I-7531 User Manual

I-7531 User Manual
I-7532
Two-channel CAN Bus Bridge
User’s Manual
Warranty
All products manufactured by ICP DAS are under warranty
regarding defective materials for a period of one year from the date
of delivery to the original purchaser.
Warning
ICP DAS assumes no liability for damages resulting from the
use of this product. ICP DAS reserves the right to change this
manual at any time without notice. The information furnished by
ICP DAS is believed to be accurate and reliable. However, no
responsibility is assumed by ICP DAS for its use, or for any
infringements of patents or other rights of third parties resulting
from its use.
Copyright
Copyright 1997 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only may be registered
trademarks of their respective companies.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------1
Tables of Content
1
2
Introduction.............................................................................................3
1.1 Features..........................................................................................5
1.2 Specifications ................................................................................5
1.3 Application .....................................................................................6
1.4 Information .....................................................................................6
Hardware .................................................................................................7
2.1 Block Diagram................................................................................7
2.2
2.3
2.4
Appearance ....................................................................................8
LED Indication................................................................................9
Reset & Error Clear Button .........................................................10
2.5
3
4
5
CANBaud Rotary Switch ............................................................. 11
2.5.1
BootLoader Mode............................................................ 11
2.5.2
Communication Mode.....................................................12
2.5.3
Configuration Mode ........................................................13
2.5.4
Configuration via I-7532 Utility.......................................15
2.5.5
Configuration via Sending Config Command ...............23
2.6 Pin Assignment............................................................................31
2.7 Wire Connection ..........................................................................33
2.8 Terminator Resistor Setting ........................................................34
Network deployment ............................................................................35
3.1 Definition ......................................................................................35
3.2 Cable Selection ............................................................................35
3.3 Driving Capability ........................................................................36
3.4 Baud and Bus Length..................................................................36
3.5 Terminator Resistor .....................................................................37
Troubleshooting....................................................................................38
4.1 Firmware update problem in firmware v1.02 ................................38
History of Version .................................................................................40
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------2
1 Introduction
I-7532 is a local CAN bridge used to establish a connection
between two CAN bus system in a CAN network. I-7532 stands by
itself connecting adjacent wiring segments together as in the case
of a CAN repeater (I-7531). Not just like a CAN repeater, I-7532
has the following powerful features :
(1) Extend CAN bus network distance.
(2) Connect two CAN bus networks with different baud rate.
(3) Raise the number of node in CAN bus network.
(4) Integrate multi the same CAN devices in the CAN network.
The transmission distance limitation of the CAN bus system on
each side of I-7532 is independent, which means the total CAN
network distance can be extended like Figure 1-1.
Figure 1-1:
Application of I-7532 Extend Distance
The baudrate of two channels on I-7532 can be different for
highly flexibility. On the other hand, when the CAN bus system on
one side of I-7532 happens some error (e.g. bit error), the system
on other side can still work on correctly like Figure 1-2.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------3
Figure1-2: Application of I-7532 Different Baud Connected
I-7532 can enhance the bus load capacity like Figure 1-3 and
users can know how to increase driving capability by table 3-2.
Figure 1-3: Application of I-7532 Raise nodes.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------4
1.1
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Features
Fully compatible with the ISO 11898-2 standard.
Support both CAN 2.0A and CAN 2.0B
82C250 CAN transceiver.
2500 Vrms photo-couple isolation on the CAN side.
3kV galvanic isolation between the power supply and two CAN
channel.
Selectable 120Ω terminator resistor by jumper
Watchdog inside.
Up to 100 CAN nodes on each channel.
Transmission distance up to 1km on each CAN channel.
Removable terminal block.
Mountable on DIN Rail.
768 data frames for each CAN channel.
The baud of each channel can be different for highly flexibility.
Rotary switch for CAN baud rate from 5Kbps to 1Mbps or
programmable user-defined CAN baud rate. (For firmware v1.01
or newer)
Support CAN bus message acceptance filter configuration. (For
firmware v1.01 or newer)
Provide I-7532 Utility for CAN bus message acceptance filter
and user-defined CAN baud rate etc. configuration easily and
quickly.
Support firmware update via CAN1 of I-7532. (For firmware
v1.02 or newer)
CAN messages can be forwarded under another identifier. (For
firmware v1.03 or newer)
1.2 Specifications
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Power consumption: 2W max.
Power Supply: +10 VDC ~ +30 VDC.
Operating temperature: -25°C ~ +75°C.
Humidity: 5% ~ 95%.
Dimensions: 122 mm x 72 mm x 35 mm
LEDs : PWR LED for power
RUN LED for communication
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------5
ERR LED for error
1.3
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Application
Factory Automation.
Building Automation.
Home Automation.
Vehicle Automation.
Control system.
Monitor system.
1.4
Information
For more information about the I-7532, please visit ICP DAS
website:
http://www.icpdas.com/products/Remote_IO/can_bus/i-7532.htm
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------6
2 Hardware
2.1
Block Diagram
The following block diagram illustrates the functions of I-7532
module. Power supply is with 3000VDC galvanic isolated between
each CAN port. Furthermore, there is photo-isolation 2500 Vrms
between two CAN channels.
CAN
Channel 1
CAN_H
DC
DC
Physical CAN layer
3000VDC
Galvanic Isolation
120Ω
CAN_L
2500VRMS
Photo Isolation
CAN Bridge
3000VDC
Galvanic isolation
2500VRMS
Photo Isolation
CAN
Channel 2
CAN_H
Power
Regulator
DC
DC
Physical CAN layer
120Ω
Block Diagram of I-7532
+10VDC ~ +30VDC
Figure 2-1: Block Diagram of I-7532
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------7
CAN_L
2.2
Appearance
CAN Channel 1
FG2
11 CAN_GND
20
CAN CH 1
CAN_L
CAN_H
CAN_GND
CAN_L
FG1
CAN_H
CAN Channel 2
C AN CH 2
Power LED
Communication
PW R
LED
CH1 ERR
i-7532
CH1 Rx
CH2 ERR
Error LED
CH2 Rx
CAN Bus Bridge
‧ Support CAN 2.0A/2.0B
‧ Selectable 120O terminal resistor
‧ Rotary switch value & Baud :
RSW
1
2
Baud
5K
10K
RSW
9
Baud
200K
A
250K
3
20K
B
400K
4
5
40K
50K
C
D
500K 600K
6
80K
7
8
100K
E
F
800K
1M
125K
(B)GND
(R)VS+
FG3
RST &
Err Clear
CH2 Baud
CH1 Baud
1
10
3KV VDC Isolation on each CAN side
Power Input
Baud Rotary Switch
Reset & Error
Clear Button
Figure2-2: Appearance of I-7532
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------8
2.3
LED Indication
Table2-1: Reset &Error Clear Button
LED Name
PWR LED
Rx LED
ERR LED
I-7532 Status
LED Status
Bootloader Mode
Configuration Mode
Communication Mode
Flash per second
Flash per 100ms
Always turned on
Power Off
Module Configuration via
this CAN Chnnel
Transmission
Off
Always turned on in config
mode
Flash in comm. mode
Bus Idle
Transmission Fail
Buffer Overflow
Bus-Off
No Error
Off in comm. mode
Flash per 100 ms
Flash per second
Always turned on
Off
[ Note ]
1. When I-7532 is in Comm. mode, the PWR LED will turn on
with red light.
2. If a CAN message passes through I-7532 from CH1 to CH2,
the CH1 Rx LED will flash once with green light.
3. The following is the error conditions in comm. mode :
(1) Transmission Fail:
If CAN transmission fails on channel(x), the CH(x) ERR
LED will flash continuously and the interval is about 100 ms.
(2) Buffer overflow:
If Tx buffer on CH(x) has been overflowed, the CH(x)
ERR LED will flash per second continuously. Users can
press the “RST” button once to clear the ERR LED.
(3) Bus Off:
If the bus-off condition happened on channel(x) of
I-7532, the CH(x) ERR LED will be always ON until the
bus-off condition is solved.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------9
2.4
Reset & Error Clear Button
Table 2-2: Reset & Error Clear Button
Reset & Error Clear Button
Click once
Clear Error LED
Press Over 3 sec
Module Reset
[ Note ]
1. Users can press this button once to clear the ERR LED
status.
2. If users want to reset I-7532, just press “RST & Error Clear”
button over 3 sec, then all LEDs of I-7532 will flash once
and reset. After that, the PWR LED will be on and other
LEDs will be off.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------10
2.5
CANBaud Rotary Switch
Users can use the “CANBaud Rotary Switch” to change the
CAN1 and CAN2 baud of I-7532 and it supports 15 kinds of baud
shown on Table 2-3. After changing the rotary switch value, users
need to reset I-7532 to take the setting effect. If the “CANBaud
Rotary Switch” is set to be ‘0’, then I-7532 will go into module
configuration mode and others of “CANBaud Rotary Switch” will go
into communication mode.
Switch
Value
Baud
[bps]
Switch
Value
Baud
[bps]
0
Table 2-3: Rotary Switch Value & Baud
1
2
3
4
5
10k
Config 5k or
Mode user-defined
CAN baud
B
20k
40k
C
D
50k
E
6
7
80k
100k
8
9
A
F
125k
200k
250k 400k 500k 600k 800k 1M
2.5.1 BootLoader Mode
If users set rotary switch of CAN1 and CAN2 to be ‘0’ position
simultaneously and reboot I-7532, then I-7532 will go into
bootloader mode for “Firmware Update” via CAN bus (Just for
CAN1 of I-7532 with Baud equals 1000Kbps). The bootloader
function is provided for firmware version 1.02 or newer.
In bootloader mode, the PWR LED will flash per second
continuously and users can use “FW_Update_CAN” tool like the
below figure for firmware update of I-7532. “FW_Update_CAN” tool
can be downloaded from the ICP DAS web site :
ftp://ftp.icpdas.com.tw/pub/cd/fieldbus_cd/can/converter/i-7532/soft
ware/tool/
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------11
( Firmware Update Utility of I-7532)
Please follow the steps to accomplish the firmware update
function of I-7532.
(1) Choose the CAN interface device. (Current just ICP DAS CAN
devices are supported)
(2) Click the “Browser…” button to choose the I-7532 firmware file
like I7532_v1.03.fw.
(3) Click “Start Firmware Download” button to start the firmware
update process.
2.5.2 Communication Mode
If users set rotary switch of CAN1 and CAN2 to be one of ‘1’ to
‘F’ and reboot I-7532, then I-7532 will go into communication mode
for CAN message transmission with the assigned CAN baud.
In comm. mode, the PWR LED will be always on and other
LEDs will be off initially.
There are two kinds of CAN baud recorded in ‘1’ position of
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------12
“CANBaud Rotary switch”. If users had set the user-defined CAN
baud before, then it will use user-defined CAN baud recorded in
I-7532 for commnunication. If not, then it will use 5Kbps (default
value) for commnunication. Users can get the user-defined CAN
baud by using configuration command.
2.5.3 Configuration Mode
If users set rotary switch of CAN1 or CAN2 to be ‘0’ and reboot
I-7532, then I-7532 will go into module configuration mode and
users can set the “CAN-ID Filter”, “user-defined CANBaud” or “get
module information” etc. functions.
In config mode, the PWR LED will flash per 100ms continuously.
If the CH1 Baud rotary switch is set in ‘0’, then CH1 Rx LED will be
always on. It means that users will be able to config I-7532 via
CAN1 of I-7532 with 250Kbps baudrate. If the CH2 Baud rotary
switch is set in ‘0’, then CH2 Rx LED will be always on. It means
that I-7532 will be able to be configured via CAN2 of I-7532 with
250Kbps baudrate.
The configuration command code consists of CAN-ID and the
following is the total commands provided in config mode of I-7532.
Table 2-4: Command Code of Configuration
Function SendCmd Code
Response Code
(In CAN-ID field)
(In CAN-ID field)
System
0x001 (Get FW_Ver)
Function 0x002 (Reset Module)
0x401
0x402
0x4FF (Cmd Fail)
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------13
CAN1
0x101 (Start CAN-ID Filter Setting)
Function 0x102 (Stop CAN-ID Filter Setting)
0x103 (Get CAN-ID Filter Setting)
0x104 (Set CAN-ID Filter All Pass)
0x105 (Set user-defined CANbaud)
0x106 (Get user-defined CANbaud)
0x107 (Start CAN-ID Map Setting)
0x108 (Stop CAN-ID Map Setting)
0x109 (Get CAN-ID Map Setting)
0x10A (Set CAN-ID No Map)
0x111 (Set Single 11-bit ID)
0x112 (Set Group 11-bit ID)
0x113 (Set Single 29-bit ID)
0x114 (Set Group 29-bit ID)
0x115 (Set Mapping 11-bit ID)
0x116 (Set Mapping 29-bit ID)
CAN2
0x201 (Start CAN-ID Filter Setting)
Function 0x202 (Stop CAN-ID Filter Setting)
0x203 (Get CAN-ID Filter Setting)
0x204 (Set CAN-ID Filter All Pass)
0x205 (Set user-defined CANbaud)
0x206 (Get user-defined CANbaud)
0x207 (Start CAN-ID Map Setting)
0x208 (Stop CAN-ID Map Setting)
0x209 (Get CAN-ID Map Setting)
0x20A (Set CAN-ID No Map)
0x211 (Set Single 11-bit ID)
0x212 (Set Group 11-bit ID)
0x213 (Set Single 29-bit ID)
0x214 (Set Group 29-bit ID)
0x115 (Set Mapping 11-bit ID)
0x116 (Set Mapping 29-bit ID)
0x501
0x502
0x503
0x504
0x505
0x506
0x507
0x508
0x509
0x50A
0x511
0x512
0x513
0x514
0x515
0x516
0x5FF (Cmd Fail)
0x601
0x602
0x603
0x604
0x605
0x606
0x607
0x608
0x609
0x60A
0x611
0x612
0x613
0x614
0x615
0x616
0x6FF (Cmd Fail)
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------14
Before starting the configuration of I-7532, there are some rules
must be followed.
(1) The CAN baud must be set in 250Kbps in users’ CAN tool.
(2) The data length of SendCmd must be 8. If users just want to
set one CAN-ID filter, then just fill “0xFFFFFFFF” in another DW
field.
(3) The “Mode” bit of SendCmd is no limit.
(4) The “RTR” bit of SendCmd must be 0.
(5) In group CAN-ID filter setting, the low CAN-ID needs to place in
low-DW field and the high CAN-ID needs to place in Hi-DW field.
Or it will return error code 2.
(6) The CAN-ID value of ResCmd equals the one of SendCmd plus
0x400. The result of SendCmd will be placed in a return code
and shown as below :
ResCmd
RetCode
Meaning
0x00
No Error
0x01
Process Error
0x02
Parameter Format Error
0x03
CAN-ID Filter Record Error
0x04
Command No. Error
0x05
CAN No. Error
0x06
Command Length Error
0x07
RTR Error
There are two methods for configuration of I-7532 and
described as chapter 2.5.4 and 2.5.5.
2.5.4 Configuration via I-7532 Utility
The “I-7532 Utility” is provided by ICP DAS to configure I-7532
module easily and quickly and can be downloaded from the ICP
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------15
DAS web site :
ftp://ftp.icpdas.com.tw/pub/cd/fieldbus_cd/can/converter/i-7532/soft
ware/utility/. The following is operation description of I-7532 utility.
[ Step 1 – Setting before I-7532 Configuration ]
1. Setting via “I-7530” module:
[1] Set the following parameters by using I-7530 utility.
(1) Set COM_Baud=115200; DataBit=8; StopBit=1;
Parity=None; CheckSum=No.; Error Response=No
(2) Set CAN Spec.=2.0B; CAN Baud=250Kbps
(3) Set CAN Acceptance Code and Mask= 00000000
(4) Disable “Pair Connection” function.
( I-7530 Utility )
2. Setting via “I-7540D” module:
[1] Installl “VxComm_Driver” and run “VxComm Utility” :
(1) Click “Search Servers” button
(2) Click “Add Server(s)” button
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------16
(3) Set “Port 3” of I-7540D to be a Virtual COM. (like COM20)
(4) Execute “Restart Driver”
( VxComm Utility )
[2] Set the following parameter by using I-7540D Utility.
(1) Set CAN Spec.=2.0B; CAN Baud=250Kbps
(2) Set Acceptance Code=00000000; Mask= FFFFFFFF
(3) Set Error Resp.= No; TimeStamp Resp.= No
(4) Disable “Pair Connection” function.
( I-7540D Utility )
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------17
Setting via “I-7565” module:
[1] Set the following parameter by using I-7565 utility.
(1) Set CheckSum=No.; Error Response=No
(2) Set CAN Spec.=2.0B; Baud=250Kbps.
(3) Set CAN Acceptance Code and Mask= 00000000.
( I-7565 Utility )
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------18
[ Step 2 – I-7532 Utility Configuration ]
[1] CAN Device :
The below ICP DAS CAN products are supported by I-7532
utility for configuration.
(1) RS232 to CAN : I-7530
(2) Ethernet to CAN: I-7540D
(3) USB to CAN
: I-7565, I-7565-H1, I-7565-H2
(4) CAN Card
: PISO-CM100(U),
PISO-/PCM-/PEX-CAN200 / CAN400
ICP DAS CAN Device Setting
Before configuration of I-7532, users need to set the below
parameters.
(1) CAN hardware interface
(2) Dev_Port / Board_ID
(3) CAN_Port” number
[2] CAN-ID Filter / Mapping Setting :
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------19
CAN-ID Filter Setting
(0) “CAN-ID Filter / Mapping Function” :
It is used to choose CAN-ID Filter or CAN-ID Mapping
configuration function of I-7532.
(1) “CAN Controller” :
It is used to choose which CAN port (CAN1 or CAN2) of
I-7532 for CAN-ID filter setting.
(2) “Add” button :
In CAN-ID filter option, it is used to add “11-bit Single-ID”,
“29-bit Single-ID”, “11-bit Group-ID”, “29-bit Group-ID” to
CAN-ID filter table. In CAN-ID mapping option, it is used to
add 11-bit Mapping-ID”, “29-bit Mapping-ID” to CAN-ID
mapping table.
(3) “Set CAN Accepted / Mapping IDs” button :
It is used to set CAN-ID filter / mapping data in CAN-ID filter
/ mapping table to I-7532 and users need to choose “CAN
Controller” number first. After clicking the button, it will show
the total percentage in the progress bar. If the table is blank,
then it will set all CAN-IDs without filter or mapping function.
Total Percentage of CAN-ID Filter Setting
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------20
(4) “Get CAN Accepted / Mapping IDs” button :
It is used to get CAN-ID filter / mapping data from I-7532
and users need to choose “CAN Controller” number first.
Then CAN-ID filter / mapping data will be shown in CAN-ID
filter / mapping table. If the result in the table is blank, it
means that the CAN-ID filter or mapping function is not used
in the CAN port.
(5) “Save File” button :
It is used to save CAN-ID filter / mapping data in CAN-ID
filter / mapping table to file. There are two file format for file
saving.
[1] “*.dat” format :
It is used to save CAN-ID filter / mapping data to file (.dat)
in binary format. The file format is compatible with
configuration file of I-7565-H1 and I-7565-H2.
[2] “*.xls” format :
It is used to save CAN-ID filter / mapping data to file (.xls)
in CAN message format and useful for CAN hardware
interface of other companies to configure CAN-ID filter /
mapping function of I-7532.
File format of “Save File” Function
(6) “Load File” button :
It is used to load CAN-ID filter / mapping data from file (*.dat)
to CAN-ID filter / mapping table.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------21
“Load File” Function
(7) “Delete Row” button :
It is used to delete one row chosen in CAN-ID filter /
mapping table.
(8) “Clear Table” button :
It is used to clear all data in CAN-ID filter / mapping table.
[3] Config / Info Option :
(1) “Get ModInfo” button :
It is used to get module information of I-7532, for example:
firmware version.
Module Information
(2) “Reset Module” button :
It is used to reset I-7532 module. (Just for I-7532 in
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------22
configuration mode)
(3) “Set User-Defined CANBaud (Kbps)” button :
It is used to set user-defined CAN baudrate to I-7532 by
filling value in the right field and users need to choose “CAN
Controller” number first.
Set User-Defined CANBaud
(4) “Get User-Defined CANBaud” button :
It is used to get user-defined CAN baudrate from I-7532 and
users need to choose “CAN Controller” number first.
Get CAN1 User-Defined Baudrate
If the “Config Command Timeout” error message shows up
when configure I-7532, please check the following status.
(1) Check “CAN bus hardware connection”.
(2) Check “Communication Parameter of CAN device”.
(3) Check I-7532 module if it is in “Configuration” mode.
2.5.5 Configuration via Sending Config Command
If users don’t have ICP DAS CAN hardware supported in I-7532
Utility, then users need to send CAN message by following the
configuration command format of I-7532. The following is the
detailed description and demo for configuration functions of I-7532
and I-7565-H2 module (USB2CAN) is applied for the following
demo.
[1] System Functions :
(1) 0x001 (Get FW_Ver) :
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------23
SendCmd
ResCmd
[1] SendCmd :
Type “001” in ID field and “8” in DLC field and then send
it out.
[2] ResCmd :
(1) “401” in ID field is the response CAN-ID for
SendCmd – 0x001 (0x001+0x400 = 0x401).
(2) “02” in DLC field means response data length.
(3) “01” in D2 (High Byte – Integer part of FW_Ver)
“01” in D1 (Low Byte – Decimal part of FW_Ve)
=> the version of firmware is v1.01.
(2) 0x002 (Reset Module) :
SendCmd
ResCmd
[1] ResCmd :
If there is no any data to return, then it will just return
the result of SendCmd with the return code.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------24
[2] CAN1 Functions :
[ CAN-ID Filter ]
(1) 0x101
(Start CAN-ID Filter Setting) :
(2) 0x111 / 0x112 / 0x113 / 0x114 (Set CAN-ID Filter data) :
(Stop CAN-ID Filter Setting) :
(3) 0x102
For example :
There are four CAN-ID types in I-7532.
(1) Single 11-bit CAN-ID: 0x001, 0x010
(2) Group 11-bit CAN-ID: 0x100 ~ 0x706
(3) Single 29-bit CAN-ID: 0x1F000201
(4) Group 29-bit CAN-ID: 0x01000000 ~ 0x1F000000
If users want to pass the above CAN-IDs, please refer to the
below demo.
SendCmd
[1] SendCmd:
(1) Send ID – “0x101” to start CAN-ID filter setting.
(2) Send ID – “0x111” ~ “0x114” for CAN-ID filter data.
(3) Send ID – “0x102” to stop CAN-ID filter setting.
[Note]
(1) Lo-DW value and Hi-DW value are two CAN-ID filter
data.
(2) DW value - “0xFFFFFFFF” means the DW value is no
use.
(3) When setting group CAN-ID filter function, the Lo-DW
value must be smaller than the Hi-DW value.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------25
ResCmd
[2] ResCmd:
When sending CAN-ID filter data, it will return the result of
the received CAN-ID filter data.
[ Note ]
The total capacity for CAN-ID filter function of each CAN
port in I-7532 is 500 WORD. Table 2-5 describes the size of
every different type CAN Filter-ID.
Size
(Unit: WORD)
11-bit Single ID
1
11-bit Group ID
2
29-bit Single ID
2
29-bit Group ID
4
Table 2-5: Size of Every Different Type CAN Filter-ID
According to Table 2-5, Table 2-6 describes the supported
CAN Filter-ID number of each CAN port in I-7532.
I-7532
( Each CAN Port )
11-bit Single ID
500/1 = 500
11-bit Group ID
500/2 = 250
29-bit Single ID
500/2 = 250
29-bit Group ID
500/4 = 125
Table 2-6: size of every different type CAN ID
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------26
[ CAN-ID Mapping ]
(1.1) 0x107 (Start CAN-ID Mapping Setting) :
(2.1) 0x115 (Set 11-bit CAN-ID Mapping data) :
0x116 (Set 29-bit CAN-ID Mapping data) :
(3.1) 0x108 (Stop CAN-ID Mapping Setting) :
CAN-ID Mapping number of each CAN port in I-7532.
I-7532
( Each CAN Port )
11-bit Mapping ID
500
29-bit Mapping ID
250
Table 2-6.1: size of every different type CAN ID
(4) 0x103 (Read CAN-ID Filter Setting) :
SendCmd
ResCmd
[1] ResCmd:
(1) D1~D2 :
CAN-ID number of each CAN-ID type. In the demo, it
means there are two 11-bit CAN-IDs - 0x001, 0x010,
one 11-bit group CAN-ID - 0x100 ~ 0x706, one 29-bit
CAN-ID - 0x1F000201, one 29-bit group CAN-ID –
0x01000000 ~ 0x1F000000 passed.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------27
(2) D3~D4 :
CAN-ID Type :
0x11 => Single 11-bit ID
0x12 => Group 11-bit ID
0x13 => Single 29-bit ID
0x14 => Group 29-bit ID
(3) D5~D8 :
CAN-ID Filter data.
(4.1) 0x109 (Read CAN-ID Mapping Setting) :
SendCmd
ResCmd
[1] ResCmd:
(1) D1~D2 :
CAN-ID Mapping number of each CAN-ID type. In the
demo, it means there are one set 11-bit CAN-ID
Maping : 0x101 to 0x201 and one 29-bit CAN-ID
Maping 0x1F000101 to 0x1F000201.
(2) D3~D4 :
CAN-ID Type :
0x15 => 11-bit Mapping-ID
0x16 => 29-bit Mapping-ID
(3) D5~D8 :
CAN-ID Mapping data.
(5) 0x104 (Set CAN-ID Filter All Pass) :
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------28
SendCmd
ResCmd
After sending the command – 0x104, users can send
command – 0x103 to read CAN-ID filter setting again and it will
just show command successfully without any filter data.
(5.1) 0x10A (Set CAN-ID without Mapping) :
After sending the command – 0x10A, users can send
command – 0x109 to read CAN-ID mapping setting again and it
will just show command successfully without any mapping data.
(6) 0x105 (Set user-defined CANbaud) :
For example :
If users want to set user-defined CAN1 baud – 83.333 Kbps,
please follow the below steps :
(1) Get the integer part – 83 and decimal part – 333 of
CAN1 baud.
(2) Transfer decimal mode to hex mode :
83(decimal) -> 0x53(hex), 333(decimal) -> 0x014D(hex)
(3) D1~D2 :
The integer part of user-defined CAN baud.
D3~D4 :
The decimal part of user-defined CAN baud.
Therefore, please type 0x0053 in D1~D2 and 0x014D in
D3~D4.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------29
SendCmd
ResCmd
(7) 0x106 (Read user-defined CANbaud) :
SendCmd
ResCmd
[1] ResCmd:
(1) D1~D2 :
This word value is the integer value of user-defined
CAN1 baud with Hex format.
(2) D2~D3 :
This word value is the decimal value of user-defined
CAN1 baud with Hex format.
ResCmd
If it just responses return code – 0x00 and means that no
user-defined CAN1 baud data is recorded in I-7532.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------30
[3] CAN2 Functions :
The configuration of CAN2 is the same with CAN1 and the only
difference is just the Command Code (refer to the Table 2-4).
2.6 Pin Assignment
1
20
CAN CH 1
CAN_H
FG1
CAN_L
CAN_GND
CAN CH 2
FG3
(R)VS+
(B)GND
10
CAN_H
FG2
CAN_L
11 CAN_GND
Figure 2-3: CAN & Power Connector of I-7532
Part
Table 2-7: Pin Description of CAN Connector
Name
Description
CAN_GND
CAN_Ground, ground voltage level of CAN channel 1
CAN
CAN_L
CAN_Low, signal line of CAN channel 1
CH1
FG1
Frame Ground of CAN channel 1
CAN_H
CAN_High, signal line of CAN channel 1
CAN_GND
CAN_Ground, ground voltage level of CAN channel 2
CAN_L
CAN_Low, signal line of CAN channel 2
FG2
Frame Ground of CAN channel 2
CAN_H
CAN_High, signal line of CAN channel 2
CAN
CH2
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------31
Part
Power
Note 1:
Table 2-8: Pin Description of Power Connector
Name
Description
(R)VS+
Voltage Source. It could be +10VDC ~ +30VDC
(B)GND
Power Ground
FG3
Frame Ground of Power
In some cases, the voltage level of CAN_GND of different
CAN device in the same CAN bus system are not equal. At this
time, it could cause some problems to derogate system stability
of this CAN bus system.
There is one way to relieve this situation; user can connect
the CAN_GND between those CAN devices to achieve equal
voltage level of CAN_GND.
Wiring of CAN_GND is not necessary; user can modify the
configuration of wiring according to actual applications.
Note 2:
Electronic circuits are constantly vulnerable to Electro-Static
Discharge (ESD), which become worse in a continental climate
area. FG(Frame Ground) provides a path for bypassing ESD to
earth ground, allowing enhanced static protection (ESD)
capability and ensures that the module is more reliable.
If user wants to use FG, the FG1 and FG2 and FG3 should
be connecting to earth ground. Within the I-7532, FG1 and
FG2 and FG3 are not interconnected.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------32
2.7
Wire Connection
CAN_GND
CAN_L
Earth Ground
CAN_H
CAN CH 1
CAN_H
Earth Ground
CAN_L
CAN_GND
CAN CH 2
Power Ground
+10VDC ~ +30VDC
Earth Ground
Figure 2-4: Wire Connection of I-7532
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------33
2.8
Terminator Resistor Setting
I-7532 includes two built-in 120Ω terminal resistors, users can
decide to enable these two terminal resistors or not.
The JP4 of I-7532 is used to adjust terminal resistor on CAN 1,
and the JP3 of I-7532 is used to adjust terminal resistor on CAN 2.
Before adjusting JP3 or JP4 of I-7532, users need to open the
cover of I-7532 first. The location of JP3 and JP4 is shown as
follows:
JP4
JP3
Figure 2-5: JP3 and JP4 positions
The following connection status presents the condition if the
terminal resistor is enabled (default) or disabled.
Disable
(Deactivate)
Enable
(Activate)
Figure 2-6: Adjustment of Terminator Resistor
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------34
3 Network deployment
3.1 Definition
The following figure is the relation among segments in CAN bus
and CAN network.
Figure 3-1: Segment, CAN Bus and CAN network
3.2 Cable Selection
The CAN bus following ISO 11898-2 is a balanced (differential)
2-wire interface running over either a Shielded Twisted Pair (STP),
Un-shielded Twisted Pair (UTP), or Ribbon cable.
The table below shows the recommended DC parameters of
CAN bus line.
Table 3-1: Recommended DC parameters for CAN Bus Line
Wire Cross-Section [mm2]
Resistance [Ω/km]
~0.25 (AWG23)
< 90
~0.5 (AWG20)
< 50
~0.8 (AWG18)
< 33
~1.3 (AWG16)
< 20
The recommended AC parameters of CAN bus line are 120Ω
impedance and 5 ns/m specific line delay.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------35
3.3 Driving Capability
Users can use the following table to know the maximum node
number in each segment and the maximum segment length when
using different type of wire in the CAN network.
Table 3-2: Driving Capability
Wire CrossSection [mm2]
The maximum segment length [m] under the
case of specific node number in this segment
16 Nodes
32 Nodes
64 Nodes
100 Nodes
~0.25 (AWG23)
<220 m
<200 m
<170 m
<150 m
~0.5 (AWG20)
<390 m
<360 m
<310 m
<270 m
~0.8 (AWG18)
<590 m
<550 m
<470 m
<410 m
~1.3 (AWG16)
<980 m
<900 m
<780 m
<670 m
3.4 Baud and Bus Length
The relationship between ideal bus length and baud in the CAN
bus system is displayed below.
Table 3-3: Baud, Bus Length
Baud [bit/sec] Ideal Bus Length[m]
1M
< 40
800K
< 50
500K
< 100
250K
< 250
125K
< 500
50K
< 1000
20K
< 2500
10K
< 5000
When users want to calculate the bus length, the device used
to connect CAN segment must be considered, too. Users can
check the specification of the device and find the equivalent bus
length of the device. For example, the equivalent bus length of CAN
repeater (I-7531) is 40m.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------36
3.5 Terminator Resistor
According to the ISO 11898-2 specifications, the bus line of
CAN_H and CAN_L must be terminated by a terminal resistor for
proper operation. The equivalent resistance between CAN_H and
CAN_L should be 60Ω. There are some examples below.
Case1: RT = 120Ω
Case2: RT = 180Ω
CAN_H
CAN_H
RT
RT RT
RT
CAN_L
CAN_L
RT
Case3: RT1 = 180Ω, RT2 = 120Ω
CAN_H
RT1
RT1
RT2
CAN_L
CAN Repeater
or CAN Bridge
RT1
Figure 3-2: Terminator Resistor
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------37
RT2
4 Troubleshooting
4.1 Firmware update problem in firmware v1.02
In firmware v1.02 of I-7532, the firmware update function is
suppoted. But it exists one bug, so users need to follow the below
steps to accomplish the firmware update function of I-7532.
(1) Open the shell of I-7532.
(2) Adjust the JP1 position to the left side like Figure 4-1.
(3) Follow the firmware update standard steps referring to the
section 2.5.1 to start the firmware update function.
Figure 4-1: JP1 Left Side Position
(4) After finishing the firmware update process, please adjust
the JP1 position back to the right side like Figure 4-2 and
reboot I-7532 module.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------38
Figure 4-2: JP1 Right Side Position
In firmware v1.03 or newer of I-7532, the problem has been
already solved. Users can update firmware directly without opening
the shell.
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------39
5 History of Version
Version
Author
1.0
Edward
25-Aug-2008 1. The First Version
Edward
1. Add Configuration mode :
21-Apr-2010
[1] add CAN-ID filter function
[2] add user-defined CAN baud
Edward
1. Add CAN Bootloader function in
firmware v1.02 or newer for
firmware update.
01-Sep-2010
2. Provide I-7532 Utility for
configuration easily and quickly.
Edward
1. In Configuration mode, add
CAN-ID Mapping function and
supported by I-7532 Utility.
04-Oct-2011
2. Solve the firmware update function
problem.
1.1
1.2
1.3
Date
Description of changes
I-7532 CAN Bridge User Manual (ver. 1.3, 2011/10/04) ------40
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