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1. Connected Operation Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 E i 7540D MTCP utility File Action Help MO 9 Setting CAN Test Modbus Modbus Test Operation Mode Network Status Oreration mode Normal CAN E tase Gateway 192 168 0 254 CAN Parameters MAC 00 0d e0 20 34 eb CAN Specification 208 WebID 7540D CAN Bus Bandrate oom x WebPasswd icpdas7540D BITO Hex BITI Hex EA CAN Pair Acceptance Code 00 00 oo 00 Hex Status Acceptance Mask FF FF FF F Geng Modify IP Eror Resp io i CAN Bus Pair Connection Status TumeStamp Resp No v CO CAN Bus Pair Default COM Status TCP UDP com 115200801 Connect to 192 168 0 138 COM2 9600 81 Connected Configuration Mode v2 0 0 08 31 201 1 Copyright c 2011 ICP DAS Co LTD Note After setting Enable CAN Bus Pair Connection all data send to this l 7540D MTCP via Ethernet port 10003 will become no effective l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 39 Application 01 one to on
2. Modify IP 7188E COM Status la Set e Ver RC MiniO s Version the Step 2 Input the IP of l 7540D MTCP and press the Connect button to connect with I 7540D MTCP And then it will display 7188E3 is connected send TCP 7188E S000E Diagnostics App v2 01 Config TCP IP Send Command To 7188E Ez GAELI iaoe Send Clear Result g 188E3 is connected Select Port Send Data with Port 13a i None CR C LFC LF CRO CR_LFC CS_CR Send Data m 7188E COM Status sW r Receive Clear l Zx Network Status Gateway 192 168 0 1 Set Mask 255 255 0 0 et MAC 00 80 31 00 01 14 Modify IP 2500 8 N 1 Set Fw Ver 300 11 19 2001 MiniOs Version fri 0 14 2001871 J I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 52 Close Step 3 Send command 10 to the I 7540D And it will response 7188E3 message lt Send TCP 7188E 0 Config TCPAP ____ 921682551 samea Disconnect PPIG8E3 is conneced Select Port Send Data with Poni C None CRC LFC LECRC CR_LFC CSCR OOE Diagnostics A pp 5 201 Send Command To 7188E Network Status Modify IP Pile E Gateway fis2 168 0 1 Set Mask 255 255 0 0 Set MAC 00 80 31 0001 14 Send Data sW
3. I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 68 4 9 99 P02 Description Read the RS 485 configuration gt Syntax 99 P02 99 P02 Command character gt Response Valid Command 062BBDSP Invalid command ERROR 062 Delimiter for valid command BB RS 485 Baud rate D Data bit 0 7 bits data formation 1 8 bits data formation S Stop bit 0 1 stop bit 1 2 stop bits P Parity bits 0 None 1 Even 2 Odd RS 485 Baud rate list BB Description 00 110bpsbaudrate of RS 485 06 4800bpsbaud rate of RS 485 08 19200 bps baud rate of RS 485 09 38400 bps baud rate of RS 485 0B _ 115200 bps baud rate of RS 485 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 69 gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 70 4 10 99 P1 Description Read the CAN configuration gt Syntax 99 P1 99 P1 Command character gt Response Valid Command 14PBCCCCCCCCMMMMMMMMET Invalid command ERROR 14 Delimiter for valid command P CAN specification 0 2 0A 1 2 0B B CAN Baud rate CCCCCCCC 32 bits Acceptanc
4. 0000 Id 0006 Input Re fee CAN Messa e Field Special Msg 3 Figure 5 6 Use the Modbus TCP command to read specific CAN message l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 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 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 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 to read one CAN message Query Message Input Register Normal CAN Message Field 0000 Figure 5 7 Use the Modbus RTU command to read one CAN message l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 99 Message 1 Message 2 Message 3 5 3 2 Using Modbus RTU command to Send a CAN Message If users need to send CAN message
5. Note The l 7540D MTCP s COM3 CAN port can only acceptthese 4 commands l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 56 Port 10000 Command Format 99 lt Command gt 99 Specific command for getting or setting the status of the 7540D MTCP Table 4 2 Command list table port 10000 Note 1 More detailed information related to of the each command will be describedin the following sub sections 2 The P1B and P1BO4TTRR 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 I 7540D MTCP_ Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 57 4 1 tiIILDD lt CR gt Description Send or receive a standard CAN data frame gt Syntax tllIILDD lt CR gt t Representa standard 2 0A data frame lll 11 bits Identifier Q00 7FF L Data length 0 8 DD Input data frame value according to the data length 00 FF gt Response Valid command No response Invalid command lt Error Code gt lt CR gt gt Note Itis necessaryto enable the Error Response function in the 7540D MTCP Utility in order to receive Syntax and or communication error information at the host PC gt Exa
6. 192 168 255 1 EA CAN Bus Network 02 After setting CAN Bus Pair connection Status of these l 7540D MTCP and re start 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 7540D MTCP Note When setting to use UDP method the Server Client parameters will be no effective l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 41 Application 03 One acts as a server the other acts as a client After setting CAN Bus Pair connection Status of the two 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 CAN Bus Pair Connection Status CAN Bus Pair Connection Status IV CAN Bus Pair Connection Set IV CAN Bus Pair Connection Set TCP C UDP C Server Cier G TCP C UDP Sever C Cieni Connect to 192 168 255 2 Connect to 192 168 2557 Ethernet TCP IRY CAN Bus Network 01 CAN Bus Net
7. 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 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 1 Table of Contents DATE COL AOI ren ssn ccc Se itu aaa em coun cen Taw 4 1 1 F atur s iorri ee ee eet ee ee ee ee ae ee eee 5 1 2 SPecCiicallons f veie ge creed ad aa ees tees exile 6 Hardware iaaiaee aeae aeaaeae a de aee maaana daa deara aaa E a arraroa aseran 9 2 1 Block DiagraMansmaiaa hegre eae A a a 10 2 2 PIMASSIGNMGNE oa i en eee ee neh a eed 11 2 2 1 RS 232 amp RS 485 amp Power supply Interface eceeceeeeereeeeeeees 12 eee TAG NINE Ts CIN OS at coat eat et el ce aaa oad asics 13 2 2 3 Ethern
8. Dec 2011 90 0 1 2 6 14 18 00 Mode rr i ID Timestamp Byte 1 00 Byte 3 6 CAN ID Byte 2 bit 0 3 Data Length Byte 7 14 Data bit 4 RTR Byte 15 16 Timestamp bit 5 Mode bit 6 7 0 Figure 5 1 CAN message Format of I 7540D MTCP Modbus mode l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 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 ing multiple registers 3 03 Hex Reading Output Register for a sent CAN Fees Read multiple input 4 04 Hex registers 3x for reading CAN messages rs nf Write multiple registers 16 10 Hex Preset Multiple Registers for sending a CAN ee I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 92 5 2 ModbusTCP Address Output Register Input Register 0x0000 TX CAN RX CAN Message Message OxOEOF Ox0E10 Specific CAN Message Field 0x102B 0x102C Modbus Status l Field 0x103E Figure 5 2 The address definition of Input Register and Output Register of the 7540D MTCP Modbus Input Register 1 Normal CAN Message Field In this field the address range of Normal CAN Message is 0x0000 Ox0E0F It is used to store the CAN message received from the CAN network One CAN message will occupy 18 byte addres
9. Invalid command lt Error Code gt lt CR gt gt Note It is necessary to enable the Error Response function in the l 7540D MTOP Utility in orderto receive Syntax and or communication error information at the host PC gt Example Command e1234567851 122334455 lt CR gt Send a CAN message with an extended data frame ID 12345678 DLC 5 data1 11 data2 22 data3 33 data4 44 and data5 55 Note This command can only be accepted by 7540D MTCP s port 10003 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 60 4 4 ElliliL lt CR gt Description Send or receive an extended CAN remote frame gt Syntax EIINIMIL lt CR gt E Stands for the extended 2 0B CAN remote frame HUTT 29 bits Identifier Q0O000000 1 FFFFFFF L Data length 0 8 gt Response Valid command No response Invalid command lt Error Code gt lt CR gt gt Note It is necessary to enable the Error Response function in the l 7540D Utility in order to receive Syntax and or communication error information at the host PC gt Example Command E010156786 lt CR gt Send a CAN message with an extended remote frame ID 01015678 DLC 6 Note This command can only be accepted by 7540D MTCP s port 10003 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 61 4 5 99S Description Read the 7540D CAN Baud Rate and error flag message gt Syn
10. address Users can use the Modbus RTU command function code 04 o to read these information from the Module Status field Modbus Address 1 13 CAN or 0x1030 a RS 232 485 422 FIFO Overflow flag 0x1031 0x103E 13 _ Noused _ _ _ _ _ _ _ _ _ _ O Table5 4 Modbus address of Modbus Status field Note The meaning of the register values can refer to section 4 5 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 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 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 04h to read one CAN message Query Message 0102ra 0000p Input Register Normal CAN Message Field 00 0008 0008 D 0008 Poeme 00m0 fa Poe
11. connected Total socket number 24 No client connect to this 7540 The IP is 192 168 255 1 port 10000 destination IP address of CAN bus pair connection 192 168 255 2 1 Enable CAN pair connection 0 using TCP IP protocol 0 act as a server Com3 CAN specification 2 0A Com2 data 7 even parity stop 2 Com1 data 8 no parity stop 1 Baud rate of CAN 125K Figure 2 6 7 SEG LED Displays The important information of 7540D MTCP canbe divided as follows Group ID 11111 1P information of this 1 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 client connected information of this 7540D MTCP The IP information format of 7540D MTCPis given as follows Group D of 5 digit_LED 11111 LED 1 indicator can be 1 or 2or3 or 4 LED 2 5 IP l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 ODHCP function disable dHCP 1DHCP function enable and get an IP dHCP 2DHCP function enable but not get an IP using default setting f the DH
12. 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 B i 7540D MTCP utility File Action Help AFART E Setting CAN Test Modbus Modbus Test Operation Mode Network Status Operation mode Normal CAN j Gateway 192 168 0 254 Mask 255 255 0 0 CORRON MAC 00 04 20 20 34 6b 20 CAN Specification B TaD 7540D 1000K CAN Bus Baudrate WebPasswd icpdas7540D BITO Hex BITI Acceptance Code 00 00 Acceptance Mask FF FF Modify IP Enor Resp Mo CAN Bus Pair Connection Status TimeStamp Resp No ra Default COM Status TCP UDP COMI 115200 8 N 1 coma penam Connected Configuration Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD C Reset System Connect to 192 168 0 138 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 35 How to test the module transmission performance The
13. MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 96 Figure 5 4 Use Modbus TCP command to transmit a CAN message Example Use the Modbus TCP command function code 03 to read the transmitted CAN message formatfrom the Output Register Query Message 0102 rey 0000 Output Register Response Message fess e cos 0008 Figure 5 5 Use the Modbus TCP command function code O3h to read the transmitted CAN message format 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 04nex 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 nex to read the specific CAN message from the Specific CAN Message field Query Message 0102
14. following procedure will guide you to learning how to transmit receive CAN messages to from other devices PCs by using the 7540D converter 1 Connect the l 7540D MTCP s CAN port into the CAN network which must at least have one CAN device on the network Supply the 10 30 volts DC source into the 1 7540D MTCP module through the power terminal The 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 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 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 7540D MTCP and press the Connect button in order to connect with it As shown in the following figure 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 I 7540D MTCP Ethernet Modbus to CAN Converter User s Ma
15. gt Syntax 99 PPC 99 PPC Command character gt Response Valid Command LLABC Invalid command ERROR 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 Actas a server or client 0 server 1 client gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 85 4 20 99 PPIP Description Read the destination IP of CAN bus pair connection gt Syntax 99 PPIP 99 PPIP Command character gt Response Valid Command xxx Xxx XXX XXX Invalid command ERROR XXX XXX XXX XXX Destination IP Address gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 86 4 21 99 PPCLLABC Description Change the CAN bus pair connection configuration After setting successfully all parameters will take effective after system restar
16. the 7540D MTCP module 2 The l 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 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 Hex Acceptance Code 00 Acceptance Mask 00 Enor Resp Y CAN Bus Pair Connection Status TimeStamp Resp v Setting Default COM Status comi N A com2 wa CAN Bus Pair TCP UDP Connect to N A Not Connected 27 5 Then the I 7540D MTCP configuration window will be brought out The 7540D MTCP Utility will show the communication information from the 7540D MTCP module in the window as shown in the following figure E i 7540D MTCP utility EK i File Action Help A wW G Network Status Gateway 192 168 0254 5 25500 04 00 20 34 eb Le Status Web Passwd scpdas 540D C Reset System Error Code Response or not Connect to 192 168 0 138 __sModifyip_ IP Connected Configuration Mode v2 0 0 08 31 2011 Copyright
17. to a device by using TCP protocol Q Quit program and disconnect C Program Files 7188E PCDiag gt 7188e s 192 168 36 24 p 10000 Connect to 192 168 36 24 16666 i hci cae tLe te 7188E2 q C Program Files 7188E PCDiag gt l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 55 4 Support Command List For easy application we provide 4 command strings to allow users to send specific commands from 7540D MTCP s Ethernet port10003 to CAN bus And receiving response message form CAN bus Also we provide several commands for 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 lt Command gt lt CR gt lt Command gt The commands of the I 7540D MTCP lt CR gt All commands from this port must end with the character lt CR gt 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 tlIILDD lt CR gt Send or receive a standard data frame TIIIL lt CR gt Send or receive a standard remote frame el IIINNLDD lt CR gt Send or receive an extended data frame EHHHL lt CR gt Send or receive an extended remote frame
18. 0014 The response will show the following results CAN specification 2 0A CAN baud rate User defined BT RO 00 BTR1 14 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 73 4 11 99 P0105BBDSP Description Change the RS 232 configuration of the 7540D MTCP gt Syntax 99 P0105BBDSP 99 P0105 Command character BB RS 232 Baud rate D Data bit 0 7 bits data formation 1 8 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 Description 00 110bpsbaudrate of RS 232 06 4800 bps baud rate of RS 232 08 19200 bps baud rate ofRS 232 09 38400 bps baud rate of RS 232 0B 115200 bps baud rate of RS 232 _ gt Response Valid Command OK Invalid command ERROR gt Example Command 99 P01050B100 Response OK Set the setting of RS 232 baud rate 115 2Kbps data bits 8 stop I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 75 4 12 99 P0
19. 1 How to test Modbus TOP mode escecesceseeceeceeeceeeeseeeeeeceaneeeseeanenes 44 3 1 12 Howto test Modbus RTU mode ceccececceceeeececeeeceeeeeeeeeeeeeateeeeeaeeees 46 3 2 MiniOS7 Utility asoies acs sness sescdusewvan cae sceatzn ic cies cuetas espe insessedoaurateeiaevacawareasts 48 3 2 1 Install the MiniOS7 Utility eer ener tenes mente Mere steer tmnt rere 49 3 2 2 PO Diggnostic tools octets ate enter hanes canna en 50 Support Command LICK vvcasicsnicscsssssascecsedecsceanvestonnadsiasnussussenadievnunavecrusvancenuanduecumneasies 56 4 1 tINEDD SCRS avd e a i honda an a 58 4 2 TE Fh a a a a a 59 4 3 ellil DD LCR gt ing a dation 60 4 4 A eC a oiicecec reach Stine vicars th euliesa tae olenedxessbontbeadnaearutneteanaidetenss 61 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 2 4 5 a aE ETE E tt aati necmn ET E E A EE 62 4 6 aay esses a ee ae ange aes 65 4 7 MOURA EE A A EEEE E tone tend aa tavant pectin unania tas tesa E AE 66 4 8 DORON os ties eetirlincan tienen E Gewese 67 4 9 SOHO AOA A E ehelucrenecteacesieatt ate 69 4 10 FN iar tes cans ines stasae conte ioe cas alianaeas A E 71 4 11 RF WE iee e are ed aac E ath a cate mostra oie 73 4 12 99 P0105BBD SP sarees eon tenia neneuae 74 4 13 99 P0205BBDSP zaen iea a enor S cea een one 76 4 14 SOS P1T4PBCC 2 MMV ET eiiiiieicaeaidkortran Gain awlaniowiuaiials 78 4 15 VOSPIBOAT PRA e e a a aaa e aSa R 80 4 16 99 PWID a a a
20. 2 2 Connectto CAN Bus In order to provide an easy CAN bus wiring the 7540D MTCP supplies one CAN port with two CAN bus connector interfaces Each connecter built on the 7540D MTCP looks like as figure 2 3 and table 2 2 Table 2 2 CAN bus Connector Pin Assignment CAN L CAN _L bus line dominant low CAN_H CAN_L bus line dominant high 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 Z lt O No Use Figure 2 3 Electronic circuit of CAN bus connector I 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 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 l 8 Table 2 3 Ethernet Connector Pin Assignment Description Transmit Data Transmit Data Receive Data Not Connected Not Connected Receive Data Not Connected Not Connected l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 resi
21. 205BBDSP Description Change the RS 485 configuration of the 7540D MTCP gt Syntax 99 P0205BBDSP 99 P0205 Command character BB D RS 485 Baud rate Data bit 0 7 bits data formation 1 8 bits data formation Stop bit 0 1 stop bit 1 2 stop bits Parity bits 0 None 1 Even 2 Odd RS 485 Baud rate list a e ee __00 __ 110 bps baud rate of RS 485_ 06 4800 bpsbaud rate of RS 485 08 19200 bps baud rate of RS 485 09 38400 bps baud rate of RS 485 0B 115200 bps baud rate of RS 485 gt Response Valid Command OK Invalid command ERROR gt Example Command 99 P02050B 100 Response OK Set the setting of RS 485 baud rate 115 2Kbps data bits 8 stop l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 77 4 13 99 P114PBCC MM ET Description Change the CAN configuration of the I 7540D MTCP gt Syntax 994 P114PBCC MM ET 99 P114 Command character P CAN specification 0 2 0A 1 2 0B B CAN Baud rate CCCCCCCC 32 bits Acceptance Code Register OOO00000 FFFFFFFF MMMMMMMM 32 bits Acceptance Mask Register O
22. AYOUT Table 2 5 J3 Jumper Selection Apply the termination Don t apply the termination resistor 120Q resistor e ee 13 ele l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 16 2 4 LED Indication The I 7540D MTCP provides the Converter function between the Ethernet port and the RS 232 amp RS485 amp 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 l 7540D MTCPis in 2 4 1 PowerLED There is a red indicator LED in the I 7540D MTCP as follow Firmware is running flashing red The default shipping of 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 personnelin 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 ERLED This LED provides device status and indicates whether or not the device is operating properly Table 2 6 shows the conditions of ER status The
23. CP function is enable the 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 Group D of 5 digit LED 22222 LED 1 COM port number LED 2 5 value of baud 100 The baud rate format of CAN portis 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 Group D of 5 digit LED 33333 LED 1 COM port number LED 3 data bit 7 or 8 LED 4 parity bit O no parity 1 even parity 2 odd parity LED 5 stop bit 1 or 2 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 d
24. 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 inthe same position For 11 bit ID Message AccCode and AccMask AccCode 0 and AccMask 0 AccCode 1 and AccMask 1 AccCode 1 and AccMask 1 RTR AccCode 1 and AccMask 1 AccCode 2 and AccMask 2 AccCode 3 and AccMask 3 For 29 bit ID Message AccCode and AccMask AccCode 0 and AccMask 0 AccCode 1 and AccMask 1 AccCode 2 and AccMask 2 AccCode 3 and AccMask 3 AccCode 3 and AccMask 3 RTR AccCode 3 and AccMask 3 bit1 bit0 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 30 For example In 29 bit ID message AccCode 00h 00h 00h 00h AccMask FFh FFh FFh FFh ID bit bit28 bit21 bit20 biti3 bit12 bit5 bit4 bit0 Accepted ID XXXX XXXX XXXX XXXX XXXX XXXX 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 X X X X X NOOA TNMUWON OO Note The mark x means don t care And the mark h behind the value means hex format I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 commu
25. LL Web ID data Length in hexadecimal format XXXXX Web ID data at most 30 ASCII characters gt Response Valid Command OK Invalid command ERROR gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 83 4 18 99 PWPWLLxxxxx Description Change the Wed password configuration gt Syntax 99 P02 99 PWPW Command character LL Web password data Length in hexadecimal format XXXXX Web password data that you want to configure At most30 ASCII characters gt Response Valid Command OK Invalid command ERROR gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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
26. N_H CAN L 10 100 Base TX Ethernet Controller Auto negotiating Auto _MDIX LED indicator COM Port Formats Parity Even Odd None 1 Ethernet Port Baud rate 115 2Kbps max CAN Port Formats CAN ut Phillip SJA1000T CAN Controller CAN Transceiver Phillip 82C250 CAN Transceiver Isolated 2500Vrms on CAN side Baud rate Mechanism o O Dimensions 123 x 72 x 33mm LxWxH O perating nvironment Operating Temperature 25C to 75C Storage Temperature 40 C to 80 C Power o E Protection Power reverse polarity protection P Goin fone sDe eet Required Supply Voltage 10 to 30VDC non regulated Power consumption l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 6 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 i 7540D MTCP utility File Action Help g Exit About Setting CAN Test Modbus Modbus Test Operation Mode Network Status Operation mode Gateway N A Mask Nia CAN Parameters MAC F CAN Sp
27. OO00000 FFFFFFFF E Error response or not 0 Disable 1 Enable T Timestamp response or not 0 Disable 1 Enable CAN Baud rate list Description S i User defined gt Response Valid Command OK Invalid command ERROR gt Example Command 99 P1140400000000F FFFFFFFOO Response OK l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 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 l 7540D and the 7540D response OK command to mean that the configuration of CAN has been changed Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 79 4 14 99 P1BO4TTRR Description Change the CAN Bus Timing Register of the I 7540D MTCP gt Syntax 994 P1BO4TTRR 99 P1B04 Command character TT Bus Timing Register 0 00 FF RR Bus Timing Register 1 0O FF gt Response Valid Command OK Invalid command ERROR 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 BTO and BT1 by themselves The clock frequency of CAN controller is 16MHz l 7540D MTCP Ethernet Modbus to CAN Converter
28. Passwd _ icpdas 540D BITO Hex BITI Hex C Reset System Acceptance Code 00 00 00 00 ex Msk FF F F EF guy Modify IP CAN Bus Pair Connection Status Semper COM Status TCP UDP Server Client com 1152008 1 Connect to 192 168 0 138 Set COM2 9600 8 N 1 Connected Configuration Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD When the time stamp response is enabled the I 7540D MTCP will send CAN message with its time tick vale hexadecimal eight ASCII chars fora unit of microsecond to the host as it receive a CAN message For example l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 33 Hi 7540D MTCP utility File Action Help Timer Mode Date Time Start Time v Disconnect Stop Time r a _____ Setting CAN Test Modbus Modbus Test Send CAN Message Timer Mode fixed period DH Mode RIR DLC co fo o fo Interval 500 ms DI D2 D3 D4 D5 D6 D D8 Receive the first CAN 00 oo oo foo oo foo o0 co message at 0D0822B0 Receive 112380102030405060708 0D0822B0 45280909090909090909 0E94D2E2 Receive the second CAN message at OE94D3E2 Send Command To 7540D Connected Operation Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011
29. T 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 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 50 Send232 Send232 uses serial port RS 232 interface to communicate with devices And it can be used to test the Virtual COM technology Send232 V 2 0 1 COM2 f COM status com2 x 3600 Line control N81 Auto send Set the Com port parameters of Send string with None LF_CR CR C CRLF Key in the String that you want to The send receive messages will be displayed over here l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 51 SendTCP SendICP uses TCP protocol to communicate with 7188E 8000E 7540D 7540D MTCP and other devices from Ethernet Step 1 Run cies all host PC Send TCP 7188E8000E Disg pepe Send _ Clear Result Select Port a Ce A Send Date E Send Data with Send eN ee Receive Cer o Network Status
30. Users Manual Version 1 0 Dec 2011 80 4 15 99 PWID Description Read the Wed ID configuration gt Syntax 99 PWID 99 PWID Command character gt Response Valid Command LLxxxxx Invalid command ERROR LL Web ID Length in hexadecimal format XXXXX Web ID saved in the EEPROM the default Web ID setting is 17540D gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 81 4 16 99 PWPW Description Read the Wed Password configuration gt Syntax 99 PWPW 99 PWPW Command character gt Response Valid Command LLxxxxx Invalid command ERROR LL Web ID Length in hexadecimal format XXXXX Web ID saved in the EEPROM the default Web ID setting is 17540D gt Example Command 99 PWPW Response 0Bicpdas7540D Read the Web password setting of the 7540D MTCP and the 7540D MT CP responses the Web password setting is icpdas7540D Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 82 4 17 99 PWIDLLxxxxx Description Change the Wed ID configuration gt Syntax 99 PWIDLLXxxxx 99 PWID Command character
31. abate cee 81 4 17 DOV WV ES A E A EAE EA A E 82 4 18 99 PWIDLLXXXXX a snsaseneaseeeesniirisnnensisiirnrnnsianarernrninnrnrnrsnnrirnrnrnrnnnane 83 4 19 SOSPWP WED KI000Gi215 2 cnci Rie Mercere aienn e Manaeen ene Waren 84 4 20 GORE PR Grea eee ae ane E EN 85 4 21 OOF PE IP visesesteie tec ioe hated eerie cea ER 86 4 22 SOG PP 0 E BYN X o 87 4 23 SLEA PP UP SKK EE E tates EE E ETE ears 88 4 24 General Error code for commands from port 10003 89 Modbus Network Only for Modbus TCP ModbusRTU mode sssse 90 5 1 Supported Modbus Functions cccceccececeeeeeceeeeeeeseeeaneeseeeeeeees 92 5 2 Modbus TCP Address ccccceceseesceseeeeceeeeeceseesesaecaeeaesaeeaeeeseeaeeatens 93 5 2 1 Using Modbus TCP command to get a CAN Message eee 95 5 2 2 Using Modbus TCP command to Send a CAN Message 96 5 2 3 Using Modbus TCP command to get a Specific CAN Message 98 5 3 Modbus RTU AdCIresSs ccccccccceseescesceeeceeeeeeeaeeeeseesaesaesaeeeeeeaeeaeeneeas 99 5 3 1 Using Modbus RTU command to get a CAN Messag 0 08 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 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 3 1 Introduction Embedded Internet and Embedded Ethernet are hot topi
32. ain 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 supportinterrupt amp 1K QUEUE Input amp 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 amp RS 485 Max transmission distance of CAN over 1000m follow CAN specification 7 segmentLED 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 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 5 1 2 Specifications OP CPU 80186 80MHz or compatible SHAM 512K Bytes Pant 512K Bytes EEPROM 16K Bytes NVRAM 31Bytes battery backup data valid up to 10 year Communication Interface COMI RS 232 TXD RXD RTS CTS GND COMe2 RS 485 D2 D2 CAN One CAN port with two CAN bus connector interfaces CA
33. amp NVSAMR COMI RS 232 COM2 RS 485 CAN port Support CAN 80186 80 j Watchdog timer e 16K 2 0A amp 2 0B El 10 100 Base T 5 digit LED 10V 30V Power converter l 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 COP V GC VVC FOSVPSPVPVPVG CAN Bus Status LED CAN Modbus TCP RTU Converter E Support CAN 2 0A 2 0B E CAN Baud Rate Up to 1 M bps HM RTU Baud Rate Up to 115 2 k bps E Buffer for Specific CAN ID E Supports CAN Transparent Transmission 5 8 8 0 8 1K Vdc isolation on CAN side Power Input RS 485 Port RS 232 Port INIT pin Figure 2 2 Pin assignment on the I 7540D MTCP l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 11 2 2 1 RS 232 amp RS 485 amp Power supply Interface The 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 assignmentis shown in table 2 1 Table 2 1 COM Connector Pin Assignment Pin Description AUTOEXEC BAT e oa Dam pin of Cone RS485 VS V of power supply 10V to 30V DC unregulated 9 GND GND of power supply l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 12 2
34. ansmitted CAN message format 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 04hex 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 pex to read the specific CAN message from the Specific CAN Message field Query Message Input Re jister Special CAN Messa e Field ddre 0E19 Figure 5 10 Use the Modbus RTU command to read specific CAN message I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 102
35. c 2011 ICP DAS Co LTD 6 Choose the Settings tab to open the configuration window for the CAN and the Network status parameters of the l 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 l 7540D MTOP Note If users click the Defaults icon all of the CAN communication parameters in the 7540D MTCP will be set to the default values which are CAN Specification 2 0B CAN bus Baud rate 1Mbps BTRO 00 BTR1 00 Acceptance Code 00 00 00 00 Acceptance Mask FF FF FF FF l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 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
36. cs 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 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 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 l 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 Modbus TCP Device CAN Bus CAN Device Modbu TCP Device CAN Device Ethernet Modbus TCP CAN Device Device Figure1 1 Application of 7540D MTCP Modbus TCP mode l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 4 CAN a E S 3 eed Gop CANopen i Motor CAN Sum Device CAN CAN Device Figure 1 2 Application of 7540D MTCP Pair Connection The m
37. e Code Register OOO00000 FFFFFFFF MMMMMMMM 32 bits Acceptance Mask Register OOO00000 FFFFFFFF E Error response or not 0 Disable 1 Enable T Timestamp response ornot 0 Disable 1 Enable CAN Baud rate list o 10Kbaudrate of CAN 20K baud rate of CAN 50K baud rate of CAN 100K baud rate of CAN gt 6 500Kbaudrateof CAN 8 1000Kbaudrateof CAN 9 UserDefined l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 71 gt Example Command 99 P1 Response 140400000000FFFFFFFFOO The response will show the following results CAN specification 2 0A CAB baud rate 125Kbps acceptance code register 00000000 acceptance mask register FFFFFFF disable error response disable timestamp Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 72 99 P1B Description Read the CAN Bus Timing Register gt Syntax 99 P1B 99 P1B Command character gt Response Valid Command 06PBTTRR Invalid command ERROR 06 Delimiter for valid command P CAN specification 0 2 0A 1 2 0B B CAN Baud rate TT CAN Bus Timing Register 1 OO FF RR CAN Bus Timing Register 1 0OO FF CAN Baud rate list 10K baud rate of CAN 20K baud rate of CAN 50K baud rate of CAN 100K baud rate of CAN 7 User defined gt Example Command 99 P1B Response 0609
38. e communication After setting CAN Bus Pair connection Status of the two 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 CAN Bus Pair Connection Status CAN Bus Pair Connection Status IV CAN Bus Pair Connection Set IV CAN Bus Pair Connection Set C TOP UDP C Sever Cieni C TCP uop C Sever Cieni Connect to 7192 168 255 2 Connectto 192168 255 1 C Pihet UDP IR Ne CAN Bus Network 01 CAN Bus Network 02 1 7540D MTCP 1 7540D MTCP IP 192 168 255 1 IP 192 168 255 2 Note When setting to use UDP method the Server Client parameters will be no effective I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 40 Application 02 one to many communication broadcast CAN Bus Pair Connection Status IV CAN Bus Pair Connection Set CAN Bus Network 03 C TCP UDP Server Chent Connect to 255 255 255 255 Set CAN Bus Pair Connection Status J CAN Bus Pair Connection Set C TCP G UDP C Server Client 1 7540D MTCP IP 192 168 2553 Sato pisassi CSR CAN Bus Pair Connection Status CAN Bus Network 01 IV CAN Bus Pair Connection Set 1 7540D MTCP IP 192 168 255 1 C TCP amp UDP C Server Client 1 7540D MTCP IP 192 168 255 2 Connect to
39. e is described below l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 46 B i 7540D MTCP utility File Action Help Tuner Mode Date Time Time Start p Start Time t v Disconnect Exit About Stop Time Time Stop Setting CAN Test Modbus Modbus Test Tcp RIU i C Use Modbus RTU Command 140009 Modbus Command Hex Function Code StartAddress WordCount ByteCount Fill Message ID 01 4 v 0000 0007 Receive O Receive Receive Message Connected Operation Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 47 3 2MiniOS7 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 1 7540D MTCP and other controllers Supported connection ways COM Port Connection Ethernet UDP amp TCP Connection Maintenance Upload file s Update MiniOS7 image Delete file s Configure Date amp Time P Address COM port Check Product information l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 48 3 2 1 Install the MiniOS7 Utility Step 1 The installation software can be obtained from the following location 8000cd Napdos MiniOS 7 utility MiniOS 7_utilit
40. ead 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 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0
41. ecification N A Web ma Poli be Rawat WebPassvd WA BITO Hex BITI Acceptance Mask Modify IP Reset System Error Resp CAN Bus Pair Connection Status TimeStamp Resp CAN Bus Pair Setting Default COM Status i COM Status TCP UDP cow mA Connect to N A Not Connected Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 7 Application Factory Automation Building Automation Home Automation Control system Monitor system Vehicle Automation 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 E it st QI WE DE 2 Gi oi WE Dt 2 Qu Cia ey CPron Ox On 1 7540D MTCP Ou O CAN Modbus TCP RTU Converter r Support CAN 2 0A 2 08 d CAN Baud Rate Up to 1 Mbps RTU Baud Rate Up to 115 2 kbps Buffer for Specific CAN ID Supports CAN Transparent Transmission Supports Modbus TCP RTU 1K VDC isolation on CAN side l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 9 2 1 Block Diagram Figure 2 1 is a block diagram illustrating the functions on the 7540D MTCP module It provides the 2500Vmns 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 SRAM 512K Flash ROM 512K RTC
42. ers 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 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 l 7540D MTCP_MT_yyyyMMddmmss txt file The indication of the file name is described below l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 44 i 7540D MTCP utility File Action Help Timer Mode Date Time Start Time Time Start w Disconnect Exit About Stop Time Time Stop Fill Message Setting CAN Test Modbus Modbus Test ICP RTU C Use Modbus TCP Command 120006140009 TCP Prefix Hex Modbus Co
43. esponse OK Change the CAN bus pair connection destination IP of the 7540D MTCP Note This command can only be accepted by 7540D MTCP s port 10000 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 88 4 23 General Error code for commands from port 10003 Table 4 6 Error code table Error code invalid The length of the command string is invalid 3 The value of CAN identifier is invalid 2 3 4 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 89 5 Modbus Network Only for Modbus FCP Medbus 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 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 r
44. et Connect cae acerca et eactes acttvntacecbeteat weetecgeeieariiiad cred neaeteaolnants 14 2 3 Terminator resistor settings ccccececeececeeeeeeeeeeeeeeeeseeeeseeeateneaeees 15 2 4 LED Indication cence ra esate cs a aia a a he iaaa aaia 17 2 4 1 Power CED virna a 17 242 CANbp sindicator LED ascris aaae 17 2 4 3 5 digits 7 Segment LED Displays ceceeceececeeeeeeeeeeeeeeeeeeetereeeeaeeees 19 Software Utility esacccatassccacanasccctssss atescceanenassien dad susnwandsatvauatndundudedinceduabawedddesusdcenuanauven 22 3 1 I 7540D MTCP Utility 2 2 2 ee ceecceccececeececeseeeceeececeeeseeeeeeeeeaeeaeaneeeesaeees 23 3 1 1 Install the 7540D MIGP utility 2 seth eee aie 24 3 1 2 How to configure the Module parameters ecceceeeceeeeeeeeeeeeeeeeeeees 27 3 1 3 Connect How to set the Bus Timing Registers ceceeeeeeeeees 30 3 1 4 Connect to the How to set the Acceptance Code and Mask 30 3 1 5 Enable Error FIC SPOUSE sce Re eater eaten hte a eer a tel 32 3 1 6 Enable Time stamp Response cecccceseesceceeeeeeeeeeeeaeeeseeeaeeeseeeaeeeeees 33 3 1 7 How to change web ID PASSWORD configuration eeeeee 35 3 1 8 Howto test the module transmission performance ceeeeeees 36 3 1 9 How to use CAN Bus Pair Connection cecceceeceeeeeeeeeeeeeeeeeeeeeeeeeees 39 3 1 10 How to set specific CAN ID table 0 eee ececeeeeeeeeeeeeeeeeceeneeeeeeaneees 43 3 1 1
45. ge was lost DAON Status Absent no data overrun has occurred l a Full one or more messages are gito sB Peceive Buffer 1 available in the RXFIFO Status Oo Empty no message is available Table 4 5 CAN Error flag list AsciiToHex O Bit 3 1 CAN Transmit Error Bit 2 1 CAN Receive Error Bit 1 1 CAN FIFO Overflow Bit 0 1 Initial CAN Chip Error I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 63 gt Example Command 99S Receive 40C00000 lt CR gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 64 4 6 99C Description Clear the CAN error flag and FIFO on the module gt Syntax 99C 99C Command character gt Response Valid Command No response Invalid command ERROR gt 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 gt Example Command 99C Note This command can only be accepted by 7540D MTCP s p
46. igit LED 44444 LED 1 indicator canbeOor1or2or3or4or5 Indicator 0 LED 2 P for CAN bus pair connection LED 3 Enable CAN pair parameter 0 Enable 1 Disable LED 4 TCP or UDP parameter 0 TCP 1 UDP LED 5 Server or Client parameter 0 act as a server 1 actas a client Indicator 1 or 2 or 3 or 4 The CAN bus pair destination IP information format of 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 showsequence 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 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 LED 2 4 Con for connectto server or not LED 5 0 not connectto server 1 already connect to server l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 21 3 Software Utility We support some software utilities for users
47. l Fw Yer Receive Clear E et r Mini0s 7 Version fv 0 14 20018 1 7188E COM Status peas Ni se j 2001 11 19 2001 Clos 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 Susu will add two checksum bytes then adds CR Send TCP 7188E 8000E Diag s App v2 01 Config TCPAP Send Command To 71885 fis2 168 255 1 Modify IP r Network Status Gateway f9216801 Set J msmo Set 80 31 08 01 14 Cc 7188E COM Status m m Fw Yer Faod 1 19 2001 r MiniOs Version fel 0 14 2001781 J Close l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 192 168 255 1 l g D omnect f l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 54 7188E Command prompt mode program used to send data to specific machines using TCP protocol Usage 7188e S IP P Port Connect
48. l CAN v q Gateway 192 168 0 254 Se Setting CAN Test Modbus Modbus Test Uperation Mod Mask 255 255 0 0 Se MAC 00 0d 20 20 34 eb WebID 7540D Se 1000K CAN Bus Baudrate x Web Passwd _ iepdas 540D Se BITO Hex Acceptance Code 00 Acceptance Mask FF Error Resp a g TimeStamp Resp No v BITI C Reset System Modify IP CAN Pair Connection 00 00 FF FF CAN Bus Pair Connection Status C CAN Bus Pair TCP UDP COMI 115200 8 N 1 Connect to 192 168 0 138 COM2 9600 8 N 1 Connected Configuration Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD Figure 3 1 1 7540D MTCP Utility I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 23 3 1 1 Install the l 7540D MTCP utility Install 7540D MTCP Utility Step1 Download the 7540D MTCP Utility setup file from the web site http www icpdas com products Remote_lO can_bus I 7540 htm Or the CD ROM disk following the path of Fieldbus_CD CAN Converter l 7540D Utility Step 2 Execute the setup exe file to install 7540D MTCP Utility Step 3 A Welcome window pops up to prompt user to begin the installation See figure 3 2 Welcome to the ICP DAS I 7540D MTCP Setup Wizard This will install ICP DAS I 7540D MTCP version 1 0 on your computer It is recommended that you close all other applications before c
49. me oon fr Figure 5 3 Use the Modbus TCP command to read one CAN message l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 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 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 10h to transmit a CAN message by writing the Output Register of the 7540D MTCP the data format must follow the Figure 5 1 The start address of the Modbus TCP command is always 0000 and the Word count and Byte count are always 07 and ODy respectively Example Use the Modbus TCP command function code 10 to transmit a CAN message to the CAN network Users can use the Modbus TCP command with function code 03 to read the transmitted CAN message The start address of the command is always 0000 and the data length field must be set to 0007 nex Query Message ProtocolID 0000 0000 teva 01s ates 0123 reton ote 10 ats 0308 straits 000 Date 0506 vecom oe O Response Message teste eh Piano I 7540D
50. mmand Hex Teaneertion Senter Protocolidentifier Leng Field ID FunctionCode StartAddress 1 2 0 0 0 6 0i 4 v Receive O Receive Connected Operation Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 45 3 1 11 How to test Modbus RTU mode In this mode there are two methods for users to send command to the 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 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 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 l 7540D MTCP_MR_yyyyMMddmmss txt file The indication of the file nam
51. modify the CAN bus pair connection status of the 7540D MTCP the setting value will become effective after resetting the system E i 7540D MTCP utility Cex File Action Help t gt IP Gateway Mask va Web ID Password Setting CAN Test Modbus Modbus Test Operation Mode Operation mode Normal CAN Set 192 168 0254 255 255 0 0 CAN Parameters 00 04 e0 20 34 eb 20B CAN Specification v Web D 7540D 1000K CAN Bus Baudrate y WebPasswd icpdas 540D BITO Hex BITI Hex C Reset System Acceptance Code 00 00 a an le Acceptance Mask FF FF CAN Pair Modify IP N Status CAN Bus Pair Connection Status Error Resp R O CAN Bus Pair TN TCP UDP com 152008 1 Connext to 192 168 0 138 COM2 9600 8 N 1 29 3 1 3 Connect How to set the Bus Timing Registers BTRO BTR1 Setthe 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 BTO and BT1 by themselves The clock frequency of CAN controller is 16MHz 3 1 4 Connectto 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
52. mple Command t03F 61 12233445566 lt CR gt 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 l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 58 4 2 TIIL lt CR gt Description Send or receive a standard CAN remote frame gt Syntax TIIL lt CR gt T Represents a standard 2 0A remote frame lll 11 bits Identifier 0Q00 7FF L Data length 0 8 gt Response Valid command No response Invalid command lt Error Code gt lt CR gt gt Note Itis necessaryto enable the Error Response function in the 7540D MTCP Utility in order to receive Syntax and or communication error information at the host PC gt Example Command T2E88 lt CR gt Send a CAN message with a standard remote frame ID 2E8 DLC 8 Note This command can only be accepted by 7540D MTCP s port 10003 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 59 4 3 elllllI ILDD lt CR gt Description Send or receive an extended CAN data frame gt Syntax elllllIIILDD lt CR gt e Stands for the extended 2 0B data frame IIN 29 bits Identifier 00000000 1 FFFFFFF L Data length 0 8 DD Input data frame value according to the data length 00 FF gt Response Valid command No response
53. nication error information to the host These general error codes are shown in below table AsciiToHex Description Error code 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 E i 7540D MTCP utility Seles File Action Help Disconnect Exit About Setting CAN Test Modbus Modbus Test Operation Mode Network Status Operation mode Normal CAN Ww fF Set Gateway 192 168 0254 CAN Parameters MAC 00 0d e0 20 34 eb i j 20B SAN Seas Web OD 1000K v CAN Bus Baudrate WebPasswd icpdas7540D BITO Hex BITI Hex C Reset System Acceptance Code 00 00 00 00 Hex Modify IP CAN Bus Pair Connection Status C CAN Bus Pair Set COM Status TCP UDP Server Client CoM 115200 8 N 1 Connect to 192 168 0 138 Set COM2 9600 8 N 1 Set Connected Configuration Mode 2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 32 3 1 6 Enable Time stamp Response E i 7540D MTCP utility EOK File Action Help w Dixonnect Exit About Setting CAN Test Modbus Modbus Test Operation Mode Network Status Operation mode Normal CAN x EA Gateway 192 168 0 254 Mask 255 255 0 0 CAN Parameters MAC 00 04 e0 20 34 eb ificati 0B CAN Specification ay ke Wep 7540D 1000K v CAN Bus Baudrate Web
54. nual Version 1 0 Dec 2011 36 Time mode to send CAN message Timer Mode Date Time Start Time Time Start A i 7540D MTCP utility File Action Help Disconnect About Exit Stop Time Time Stop aE Setting CAN Test Modbus Modbus Test Use tosend Send CAN Message Timer Mode fixed period CAN message Dex Mode RIR DLC 000 0 jo 0 Interval 500 ms Di D2 D2 A D D6 DE De oo foo oo joo joo joo oo foo Send Command To 7540D Receive CAN CD message Use to send Command to l 7540D MTCP 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 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 37 E i 7540D MTCP utility File Action Help Timer Mode Date Time Stext Time Time Start v nnect Disconnect Exit About Stop Time Time Stop Setting Send CAN Message Timer Mode fixed period ID flex Mode RIR DLC Start Stop time LE e E Draig iin a of timer mode Di D2 D3 D4 D5 D6 D D8 e eepose a Ga T Sa Receive Send Command To 7540D Fixed period to send CAN message
55. ontinuing Click Next to continue or Cancel to exit Setup i Cancel 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 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 24 fe Setup ICP DAS I 7540D MTCP Select Destination Location Where should ICP DAS I 7540D MTCP be installed CJ Setup will install ICP DAS I 7540D MTCP into the Following folder To continue click Next IF you would like to select a different Folder click Browse E ICPDAS CAN Gateway I 7540D MTCP At least 1 1 MB of Free disk space is required Caa nee gt Figure 3 3 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 Setup ICP DAS 1 7540D MTCP POR Select Start Menu Folder By Where should Setup place the program s shortcuts Setup will create the program s shortcuts in the following Start Menu folder To continue click Next IF you would like to select a different folder click Browse Browse ETTE TE Figure 3 4 Ready to Install the Program dialog l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 25 Step 6 Click Install but
56. ort 10000 I 7540D MTCP_ Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 65 4 7 99RA Description Rebootthe 7540D MTCP module Users can use this command to rebootthe module in order to allow it to work in order again gt Syntax 99RA 99RA Command character gt Response Valid Command Rebootthe I 7540D MTCP module Invalid command ERROR gt Example Command 99RA The I 7540D MTCP module will reboot after it had received this command Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 66 4 8 99 P01 Description Read the RS 232 configuration gt Syntax 99 P01 99 P01 Command character gt Response Valid Command 061BBDSP Invalid command ERROR 061 Delimiter for valid command BB RS 232 Baud rate D Data bit 0 7 bits data formation 1 8 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 Description 00 6 08 09 B l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 67 gt 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 Note This command can only be accepted by 7540D MTCP s port 10000
57. refore 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 Device is normal no error occurs Red sd Device has unrecoverable fault Flashing Red Device has recoverable fault To recover Resetdevice or perform error recover l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 17 TXLED 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 o No data is being transmitted to the CAN side green Solid green Transmit data error RXLED 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 No data is being received Flashing Red Data is being received Solid Red l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 18 2 4 3 5 digits 7 Segment LED Displays The 5 digits 7 SEG LED will show as figure 2 6 Connect to Server or not 0 not connected 1
58. s 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 0x0000 0x0011 RX CAN Message 001 0x0012 0x0023 RX CAN Message 002 ee fe Ooo x a O oe OxODEC OxODFD 9 RXCAN Message 199 Oo 9o O OxODFE OxOEOF RX CAN Message 200 Table5 2 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 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 Ox0E10 0x0F21 N 9 Specific RX CAN Message 01 pe e de 0x0FFF 0x1010 9 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 7540D MTCP s status information is defined in the following
59. s 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 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 10h 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 and the Word count and Byte count are always 07 and ODp exrespectively Example Use the Modbus RTU command function code 10he to transmit a CAN message to the CAN network Output Register 0008 Response Message 0000 0B60 Figure 5 8 Use Modbus RTU command to transmit a CAN message I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 100 Users can use the Modbus RTU command with function code 03 y to read the transmitted CAN message The start address of the command is always 0000 and the data length field must be set to 0007 hex Example Use the Modbus RTU command function code 03 nex to read the transmitted CAN message formatfrom the Output Register Query Message Output Register Figure 5 9 Use the Modbus RTU command function code 03 to read the tr
60. stances Based on the ISO 11898 2 spec each terminal resistance is 120Q or between 1080 132Q The length related resistance should have 70 mQ m Users should check the resistances of their CAN bus before they install a new CAN network as figure 2 4 Device0 evice Device 27 l OO CAN_L 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 Terminal Length Length Related Cross Section Resistance meter Resistance Type Q mam 0 25 23AWG 124 0 1 0 34mm2 22AWG e 0 34 22AWG 127 0 1 0 6mm2 20AWG e a 20AWG 18AWG l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 15 Therefore the 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 7540D MTCP cover and use the JP3 jumper to activate the 1200 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 gt 5 I QO pS ee ee JP I L LEDO on 2 a 4S LEDI lt E ee WW a ee LED 2 2 2 po a Figure2 5 XC100 I O expansion board L
61. t gt 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 Actas 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 gt Response Valid Command OK Invalid command ERROR gt 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 Note This command can only be accepted by 7540D MTCP s port 10000 l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 gt Syntax 99 PPIPxxx 99 PPIP Command character XXX IP address ili opp 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 gt Response Valid Command OK Invalid command ERROR gt Example Command 99 PPIP1 92168255002 R
62. tax 99S 99S Command character gt Response Valid Command CFFTTRRO lt CR gt Invalid command lt Error Code gt lt CR gt l 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 Overflowflag gt 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 0K baud rate of CAN lt 20K baud rate of CAN 50K baud rate of CAN 100K baud rate of CAN KK baud rate of CAN TS T ROK baud rate of CAN CB Y BOOK baud rate of CAN SB d 000K baud rate of CAN S O SCS l 7540D MTCP Ethernet Modbus to CAN Converter Users Manual Version 1 0 Dec 2011 62 Table 4 4 CAN status register list Function Bit 6 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 s 1 message Receive Status no receive message is in Transmit Status Transmission transmission is not yet complement Released the CPU may write a Transmit Buffer message into the transmit buffer Status Locked a message is waiting for transmission or is already in process Overrun a messa
63. to set and test the status of the 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 I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 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 i 7540D MTCP utility DER File Action Help w Disconnect Exit About Network me WIOd Operation mode Norma
64. ton and start to install the 7540D MTCP Utility to the system After finishing the process a Complete window will pop up to promptusers that the successful completion of the installation And click Finish button to exit See figure 3 5 if Setup ICP DAS I 7540D MTCP Les Ready to Install Setup is now ready to begin installing ICP DAS I1 7540D MTCP on your computer Click Install to continue with the installation or click Back if you want to review or change any settings Destination location CICPDAS CAN_Gateway I 7540D MTCP Start Menu folder ICPDAS CAN_Gateway Figure 3 5 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 i Setup ICP DAS I 7540D MTCP Completing the ICP DAS I 7540D MTCP Setup Wizard Setup has finished installing ICP DAS I 7540D MTCP on your computer The application may be launched by selecting the installed icons Click Finish to exit Setup Figure 3 6 Successful Completion of the Installation dialog l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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
65. work 02 I 7540D MTCP 1 7540D MTCP IP 192 168 255 1 IP 192 168 255 2 Note When setting to act as a TCP server the Connect to Destination IP will be no effective I 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 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 l 7540D MTCP with Modbus TCP RTU command The 7540D MTCP only supports function code 0x03 0x04 0x10 of Modbus TCP RTU commands for reading and writing CAN messages B i 7540D MTCP utility File Action Help Le Setting CAN Test Modbus Modbus Test Device ID Hex Specific CAN ID Mode ID hex 11 bit 123 Connected Configuration Mode v2 0 0 08 31 2011 Copyright c 2011 ICP DAS Co LTD l 7540D MTCP Ethernet Modbus to CAN Converter User s Manual Version 1 0 Dec 2011 43 3 1 10 How to test Modbus TCP mode In this mode there are two methods for us
66. y or http ftp icodas com pub cd 8000cd napdos minios7 utility minios 7_utility Step 2 Go to where you downloaded the file and double click on the installation file in Windows to execute it i Setup MiniOS7 Utility Ver 3 24 Eo Welcome to the MiniOS7 Utility Ver 3 24 Setup Wizard This will install MiniOS7 Utility Ver 3 24 on your computer It is recommended that you close all other applications before continuing Click Next to continue or Cancel to exit Setup Cancel Step 3 To finish the installation of the MiniOS7 Utility click the Finish button to exit the setup process i Setup MiniOS7 Utility Ver 3 24 cick Completing the MiniOS7 Utility Ver 3 24 Setup Wizard Setup has finished installing MiniOS7 Utility Yer 3 24 on your computer The application may be launched by selecting the installed icons Click Finish to exit Setup 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 A MiniOS Utility Verion 3 2 4 33 File Connection Command Z Configuration 2 Tools Help Look in fie CPDS TISBXW Nene Si Tipe moare 188EU 7188E Send232 Send TEP VxComm 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 COMPOR

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