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CAN-REport User Manual

1. set ST linel set ST linel font stdout foreground blue set ST linel font stdout background set ST linel font stderr Helvetica 18 bold set ST linel font stderr foreground OOFFOO set ST linel font stderr background Version 3 1 CAN REport Page 39 of 42 pert 11 2 Configuration of serial interfaces The particular hardware can be selected in the following configuration dialog Serial Port allows the configuration of the serial port COMx on Windows and dev ttySx on Linux respectively and the CAN baud rate can be configured by Bitrate CAN Interface Configuration CAN Interface CAN view P CAN Server C Programme port horch 2 6 1 horch_cpew e Es Baud Rate f125 y Device com z Change CAN view Settings Advanced Settings Timeout Figure 31 Configuration dialog 11 2 1 CAN232 Configuration Please ensure that your CAN232 is connected properly to the power supply and to the PC After pressing the button Configure CAN232 the CAN REport tries to connect to the CAN232 by scanning the RS232 baud rates 230400 115200 57600 38400 19200 9600 2400 On success a dialog window is opened to change the RS232 baud rate Note Baudrate scanning does not work under Windows 98 The current used baudrate has to be inserted by hand 11 2 2 CANview Configuration After pressing the button Change CANview Settings a dialog window is opened to config
2. 00 00 125 1092130360 095190 160 0x080 sD 70 81 See 1092130360 105751 1637 0x665 sD 40 00 Dag 2092290360 106918 1597 0x601 D 40 00 1092130360 108078 1562 0x6la sD 40 00 ASCII 1092130360 108926 705 0x2cl sD 20 00 Hes 1992130360 865 Node 37 Req Rd Init 1000 0 1092130360 866 Node 111 Req Abort SDO pro Dee 1092130362 348 D5401 device I Req Ur Exp 1092130362 350 1092130362 386 1092130362 393 1092130362 428 1092130362 328 1092130665 576 1092130665 593 I 0 Modul 1 AnIn_1 1092130665 644 I 0 Modul l AnIn 1 D3401 device I Resp Wr Exp bus coupler 1 Req Wr Exp L1 bus coupler 1 Resp Wr Exp Heartbeat_bus coupler 2 State PRE OP Time on clt Set Mark Status Dx1c40 AnIn 2 OK Comcel NMT Command Enter Operational Node Node 0 Heartbeat_bus coupler 2 State OPERATIONAL Oxlc60 AnIn_2 0x19c0 Ox19a0 Ext RTR ld Length BO Bl B2 B3 B4 B5 B6 B7 C Cfo o fusofo o fo fo fo fo p sem Repeat Time Message Name D Peoperaionat port GmbH Halle 07 09 2004 CAN REport Version 3 1 pert Disclaimer All rights reserved The programs boards and documentations supplied by port GmbH are created with due diligence checked carefully and tested on several applications Nevertheless port GmbH can not take over no guarantee and no assume del credere lia bility that the program the hardware board and the documentation are error free respec tive are
3. on the CAN network are available and not only for device developers These commands can be used in test scripts Commands like wr for the sending of messages or wait for the synchronization with CAN messages on the network belong to this purpose Overview of user function wait id timeout wait for CAN message with id or until timeout wait2 id type timeout wait for CAN message with id and type or until timeout wr args send CAN message with standard identifier wrx args send CAN message with extended identifier Detailed function description wait id timeout wait for CAN message with id or until timeout this function is deprecated please use wait2 Arguments id can be an integer or hex Ox or any timeout in ms defaults to 10000 10s Results String with message String wait timeout Page 26 of 42 CAN REport Version 3 1 pert wait2 id type timeout wait for CAN message with id and type or until timeout Arguments id can be an integer or hex Ox or any type any combination of s x D R s standard x extended D data R RTR timeout in ms defaults to 10000 10s Results String with message String wait timeout Example wait2 12 R wait 12s for RTR ID of any format s Or x wait2 10 sR wait 10s for standard RTR ID wait2 any wait for the next messag wr args send CAN message with standard identifier Arguments args a CAN message It
4. 4 1 TCP IP The analyzer CAN REport consists of the CAN hardware interface and the visualization software Both are connected as server and client by a standard TCP IP network connec tion This separation allows the usage of the CAN interface as a remote interface That means both parts can be located at different computer systems Remote monitoring of CAN networks is possible without additional or modified software over LAN dial or internet connections The Horch protocol is used as a communication protocol between operating client and hardware server on top of TCP IP CAN bus TCP IP CAN Internet Internet hardware Modem Modem interface eee e Figure 3 Client Server communication CAN interfaces are currently available for ISA PCI parallel port serial and PC104 with MS Windows operating systems ISA and PCI for LINUX or as Ethernet interface as stand alone CAN Server on the port EtherCAN module 4 1 1 CAN Server The CAN Server horch is the interface from TCP IP to CAN A detailed description can be found in its manual 4 1 2 Client CAN REport The visualization and operating software is based on the scripting language Tcl Tk which is available for many different computer platforms The usage is therefore possible on all systems supporting this language Through separation of hardware CAN Interface and man machine interface it is possible to use the CAN REport besides M
5. pert 11 Configuration 11 1 Configuration files The configuration for CAN REport is stored in the files lt canreport rc gt and lt co_cfg rc gt These files are read when they are in the working directory of CAN REport Comments in the file are prepended with the character The commands in this file set variables that define the appropriate behaviour and option Most options can be set with menus However some can only be specified in this file by hand The following table describes the options that can only be set by hand Variablename Values Description ST showSplash 0 1 enable disable Splash screen at start up ST txch 0 20 number of tabs for transmitting CAN messages ST inel font XXX font Font for message xxx ST inel font XXX foreground color foreground of font used for message xxx ST ine1 font XXX background color background of font used for message Xxx XXX can have the values stderr stdout usr stdout is normally used in the main logging window The CANopen extension specifies further colors for different services How ever the values are stored in the file lt co_cfg rc gt XXX can have the additional values nmtcmd nmtstate Issreq Issresp pdo sync srdo sdoreq sdoresp sdoerr emcy flyma Changing the background color sets the color for selected text to the exact same color 11 1 1 Snippet of configuration file font stdout Courier Medium 12
6. ure the CANview settings Please regard that it does not configure the device Instead the CAN REport has to be configured according to the device settings To change the device settings directly please use the RM Device Configurator Page 40 of 42 CAN REport Version 3 1 pert 12 System Requirements CAN REport is executables on PC s with Microsoft Windows 9X 2000 NT Macintosh or UNIX LINUX systems It can be used on all systems supporting the Tcl Tk programming language 13 Purchase Order Information 0580 10 0580 11 0580 12 0580 00 0580 03 Operating system Windows 9X NT 2000 LINUX Mac OS Processor Pentium and higher RAM 32 MByte hard disk space 5 MByte CAN Analyzer CAN REport CANopen Extension DeviceNet Extension CAN Analyzer CAN REport Demo Version CAN Analyzer CAN REport Evaluation Version Supply always occurs with selected hardware According to agreement a supply without hardware can occur Restrictions The following combinations can be delivered Hardware Win32 LINUX Mac AT CAN MINI port GmbH x Level X I ME EtherCAN port GmbH x x x CPC EMS Wiinsche x x Version 3 1 CAN REport Page 41 of 42 pert Page 42 of 42 CAN REport Version 3 1
7. 210 10714938885 148073 528 0x210 1071498885 159399 528 0x210 1071498885 205106 528 0x210 1071493885 227677 528 0x210 1071493885 250150 528 0xZ10D i stopped i e Dec Time on off Set Mark Hex dee Tine on at Seat Figure 28 Results of the commands of figure 4 The commands can be combined into sequences or procedures All semantics of modern high level languages are available Particularly for commissioning and error analysis a highly precise time resolution of the received CAN messages on the network is necessary The time represented by CAN REport is influenced in this case only from the used hardware A time resolution up to us can be achieved by using CAN interface boards under the LINUX operating system The available recording functions allow to store the results of an entire test run but also the contents of logging windows in separate files As well it is possible to store the CAN messages directly in a file without displaying them on the screen These files can be interpreted later by the CANopen or user defined extensions This is especially practical at high bus load 10 2 Interpretation of CAN messages The CAN REport features the interpretation of CAN messages For the application layer protocol CANopen this was already done When the button User extension in the file menu is pressed a file called lt application tcl gt is loaded and a button is placed on the tool bar Thi
8. 328 NMT Command Enter Operational Node Node 0 gt 092130665 Heartbeat_bus coupler 2 State OPERATIONAL _ Status 092130665 593 1 0 Modul 1 AnIn l Oxlc60 AnIn_2 0x19c0 092130665 H H Ext ATR Id Length BO Bi B2 B3 B4 B5 BE B7 Repeat Time Message Name Transmitbar Send C Coo o eoo fo fo p fo fo p o Preoperational 5 1 Menubar 5 1 1 File Menu Open Ctri O Save Ctrl 5 Exit Figure 4 File Menu Open Open a previously stored logfile If the CANopen Extension is activated then the contents can be interpreted as CANopen data Save Save the contents of the main window into a file Exit Exits CAN REport Page 10 of 42 CAN REport Version 3 1 pert 5 1 2 Edit Menu Cut Ctrl Copy Gtrl G Paste Ctrl Clear Log Ctrl L Select All Ctrl 4 Ctrl F Find Figure 5 Edit Menu Cut Cut selected text into clipboard Copy Copy selected text into clipboard Paste Pastes text from clipboard into the main window Clear Log Clears content of the main logging window Select All Selects the whole content of the main logging window Find Opens a standard find dialog box to search for text signatures 5 1 3 View Menu Toolbar v Status Bar v Transmit Bar Console MENA Y Trace View o Object View Figure 6 View Menu Toolbar Toggles the view of the toolbar Statusbar Toggles the view of the statusbar Version 3 1 CAN REport Page 11 of 42 pert Tr
9. S Windows on LINUX or Macintosh computers for controlling the CAN hardware interface Page 8 of 42 CAN REport Version 3 1 pert 4 2 Serial Interfaces Besides the client server connections the CAN REport supports also direct connections to CAN RS232 interfaces as e CAN232 e CANview For further information about the configuration please have a look at the section Configu ration of serial interfaces Version 3 1 CAN REport Page 9 of 42 pert 5 Graphical User Interface The graphical user interface consists of 4 components ed Menubar File Edit View Connection Extras Window Help Toolbar Y nur PDO SDO EMCY FLYMA Host New connection to host 194 173 33 19 194173331 1092130359 629206 1857 f0x741 sD 1092130359 912208 705 0x2cl sD Bitrate 1092130359 962936 705 0x2c1 sD 125 1092130360 095190 160 0x0a0 oo 00 00 00 State 1092130360 105751 1637 0x665 oo 00 00 00 stopped 1092130360 106918 1537 0x601 00 00 00 00 oppe 1092130360 108078 1562 0x6la 00 00 00 00 ASCII 1092130360 108926 705 0x2c1 Statusbar 092130360 Node 37 Req Rd Init 1000 00 092130360 Node 111 Req Abort SDO protocol timed out 092130362 D3401 device I Req Wr Exp 1017 00 value 0x03e8 092130362 D3401 device I Resp Wr Exp Tine on ott 092130362 bus coupler 1 Req Wr Exp 1017 00 value 0x03e8 Set 092130362 bus coupler 1 Resp Wr Exp 092130362 Heartbeat_bus coupler 2 State PRE OP _SetMark 092130362
10. and 5 are marked as don t care Numbers used in decimal hexadecimal and octal active ID RTR Data uppercase X don t care fos it O r e Figure 23 Trigger example 3 Only the CAN id is compared The content and length of the CAN message is not evalu ated 8 2 Defining a trigger Remote Request CAN message Defining a Remote Request CAN message follows the same rules as a normal CAN messages Setting the expected length of the RTR message is done with the don t care bytes Example active ID ATR Data uppercase X don t care po e OK kk TTT meme Figure 24 Trigger example 4 The CAN REport triggers on a RTR message with CAN id 0x64 and a length of 5 bytes 8 3 CANopen Message Builder The CANopen Message Builder eases creating of CAN messages for the trigger which conform to the CANopen protocol It provides input masks for the CANopen services NMT PDO SDO HEARTBEAT and EMCY Figure 25 shows the input mask for the NMT service The CANopen Message Builder is only available with the CANopen Extension Version 3 1 CAN REport Page 23 of 42 pert CANopen Message Builder x svo Heartheat Emoy SDO Messages Node Id 7 y Response V Index oxi 018 Sublndex ox04 OK Cancel Figure 25 Input dialog for NMT service of the NMT service 9 Filter Filter settings for horch on ulrich BE 0 xj Controller JA1000 Only Standard Messages Advanced Configuration direct access to the regi
11. ansmitbar Toggles the view of the statusbar Console Opens the Tcl Tk console in the bottom of the main window With the console you can extend the functionality of CAN REport See paragraph Extending CAN REport 5 1 3 1 View mode CAN REport possesses a trace mode and a object view mode Trace view All CAN messages are written into the main window as they are received The view shows timestamp CAN ID type data Object view Each CAN message is placed in one line Every time the message with the same CAN identifier is received the line is updated A maximum of 192 messages can be displayed The view shows CAN ID type data period and a receive counter 5 1 4 Connection Menu Connect Disconnect CAN Interface Filter Settings Only log to File Figure 7 Connection Menu Connect Connect to the CAN Server horch All necessary data i e server name port and bitrate are input within the menu CAN Interface Disconnect Disconnect from the server CAN Interface Opens a dialog for the configuration of the TCP IP connection to the CAN Server Only the interfaces that are installed with a propriate driver are displayed Page 12 of 42 CAN REport Version 3 1 pert CAN Interface Configuration CAN Interface CPC y CAN Server 22 0 0580 software horch al Baud Rate 125 h Device PCIO CPC PCI Timeout 2500 Please specify the path to a local horch CAN Server It will be sta
12. arted with the button Start Trigger During the trigger process the dialog stays on top of the application and recording of messages in the main window stops After the specified CAN message was received the trigger dialog disap pears 8 1 Defining a trigger CAN message Up to three different CAN message can be specified as trigger events The second and third CAN message are activated through the checkbutton labeled active The first CAN message is active by default The input in the fields CAN ID and data can be speci fied as decimal hexa decimal or octal numbers Hexa decimal numbers are prepended with Ox and octal numbers with 0 A blank input field determines the end of the CAN message Any data byte after a blank input field is ignored The length is then cal culated by the number of non empty input fields In order to ignore the contents of a byte mark it as don t care by entering an X into an edit field instead of a numerical value Then its value is not compared with the received message Examples Page 22 of 42 CAN REport Version 3 1 pert active ID RTR Data uppercase X don t care fio psie T k k Ik Kk Ove secs Figure 21 Trigger example 1 CAN message with 8 bytes length Byte 4 to 7 are marked as don t care Numbers used in decimal hexadecimal and octal active ID RTA Data uppercase X don t care foo e pee ox k TT oe Figure 22 Trigger example 2 CAN message with 5 bytes length Byte 4
13. ed with 0x and octal values with 0 If it is necessary to send CAN messages periodically then a Repeat Time in ms can be specified The CAN message sent is not displayed in the main window Only a notification is shown If a Repeat Time was specified no notification is displayed Page 18 of 42 CAN REport Version 3 1 ld Length BO B1 B2 B3 B4 B5 BE B7 Repeat Time Message Name C Coo oe fowolo fo fo fo fo fo fo Send fo rreoperaiona Figure 15 Transmit Toolbar 6 Interpretation of CAN messages This dialog is used for User PDO and EMCY Mapping PDO and EMCY mapping is only available if the CANopen Extension is activated PDO EMCY Mapping is used to interpret CAN messages with ID of the PDO 0x181 0x57F and EMCY 0x81 OxFF range in a user specific way The user mapping can be used for all other CAN messages The data contents can be interpreted as signed and unsigned integer values Each data item can be assigned to a user specific text and the data format big endian little endian can be selected Configuration is done with two dialogs First there is an over view dialog that shows all configured messages Second there is the message configura tion dialog Process data mapping configuration 4 101 x ol Type Name Mapping 2 Add sD analog values chan 1 ul6b chan 2 ul b Edit Key 1 usb Key 2 usb Edo Delete I Show only configured messages Figure 16 PDO EMCY Mapping dia
14. f the node id CANopen PDO Mapping Opens a dialog in which you can define how data of PDO messages is interpreted The mapping specifies the COB ID symbolic name of the PDO and pairs of data type and symbolic name for the data See Interpretation of CAN messages CANopen EMCY Mapping Opens a dialog in which you can define how data of EMCY messages is displayed The mapping specifies the COB ID symbolic name of the EMCY and pairs of data type and symbolic name for the data See Interpretation of CAN messages See Interpretation of CAN messages CANopen interpretation in main window Activates CANopen interpretation in the main window Connect at Startup This option controls the startup behavior When activated CAN REport will try to connect to the CAN server at the next start Tooltips Activates tooltips for every button and input field Auto Save If this menu is activated then the configuration is stored before exiting CAN REport Version 3 1 CAN REport Page 15 of 42 pert 5 1 6 Window Menu Clear All Cascade Tile Vertical Tile Horizontal Hide All Show All Figure 10 Window Menu Clear All Clear the content of the main window and of windows that are created of exten sions Cascade Place the extension windows cascaded next to the main window Tile Vertical Place the extension windows vertical next to the main window Tile Horizontal Place the extension windows horizontal under the main window H
15. ff It is displayed in seconds microseconds The indication of microseconds depends on the driver The linux driver can4linux supports a resolution of milliseconds With the button Set Mark a separation line is inserted in the main window The status button provides a window with information about the underlying CAN hard ware and driver respectively The figure 14 below shows the information of a CAN server that is running on linux Windows driver do not support all shown information There fore some values will always show 0 215 Status Controller sja1000 Bitrate 125 Status Register Ox0c Error Warning Limit 96 Rx Error 0 Tx Error 0 Error Code Oxa2 Bus load 0 8 Refresh Close Figure 14 Status window 5 4 Transmit Toolbar CAN REport also allows it to send CAN messages In the transmit toolbar at the bottom a complete CAN message can be specified with CAN id and CAN data With the button Send the message is sent The number of tabs can be set in the configuration file lt can report rc gt with set ST txch 12 put any number here The CAN messages are stored in the configuration file in the current working directory If AutoSave was activated CAN REport will save the settings automatically at exit At the next start all your settings will be reloaded Optionally a name can be assigned to a CAN message The edit fields take decimal hexadecimal and octal values as input Hexadecimal values are prepend
16. ide All Hide all extension windows Show All Show all extension windows 5 1 7 Help Menu Help About Latest Release Info Figure 11 Help Menu Help Provides a short help to CAN REport About Copyright and license information Additionally it displays the Tcl Tk packages that are available Page 16 of 42 CAN REport Version 3 1 pert Latest Release Info Checks for the latest Release of CAN REport Therefore it establishes a TCP IP connection to http www port de 5 2 Toolbar GOO Crm acm O O Extension area Toggle scrolling Disconnect Stop Connect WWW Figure 12 Toolbar The toolbar provides quick access to the menu items Connect and Disconnect The third button with the down arrow switches scrolling of the main window on or off The stop button is used for canceling user defined scripts Please see paragraph Extending CAN REport With the www button CAN REport checks if a new version of CAN REport is available Therefore it connects to the internet 5 3 Statusbar Bitrate Figure 13 Statusbar The Status shows information about the connection to the horch Server Additionally there are buttons influence the display of the CAN messages in the main window The buttons ASCII Hex and Dec change the display of the data of a CAN message With the toggle Time button the display of the receiving time can be switched on and Version 3 1 CAN REport Page 17 of 42 pert o
17. ion for PDO and EMCY can be tailored alike the user mapping for the spe cific application 8 Trigger With the trigger functionality CAN REport is able to wait for certain CAN messages and continue recording after the desired message was received Trigger Event Specifies the CAN message with its contents to wait for With the help of the CANopen Message Builder it is easy to create CAN mes sages which conform to the CANopen proto col Action at trigger event Select what to do when the specified CAN message was received CAN messages can be displayed in the main window or save in a log file Logfile options Determine what else CAN REport should do when writing to a logfile and specified the CAN messages were received Table 1 Sections of the trigger dialog Version 3 1 CAN REport Page 21 of 42 pert olx m Trigger event active Id ATR Data X don t care b foots TT TT T T eme m fiss C f pasioak k k k uec rf ES TT TT TT T Action at trigger event Pre Trigger gt C Show messages to logging window Number of messages 100 Write messages to file m Logfile Options Logfile log txt Choose logfile Stop logging only when user stops logging Cc after messages after E minutes when message with ID arrives Start Trigger Cancel Stop Trigger Figure 20 Trigger dialog The process of triggering is st
18. ion of values or test outputs is expandable in user specific ways It is possible to use provided or own graphical objects to create test and control applications With the help of the multifaceted possibilities for displaying and reporting data test sequences can be carried out automatically and over the network port GmbH can perform special adoptions to the GUI or behaviour to meet the CAN or CANopen device characteristics for service or assembly testing Pansies txomple las y 2 i 100 Voltmeter V 2 2 Experiment 2 Figure 29 Example Analog Figure 30 Example LCD The examples make usage of the User Extension mechanism of CAN REport Therefore the contents of an example has to be copied to the directory of the executable CAN REport before it can be used However when the file application tcl of an example is loaded with File Open the user interface is shown but not updated by incomming CAN messages Demo Mode In demo mode the console plays a demo script and opens the provided examples 10 4 CANopen functions The CANopen Extension provides some basic functionality for accessing the object directory of a CANopen SDO Server Therefore the CAN REport acts like an SDO Client The read and write function use Expetited SDO Transfer With Expetited SDO Version 3 1 CAN REport Page 35 of 42 pert Transfer a maximum of 4 Bytes can be transmitted Overview of user function r idx sidx dt read data with ex
19. is specified in the format id r data bytes Results nothing Example wr 0x620 r 0x30 Oxff wr 0x20 0x69 0x55 Version 3 1 CAN REport Page 27 of 42 pert wrx args send CAN message with extended identifier Arguments args a CAN message It is specified in the format id r data bytes Results nothing Example wrx 0x820 r 0x30 Oxff wrx 0x20 0x69 0x55 The following figure shows an example session at the console entering a command sequence Console Edit Prefs History Help console display active canreport 1 wait 0x706 1676988967 161643 1798 0x706 sD 7f canreport 2 wait2 6x766 rD 266 wait timeout canreport 3 for set i 0 i lt 50 incr i wr 6x216 30 i 6x216 36 6 0x210 36 1 6x216 36 2 0x210 30 4 w w w 8x218 36 3 w w 0x210 30 5 Figure 27 Entering interactive commands The resulting messages at the CAN network are shown in the next figure Page 28 of 42 CAN REport Version 3 1 pert 5 Y NMT PDO SDO EMCY FLYMA 1071498881 273558 1833 0x729 Host 1071498882 273921 1833 0x729 ulrich Bitrate 175 1071498884 274401 1833 0x729 1071498885 029488 28 0x210 State 1071498885 030004 528 0x210 1071498885 030521 528 0x210 1071498885 031042 528 0x210 ASCII 1071498885 067672 528 0x210 10714938885 089888 528 0xZ10 10714938885 104931 528 0x210 1071498885 115206 528 0x210 1071493885 126231 528 0x210 1071498885 137132 528 0x
20. lays the CAN message of its service DeviceNet Extension Loads the DeviceNet extension If switched on the toolbar is extended with a but ton for the DeviceNet log window When clicking on a button a window pops up and displays a descriptive text for the message User Extension Loads the file lt application tcl gt and adds a button to the toolbar This file provides a Tcl function for user defined protocol interpretation An example file is pro vided Maritime Extension Loads the maritime Extension It is used for monitoring 2 CAN lines at a time Therefore it needs to connect to two CAN servers When the extension is activated it closes the current connection The CAN Interface dialog now provides input fields to connect to two CAN servers The main window displays the CAN mes sages from both lines The transmitbar is changed in that the checkbuttons for extended messages and RTR messages now are used for selecting the line Page 14 of 42 CAN REport Version 3 1 pert 5 1 5 1 Options Trigger Opens a window for trigger configuration see paragraph Trigger User Mapping Settings Opens a window for configuration of CAN messages that are interpreted automati cally by CAN REport See Interpretation of CAN messages Enable User Mapping Activates and deactivates the user mapping CANopen Node Names Opens a dialog in which you can assign names to node id s When the CANopen extension is on then this name is displayed instead o
21. lication 6 4 Interfacing with CAN 8 5 Graphical User Interface 22464 a ele aa ea aaa 10 6 Interpretation of CAN messages 2 19 7 CANopen Extension 2 2 4 2 6 ee ee ee ee ee ew 20 o 2k kG AS OO HER EE ee eR Ee Eee See el OS BUS y 3 hws hee eww eS ee EE A ee oe ee A 10 Programming with CAN REport o oo 26 10 1 Extending CAN REport 1 ee ee ee 26 10 2 Interpretation of CAN messages ee 29 10 3 Extending the userinterface 2 0 eee BS 10 4 CANopen functions 2 35 11 Configuration 2 Los Ew we A oe eR ROR Re BOR ee ee 39 Configuration of serial interfaces 0 0 40 12 System Requirements o A 13 Purchase Order Information 2 41 Version 3 1 CAN REport Page 3 of 42 pert Page 4 of 42 CAN REport Version 3 1 pert 1 Overview The CAN Analyzer CAN REport from port is an efficient and versatile usable instrument for development test and maintenance for analysis and commissioning of CAN based networks like DeviceNet and CANopen The built in scripting capability allows a universal usage for development and test of CAN devices besides the normal possibilities of displaying the received CAN messages It is especially useful in the field of industrial CAN networking The separation of hardware interface CAN access and visualizatio
22. log The dialog has buttons to add edit and delete messages that should be interpreted On press of the add and edit button the message configuration dialog opens Version 3 1 CAN REport Page 19 of 42 pert Mapping configuration x CANAD 0 1 Dl Name Jemcy Node 1 J RTR T Ext Figure 17 Message configuration dialog Note For EMCY messages the first 3 bytes of the CAN message are predefined as u16 and u8 This is not displayed and cannot be altered 7 CANopen Extension 7 1 Set Node Names ode Settings TE Node Name 01 fi CANopen Engine 140 02 32 Motorola Drive 03141 Aktor 04 8 Verriegelung 05 sl New line DK Cancel Figure 18 CANopen configuration of CANopen node names This dialog is only available if CANopen Extension is activated With this dialog you can define a symbolic name for a CANopen device This name is used is all CANopen ser vice windows instead of the node id Figure 19 shows an example Page 20 of 42 CAN REport Version 3 1 pdo logging R e e t T i m e 1ODINEQIAL ACN Mejora nwm 101 x Oxff err 0x00 time 0Ox1110 velocity 0x20 velocity velocity Ox2312 z 0x1382 gt 0x7312 Figure 19 CANopen PDO interpretation and recording 7 2 Service oriented interpretation The CANopen extension provides separate logging windows for the services NMT SDO PDO EMCY and Flying Master FLYMA The interpretat
23. ludes e the graphical user interface e the horch server and e a layer 2 driver for the CAN interface For the installation the following steps are necessary 1 Maybe preparing installation steps are necessary depending on the used CAN Interface These steps are described in the file INSTALL in the horch directory on the installation CD H Please read this file before you start the installation 2 Execute setup exe e Full Installation The installation of all software components is happened auto matically and menu driven This includes copying of all manuals e Customized Installation The selection of software components is possible which should be installed For the installation of the CAN REport the following compo nents are necessary CAN REport horch and layer 2 driver 3 For the icon on the desktop set the options for the call of the horch server depend ing on your application An overview of the options are given by the help horch h 3 Application In the standard equipment the CAN Analyzer already has a lot of efficient basic functions at its disposal which cover most application needs Among other things the on line observation of the bus traffic the transmitting of unique or cyclical CAN messages and whole message sequences as well as the recording of CAN messages and the storage to log files belong to this purpose Besides the standard text format we also support the CSV format for easy data transfer int
24. n software allows the usage in TCP IP networks CAN REport V3 0 horch tcp File Edit View Connection Extras Window Help IS s nwt Poo spo emcy FLYMA Host New connection to host 194 173 33 19 31173331 1092130359 629206 1857 0x741 sD 1092130359 912208 705 0x2cl sD Bitrate 1092130359 962936 705 0x2cl sD J 125 1092130360 095190 160 0x0a0 sD 00 00 00 00 State 1092130360 105751 1637 0x665 sD 00 00 00 00 ura 1092130360 106918 1537 0x601 sD 00 00 00 00 1092130360 108078 1562 0x6la sD 00 00 00 00 ASCII 1092130360 108926 705 0x2c1 sD 1092130360 865 Node 37 Req Rd Init 1000 00 1092130360 866 Node 111 Req Abort SD0 protocol timed out 1092130362 348 D3401 device I Req Wr Exp 1017 00 value 0x03e8 1092130362 350 DS401 device I Resp Wr Exp Time onvott 1092130362 386 bus coupler 1 Req Wr Exp 1017 00 value 0x03e8 1092130362 393 bus coupler 1 Resp Wr Exp 1092130362 428 Heartbeat_bus coupler 2 State PRE OP _SetMatk 1092130362 328 NNT Command Enter Operational Node Node 0 1092130665 Heartbeat_bus coupler 2 State OPERATIONAL 1092130665 I 0 Modul 1 AnIn l Oxlc60 AnIn_2 0x19c0 1092130665 I 0 Modul 1 AnIn 1 0x1c40 AnIn 2 0x19a0 Ext ATR ld Length BO B1 B2 B3 B4 B5 BB B7 Repeat Time Message Name C Ooo oe oeoo fo fo fo fo p p se fo frreoperatona Figure 1 Analyzer view Version 3 1 CAN REport Page 5 of 42 pert 2 Installation The installation inc
25. o spread sheet appli cations Application specific interpretation of the messages data content can be defined through a project specific data base Through supplementary software modules extended functionality can be made available These are among other things the protocol specific representations in separate protocol windows for different higher layer protocol messages Figure 2 shows this for SDO mes sages in CANopen based networks Page 6 of 42 CAN REport Version 3 1 pert KT as File 1092132289 1092132289 1092132289 1092132289 1092132289 1092132289 1092132289 1092132289 1092132289 2 Help Node 127 Req Rd Init 1000 00 Node 127 Req Abort SD0 protocol timed out D3401 device I Req Wr Exp 1017 00 value 0x0000 D3401 device I Resp Wr Exp bus coupler 1 Req Wr Exp 1017 00 value 0x0000 bus coupler 1 Resp Wr Exp bus coupler 2 Req Wr Exp 1017 00 value 0x0000 bus coupler 2 Resp Wr Exp D3401 device II Req Wr Exp 1017 00 value 0x0000 Figure 2 CANopen SDO interpretation and recording You can see the symbolic representation of service and node name Req_Verriegelung as well as displaying of index subindex within the SDO Initiate requests With the help of the built in scripting language programming of new functions or individ ual extensions with a graphic interface can be programmed easily Version 3 1 CAN REport Page 7 of 42 pert 4 Interfacing with CAN
26. pert CAN REport User Manual r Trigger event active Id RTR o c TT TT TT veo Co C TT TT TT T wm Cp ET TT TT TT _ wm Data X don t care 1092132289 776 1092132289 834 1092132289 871 1092132289 872 1092132289 907 1092132289 910 r Action at trigger event Show messages to logging window Write messages to file 1092132289 946 1092132289 981 ae Number of messages 100 r Logfile Options Logfile Stop logging logta S E NMT Poo spo EMCY FLYMA only when user stops logging sterf messages ig after minutes c when message with ID File Edit View Connection Extras Window Help Node 127 Req Rd Init 1000 00 Node 127 Req Abort DS401 device I Req Wr Exp D3401 device I Resp Wr Exp bus coupler 1 Req Ur Exp bus coupler 1 Resp Wr Exp 1092132289 944 bus coupler 2 Req Wr Exp bus coupler 2 Resp Wr Exp DS401 device II Req Wr Exp sdo logging of CAN REport 3 0 horch tcp ioj x SDO protocol timed out 1017 00 value 0x0000 1017 00 value 0x0000 1017 00 value 0x0000 1017 00 value 0x0000 x a 192 CAN REport Configuration Host Julrich Bitrate 125 pe Port 7235 a Hos New connection to host 194 173 33 19 amaan 1092130359 629206 1857 0x741 sD 05 1092130359 912208 705 0x2c1 sD 00 00 f TCP Bitrate 1092130359 962936 705 0x2c1 sD
27. petited SDO transer setRemoteID nid set remote Id for SDO transfers set_sdo_timeout val set timeout for SDO Transfer w idx sidx dt val write data with expetited SDO transer Detailed function description r idx sidx dt read data with expetited SDO transer This function is only available with the CANopen extension The node id has to be set previously Arguments idx Index of the server object sidx SubIndex of the server object dt Datatype of the value Results ERROR Error reason is given value Success Page 36 of 42 CAN REport Version 3 1 pert setRemoteID nid set remote Id for SDO transfers This function is only available with the CANopen extension The initial value is 0x20 Arguments nid new node id Results 0 Error 1 Success set_sdo_timeout val set timeout for SDO Transfer This function is only available with the CANopen extension The initial value is 1000 ms Arguments val new timeout ms Results Version 3 1 CAN REport Page 37 of 42 pert w idx sidx dt val write data with expetited SDO transer This function is only available with the CANopen extension The node id has to be set previously Arguments idx Index of the server object sidx SubIndex of the server object dt Datatype of the value val value itself Results ERROR Error reason is given OK Success Page 38 of 42 CAN REport Version 3 1
28. rted and the CAN RE port uses this server to access the CANBus Device is the channel section specified in the cpccont ini file in your Windows directory Timeout is the time in milliseconds the CAN Server needs to start in the worst case IF not using serial or parallel ports 1500 ms should be enough Advanced Settings 4 TCP port 7235 y Keep server running at exit TCP port TCP port used for the communication between OK Cance Figure 8 Configuration dialog of CAN interface Filter Settings Opens a dialog for setting the acceptance mask register of the CAN controller Although this menu is provided not every hardware interface supports the setting of registers See paragraph Filter Only Log to File CAN messages are saved to a logfile and are not displayed in the main window Version 3 1 CAN REport Page 13 of 42 pert 5 1 5 Extras Menu CANopen Extension Devicenet Extension User Extension Maritime Extension Options Trigger User Mapping Settings Enable User Mapping CANopen node Names CANopen PDO Mapping CANopen EMCY Mapping CANopen Interpretation in main window Connect at Startup v Show tooltips Auto Save Save Config Figure 9 Extras Menu CANopen Extension Loads the CANopen extension If switched on the toolbar is extended by buttons for the CANopen services SDO PDO NMT EMCY FLYMA When clicking on a button a windows pops up and disp
29. s file has to be placed in the working directory When the button in the toolbar is pressed a window pops up The user can write an extension for the CAN REport and dis play his own interpretation of the CAN messages in this window The widget path to the user window is usr For writing your own CAN interpretation the template file Version 3 1 CAN REport Page 29 of 42 pert application tcl is provided It contains the procedure application This procedure is called on each reception of a CAN message proc application msg This procedure takes the parameter msg It contains the complete message with time stamp id data type and the data Each field is separated by spaces 11 123 256 0x100 sD 00 01 02 03 04 05 06 07 time id dec hex type data 1 8 if available There are already functions for extracting the data Overview of user function InsertText win string tag chan Insert text lt string gt into user window get_can_id msg extract CAN message identifier from message string get_data msg return the data of a the message get_dlc msg return the data length code of the message get_time msg return time of message if time was set get_type msg return the type of the message is_std msg check if the message is a standard CAN message Detailed function description Page 30 of 42 CAN REport Version 3 1 pert InsertText win string tag chan Insert text lt
30. sters Use this page if only standard CAN messages are transmitted We g9 e F e S A a A CTs Acceptance Mask checked don t care Vo yv rr rr ww ww Acceptance Code checked 1 Viv yv yv Mv Vr rr DK Load Defaults Figure 26 Filter dialog The filter dialog provides access to the register of the acceptance mask of the CAN con troller SJA1000 The usage of acceptance filtering in the CAN Controller reduces the interrupt load There are three ways of defining the acceptance mask 1 Input for the acceptance mask for CAN 2 0 A starting with the MSB on the left side 2 Input of the acceptance mask for CAN 2 0 B starting with the MSB on the left side 3 Input of the acceptance mask as it is defined in the register of the CAN controller This feature depends on the hardware and driver respectively you are using At the moment the horch server for can4linux and CPC SJA1000 support setting the accep tance mask registers The other supported hardware interfaces see Restrictions don t support this Page 24 of 42 CAN REport Version 3 1 pert Attention Although it is possible to set the two least significant bits of the CAN identi fier the SJA1000 doesn t use these two bit during acceptance filtering Version 3 1 CAN REport Page 25 of 42 pert 10 Programming with CAN REport 10 1 Extending CAN REport With the help of the integrated console convenient commands for the interactive access
31. string gt into user window Arguments win widget path usr string Text to insert into the text widget tag tag that defines the font the tags stdout and stderr are already defined Results Inserts a text in the user window Example InsertText usr hello world stdout InsertText usr Smsg stdout get_can_id msg extract CAN message identifier from message string Arguments msg the standard message string provided for the procedure application Results the CAN Id as a decimal value Version 3 1 CAN REport Page 31 of 42 pert get_data msg return the data of a the message Arguments msg the standard message string provided for the procedure application Results list containing the databyes of the CAN message in case it is an RTR message an empty string is returned get_dlc msg return the data length code of the message Arguments msg the standard message string provided for the procedure application Results an integer value between 0 and 8 for a valid msg an empty string for an invalid msg Page 32 of 42 CAN REport Version 3 1 pert get_time msg return time of message if time was set Return time information if time was set When time wasn t set the an empty string is returned Arguments msg the standard message string provided for the procedure application Results time when time is on empty string when time is off get_type msg return the t
32. suitable to serve the special purpose In particular performance characteristics and technical data given in this document may not be constituted to be guaranteed product features in any legal sense For consequential damages which are emerged on the strength of use the program and the hardware boards therefore every legal responsibility or liability is excluded port has the right to modify the products described or their documentation at any time without prior warning as long as these changes are made for reasons of reliability or technical improvement All rights of this documentation lie with port The transfer of rights to third parties or duplication of this document in any form whole or in part is subject to written approval by port Copies of this document may however be made exclusively for the use of the user and his engineers The user is thereby responsible that third parties do not obtain access to these copies The soft and hardware designations used are mostly registered and are subject to copy right We are thankful for hints of possible errors and may ask around for an information We will go all the way to verify such hints fastest Copyright 2005 port GmbH Regensburger Stra e 7 D 06132 Halle Tel 49 345 777 55 0 Fax 49 345 777 55 20 E Mail service port de Internet http www port de Page 2 of 42 CAN REport Version 3 1 pert Table of Contents 1 Overview 5 2 Installation 6 3 App
33. ype of the message Arguments msg the standard message string provided for the procedure application Results D Data frame R Remote frame is_std msg check if the message is a standard CAN message Arguments msg the standard message string provided for the procedure application Results 1 1f the message is a standard CAN Message 0 if the message is a extended CAN Message Version 3 1 CAN REport Page 33 of 42 pert 10 2 1 Example The procedure application receives the message and interprets it It s an example for an user defined interpretation of CAN Messages proc application msg set tag stdout set msg get id set id get_can_id msg if Sid eq return if Sid 0x201 extract data set data get_data msg set len get_dlc msg for set iO i lt Slen incr i set byte i lindex Sdata 1 if Sbyte0 0x55 set msg Start processing if Sid 0x281 extract data set data get_data msg set len get_dlc msg for set iO i lt Slen incr i set byte i lindex Sdata 1 if Sbyte0 0Ox1F set msg zero limit switch reached Page 34 of 42 CAN REport Version 3 1 pert InsertText usr Smsg Stag return 10 3 Extending the user interface With the script language Tcl Tk also elements of the graphic interface can be accessed and changed With that the representat

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