ICP I-7540D-MTCP User's Manual

I-7540D-MTCP

Ethernet/Modbus TCP/Modbus RTU to

CAN Converter

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 2011 by ICP DAS. All rights are reserved.

Trademark

The names used for identification only may be registered trademarks of their respective companies.

I-7540D-MTCP Ethernet/Modbus to CAN Converter User’s Manual (Version 1.0, Dec/2011) ------------- 1

Table of Contents

1.

Introduction .......................................................................................................................4

1.1

1.2

Features ........................................................................................................ 5

Specifications.............................................................................................. 6

2.

Hardware ............................................................................................................................9

2.1

Block Diagram...........................................................................................10

2.2

Pin Assignment......................................................................................... 11

2.2.1

RS-232 & RS-485 & Power supply Interface .......................................12

2.2.2

Connect to CAN Bus................................................................................13

2.3

2.2.3

Ethernet Connect .....................................................................................14

Terminator resistor settings ..................................................................15

2.4

LED Indication...........................................................................................17

2.4.1

Power LED ................................................................................................17

2.4.2

CAN bus indicator LED ...........................................................................17

2.4.3

5-digits 7-Segment LED Displays ..........................................................19

3.

Software Utility............................................................................................................... 22

3.1

I-7540D-MTCP Utility................................................................................23

3.1.1

Install the I-7540D-MTCP utility .............................................................24

3.1.2

How to configure the module parameters ............................................27

3.1.3

Connect How to set the Bus Timing Registers ....................................30

3.1.4

Connect to the How to set the Acceptance Code and Mask .............30

3.1.5

Enable Error Response ...........................................................................32

3.1.6

Enable Time-stamp Response ...............................................................33

3.1.7

How to change web ID/PASSWORD configuration ............................35

3.1.8

How to test the module transmission performance .............................36

3.1.9

How to use CAN Bus Pair Connection .................................................39

3.1.10

How to set specific CAN ID table ...........................................................43

3.1.11

How to test Modbus TCP mode .............................................................44

3.2

3.1.12

How to test Modbus RTU mode .............................................................46

MiniOS7 Utility ..........................................................................................48

3.2.1

Install the MiniOS7 Utility ........................................................................49

3.2.2

PC Diagnostic tools..................................................................................50

4.

Support Command List ............................................................................................... 56

4.1

tIIILDD…<CR> ...........................................................................................58

4.2

4.3

4.4

TIIIL<CR> ....................................................................................................59

eIIIIIIIILDD…<CR> .....................................................................................60

EIIIIIIIIL<CR> ..............................................................................................61


4.5

4.6

4.7

4.8

4.9

4.10

4.11

4.12

4.13

4.14

4.15

99S................................................................................................................62

99C ...............................................................................................................65

99RA ............................................................................................................66

99#P01 .........................................................................................................67

99#P02 .........................................................................................................69

99#P1 ...........................................................................................................71

99#P1B ........................................................................................................73

99$P0105BBDSP ......................................................................................74

99$P0205BBDSP ......................................................................................76

99$P114PBCC…MM…ET........................................................................78

99$P1B04TTRR .........................................................................................80

4.16

4.17

4.18

4.19

4.20

4.21

4.22

4.23

99#PWID .....................................................................................................81

99#PWPW ...................................................................................................82

99$PWIDLLxxxxx… .................................................................................83

99$PWPWLLxxxxx… ...............................................................................84

99#PPC........................................................................................................85

99#PPIP .......................................................................................................86

99$PPCLLABC ..........................................................................................87

99$PPIPxxx… ............................................................................................88

4.24

General Error code for commands from port 10003.......................89

5.

Modbus Network (Only for Modbus TCP/ ModbusRTU mode) ......................... 90

5.1

5.2

Supported Modbus Functions ..............................................................92

Modbus TCP Address .............................................................................93

5.2.1

Using Modbus TCP command to get a CAN Message ......................95

5.2.2

Using Modbus TCP command to Send a CAN Message ..................96

5.3

5.2.3

Using Modbus TCP command to get a Specific CAN Message .......98

Modbus RTU Address .............................................................................99

5.3.1

Using Modbus RTU command to get a CAN Message ......................99

5.3.2

Using Modbus RTU command to Send a CAN Message ............... 100

5.3.3

Using Modbus RTU command to get a Specific CAN Message .... 102


1. Introduction

“Embedded Internet” and “Embedded Ethernet” are hot topics today.

Nowadays the Ethernet protocol becomes the de-facto standard for local area network. Via Internet, connectivity is occurring everywhere, from home appliances to vending machines to testing equipment to UPS…etc.

Using Ethernet for network in industrial area is appealing because the required cabling is already installed. The I-7540D-MTCP from ICP DAS is a solution that enables CAN networks to be coupled together over the

Internet/Ethernet, whereby remote monitoring and control is possible. The

I-7540D-MTCP controls networked communication and makes a transparent CAN-based application interface available to the user.

The I-7540D-MTCP has supported a major function, convert Modbus

TCP and Modbus RTU to CAN. It allows a Modbus TCP/RTU master to communicate with CAN devices on a CAN network. Furthermore, the I-

7540D-MTCP also supports a transparent, protocol-independent transfer of the CAN messages (pair-connection), thus allowing its implementation into a wide range of possible applications.

Figure1-1: Application of I-7540D-MTCP Modbus TCP mode


Figure1-2: Application of I-7540D-MTCP Pair Connection

The main features and specification of this are described as below:

1.1 Features

 RDC 80186-80 Embedded CPU, or compatible

 Ethernet Protocol, TCP,UDP, IP, ICMP, ARP, HTTP

 COM driver support interrupt & 1K QUEUE Input & Output buffer

 Provide 200 CAN frames buffer in CAN to Modbus Mode

 NXP 82C 250 CAN Transceiver

 Support both CAN specification 2.0A and 2.0B

 Max transmission speed up to 1M bps for CAN and 115.2kbps for RS-

232 & RS-485

 Max transmission distance of CAN over 1000m (follow CAN specification)

 7-segment LED display to Module IP, RS-232 baud rate, CAN configuration …

 CAN Error/Tx/Rx LED indicator

 Software configurable CAN and RS-232 communication parameters

 Firmware updated from COM1 or Ethernet port

 Support Web Configuration

 Support maximum 24 Ethernet clients connection

 Support function code 0x03/0x04/0x10 of Modbus TCP/RTU command for reading and writing CAN message

 Provide the transparent communication between the CAN devices via

Ethernet

 Support 30 specific CAN IDs in the Modbus TCP/RTU mode


1.2 Specifications

CPU

CPU

SRAM

Flash

EEPROM

NVRAM

Build-in Watchdog Timer

Communication Interface

COM1

COM2

CAN

80186, 80MHz or compatible

512K Bytes

512K Bytes

16K Bytes

31Bytes (battery backup, data valid up to 10 year)

Yes

Ethernet Port

RS-232 (TXD, RXD, RTS, CTS, GND)

RS-485 (D2+, D2-)

One CAN port with two CAN bus connector interfaces

(CAN_H, CAN_L)

10/100 Base-TX Ethernet Controller (Auto-negotiating,

Auto_MDIX, LED indicator)

COM Port Formats

Data bit

Parity

Stop bit

Baud-rate

CAN Port Formats

CAN Controller

CAN Transceiver

Isolated

Baud-rate

Mechanism

Dimensions

Operating Environment

Operating Temperature

Storage Temperature

Power

Protection

Frame Ground for ESD Protection

Required Supply Voltage

Power consumption

7, 8

Even, Odd, None

1

115.2Kbps max.

Phillip SJA1000T CAN Controller

Phillip 82C250 CAN Transceiver

2500Vrms on CAN side

1Mbps max.

123 x 72 x 33 mm (L x W x H)

-25°C to +75°C

-40°C to +80°C

Power reverse polarity protection

Yes

+10 to +30VDC (non-regulated)

2.5W


I-7540D-MTCP Software Utility tool:

 Communication mode setting

 CAN bus Baud Rate configuration;

 CAN acceptance filter configuration;

 CAN 2.0A or 2.0B specific selection;

 Setting the IP, Gateway and Mask of the network status;

 Setting the Web ID and password

 RS-232/RS-485 baud rate and data bit setting;

 CAN bus pair connection parameters configuration.

 Provides a quick testing function for transmitting/receiving CAN messages;

 Modbus Specific ID Setting

 Provides a quick testing function for Modbus TCP/Modbus RTU command


Application:

 Factory Automation

 Building Automation

 Home Automation

 Control system

 Monitor system

 Vehicle Automation


2. Hardware


2.1 Block Diagram

Figure 2-1 is a block diagram illustrating the functions on the I-7540D-

MTCP module. It provides the 2500Vrms Isolation in the CAN interface site. And hardware media in RS-232 interface is only adopted 5-wire connection.

Figure 2-1: Block diagram of I-7540D-MTCP

I-7540D-MTCP Ethernet/Modbus to CAN Converter User’s Manual (Version 1.0, Dec/2011) -------------

10

2.2 Pin Assignment

CAN Bus

Connector

Bypass CAN

Bus Connector

Power LED

CAN Bus

Status LED

7-segment

LED displays i7540D-MTCP

ER

TX

RX

CAN-Modbus TCP/RTU Converter

Support CAN 2.0A/2.0B

CAN Baud Rate Up to 1 M bps

RTU Baud Rate Up to 115.2 k bps

Buffer for Specific CAN ID

Supports CAN Transparent Transmission

`

E1

1K Vdc isolation on CAN side

COM1 COM2

Power Input

Ethernet 10/100

Base T

RS-232 Port INIT * pin

RS-485 Port

Figure 2-2: Pin assignment on the I-7540D-MTCP


11

2.2.1 RS-232 & RS-485 & Power supply Interface

The I-7540D-MTCP provides one RS-232 interface and one RS-485 interface with hardware flow control. The GND-signal of COM1 is shared with pin-9, GND. The pin assignment is shown in table 2-1.

Pin

1

Table 2-1: COM Connector Pin Assignment

Name

CTS1

Description

CTS pin of COM1 (RS-232)

2

3

RTS1

RXD1

RTS pin of COM1 (RS-232)

RXD pin of COM1 (RS-232)

4

5

TXD1

INIT*

6

7

8

9

D2+

D2-

VS+

GND

TXD pin of COM1 (RS-232)

Initial pin for enable/disable

AUTOEXEC.BAT

Data+ pin of COM2 (RS-485)

Data- pin of COM2 (RS-485)

V+ of power supply

(+10V to +30V DC unregulated)

GND of power supply


12

2.2.2 Connect to CAN Bus

In order to provide an easy CAN bus wiring, the I -7540D-MTCP supplies one CAN port with two CAN bus connector interfaces. Each connecter built on the I-7540D-MTCP looks like as figure 2-3 and table 2-

2.

Table 2-2: CAN bus Connector Pin Assignment

Pin No. Signal Description

1

2

3

4

N/A

CAN_L

N/A

CAN_H

Not Connected

CAN_L bus line (dominant low)

Not Connected

CAN_L bus line (dominant high)

5 N/A Not Connected

Note that the bypass CAN bus connector is not another CAN channel.

It is designed for connecting to another CAN device conveniently. The structure of the inside electronic circuit is displayed as figure 2-4.

Figure 2-3 Electronic circuit of CAN bus connector


13

2.2.3 Ethernet Connect

The Ethernet (10/100 Base-TX) signals are routed to an RJ45 socket for easy connection using a standard CAT 3 or CAT 5 network cable. On power on of the I-7540D-MTCP, it will auto-negotiate the network speed and connection.

Table 2-3: Ethernet Connector Pin Assignment

Pin

1

Name

TX+

Description

Transmit Data +

2

3

4

TX+

RX+

N.C.

Transmit Data -

Receive Data +

Not Connected

5

6

N.C.

RX-

Not Connected

Receive Data -

7

8

N.C.

N.C.

Not Connected

Not Connected


14

2.3 Terminator resistor settings

In order to minimize reflection effects on the CAN bus line, the CAN bus lines have to be terminated at both ends by two terminal resistances.

Based on the ISO 11898-2 spec, each terminal resistance is 120Ω (or between 108Ω~132Ω). The length related resistance should have 70 mΩ/m. Users should check the resistances of their CAN bus, before they install a new CAN network as figure 2-4.

Figure 2-4: Terminator resistor

Moreover, to minimize the voltage drop on long distance, the terminal resistance should be higher than the value defined in the ISO 11898 -2.

Table 2-4 may be used as a reference.

Table 2-4: Relation between bus cable and length

Bus Bus Cable Parameters Terminal

Length

(meter)

Length Related

Resistance

(mΩ/m)

Cross Section

(Type)

Resistance

(Ω)

0~40

40~300

300~600

600~1K

70

< 60

< 40

< 20

0.25(23AWG)~

0.34mm2(22AWG)

0.34(22AWG)~

0.6mm2(20AWG)

0.5~0.6mm2

(20AWG)

0.75~0.8mm2

(18AWG)

124 (0.1%)

127 (0.1%)

150~300

150~300


15

Therefore, the I-7540D-MTCP module supplies a jumper for users to connect the terminator resistor or not. If users want to use this terminator resistor, please open the I-7540D-MTCP cover and use the JP3 jumper to activate the 120Ω terminator resistor built in the system, as in the figure 2-

5. Note that the default setting is active. And about the J3 jumper setting, please refer the table 2-5.


16

2.4 LED Indication

The I-7540D-MTCP provides the Converter function between the

Ethernet port and the RS-232 & RS485 & CAN port. It can handle both

11-bits and 29-bits ID format according to whether it is a CAN 2.0A or

2.0B. It also provides some LEDs to indicate to users what situation the I -

7540D-MTCP is in.

2.4.1 Power LED

There is a red indicator-LED in the I-7540D-MTCP as follow:

◊Firmware is running: flashing red

The default shipping of I-7540D-MTCP will be firmware inside, so the red indicator-LED of I-7540D-MTCP will be ON 0.5 second then OFF 0.5 second periodically.

2.4.2

CAN bus indicator LED

The I-7540D-MTCP includes three single-color LED displays to indicate the status of module, network and I/O device. They are ER LED

(it is red), TX LED (it is green), and RX LED (it is red). The Indicators assist maintenance personnel in quickly identifying a problem unit. The

LED test is to be performed at power –up. When the CAN communication events occur, these indicators will be triggered to glitter with different conditions.

 ER LED

This LED provides device status and indicates whether or not the device is operating properly. Table 2-6 shows the conditions of ER status. Therefore, when the device is operated normally, the ER-LED must be turned off. If this led flashing red, users can use the “99S” command, in section 4.5, to read the status of the I-7540D-MTCP.

Table 2-8 RX led conditions

Condition

Off

Red

Description

Device is normal; no error occurs

Device has unrecoverable fault

Flashing Red Device has recoverable fault.

To recover:

Reset device or perform error recovery


17

 TX LED

This LED indicates the status of message transmitted. Table 2-7 shows the conditions of TX status. Therefore, when the device transmits messages to the CAN bus, the TX-LED is normally flashing green.

Table 2-7 TX led conditions

Condition Description

Off No data is being transmitted to the

CAN side

Flashing green

Data are transmitting to the CAN side

Solid green Transmit data error

 RX LED

This LED indicates the status of message received. Table 2-8 shows the conditions for RX status. Therefore, when the device receives CAN messages, the RX-LED would be flashed.

Table 2-8 RX led conditions

Condition Description

Off No data is being received

Flashing Red Data is being received

Solid Red Receive error messages


18

2.4.3

5-digits 7-Segment LED Displays

The 5-digits 7-SEG LED will show as figure 2-6.

The important information of I-7540D-MTCP can be divided as follows:

 Group-ID 11111: IP information of this I-7540D-MTCP

 Group-ID 22222: baud rate of all ports

 Group-ID 33333: configuration of all ports

 Group-ID 44444: CAN bus pair connection information and clientconnected information of this I-7540D-MTCP

The IP information format of I-7540D-MTCP is given as follows:

 Group-ID of 5-digit LED: 11111.

 LED-1: indicator, can be 1 or 2 or 3 or 4

 LED-2~5: IP


19

The LED will show Group-ID first, and then show its IP as the above diagram indicates. If users change IP, the value shown will change immediately. The default shipping IP = 192.168.255.1the LED-show sequence is given as above diagram.

The DHCP function formats are given as follows:

 dHCP.0DHCP

→ function disable

 dHCP.1DHCP

→ function enable and get an IP

 dHCP.2DHCP

→ function enable but not get an IP, using default setting

 If the DHCP function is enable, the I-7540D-MTCP will get it’s IP from the DHCP server. Otherwise, it will use the IP in the EEPROM.

The baud-rate format of COM ports are given as follows:


 LED-1: COM port number

 LED-2~5: value of (baud/100)

The baud-rate format of CAN port is given as follows:

 LED-1: CAN port number

 LED-2~5: value of (baud/1000)

The COM port and CAN port number are shown in LED-1 and their baud rate is shown in the LED-2~5. The COM port baud rate = (value of

LED-2~5)*100. Therefore, shown-value=1. 96 means baud rate of

COM1=9600BPS; shown-value= 2.1152 means baud rate of COM2=

115200 BPS. It’s the same as the CAN port baud rate. The CAN port baud rate = (value of LED-2~5)*1000. Therefore, shown-value=3. 10 means baud rate of CAN=10KBPS; shown-value= 3.1000 means baud rate of CAN= 1MBPS. All baud rate of I-7540D-MTCP ’s port will be shown one by one.

The configuration of COM ports are given as follows:


 LED-1: COM port number

 LED-3: data bit, 7 or 8

 LED-4: parity bit, 0=no parity, 1=even parity, 2=odd parity

 LED-5: stop bit, 1 or 2


20

The configuration of CAN port is given as follows:

 LED-1: CAN port number

 LED-2~5: CAN specification (2.0A or 2.0B)

The connection-client and CAN bus pair connection information are given as follows:

Group-ID of 5-digit LED: 44444.

 LED-1: indicator, can be 0 or 1 or 2 or 3 or 4 or 5.

Indicator 0:

 LED2: ‘P’ for CAN bus pair connection

 LED3: “Enable CAN pair” parameter, 0: Enable, 1: Disable

 LED4: “TCP or UDP” parameter, 0: TCP, 1: UDP.

 LED5: “Server or Client” parameter, 0: act as a server, 1: act as a client

Indicator 1 or 2 or 3 or 4:

The CAN bus pair destination IP information format of I -7540D-MTCP is given as follows:

 LED-2~5: IP

The LED will show Group-ID first, and then show its IP as the above diagram indicates. If users change can bus pair destination IP and reset the system, the value shown will change. The default shipping IP =

192.168.255.2 → the LED-show sequence is given as above diagram.

Indicator 5:

 LED-2/3: numbers of free sockets are available, default 24.

 LED-4/5: numbers of sockets are used by clients, default 0.

If any one client connects to this I-7540D-MTCP, free-sockets will be decreased and used-sockets will be increased. If the free-sockets number is reduced to 0, then no extra client can link to this I-7540D-MTCP. The default number of free-sockets is 24. Therefore, the I-7540D-MTCP allows 24 clients link to it.

Indicator 6:

 LED2~4: “Con.” for connect to server or not

 LED-5: 0: not connect to server; 1: already connect to server.


21

3. Software Utility

We support some software utilities for users to set and test the status of the I-7540D-MTCP.

1. I-7540D-MTCP Utility

The I-7540D-MTCP Utility tool can be used to configure the operation condition between the CAN and Ethernet communications. Also it can be used to transmit or receive a CAN message for simple testing of the module’s functions.

2. MiniOS7 Utility

MiniOS7 Utility is a tool for configuring, uploading files to all products embedded with ICPDAS MiniOS7.


22

3.1 I-7540D-MTCP Utility

The I-7540D-MTCP Utility tool can be used to configure the operation condition between the CAN and Ethernet communications. Also it can be used to transmit or receive a CAN message for simple testing of the module’s functions. To start the “I-7540D-MTCP Utility”, please install the

I-7540D-MTCP Utility setup file and run the I-7540D-MTCP.exe file. The screenshot of the startup screen for this Utility is given in the below figure.

Connect the I-7540D-MTCP ’s Ethernet port with the PC’s Ethernet port via a standard CAT 3 or CAT 5 network cable. Then the user can connect the CAN interface into the CAN network based on the CAN specifications.

For further information related to this, please refer to section 2.2.2 and

2.2.3 of this manual on how to make a hardware connection.

Figure 3-1: I-7540D-MTCP Utility


23

3.1.1 Install the I-7540D-MTCP utility

Install I-7540D-MTCP Utility

Step1: Download the I-7540D-MTCP Utility setup file from the web site http://www.icpdas.com/products/Remote_IO/can_bus/I-7540.htm

Or the CD-ROM disk following the path of

Fieldbus_CD:\\CAN\Converter\I-7540D\Utility

Step 2: Execute the setup.exe file to install I-7540D-MTCP Utility.

Step 3 : A “Welcome” window pops up to prompt user to begin the installation. See figure 3-2.

Figure 3-2: Welcome dialog

Step 4: Click the “Next” button and a “Select Destination Location” window will pop up for deciding the installation path.


24

Figure 33: “Select Destination Location” dialog

Step 5: Click “Next” button and a “Ready to Install the Program” window will pop up to prompt user that the wizard is ready to begin the installation

See figure 3-4.

Figure 34: “Ready to Install the Program” dialog


25

Step 6: Click “Install” button and start to install the I-7540D-MTCP Utility to the system. After finishing the process, a “Complete” window will pop up to prompt users that the successful completion of the installation. And click “Finish” button to exit. See figure 3-5.

Figure 35: “Ready to Install” dialog

Step 7: After finishing the installation of the I-7540D Utility, users can find it as shown in figure 3-6.

Figure 3-6 : “Successful Completion of the Installation” dialog


26

3.1.2 How to configure the module parameters

The following procedure will guide you on how to configure the communication parameters for the CAN and Ethernet interface. The configuration steps are depicted as below:

1. Connect the power source (the 10~30 DC volts) into the I -7540D-

MTCP module.

2. The I-7540D-MTCP module’s Power LED will flash approximately once per second. And the 5-digits 7-segment LED will scroll to display some messages, please refer to section 2.4.3. That means the I -7540D-

MTCP module is working normally.

3. The user must run the I-7540D-MTCP ’s Utility software after they have made a wire connection between the PC and the I-7540D-MTCP via the network cable

4. Click the “Connect” icon on the I-7540D-MTCP Utility tool bar. The setting frame will be popped up. Key-in the IP of the I-7540D-MTCP and press the “Connect” button in order to connect with it. As shown in the following figure.


27

5. Then the I-7540D-MTCP configuration window will be brought out. The

I-7540D-MTCP Utility will show the communication information from the I-7540D-MTCP module in the window, as shown in the following figure.

6. Choose the “Settings” tab to open the configuration window for the

CAN and the Network status parameters of the I-7540D-MTCP. Once users have finished changing the CAN parameter settings, please click the “Setting” button, on the “CAN Parameters” frame, to store the communication parameters into the EEPROM on the I-7540D-MTCP.

Note: If users click the “Defaults” icon, all of the CAN communication parameters in the I-7540D-MTCP will be set to the default values, which are:

CAN Specification = 2.0B

CAN bus Baud rate = 1Mbps

BTR0 = 00, BTR1 = 00

Acceptance Code = 00 00 00 00

Acceptance Mask = FF FF FF FF


28

Error Response = No

Timestamp Response = No

7. The “Network Status” frame displayed the IP, Gateway, Mask and

MAC address of the I-7540D-MTCP. Users can change these network parameters by click the “Set” button and “Modify IP” button. And the

“Reset System” checkbox is used to reset the system of I-7540D-

MTCP.

Note: After modify the network status of the I-7540D-MTCP, the setting value will become effective after resetting the system.

8. The “COM Status” frame showed the parameters of RS-232 and

RS485 ports. User also can modify it by click the “Set” button.

9. The “CAN Bus Pair Connection Status” frame showed the parameters of CAN pair connection.

Note: After modify the CAN bus pair connection status of the I -7540D-

MTCP, the setting value will become effective after resetting the system.


29

3.1.3 Connect How to set the Bus Timing Registers

BTR0, BTR1: Set the special user-defined baud rate.

Users can set arbitrary baud with these parameters. But users need to have the background of SJA1000 CAN controller and 82C251 CAN transceiver, and calculate the values of BT0 and BT1 by themselves (The clock frequency of CAN controller is 16MHz.).

3.1.4 Connect to the How to set the Acceptance Code and Mask

Acceptance Code (AccCode): The CAN ID bits that you want to get.

Acceptance Mask (AccMask): The CAN ID bits that you want to filter.

The AccCode is used for deciding what kind of ID the CAN controller will accept. The AccMask is used for deciding which bit of ID will need to check with AccCode. If the bit of AccMask is set to 0, it means that the bit in the same position of ID need to be checked, and that ID bit value needs to match the bit of AccCode in the same position.

For 11-bit ID Message:

AccCode and AccMask Bit Position Filter Target

AccCode[0] and AccMask[0] bit7~bit0


AccCode[1] and AccMask[1] bit4 bit10 ~ bit3 of ID bit2 ~ bit0 of ID

RTR

AccCode[1] and AccMask[1] bit3~bit0 No use

AccCode[2] and AccMask[2] bit7~bit0 bit7 ~ bit0 of 1 st

byte data

AccCode[3] and AccMask[3] bit7~bit0 bit7 ~ bit0 of 2 nd

byte data

For 29-bit ID Message:

AccCode and AccMask Bit Position





AccCode[3] and AccMask[3] bit2

Filter Target bit28 ~ bit21 of ID bit20 ~ bit13 of ID bit12 ~ bit5 of ID bit4 ~ bit0 of ID

RTR

AccCode[3] and AccMask[3] bit1~bit0 No use


30

For example (In 29 bit ID message):

AccCode :

AccMask :

00h

FFh

00h

FFh

00h

FFh

ID bit bit28~bit21 bit20~bit13 bit12~bit5

Accepted ID: xxxx xxxx xxxx xxxx xxxx xxxx

00h

FFh bit4~bit0

101x x

The accepted ID range is as following list.

ID Byte Byte 3 (h) Byte 2 (h) Byte 1 (h) Byte 0 (h)

High Low High Low High Low High Low

1

Accepted value

0

1

X X X X X

3

5

7

9

4

5

B

D

6

7

F

(Note: The mark “x” means don’t care. And the mark “h” behind the value means hex format.)


31

3.1.5 Enable Error Response

When the I-7540D-MTCP receives a command that it doesn’t accept, it will response syntax and/or communication error information to the host.

These general error codes are shown in below table.

AsciiToHex

(Error code)

Description

1

2

3

4

5

The head character of the command string is invalid.

The length of the command string is invalid.

The value of CAN identifier is invalid.

The value of CAN data length is invalid.

Reserved


32

3.1.6 Enable Time-stamp Response

When the time-stamp response is enabled, the I-7540D-MTCP will send CAN message with its time-tick vale, hexadecimal eight ASCII chars for a unit of microsecond, to the host as it receive a CAN message.

For example:


33


34

3.1.7 How to change web ID/PASSWORD configuration

The I-7540D-MTCP module has a built-in web server that allows user to easily configure the module from a remote location using a regular web browser.

When users want to modify the configuration of I -7540D-MTCP via

Setup web page, they need to fill these two fields, ID and PASSWORD, with correct values. Or they can view the configuration of I-7540D, and can’t modify the configuration.

If users want to change the ID and PASSWORD, they need to modify these two parameters by using Utility tool. The default setting of ID is

“7540D”, and default PASSWORD is “icpdas7540D”.


35

How to test the module transmission performance

The following procedure will guide you to learning how to transmit/receive

CAN messages to/from other devices/PCs by using the I-7540D converter.

1. Connect the I-7540D-MTCP ’s CAN port into the CAN network, which must at least have one CAN device on the network.

2. Supply the 10~30 volts DC source into the I-7540D-MTCP module through the power terminal.

3. The I-7540D-MTCP module’s Power LED will flash approximately once per second. And the 5-digits 7-segment LED will scroll to display some messages. That means the I-7540D-MTCP is working in the operation mode.

4. Run the I-7540D-MTCP Utility software after they have made a wire connection between the PC and the I-7540D-MTCP via the network cable

5. Click the “Connect” icon on the I-7540D-MTCP Utility tool bar. The setting frame will be popped up. Key-in the IP of the I-7540D-

MTCP and press the “Connect” button in order to connect with it.

As shown in the following figure.

6. Select the “CAN Test” tab in order to test the function of transmission and reception via the I-7540D-MTCP module. In

“Send CAN Message” frame, user can send the necessary CAN message to Ethernet port 10003 of 7540D-MTCP. Then 7540D-

MTCP will transfer and transmit this message to CAN bus. In the

“Send Command to 7540D-MTCP” frame, users can send command to 7540D-MTCP for getting or setting the status or parameters of 7540D-MTCP.


36

7. Users also can use the timer mode to send CAN message in fixed period. And the start/stop time would be displayed in Date/Time format. And when receiving correct CAN message, these CAN message will be displayed on the “Receive” box.


37


38

3.1.8 How to use CAN Bus Pair Connection

The I-7540D-MTCP supports CAN bus pair connection UDP/TCP function. CAN bus pair connection will use UDP method (port: 57540) or

TCP method (port: 10003). User can refer the following application to use this function.

Note:

After setting “Enable CAN Bus Pair Connection”, all data send to this I-

7540D-MTCP via Ethernet port 10003 will become no effective.


39

Application 01: one-to-one communication

After setting “CAN Bus Pair connection Status” of the two I-7540D-

MTCP and re-start the system of them, CAN messages between “CAN

Network 01” and “CAN Network 02” can be exchanged by UDP/IP protocol through Ethernet network.

Note:

When setting to use UDP method, the “Server/Client” parameters will be no effective.


40

Application 02: one-to-many communication (broadcast)

1. After setting “CAN Bus Pair connection Status” of these I-7540D-

MTCP and restart the system of them, CAN messages on “CAN

Network 01” will be sent to “CAN Network 02“ and “CAN Network

03“ by using UDP/IP protocol via Ethernet network.

2. All CAN message on “CAN Network 02“ will sent to “CAN Network

01“ by using UDP/IP protocol via Ethernet network.

3. All CAN message on “CAN Network 03“ will sent to “CAN Network

01“by using UDP/IP protocol via Ethernet network.

4. By using this broadcast method, users need to know how to set the network mask of the I-7540D-MTCP.

Note:

When setting to use UDP method, the “Server/Client” parameters will be no effective.


41

Application 03: One acts as a server, the other acts as a client.

After setting “CAN Bus Pair connection Status” of the two I-7540D-

MTCP and re-start the system of them, CAN messages between CAN

Network 01 and CAN Network 02 can be exchanged by TCP/IP protocol through Ethernet network.

Note:

When setting to act as a TCP server, the “Connect to (Destination IP)” will be no effective.


42

3.1.9 How to set specific CAN ID table

When users select the “Modbus TCP” or “Modbus RTU” mode, the functions, “Device ID” and “Specific CAN ID”, are useful. In the “Specific

CAN ID” field, users can set maximum thirty CAN IDs which indicate the corresponding CAN messages to be stored in the specific Modbus Input

Register respectively. In the Modbus Input Register, the register range of the “Specific CAN ID” occupies the section from 0x0E10 to 0x102C. Each

CAN ID will use 18 Modbus input registers.

In Modbus TCP/ RTU mode, users need to communicate the I-

7540D-MTCP with Modbus TCP/RTU command. The I-7540D-MTCP only supports function code 0x03/0x04/0x10 of Modbus TCP/RTU commands for reading and writing CAN messages.


43

3.1.10 How to test Modbus TCP mode

In this mode, there are two methods for users to send command to the I-7540D-MTCP. The screenshot of the Utility is shown below:

Through the first method (check “Use Modbus TCP Command”) users can use the function code 0x03/0x04/0x10 of Modbus TCP commands for reading and writing CAN message. The second method

(uncheck “Use Modbus TCP Command”) requires users to understand the Modbus TCP protocol. Then key-in the correct Modbus TCP command in the text box. Both of the methods require users to click the

“Send” button to transmit the command to the I-7540D-MTCP module.

When checking the “Timer(ms)”, the Utility will transmit the command periodically.

If the “Receive” is checked, the messages sent from the I-7540D-

MTCP will automatically be received and displayed in the “Receive” text box. Besides, users can click the “Clear” button to remove the messages on the text box. In addition, users can click the “Save” button to save the messages in the “Receive” text box into the “I-7540D-

MTCP_MT _yyyyMMddmmss.txt ” file. The indication of the file name is described below.


44


45

3.1.11 How to test Modbus RTU mode

In this mode, there are two methods for users to send command to the I-7540D-MTCP. The screenshot of the Utility is shown below:

Through the first method (check “Use Modbus RTU Command”) users can use the function code 0x03/0x04/0x10 of Modbus RTU commands for reading and writing CAN message. The second method

(uncheck “Use Modbus RTU Command”) requires users to understand the Modbus RTU protocol. Then key-in the correct Modbus RTU command in the text box. Both of the methods require users to click the

“Send” button to transmit the command to the I-7540D-MTCP module.

When checking the “Timer(ms)”, the Utility will transmit the command periodically.

If the “Receive” is checked, the messages sent from the I-7540D-

MTCP will automatically be received and displayed in the “Receive” text box. Besides, users can click the “Clear” button to remove the messages on the text box. In addition, users can click the “Save” button to save the messages in the “Receive” text box into the “I-7540D-

MTCP_MR _yyyyMMddmmss.txt ” file. The indication of the file name is described below.


46


47

3.2 MiniOS7 Utility

MiniOS7 Utility is a tool for configuring, uploading files to all products embedded with ICPDAS MiniOS7. And it provides some PC diagnostic tools which can help users to diagnose the status of the I-7540D-MTCP and other controllers.

Supported connection ways

 COM Port Connection

 Ethernet UDP & TCP Connection

Maintenance

 Upload file(s)

 Update MiniOS7 image

 Delete file(s)

Configure

 Date & Time

 IP Address

 COM port

Check

 Product information


48

3.2.1 Install the MiniOS7 Utility

Step 1:

The installation software can be obtained from the following location.

8000cd:\\Napdos\MiniOS7\utility\MiniOS7_utility\ or http://ftp.icpdas.com/pub/cd/8000cd/napdos/minios7/utility/minios7_utility/

Step 2:

Go to where you downloaded the file, and double-click on the installation file in Windows to execute it.

Step 3:

To finish the installation of the MiniOS7 Utility, click the Finish button to exit the setup process.


49

3.2.2 PC Diagnostic tools

The MiniOS7 Utility provides serial PC diagnostic tools. These PC diagnostic tools can be opened from the Tools menu of MiniOS7 Utility.

The PC Diagnostic tools include:

 7188XW:

7188XW is the PC side utility for modules using the ICPDAS MiniOS7.

It is the Win32 version of 7188x.exe. For 7188x.exe just can use the standard COMPORT(RS-232) of PC,ButonWin32systems

(WIN95/98/ME/NT/2K/XP) also have RS-232 port use PCMCIA or

USB interface, 7188x.exe can not use these devices, so need the program 7188xw.exe. Using RS-232 ports of PC link to the modules using

MiniOS7.7188xw.exe in basically is a terminal program. It sends out the data that user key-in to COM port, and show the data received from COM port on the screen of PC. The main function for 7188xw.exe is to

DOWNLOAD files to the MiniOS7 system.


50

 Send232:

Send232 uses serial port (RS-232) interface to communicate with devices. And it can be used to test the Virtual COM technology.


51

 SendTCP:

SendTCP uses TCP protocol to communicate with the

7188E/8000E/7540D/7540D-MTCP and other devices from Ethernet.

Step 1: Run SendTCP in host-PC.

Step 2: Input the IP of I-7540D-MTCP and press the “Connect” button to connect with I-7540D-MTCP . And then it will display “7188E3 is connected”.


52

Step 3: Send command “10” to the I-7540D. And it will response “7188E3 message.

Step 4: Select “Port 2” and “CR”. Then send “$02M” to read 7000 module’s ID which is connected to I-7540D-MTCP’s COM2. If you enable 7000 module’s checksum function, select “CS_CR”. The

“CS_CR” option will add two checksum bytes, then adds “CR”.


53

Step 5: If you want to change the 7540D-MTCP ’s COM ports settings, click “Set” to change them. The 7540D-MTCP’s COM port that you want to configure is specified by “Select Port” combo list.

Port 2 means you want to configure the 7188E’s COM2.




54

 7188E:

Command-prompt mode program, used to send data to specific machines using TCP protocol.

Usage:

7188e [-S:IP] [-P:Port]: Connect to a device by using TCP protocol.

*Q: Quit program and disconnect.


55

4. Support Command List

For easy application, we provide 4 command strings to allow users to send specific commands from I-7540D-MTCP ’s Ethernet port10003 to

CAN bus. And receiving response message form CAN bus. Also, we provide several commands for I-7540D-MTCP ’s Ethernet port10000 to set and get the status of 7540D-MTCP. It can cover most applications of different requests. The general formats of the I-7540D-MTCP ’s commands are given below:

Port 10003 Command Format: <Command><CR>

<Command> : The commands of the I-7540D-MTCP.

<CR> : All commands from this port must end with the character

“<CR>” (The ASCII value is 13).

The 4 command formats are given in the following table. More detailed information related to the each command will be described in the following sub sections.

Table 4-1: Command list table (port 10003) tII

Command

ILDD…<CR>

Description

Send or receive a standard data frame.

Send or receive a standard remote frame. TIIIL<CR> eIIIIIIIILDD…<CR>

EIIIIIIIIL<CR>

Send or receive an extended data frame.

Send or receive an extended remote frame.

Note: The I-7540D-MTCP ’s COM3 (CAN port) can only accept these 4 commands.


56

Port 10000 Command Format: 99<Command>

99 : Specific command for getting or setting the status of the

7540D-MTCP

Table 4-2: Command list table (port 10000)

Command

S

C

RA

Description

Read the status value of I-7540D

Clear CAN error flag and FIFO

#P01

Reboot the I-7540D module.

Read the RS-232 configuration

#P02

#P1

#P1B

Read the RS-485 configuration

Read the CAN configuration

Read the BTR0 and BTR1 configuration

$P0105BBDSP Change the RS-232 configuration

$P0205BBDSP Change the RS-485 configuration

$P114PBCC…MM…ET Change the CAN configuration

$P1B04TTRR Change the BTR0 and BTR1 configuration

#PWID Read Web ID configuration

#PWPW

$PWIDLLxxxxx…

$PWPWLLxxxxx…

Read Web Password configuration

Change Web ID configuration

Change Web Password configuration

#PPC Read CAN Pair Connection configuration

#PPIP Read CAN Pair Destination IP

$PPCLLABC

$PPIPxxx…

Change CAN Pair Connection configuration

Change CAN Pair Destination IP

Note:

1. More detailed information related to of the each command will be described in the following sub sections.

2. The #P1B and $P1B04TTRR commands just can be used on the firmware version v1.04 or later.

3. The #PWID, #PWPW, $PWIDLLxxxxx …, $PWPWLLxxxxx…, commands just can be used on the firmware version v1.05 or later.

4. The #PPC, #PPIP, $PPCLLABC, $PPIPxxx…commands just can be used on the firmware version v1.06 or later.


57

4.1 tIIILDD

…<CR>

Description: Send or receive a standard CAN data frame.

 Syntax: tIIILDD …<CR>

t Represent a standard (2.0A) data frame.

III 11 bits Identifier (000~7FF)

L Data length (0~8)

DD … Input data frame value according to the data length

(00~FF)

 Response: Valid command: No response

Invalid command: ?<Error Code><CR>

 Note: It is necessary to enable the “Error Response” function in the

I-7540D-MTCP Utility, in order to receive Syntax and/or communication error information at the host PC.

 Example:

Command: t03F6112233445566<CR>

Send a CAN message with a standard data frame. ID=03F,

DLC=6, data1=11, data2=22, data3=33, data4=44, data5=55 and data6=66.

Note: This command can only be accepted by 7540D-MTCP ’s port

10003


58

4.2 TIIIL<CR>

Description: Send or receive a standard CAN remote frame.

 Syntax: TIIIL<CR>

T Represents a standard (2.0A) remote frame.

III 11 bits Identifier (000~7FF)

L Data length (0~8)

 Response: Valid command: No response


 Note: It is necessary to enable the “Error Response” function in the


 Example:

Command: T2E88<CR>

Send a CAN message with a standard remote frame.

ID=2E8, DLC=8.


10003


59

4.3 eIIIIIIIILDD

…<CR>

Description: Send or receive an extended CAN data frame.

 Syntax: eIIIIIIIILDD …<CR>

e Stands for the extended (2.0B) data frame.

IIIIIIII 29 bits Identifier (00000000~1FFFFFFF)

L Data length (0~8)

DD … Input data frame value according to the data length

(00~FF)

 Response:

Valid command: No response


 Note:

It is necessary to enable the “Error Response” function in the


.

 Example:

Command: e1234567851122334455<CR>

Send a CAN message with an extended data frame.

ID=12345678, DLC=5, data1=11, data2=22, data3=33, data4=44 and data5=55.


10003


60

4.4 EIIIIIIIIL<CR>

Description: Send or receive an extended CAN remote frame.

 Syntax: EIIIIIIIIL<CR>

E Stands for the extended (2.0B) CAN remote frame.

IIIIIIII 29 bits Identifier (00000000~1FFFFFFF)

L Data length (0~8)

 Response:

Valid command: No response


 Note:

It is necessary to enable the “Error Response” function in the I-

7540D Utility, in order to receive Syntax and/or communication error information at the host PC.

 Example:

Command: E010156786<CR>

Send a CAN message with an extended remote frame.

ID=01015678, DLC=6.


10003


61

4.5 99S

Description: Read the I-7540D CAN Baud Rate and error flag message.

 Syntax: 99S

99S Command character

 Response:

Valid Command: !CFFTTRRO<CR>


! Delimiter for valid command

C current baud rate setting of CAN

FF CAN status register

TT CAN transmit error counter

RR CAN receive error counter

O CAN or RS-232/485/422 FIFO Overflow flag

 Note: Furthermore, all response results are shown in the ASCII format. Users need to make an ASCII to hex format transformation in order to understand what the meaning is based on the 4-2, 4-3, 4-4 tables

Table 4-3: CAN baud rate list

AsciiToHex(C) Description

3

4

5

0

1

2

6

7

10K baud rate of CAN








8

9


User defined


62

AsciiToHex(FF)

Bit 7 (MSB)

Bit 6

Bit 5

Bit 4

Bit 3

Bit2

Bit 1

Bit 0 (LSB)

Table 4-4: CAN status register list

Name

Bus Status

Error Status

Transmit Status

Receive Status

Transmission

Complete Status

Transmit Buffer

Status

Data Overrun

Status

Receive Buffer

Status

Value

1

0

1

0

1

0

1

0

1

0

1

0

Function

Bus-off; the SJA100 is not involved in bus activities

Bus-on; the SJA1000 is involved in bus activities

Error; at least one of the error counter has reached or exceeded the

CPU warning limit

Ok; both error counters are below the warning limit

Transmit; the SJA1000 is transmitting a message

Idle; no transmit message is in progress

Receive; the SJA1000 is receiving a message

Idle; no receive message is in progress

Complete; the previously requested transmission is not yet completed

Incomplete; the previously requested transmission is not yet complement

Released; the CPU may write a message into the transmit buffer

Locked; a message is waiting for transmission or is already in process

1 Overrun; a message was lost

Absent; no data overrun has

0 occurred

1

Full; one or more messages are available in the RXFIFO

0

Empty; no message is available

AsciiToHex(O)

Bit 3 =1

Table 4-5: CAN Error flag list

Description

CAN Transmit Error

Bit 2 =1

Bit 1 =1

CAN Receive Error

CAN FIFO Overflow

Bit 0 =1 Initial CAN Chip Error


63

 Example:

Command: 99S

Receive: !40C00000<CR>

Obtain some current information on the I-7540D-MTCP module. The response will show the following results: CAN baud rate=125K, CAN status register= transmission complete and transmit buffer is released, CAN transmit error counter=0,

CAN receive error counter=0 and CAN FIFO = normal.


10000


64

4.6 99C

Description: Clear the CAN error flag and FIFO on the module.

 Syntax: 99C

99C Command character

 Response:

Valid Command: No response.

Invalid command: ERROR

 Note: After sending this command, the CAN receive and transmit

FIFO will be clear. The error counter of reception and transmission will be set to zero. And the TX and RX LEDs will turn OFF.

 Example:

Command: 99C


10000


65

4.7 99RA

Description: Reboot the I-7540D-MTCP module. Users can use this command to reboot the module in order to allow it to work in order again.

 Syntax: 99RA

99RA Command character

 Response:

Valid Command: Reboot the I-7540D-MTCP module.


 Example:

Command: 99RA

The I-7540D-MTCP module will reboot after it had received this command.


10000


66

4.8 99#P01

Description: Read the RS-232 configuration

 Syntax: 99#P01

99#P01 Command character

 Response:

Valid Command: 061BBDSP


061 Delimiter for valid command

BB RS-232 Baud rate

D Data bit

0 = 7 bits data formation


S Stop bit

0 = 1 stop bit

1 = 2 stop bits

P Parity bits

0 = None

1 = Even

2 = Odd

RS-232 Baud rate list

BB

00

01

02

03

04

05

06

Description

110 bps baud rate of RS-232







07

08

09

0A

0B







67

 Example:

Command: 99#P01

Response: 0610B100

The response will show the following results: RS-232 baud rate=115.2K bps, data bits=8, stop bits=1, none parity.


10000


68

4.9 99#P02

Description: Read the RS-485 configuration.

 Syntax: 99#P02


 Response:

Valid Command: 062BBDSP



BB RS-485 Baud rate

D Data bit



S Stop bit

0 = 1 stop bit

1 = 2 stop bits

P Parity bits

0 = None

1 = Even

2 = Odd

BB

00

01


Description



02

03



04

05

06

07

08

09

0A

0B










69

 Example:

Command: 99#P02

Response: 06207111

The response will show the following results: RS-485 baud rate=9600 bps, data bits=8, stop bits=2, even parity.


10000


70

4.10 99#P1

Description: Read the CAN configuration.

 Syntax: 99#P1


 Response:

Valid Command: 14PBCCCCCCCCMMMMMMMMET



P CAN specification

0 = 2.0A

1 = 2.0B

B CAN Baud rate

CCCCCCCC 32 bits Acceptance Code Register

(00000000~FFFFFFFF)

MMMMMMMM 32 bits Acceptance Mask Register

(00000000~FFFFFFFF)

E Error response or not

0 = Disable

1 = Enable

T Timestamp response or not

0 = Disable

1 = Enable

CAN Baud rate list

B Description

0

1

2




6

7

8

9

3

4

5







User Defined


71

 Example:

Command: 99#P1

Response: 140400000000FFFFFFFF00

The response will show the following results: CAN specification=2.0A, CAB baud rate=125Kbps, acceptance code register=00000000, acceptance mask register=FFFFFFFF, disable error response, disable timestamp.


10000


72

99#P1B

Description: Read the CAN Bus Timing Register

 Syntax: 99#P1B

99#P1B Command character

 Response:

Valid Command: 06PBTTRR



P CAN specification

0 = 2.0A

1 = 2.0B

B CAN Baud rate

TT CAN Bus Timing Register 1 (00~FF)

RR CAN Bus Timing Register 1 (00~FF)

CAN Baud rate list

B

0

1

2

Description




3

4

5




6

7

8




9 User defined

 Example:

Command: 99#P1B

Response: 06090014

The response will show the following results: CAN specification =

2.0A, CAN baud rate = User defined, BTR0=00, BTR1=14.


10000


73

4.11 99$P0105BBDSP

Description: Change the RS-232 configuration of the I-7540D-MTCP.

 Syntax: 99#P0105BBDSP


BB RS-232 Baud rate

D Data bit



S Stop bit

0 = 1 stop bit

1 = 2 stop bits

P Parity bits

0 = None

1 = Even

2 = Odd


BB

00

01

02

Description




03

04

05

06

07

08







09

0A



0B 115200 bps baud rate of RS-232

 Response:

Valid Command: OK


 Example:

Command: 99#P01050B100

Response: OK

Set the setting of RS-232 baud rate= 115.2Kbps, data bits=8, stop


74

bit=1, none parity bit into the I-7540D-MTCP and the 7540D-

MTCP response “OK” command to mean that the configuration of

RS-232 has been changed.


10000


75

4.12 99$P0205BBDSP

Description: Change the RS-485 configuration of the I-7540D-MTCP.

 Syntax: 99#P0205BBDSP


BB RS-485 Baud rate

D Data bit



S Stop bit

0 = 1 stop bit

1 = 2 stop bits

P Parity bits

0 = None

1 = Even

2 = Odd


BB

00

Description


01

02

03

04

05

06

07

08

09












0A

0B

Response:

Valid Command: OK




 Example:

Command: 99#P02050B100

Response: OK

Set the setting of RS-485 baud rate= 115.2Kbps, data bits=8, stop


76

bit=1, none parity bit into the I-7540D-MTCP and the 7540D-

MTCP response “OK” command to mean that the configuration of

RS-485 has been changed.


10000


77

4.13 99$P114PBCC

…MM…ET

Description: Change the CAN configuration of the I-7540D-MTCP

 Syntax: 99#P114PBCC …MM…ET


P CAN specification

0 = 2.0A

1 = 2.0B

B CAN Baud rate

CCCCCCCC 32 bits Acceptance Code Register

(00000000~FFFFFFFF)

MMMMMMMM 32 bits Acceptance Mask Register

(00000000~FFFFFFFF)

E Error response or not

0 = Disable

1 = Enable

T Timestamp response or not

0 = Disable

1 = Enable

CAN Baud rate list

B Description

3

4

5

0

1

2

6

7

8

9










User defined

 Response:

Valid Command: OK


 Example:

Command: 99#P1140400000000FFFFFFFF00

Response: OK


78

Set the setting of CAN specification=2.0A, CAN baud rate= 125

Kbps, acceptance code=00000000, acceptance mask=FFFFFFFF, disable error response, disable timestamp response into the I -

7540D and the 7540D response “OK” command to mean that the configuration of CAN has been changed.


10000


79

4.14 99$P1B04TTRR

Description: Change the CAN Bus Timing Register of the I-7540D-

MTCP

 Syntax: 99#P1B04TTRR

99#P1B04 Command character

TT Bus Timing Register 0 (00~FF)

RR Bus Timing Register 1 (00~FF)

 Response:

Valid Command: OK


Note:

1. This command can only be accepted by 7540D-MTCP ’s port 10000

2. Users need to have the background of SJA1000 CAN controller and 82C251 CAN transceiver, and calculate the values of BT0 and

BT1 by themselves (The clock frequency of CAN controller is

16MHz.).


80

4.15 99#PWID

Description: Read the Wed ID configuration

 Syntax: 99#PWID

99#PWID Command character

 Response:

Valid Command: LLxxxxx …


LL Web ID Length, in hexadecimal format. xxxxx … Web ID saved in the EEPROM, the default Web ID setting is “I7540D”

 Example:

Command: 99#PWID

Response: 057540D

Read the Web ID setting of the 7540D-MTCP, and the 7540D-

MTCP responses the Web ID setting is “7540D”.


10000.


81

4.16 99#PWPW

Description: Read the Wed Password configuration

 Syntax: 99#PWPW

99#PWPW Command character

 Response:

Valid Command: LLxxxxx…


LL Web ID Length, in hexadecimal format. xxxxx … Web ID saved in the EEPROM, the default Web ID setting is “I7540D”

 Example:

Command: 99#PWPW

Response: 0Bicpdas7540D

Read the Web password setting of the 7540D-MTCP, and the

7540D-MTCP responses the Web password setting is

“icpdas7540D”.


10000.


82

4.17 99$PWIDLLxxxxx

…

Description: Change the Wed ID configuration.

 Syntax: 99#PWIDLLxxxxx …

99#PWID Command character

LL Web ID data Length, in hexadecimal format. xxxxx … Web ID data, at most 30 ASCII characters.

 Response:

Valid Command: OK


 Example:

Command: 99#PWID047540

Response: OK

Change the Web ID data setting of the 7540D-MTCP to “7540” and the 7540D-MTCP responses “OK” command to mean that the configuration of Web ID data has been changed.


10000.


83

4.18 99$PWPWLLxxxxx

…

Description: Change the Wed password configuration.

 Syntax: 99#P02

99#PWPW Command character

LL Web password data Length, in hexadecimal xxxxx … format.

Web password data that you want to configure.

At most 30 ASCII characters.

 Response:

Valid Command: OK


 Example:

Command: 99#PWPW0512345

Response: OK

Change the Web password data setting of the 7540D-MTCP to

“12345” and the 7540D-MTCP responses “OK” command to mean that the configuration of Web ID data has been changed.

.


10000.


84

4.19 99#PPC

Description: Read the CAN bus pair connection configuration. Here support three parameters, “enable can pair”, “TCP or UDP” and “Server or Client”

 Syntax: 99#PPC

99#PPC Command character

 Response:

Valid Command: LLABC


LL number of parameters

A Enable CAN bus pair connection flag,

0: Disable, 1: Enable

B Using TCP or UDP connection; 0: TCP, 1: UDP

C Act as a server or client; 0: server, 1: client

 Example:

Command: 99#PPC

Response: 03100

Read the CAN bus pair connection configuration of the 7540D-

MTCP, and the 7540D-MTCP responses that enable can bus pair connection and act as a TCP server.


10000.


85

4.20 99#PPIP

Description: Read the destination IP of CAN bus pair connection.

 Syntax: 99#PPIP

99#PPIP Command character

 Response:

Valid Command: xxx.xxx.xxx.xxx

Invalid command: ERROR xxx.xxx.xxx.xxx Destination IP Address.

 Example:

Command: 99#PPIP

Response: 192.168.255.2

Read the CAN bus pair connection destination IP of the 7540D-

MTCP, and the 7540D-MTCP responses that destination IP address is “192.168.255.2”.


10000.


86

4.21 99$PPCLLABC

Description: Change the CAN bus pair connection configuration. After setting successfully, all parameters will take effective after system restart.

 Syntax: 99#PPCLLABC

99#PPC Command character

LL number of parameters, here fix to “03”

A Enable CAN bus pair connection flag,

0: Disable, 1: Enable

B Using TCP or UDP connection; 0: TCP, 1: UDP

C Act as a server or client; 0: server, 1: client

Note:

1. When A=0, B and C take no effective

2. When using UDP connection (B=1), C take no effective

3. When acting as a TCP client or using UDP method, users need to set the destination IP address (section 4.23), so that the 7540D-MTCP can work correctly.

 Response:

Valid Command: OK


 Example:

Command: 99#PPC03101

Response: OK

Change the CAN bus pair connection configuration of the 7540D-

MTCP to “enable CAN bus pair connection” and act as a TCP client.

.


10000.


87

4.22 99$PPIPxxx

…

Description: Change the CAN bus pair connection destination IP address. After setting successfully, all parameters will take effective after system re-start

 Syntax: 99#PPIPxxx …

99#PPIP Command character xxx … IP address, iii/ppp/III/PPP: 3 digits number

Note:

This IP address is effective when enable CAN bus pair connection and acting as TCP client or using UDP connection method.

 Response:

Valid Command: OK


 Example:

Command: 99#PPIP192168255002

Response: OK

Change the CAN bus pair connection destination IP of the 7540D-

MTCP.


10000.


88

4.23 General Error code for commands from port 10003

Table 4-6: Error code table

AsciiToHex

(Error code)

Description

1

2

3

4

5

The head character of the command string is invalid.

The length of the command string is invalid.

The value of CAN identifier is invalid.

The value of CAN data length is invalid.

Reserved


89

5. Modbus Network (Only for Modbus TCP/ Modbus RTU mode)

The I-7540D-MTCP, Modbus TCP / Modbus RTU to CAN converter, supports the Modbus TCP/ Modbus RTU protocol. It acts as a Modbus

TCP server / Modbus RTU slave device on the Modbus network. There are some mechanisms for data-exchanging between the CAN register and the Modbus register as the figure at the following section.

In the Modbus Input Register, according to the different purposes these register are divided into three fields, “Normal CAN Message Field”,

“Specific CAN Message Field” and “Module Status Field”. When a CAN message received from the CAN network, the I-7540D-MTCP will check if the Specific CAN Message filed is used or not. If it is not used, this CAN message will be stored into the “Normal CAN Message” field. This field is similar with a kind of FIFO (first-in first-out buffer). Users can only read this field with the start address of this field by applying the Modbus command.

It only supports the FIFO read method.

After users read the

CAN messages from this field, the rest unread CAN messages will be moved to the buffer with the start address of this field.

This field can store maximum 200 CAN messages. Therefore, if the unread CAN messages exceed 200 records, the data will be lost.

If the “Specific CAN Message Field” is used, the CAN messages which are marked in the specific CAN message table of the Utility tool are directly moved to the Specific CAN Message Field. CAN messages with different CAN IDs will be stored in different parts of the Specific CAN

Message field. Users can set maximum 30 different CAN ID of CAN messages. Besides, a kind of CAN ID only has one record buffer. If there are two CAN messages with the same ID, the later will over-write the former. Therefore, the Specific CAN Message filed always keeps the newest information of the corresponding CAN messages with the specific

CAN IDs.

If a CAN message is sent to a CAN network from a Modbus network via the I-7540D-MTCP, the CAN message will be temporarily stored in

Output Register and not be transmitted until the CAN bus idle. The Output

Register is only one message buffer. Users can also use Modbus command to read the CAN message transmitted before. It is helpful for checking the last sent record.


90

Figure 5-1: CAN message Format of I-7540D-MTCP Modbus mode.


91

5.1 Supported Modbus Functions

The Modbus function codes supported by the I-7540D-MTCP are shown in the following table.

Table 5-1: Supported Modbus Function Codes

Function Code Function Name

3 (03 Hex) Reading Output Register

Description

Read multiple registers

(4x) for a sent CAN messages

4 (04 Hex)

16 (10 Hex)

Reading Input Register

Preset Multiple Registers

Read multiple input registers (3x) for reading

CAN messages

Write multiple registers

(4x) for sending a CAN message


92

5.2 Modbus TCP Address

Figure 5-2: The address definition of Input Register and Output Register of the I-7540D-MTCP.

Modbus Input Register:

(1) Normal CAN Message Field:

In this field, the address range of “Normal CAN Message” is

0x0000~0x0E0F. It is used to store the CAN message received from the CAN network. One CAN message will occupy 18-byte address space in the “Normal CAN Message” field. Therefore, it can store maximum 200 CAN messages. The detailed Modbus address arrangement of “Normal CAN Message” field is described as the table 5-2.

Modbus Address Word Count Description

0x0000 ~ 0x0011

0x0012 ~ 0x0023

…

9

9

…

RX CAN Message #001

RX CAN Message #002

…

0x0DEC ~ 0x0DFD 9 RX CAN Message #199

0x0DFE ~ 0x0E0F 9 RX CAN Message #200

Table52: Modbus address arrangement of “Normal CAN Message” field.

(2) Specific CAN Message Field:

The I-7540D-MTCP supports a “Specific CAN Message” field to store thirty special CAN messages with specific the CAN IDs.


93

When the I-7540D-MTCP receives the CAN messages whose

CAN IDs are defined in the Specific CAN Message Field by the

Utility tool, the I-7540D-MTCP put this CAN message into the corresponding register of the Specific CAN Message field. Each

CAN message will occupy 18 address space of the register, and the range of this field is listed in following table.

Modbus Address Word Count

0x0E10~0x0F21

…

9

…

0x0FFF~0x1010 9

Description

Specific RX CAN Message #01

…

Specific RX CAN Message #29

0x101A~0x102B 9 Specific RX CAN Message #30

Table5-3 : Modbus address of “Specific CAN Message” field.

(3) Module Status Field:

The I-7540D-MTCP ’s status information is defined in the following address. Users can use the Modbus RTU command (function code

04 hex

) to read these information from the “Module Status” field.

Modbus Address Byte Count

0x102C 1

Description current baud rate setting of CAN

0x102D 1 CAN status register

0x102E 1 CAN transmit error counter

0x102F 1 CAN receive error counter

0x1030

1 CAN or

RS-232/485/422 FIFO Overflow flag

0x1031~0x103E 13 No used

Table5-4 : Modbus address of “Modbus Status” field.

Note: The meaning of the register values can refer to section 4.5.


94

5.2.1 Using Modbus TCP command to get a CAN Message

When the I-7540D-MTCP is set to the Modbus TCP mode, each CAN message (except the CAN message whose CAN IDs are defined in the

Specific CAN Message field) received from the CAN network will be stored into the “Normal CAN Message” field. Users can use the Modbus

TCP command (function code 04 hex

) to read the CAN message from the

“Normal CAN Message” field (refer to table 5-2). The start address of each command must be set to 0000 hex and the data length field must be 7 or 9 (with Timestamp) because one CAN message uses 7 or 9 address space. After reading the registers by the Modbus command, the content of the registers of the read CAN message is covered by the unread CAN message which will be read next.

Example:

Use Modbus TCP command (function code 04 hex

) to read one CAN message:

Figure 5-3: Use the Modbus TCP command to read one CAN message.


95

5.2.2 Using Modbus TCP command to Send a CAN Message

If users need to send CAN messages via the Modbus TCP commands, users need to send the Modbus TCP command with the “TX

CAN message“ format to the Output Register of the I-7540D-MTCP. Then the I-7540D-MTCP will transfer this command to a CAN message format and send it to the buffer of the CAN controller. The CAN controller will send the CAN message automatically which the CAN bus is idle.

Users can use Modbus TCP commands (function code 10 hex

) to transmit a CAN message by writing the Output Register of the I -7540D-

MTCP (the data format must follow the Figure 5-1). The start address of the Modbus TCP command is always 0000 hex

, and the Word count and

Byte count are always 07 hex and 0D hex respectively.

Example:

Use the Modbus TCP command (function code 10 hex

) to transmit a CAN message to the CAN network:

Users can use the Modbus TCP command with function code 03 hex to read the transmitted CAN message. The start address of the command is always 0000 hex

, and the data length field must be set to 0007 hex

.


96

Figure 5-4: Use Modbus TCP command to transmit a CAN message.

Example:

Use the Modbus TCP command (function code 03 hex

) to read the transmitted CAN message format from the Output Register:

Figure 5-5: Use the Modbus TCP command (function code 03 hex

) to read the transmitted CAN message format.


97

5.2.3 Using Modbus TCP command to get a Specific CAN Message

The I-7540D-MTCP supports a “Specific CAN Message” field to get the expect ten specific CAN messages. When receiving a CAN message whose CAN ID is defined in the Specific CAN Message by the Utility tool, the I-7540D-MTCP will save this CAN message to the “Specific CAN

Message” field.

Users can use the Modbus TCP command (function code 04 hex

) to directly read the CAN message from this field. It is usually used to get the important CAN messages immediately. The start address of the command must be the same as the start address defined in the Specific CAN Message field, and the data length field must be 7 or 9 (with Timestamp).

Example:

Use the Modbus TCP command (function code 04

hex

) to read the specific

CAN message from the “Specific CAN Message” field:

Figure 5-6: Use the Modbus TCP command to read specific CAN message.


98

5.3 Modbus RTU Address

5.3.1 Using Modbus RTU command to get a CAN Message

When the I-7540D-MTCP is set to the Modbus RTU mode, each CAN message (except the CAN message whose CAN IDs are defined in the

Specific CAN Message field) received from the CAN network will be stored into the “Normal CAN Message” field. Users can use the Modbus

RTU command (function code 04 hex

) to read the CAN message from the

“Normal CAN Message” field (refer to table 5-2.). The start address of each command must be set to 0000 hex and the data length field must be 7 because one CAN message uses 7 address space. After reading the registers by the Modbus command, the content of the registers of the read CAN message is covered by the unread CAN message which will be read next.

Example1:

Use Modbus RTU command (function code 04 hex

) to read one CAN message:

Figure 5-7: Use the Modbus RTU command to read one CAN message.


99

5.3.2 Using Modbus RTU command to Send a CAN Message

If users need to send CAN messages via the Modbus RTU commands, users need to send the Modbus RTU command with the “TX

CAN message“ format to the Output Register of the I-7540D-MTCP. Then the I-7540D-MTCP will transfer this command to a CAN message format and send it to the buffer of the CAN controller. The CAN controller will send the CAN message automatically which the CAN bus is idle.

Users can use Modbus RTU commands (function code 10 hex

) to transmit a CAN message by writing the Output Register of the I -7540D-

MTCP (the data format must follow the Figure 5-1). The start address of the Modbus command is always 0000 hex

, and the Word count and Byte count are always 07 hex and 0D hex respectively.

Example:

Use the Modbus RTU command (function code 10 hex

) to transmit a CAN message to the CAN network:

Figure 5-8: Use Modbus RTU command to transmit a CAN message.


100

Users can use the Modbus RTU command with function code 03 hex to read the transmitted CAN message. The start address of the command is always 0000 hex

, and the data length field must be set to 0007 hex

.

Example:

Use the Modbus RTU command (function code 03 hex

) to read the transmitted CAN message format from the Output Register:

Figure 5-9: Use the Modbus RTU command (function code 03 hex

) to read the transmitted CAN message format.


101

5.3.3 Using Modbus RTU command to get a Specific CAN Message

The I-7540D-MTCP supports a “Specific CAN Message” field to get the expect ten specific CAN messages. When receiving a CAN message whose CAN ID is defined in the Specific CAN Message by the Utility tool, the I-7540D-MTCP will save this CAN message to the “Specific CAN

Message” field.

Users can use the Modbus RTU command (function code 04 hex

) to directly read the CAN message from this field. It is usually used to get the important CAN messages immediately. The start address of the command must be the same as the start address defined in the Specific

CAN Message field, and the data length field must be 7 or 9 (with

Timestamp).

Example:

Use the Modbus RTU command (function code 04

hex

) to read the specific

CAN message from the “Specific CAN Message” field:

Figure 5-10: Use the Modbus RTU command to read specific

CAN message.


102

ICP I-7540D-MTCP User's Manual

I-7540D-MTCP

Ethernet/Modbus TCP/Modbus RTU to

CAN Converter

User’s Manual

1. Introduction

1.1 Features

1.2 Specifications

2. Hardware

2.1 Block Diagram

2.2 Pin Assignment

2.3 Terminator resistor settings

3. Software Utility

3.1 I-7540D-MTCP Utility

3.2 MiniOS7 Utility

4. Support Command List

5. Modbus Network (Only for Modbus TCP/ Modbus RTU mode)

Related manuals

Table of contents

ICP I-7540D-MTCP User's Manual

I-7540D-MTCP

Ethernet/Modbus TCP/Modbus RTU to

CAN Converter

User’s Manual

1. Introduction

1.1 Features

1.2 Specifications

2. Hardware

2.1 Block Diagram

2.2 Pin Assignment

2.3 Terminator resistor settings

3. Software Utility

3.1 I-7540D-MTCP Utility

3.2 MiniOS7 Utility

4. Support Command List

5. Modbus Network (Only for Modbus TCP/ Modbus RTU mode)

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ICP

I-7540D-MTCP

ICP

I-7540D

ICP

I-7540DM

ICP

I-7540DM

ICP DAS USA

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ICP

I-7540D-WF

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Table of contents