CAN Gateway Introduction
Contents
1. CAN Gateway Introduction CAN bridges and CAN gateways are infrastructure components with which complex network structures can be implemented CAN bridges can connect CAN networks of different bit rates or pro tocols with each other They are based on the store modify forward principle where CAN messages are received by a sub network and then transmitted to the other sub network Translation and filter rules can also be used allowing a protocol ad aptation to be carried out between the sub networks A bridge can also provide simple gateway functions Unlike the CAN repeater the CANbridge enables the enlargement of the maximum network size so that the sub systems are fully self sufficient with regard to bus arbitration Independent of each other in terms of their real time behavior CAN sub networks connected by bridges are to be regarded as independent networks CAN bridges are appropriate for creating hierarchical networks by transferring only the information to the connected sub networks via bridges which are relevant to the sub network The bridge function can also be executed with the aid of other transmission sy stems For example the CAN Ethernet CAN bridge is connected via two Ethernet TCP IP gateways which enable connection to remote CAN networks As an extension to the CAN bridges CAN gateways allow for access to CAN networks via other communication systems In each case the protocols of the connected bus systems are m2. PC and the CANmodem is made by means of a safe calloack procedure For this the caller gives the CANmodem his callback number which is then checked by the CANmodem against a prespecified white list If the relevant number is entered in the white list the modem calls the caller back and starts an authorization phase based on the CHAP protocol After successful authorization the PC application can run all functions on the CAN modem TECHNICAL DATA Microcontroller Fujitsu MB90F543 Memory 128 kB FLASH 256 kB RAM CAN controller Fujitsu on chip CAN controller OVERVIEW CANmodem is an intelligent gateway that allows remote access to CANopen systems via a conventional AT compatible modem The programming interface for Windows 2000 XP API provides functions for transmitting and receiving SDO messages as well as for configuration of the CANmodem PC based service and moni toring programs can simply access the CANmodem by means of the API via a telephone dial up connection The CANmodem is a full CANopen node and has an object directory two server SDOs and 127 client SDOs Data of any length can be read and written via the client SDOs segment size via Modem is 231 bytes The module can act as a heartbeat producer and as a he artbeat consumer can monitor up to 16 devices and can transmit corresponding events in the CANopen network such as NMT events or heartbeat events In addition transmission and recep
3. by using two CANblue Generic devices Message exchange occurs on layer 2 and is transparent The CANblue Generic can also be used in systems that work with CANopen DeviceNet or customer specific protocols Filters for CAN identifiers can be stored in the devices for data exchange via Bluetooth By using more than two CANblue Generic devices the coupling of the devices can be made dynamically Depending upon the existing environmental conditions the maximum distance between the CANblue Generic devices is up to 100m ASCII PROTOCOL MODE In ASCII protocol mode functions for transmitting and receiving CAN messages and for configuring the CANblue Generic are avai lable to the user based on simple ASCII commands The CANblue Generic is ideal for non Windows systems or embedded platforms that will be connected wirelessly to CAN 39
4. in the manu facturer specific object dictionary range SUPPORTED CANOPEN FEATURES ORDER OPTIONS Galvanic isolation ORDER NUMBER 1 01 0033 10000 CANIink II DIN Rail 1 01 0033 20000 CANIink Il DIN Rail with Galvanic Isolation 1 server SDO expedited non expedited no CRC check 1TX PDO static mapping 1 RX PDO static mapping Emergency message Heartbeat producer NMT slave The communication interfaces and modes are configured with a configuration file which is saved on the device with an upload pro gram 37 LIN2 CAN gt Powerful LIN CAN Gateway o oe E rm IXXAT 4 N2 CAN LIN CAN UN RS 232 Gateway CANHS 3 OVERVIEW The LIN CAN gateway is a universal device for both the analysis of LIN networks via the CAN bus and for the emulation of LIN slave or master modules In addition the device can be used as a LIN PC in terface for PC based configuration and monitoring software or for PC supported LIN device development TECHNICAL DATA Microcontroller Fujitsu MB90F543 Interfaces 1x CAN ISO 11898 2 High Speed 1x CAN ISO 11898 3 Low Speed DEINE DCRS2Z32 Memory extension 6 kByte RAM data memory 128 kByte Flash 512 kByte external SRAM Extras Configurable Sleep mode with Wake up via CAN LIN or RS232 Power supply ee VDOTS W Temperature range 20 C to 70 C Certification
5. programs ORDER NUMBER 1 01 0086 10201 CAN net II Generic 36 CANIink II gt RS232 CAN Converter 010 EE 125 Z AE g aoe E 332 C 258 oo 2a 2 n o A M 3 a OVERVIEW t it TECHNICAL DATA Microcontroller Fujitsu MB90F543 Memory extension 128 k Flash on chip 6 k RAM on chip optional 256 k externel SRAM 256 Bytes 12C EEPROM CAN controller 1 x CAN on chip CAN 2 0A 2 0B CAN bus interface 1x ISO 11898 2 High Speed optional galvanically isolated Serial port RS232 600 1200 2400 4800 9600 19200 38400 57600 115200 bits s Power supply 9 36 V 1 5 W Temperature range 20 C to 70 C Certification GE Housing Plastic top hat rail housing approx 110 x 75 x 22 mm CONTENTS OF DELIVERY m CANIink Il Configuration software for Windows 9x Me NT 2000 XP User s manual With the CANIink II devices with a serial port can be connected to the CAN bus with two modes being available for use in CAN and CANopen networks In the CAN mode layer 2 the received CAN data is transmitted transparently to the RS232 interface Data sent by means of RS232 is packed in CAN telegrams and transmitted One configurable iden tifier is available for each transmission and reception In the CANopen mode the CANlink works as a CANopen subscriber where the serial data is saved as a bytestream object
6. CE m LIN2CAN CONTENTS OF DELIVERY Configuration software for Windows 2000 XP User s manual ORDER NUMBER 1 01 0130 00000 LIN2CAN OPERATION MODES The LIN CAN Gateway supports four operating modes LIN CAN Gateway as LIN Master or LIN Slave LIN Slave Emulation LIN Master Slave Emulation LIN PC Interface The various modes can be configured and activated via PC The con figuration is saved as non volatile in the device so that the con figured mode can be started automatically after power on 38 CANblue Generic gt CAN Bluetooth CAN Bridge and CAN Bluetooth Module with ASCII Protocol BRIDGE MODE t com it TECHNICAL DATA Bluetooth Bluetooth specification V2 0 interface Class 1 16 9 dBm 49 mW 100m Microcontroller Infineon C161U 36 MHz Memory 256 k Flash 128 k RAM CAN controller 1 x SJA1000 CAN bus interface ISO IS 11898 2 High Speed and ISO IS11898 3 Low Speed switchable Sub D9 plug according to DS102 galvanic decoupled Voltage supply 9 30 V DC 2 5 W Temperature range 0O C to 55 C Certification CE ECC Housing stable metal housing Size B5 X 72 X 35 MA CONTENTS OF DELIVERY m CANblue Generic manual ORDER NUMBER 1 01 0125 00001 CANblue Generic The bridge mode allows the user to set up a CAN Bluetooth CAN bridge
7. apped to the other communication model This allows devices with only one serial port to be connected to CAN CANopen networks via CAN CANopen RS232 gateways Gate ways can also provide remote accesses to CAN networks The CAN TCP IP gateway for example enables worldwide access to the CAN network for both diagnosistic and service purposes 33 Sub network 1 1 Mbit short line lengths F l l l l l l l l Ilo l l l kL es ae Ld Ud Ur Or a Translation filter etc P m e ee eee ee ee ee ee l l l l l I l l b m e e e eee ee eee ee eee eee eee eee ee ee ee eee ee es es Sub network 2 250 kbit long line lengths Connection of CAN networks with the CANbridge CANbridge gt Configurable CAN CAN Gateway in IXXAT mar i CANbrid L z gt z2 a a D oe 5 fon IXXAT z p l 8 3 Y s cAN2 h d g e CANOT I 0o99 a gt teway Z 222 CAN to CAN Ga A rr Uy oz 226 RS23 ne a bereri Ema al OVERVIEW The CANbridge allows the coupling of two CAN networks including networks with different bit rates Unlike a CAN Repeater which only translates the electric signals the CAN messages are received com pletely by the CANbridge and then sent to the other CAN network in line with existing filter and conversion rules Store Forward prin ciple With the aid of conversion rules gateway tables CAN mes
8. or Windows 9x Me NT 2000 XP Operation Instruction ORDER OPTIONS Industrial Version Housing option electrical isolation Automotive Version second CAN bus interface according to ISO 11898 2 high speed or ISO 11898 3 low speed ORDER NUMBER 1 01 0121 11020 CANbridge DIN Rail 2 x High Speed Bus Interface Industrial Version 1 01 0121 22020 CANbridge DIN Rail 2 x High Speed Bus Inter face galvanic isolated Industrial Version 1 01 0120 22010 CANbridge Aluminium 2 x High Speed Bus Interface galvanic isolated Automotive Version 1 01 0120 23010 CANbridge Aluminium 1 x High Speed Bus Interface galvanic isolated 1 x Low Speed Bus Interface Automotive Version 1 01 0120 22020 CANbridge Aluminium 2 x High Speed Bus Interface galvanic isolated Industrial Version 34 CANmodem CANopen gt For remote access to CANopen systems via telephone line fen IXXAT Pw 6 aj Ow s AND daMd DQG A 9 6 ANd Z MANN wii uoyewolnwy LW gt Fe a gt M 3 RS23 y 4 r om The CANmodem can be connected to a conventional external AT compatible modem either via the full duplex RS232 interface or directly to the PC Communication occurs through a serial protocol based on the HDLC standard For modem adaptation a configurable init string can be saved in the object directory Connection between the
9. sages can be filtered or forwarded under another identifier With these mechanisms the bus load can be reduced in the individual networks by only sending messages which are of interest to the other network The CANbridge has a powerful 16 bit microcontroller that can pro cess bursts at higher data rates without message loss LEDs signal the current status of the coupled networks The CANbridge is configured via a configuration file which is downloaded to the device by a loader program The CANbridge is available in three different versions as an indu Strial version in either a DIN rail housing or in a robust metal hou sing and as an automotive version in a robust metal housing TECHNICAL DATA Microcontroller Fujitsu MB90F543 Memory extension 128 k Flash on chip 6 k RAM on chip optional 256 k external SRAM 256 Bytes I2C EEPROM CAN controller 2 x CAN on chip CAN 2 0A 2 0B CAN bus interface 2x ISO 11898 2 High Speed as an option galvanic isolated or 1x ISO 11898 2 and 1x ISO 11898 3 low speed Serial interface RS232 for device configuration Voltage supply 9 36 V Industrial Version 7 16 V Automotive Version 1 5 W Temperature range 20 C to 70 C Certification CE Housing Robust metal housing approx 100 x 85 x 32 mm or plastic DIN rail housing approx HOX 75X22 mm CONTENS OF DELIVERY CANbridge Configuration software f
10. tion of any layer 2 messages Is possible This function can be used for trans mitting and receiving any PDOs or for using the CANmodem with any CAN protocol In the event of service many SDO accesses to the individual devices occur The API not only allows SDO accesses to be initiated indivi dually but it also allows an entire list of SDO accesses to be initiated and transmitted to the CANmodem This list is then processed lo cally by the CANmodem and the results are then returned With many SDO accesses the propagation time via the telephone line plays a minor role CAN bus interface High Speed ISO IS 11898 2 galvanically isolated Baudrate Up to 1 MBit s Serial interface Full duplex RS232 interface Voltage supply 9 36V DC 1 5 W Size 100x75x20 nam Temperature range 20 C to 70 C Certification CE Housing Plastic housing for DIN rail assembly CONTENS OF DELIVERY CANmodem CANopen Windows programming interface API DLL CANmodem manual CANmodem API manual ORDER NUMBER 1 01 0122 20000 CANmodem CANopen 1 04 0130 00000 External Modem 35 CAN net II Generic gt CAN Ethernet Gateway and CAN Ethernet CAN Bridge VAAAT Automation GmbH Voniz 250 Weingarten CAN ETHERNET CAN BRIDGE Using 2 CAN net II Generic a CAN Ethernet CAN bridge can be implemented This bridge allows for the exchange of CAN messages bet
11. ween two CAN systems via TCP IP where filter tables can be de fined Ethernet Ethernet Bridge configuration CONFIGURATION amp FIRMWARE UPDATE CAN ETHERNET GATEWAY In the gateway mode the CAN net II Generic is connected to a PC or to a controller platform via TCP IP The application program on the host communicates via a standard TCP IP socket and uses a sim ple ASCII protocol The CAN net II Generic offers simple flexible access to CAN systems via a LAN or via the Internet Ethernet Gateway configuration The configuration of the TCP IP parameters can be performed using an easy to handle PC tool with automatic device detection The con figuration of the bridge functionality and the CAN communication is Supported by an implemented webserver TECHNICAL DATA 10 100 Mbit s Ethernet 10 Base T 100 base T Autodetect RJ45 connector DHCP via G too Freescale MCF5235 150 MHz 8 Mbyte DRAM 4 Mbyte Flash 1 x Philips SJA1000 ISO IS 11898 2 Sub D9 galvanically decoupled PC bus interface IP address allocation Microcontroller Memory extension CAN controller CAN bus interface 500V Current supply 9 32 VDC 3 W Temperature range 20 C to 70 C Certification CE ECC CSA Plastic housing for top hat rail mounting approx 22 5 x 100 x 115 mm Housing Size CONTENTS OF DELIVERY CAN net II Generic m User manual Sample
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