as well as product modifications are subject to change. The person who is responsible for application and equipment must personally
ensure that each application complies with any applicable requirements, regulations and provisions with regard to operation and safety. Brunner Elektronik AG does not
assume any liability for damages or injuries caused by the installation or the use of the device.
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Index
1 Safety Instructions
2 Introduction
2.1 Overview
2.2 Product features
5
5
5
3 Technical details
3.1 Operating conditions
3.2 Electrical specifications
3.2.1 Power supply
3.2.2 USB
3.2.3 CAN
3.3 Mechanical data
3.4 Mounting
3.5 Connectors
3.5.1 CAN0 / CAN1 (RJ45)
3.5.2 USB (UBS B connector)
3.5.3 LAN (Ethernet, RJ45)
3.5.4 +24VDC (power jack 5mm/2.1mm)
3.5.5 S1
3.6 LEDs
3.6.1 STAT
3.6.2 CANTX
3.6.3 CANRX
3.6.4 LINK (Ethernet)
3.6.5 ACT (Ethernet)
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8
8
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4 C o m m u ni c a t i o n
4.1 Ethernet protocol
4.1.1 TCP stream from PC to gateway
4.1.2 TCP stream from gateway to PC
4.2 USB protocol
4.2.1 Format for CAN packets with 11bit identifier (10 or 14 byte length)
4.2.2 Format for CAN packets with 29bit identifier (14 or 18 byte length)
4.3 CANopen communication via horch
4.3.1 Device Configuration
4.3.2 CANopen SDO protocol
4.4 Write/Read an object over horch protocol
4.4.1 Example 1 Write
4.4.2 Example 2 Read
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5 E t he r ne t D i s c o v e r y & C o nf i g P r o t o c o l
5.1 Search devices
5.2 Configure device
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15
6 C AN O p e n o b j e c t d i r e c t o r y
6.1 Conventions
6.2 Communication segment
6.3 Manufacturer-specific segment
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7 C AN o p e n C o m m a nd e r
7.1 E2Can gateway plugin
7.2 Connection settings
7.2.1 Ethernet
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E2CAN Gateway LC Manual Rev. 1.1 2 24
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8 E 2 C a nI P C o nf i g - I P c o nf i g u r a t i o n t o o l
8.1 Search devices
8.2 TCP settings
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9 Webinterface
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10 Firmware update
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23
12 Standards
12.1 Quality Assurance
12.2 CE declaration of conformity
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13 Information
13.1 Terminology
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24
14 Ordering information
24
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1 Safety Instructions
The correct and safe operation of the unit implies its proper and professional transport, storage,
assembly, project planning and careful operation and maintenance.
Only trained and skilled staff is allowed to service this device. Disconnect supply
voltage before you start servicing.
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2 Introduction
2.1 Overview
The E2CAN Gateway LC is a powerful Ethernet to CAN gateway that provides simple and flexible access to
CAN systems via a PC. The application on the host communicates over a standard TCP/IP socket with a
ASCII protocol.
The device can also be used as a USB to CAN gateway. For the PC it is just a USB HID device, so no
driver installation is necessary.
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3 Technical details
3.1 Operating conditions
Parameter
Operating temperature
Relative humidity
Symbol
Tj
Remarks / Conditions
Non condensing
Min.
-20
15
Typ.
Min.
9
Typ.
Max.
75
80
Unit
C
%
Symbol
VCC
ICC
Power consumption
Remarks / Conditions
VCC = 24V
Full VCC range.
Ethernet connected.
Max.
28
Unit
V
mA
1.5
52
1.25
The device can suffer damage if voltages greater than 33V are applied.
3.2.2 USB
Parameter
Symbol
Current consumption
Iusb
3.2.3 CAN
Parameter
CANH voltage range
CANL voltage range
Isolation voltage
ESD
Symbol
Vcanh
Vcanl
Uiso
Remarks / Conditions
No external power.
Ethernet connected.
Min.
Remarks / Conditions
Voltage to CAN_GND
Voltage to CAN_GND
Min.
-12
-12
Typ.
Max.
Unit
250
300
mA
Typ.
Max.
+12
+12
2.5
4
Unit
V
V
kV
kV
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3.4 Mounting
This device is compatible with the DIN rail EN 50022, 35mm, for snap-on mounting.
3.5 Connectors
3.5.1 CAN0 / CAN1 (RJ45)
Pin #
Name
1
CAN H
2
CAN L
3
GND
4
5
6
7
GND
8
Shield
Shield
Function
Can High level
Can Low level
CAN Ground
wired through the device
wired through the device
wired through the device
CAN Ground
wired through the device
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Executed Task
No function.
Switch the gateway to update mode.
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3.6 LEDs
3.6.1 STAT
LED off:
LED flashing:
LED flashing:
3.6.2 CANTX
LED off:
LED flashing*:
* If a single packet is sent, the LED is enabled for 10ms. The LED may look dimmed or be permanently
on if the data is send with high frequency.
3.6.3 CANRX
LED off:
LED flashing*:
* If a single packet is received, the LED is enabled for 10ms. The LED may look dimmed or be
permanently on if the packets are received with high frequency.
3.6.4 LINK (Ethernet)
LED off:
LED on:
No data transmission
Data transmission taking place (Rx/Tx)
*The LED may be permanently on if there is a lot traffic (also foreign broadcasts).
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4 Communication
The E2CAN GatewayLC allows access to CAN systems from a PC using Ethernet or USB.
The CAN Interface supports bitrates up to 1MBit/s. Any regular CAN packet types can be send/received
(including 29bit identifier and RTR).
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Fields:
Timestamp is in seconds, has 12 digits before the decimal point (with spaces as placeholder) and 6
digits behind the decimal point. The timestamp is added for compatibility purpose only and is
always set to 0.000000.
decimalIdentifer has at least 4 chars and a maximum length of 9 chars.
hexIdentifier is the identifier in hexadecimal format. It has at least 3 digits "0x000" to "0xfff" and
a maximum of 8 digits with the maximum value of "0x1fffffff".
Flags:
x|s extended or standard frame format.
D|R data or remote frame
dataBytes are always hexadecimal, without "0x" prefix, separated by a space.
Format description for CAN data packets:
\<[0-9]{1,9}/0x[a-f0-9]{3,8} : (s|x)D : ([a-f0-9]{2} ){0,8}\n
(s|x) s marks CAN packet with standard 11bit identifier, x marks extended 29bit identifier.
D marks for data packet.
Format description for CAN remote transmit requests:
\<[0-9]{1,9}/0x[a-f0-9]{3,8} : (s|x)R : \( [0-9]{1} \) \n
There is a legacy format extension for Timestamp. The following prefix can be added to every packet
\<[0-9]{1,12}.[0-9]{6}( )
4.1.2.1.1 Examples
Incoming CAN packet with 8 data bytes
"1434/0x59a : sD : 4f 01 10 00 00 00 00 00 r\n"
Incoming CAN packet with extended header and 2 data bytes
"8272/0x2050 : xD : ff 00 \r\n"
Incoming CAN packet with identifier only (no data bytes)
"
0/0x000 : sD : \r\n"
Incoming remote transmit request
" 520/0x208 : sR : (length=8) \r\n"
Incoming CAN packet with extended header and 2 data bytes
"536870911/0x1fffffff : xD : ff 00 \r\n"
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4.2.1 Format for CAN packets with 11bit identifier (10 or 14 byte length)
2 byte Identifier_Flags_Length
11bit identifier (bit 0..10)
1bit RTR (bit 11)
4bit length (bit 12..15)
8 byte data
4 byte timestamp, optional
4.2.2 Format for CAN packets with 29bit identifier (14 or 18 byte length)
1 byte length
1 byte flags (bit0 = ExtendedID, bit1 = RTR)
4 byte identifier
8 byte data
4 byte timestamp, optional
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1 (Device 1)
0x6040 Controlword
0
2 Byte data (INTEGER16)
0x76 (Shutdown)
TCP/IP Horch String: "w 0x601 0x2B 0x40 0x60 0x00 0x76 0x00 0x00 0x00 \n"
w
Horch command sending a standard can message
0x601 CobiId master (0x60+NodeId)
0x2B
SDO Protocol header (2 Byte)
0x40
lowerByte Object
0x60
higherByte Object
0x00
Subindex
0x76
1 Data byte lowest
0x00
2 Data byte
0x00
3 Data byte
0x00
4 Data byte highest
\n
Telegram completion
Response string: "1409/0x581 : sD : 60 40 60 00 00 00 00 00 \n"
1409/0x581: CobiId slave Dec&Hex (0x50+NodeId)
: sD : CAN-Message in standard format (can be ignored)
0x60
SDO Protocol header (write OK)
0x40
lowerbyte object
0x60
higherbyte object
0x00
Subindex
0x00
1 Data byte lowest
0x00
2 Data byte
0x00
3 Data byte
0x00
4 Data byte highest
\n
Telegram completion
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1 (Device1)
0x6041 Statusword
0
2 Byte data (INTEGER16)
no data
TCP/IP Horch String: "w 0x601 0x40 0x41 0x60 0x00 0x00 0x00 0x00 0x00 \n"
w
Horch command sending a standard can message
0x601 CobiId Master (0x60+NodeId)
0x40
SDO brotocol header (read object ok)
0x41
lowerbyte Object
0x60
higherbyte Object
0x00
Subindex
0x00
1 Data byte lowest
0x00
2 Data byte
0x00
3 Data byte
0x00
4 Data byte highest
\n
Telegram completion
Response string: "1409/0x581 : sD : 4b 41 60 00 37 10 00 00 \n"
1409/0x581: CobiId Slave Dec&Hex (0x50+NodeId): sD :: CAN-Message in standard format (can be
ignored)
0x4b
Command byte (2 Byte data read OK)
0x41
lowerbyte Object
0x60
higherbyte Object
0x00
Subindex
0x37
1 Data byte lowest
0x10
2 Data byte
0x00
3 Data byte
0x00
4 Data byte highest
\n
Telegram completion
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Read-only
Read and write
Write-only
Subindex
0
1
2
3
4
Size
32
32
32
32
32
Access
R
R
R
R
R
Description
Device Type
Identity Object Vendor ID
Product Code
Revision Number
Serial Number
Subindex
0
0
0
0
1
2
3
4
5
6
7
0
1
2
3
4
0
Size
16
32
32
8
16
16
16
32
32
32
8
16
32
32
32
32
8
Access
W
R
R
RW
R
R
R
RW
RW
RW
RW
RW
RW
RW
RW
RW
RW
Description
Command: Bit 0 Reset Gateway / Bit 2 Load Default Values
Status: Bit 0 Error in Error List / Bit 1 Password Active
Software Version
CAN Transmit Delay
MAC address 0
MAC address 1
MAC address 2
Static IP address (if DHCP is disabled)
Standard Gateway
Subnet Mask
DHCP 0=inactive 1=active
Ethernet Connection Timeout Unit 1ms
CANOpen PDO Filter Node 0-31 1=off / 0=on
CANOpen PDO Filter Node 32-63 1=off / 0=on
CANOpen PDO Filter Node 64-95 1=off / 0=on
CANOpen PDO Filter Node 96-127 1=off / 0=on
CAN baud rate 0=125kbit / 1=250kbit / 2=500kbit / 3=1000kbit
32
RW
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7 CANopen Commander
The CANopen Commander software is a powerful application enabling configuration of complex CANopen
devices. Different device-specific plugins are available that enable simple and quick configuration. One
particular feature is flexible expandability by adding optional plugin modules.
The E2Can gateway supports connections over USB and Ethernet.
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7.2.1 Ethernet
Select "Ethernet" and configure the settings in "Ethernet Settings".
Click "OK": The settings are stored in a file. If "Cancel" is used to exit the dialogue, the parameters
changed here are lost.
Click "Connect" in the "File" menu to connect to the device.
7.2.2 Serial Port
Not supported for this device.
Virtual COM Ports (like USB CDC) are listed as regular COM Ports.
7.2.3 USB HID
Select "USB Port" and configure the settings in "USB Settings". The USB PID is hexadecimal.
Click "OK": The settings are stored in a file. If "Cancel" is used to exit the dialogue, the parameters
changed here are lost.
Click "Connect" in the "File" menu to connect to the device.
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7.4 Settings
7.4.1 Object list
See Section 6, CANOpen object directory, for a detailed description of the objects. All objects are read
with "GetObjects". The object list is used to read different objects of the gateway (and to also write
some of them). Refer to the "Access" column to see which objects have write access:
Text:
R:
RW:
RWP:
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7.6 Commands
7.6.1 Clear errors
Clears the error entries.
7.6.2 Load defaults
Loads objects with the default values. A new connection must then be established.
7.6.3 Reset gateway
Software reset of the gateway. For an Ethernet connection, a new connection must then be established.
Because it can take longer than 20 seconds for the software to detect that there is no longer a
connection, it is advisable to manually perform a disconnect.
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9 Webinterface
The device provides a simple Web Interface with following possibilities:
Get device identity and statistics (the list may change with firmware version).
Clear statistics.
Search devices on the CAN bus (by reading CANopen Object 0x1000).
Check and set the IP Address Settings over Webinterface.
10 Firmware update
The gateway firmware can be updated over Ethernet. The Update does not reset stored user parameters.
The update sequence is:
Connect the gateway to Ethernet (to a Network or directly to a PC, with regular Ethernet cable). The
Ethernet LEDs of the interface are disabled in update mode.
Press and hold the Button "S1" and enable the power of the gateway. Release the Button.
If the "STAT" LED is off, the gateway is in update mode, otherwise repeat the previous step.
Start LMFlash.exe and set the parameters according to the picture. Enter a free IP address under
"Client IP Address" (this will be the IP address of the gateway during the update). Enter the MAC
address of the gateway under "Client MAC Address".
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Select the firmware file and start the firmware update by clicking the "Program" button. Warning:
only PRG1074 should be flashed to this hardware, otherwise you can damage the hardware.
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12 Standards
12.1 Quality Assurance
Specification
ISO 9001:2008
Details
Quality Management
13 Information
13.1 Terminology
BEH
CAN
14 Ordering information
Ordering information
Item number
GER.1088.010A
Item
E2CAN gateway LC
Specification