EMS CG-ARM7 Manuale utente
CAN/CAN-Gateway
CG-ARM7/RMD
User Manual
EMS
THOMAS WÜNSCHE
Sonnenhang 3
D-85304 Ilmmünster
Tel +49-8441-490260
Fax +49-8441-81860
.
User manual CG-ARM7/ RMD
Document version: 2.00
Documentation date: June 22nd, 2005
No part of this document or the software described herein may
be reproduced in any form without prior written agreement
from EMS Dr. Thomas Wünsche.
For technical assistance please contact:
EMS Dr. Thomas Wünsche
Sonnenhang 3
D-85304 Ilmmünster
Tel. +49-8441-490260
Fax +49-8441-81860
Our products are continuously improved. Due to this fact
specifications may be changed at any time and without
announcement.
WARNING: EMS hardware and software may not be
used in applications where damage to life,
health or private property may result from
failures in or caused by these components.
CAN/CAN - Gateway CG-ARM7/RMD
ii User Manual
Table of contents
1 Overview .....................1
1.1 Features .....................1
1.2 General description................1
1.3 Ordering information ...............1
2 Handling .....................2
2.1 Connection ....................2
2.2 Operation .....................2
2.3 Configuration ...................2
2.3.1 Configuration file .................3
2.3.2 Programming the device .............9
2.4 Display .....................12
3 Technical specifications............14
3.1 Pin assignment .................14
3.2 Limiting values .................15
3.3 Nominal values.................15
4 Appendix ....................16
4.1 Configuration file sample ............16
4.2 Standard baudrates ...............17
CG-ARM7/RMD CAN/CAN - Gateway
User Manual iii
1 Overview
1.1 Features
•Connection of two physically separated
CAN networks
•Filtering and mapping of identifiers
•Bus activity displayed by LED
•Gateway configuration via RS232 or CAN
•Wiring using a multiway connector
1.2 General description
The CAN/CAN gateway CG-ARM7 connects
two physically divided CAN networks. The ca-
pability of having individual baudrates on both
segments, enables routing between them.
The filtering of single identifiers or ranges of
identifiers lessens the busload. The mapping
of single or ranges of identifiers qualifies
CG-ARM7 to be used under difficult higher
level protocol conditions.
The device is configured via serial interface or
via CAN network. Due to the intuitive structure
of the configuration file in ASCII format,
programming and administration is very easy.
1.3 Ordering information
12-20-401-10 CG-ARM7/RMD
CG-ARM7/RMD CAN/CAN - Gateway
User Manual 1
2 Handling
2.1 Connection
The CG-ARM7 possesses a multiway connec-
tor for flexible wiring of the CAN interfaces and
the power supply. The RS232 interface on the
device is used for programming and for the
output of diagnostic information. For normal
operation it is not required.
The connector assignment of the multiway
connector and the RS232 interface is located
in chapter “3.1 Pin assignment” in this manual
or on your devices front panel.
2.2 Operation
To start up the gateway just connect the power
supply, the device starts automatically. As
soon as the automatic diagnostics is comple-
ted successfully, the green power LED lites up
permantly.
Important note: Ex factory the device offers
no configuration and must be configured befo-
re it is first run. Configuration instructions for
the gateway are located in chapter “2.3 Confi-
guration”.
2.3 Configuration
The gateway configuration process consists of
two steps:
•Creating a configuration file
CAN/CAN - Gateway CG-ARM7/RMD
2 User Manual
•Storing the configuration file into the
gateway
2.3.1 Configuration file
The configuration file is a text file with the ex-
tension *.gcf. This file holds all data needed by
the gateway for operation. A complete sample
configuration is located in chapter “4.1 Confi-
guration file”.
The values can either be entered in decimal or
hexadecimal notation. Using the hexadecimal
notation, put the character “x” directly before
the particular value.
There are two types of parameters, general
parameters and routing settings. General
parameters include operating information for
the gateway. Routing settings are used for
mapping and filtering of identifiers.
Some parameters are optional. If they are not
defined, the gateway uses default settings.
Simultaneous programming of several devices
is not possible. It must be guaranteed, that
each device can be clearly identified.
In the following all parameters are listed and
described.
# comment
The configuration file can be provided with
comments. Comments are prefaced with the
character “#” and they end with the particular
line.
CG-ARM7/RMD CAN/CAN - Gateway
User Manual 3
Example:
# 1st comment
key = value # 2nd comment
version version
The gateway requires a version number to
identify the programmed configuration. The
version number for the CG-ARM7 standard
version is 1. This key must exist in each confi-
guration file.
Important: The version is not the version of
the configuration! The version display what
kind of configuration is be loaded!
Example:
version = 1
btr bit timing
The bit timing key indicates the speed of the
particular CAN channel. BTR1 indicates the
baud rate for CAN channel 1, BTR2 the baud-
rate for CAN channel 2. Both keys must exist
in each configuration file.
This keys are directly related to the CANBTR
registers of the used controller LPC2119. This
allows most flexible customization of the baud-
rate settings. The basic can clock is 48 MHz.
Example:
# CAN channel 1: 1Mbit/s
btr1 = x00140005
# CAN channel 2: 500KBit/s
btr2 = x001C0005
CAN/CAN - Gateway CG-ARM7/RMD
4 User Manual
Standard speeds recommend by CiA are loca-
ted in chapter “4.2 Standard baudrates”.
pidin,
pidout program identifier
The program identifiers (PIDs) are required for
the gateway configuration via CAN. If you do
not want to program the gateway via CAN, you
can remove this keys from your configuration
file.
The PIDs determine which identifiers will be
used for programming the gateway. “pidin” de-
fines the identifier the configuration software
uses to send requests to the gateway. The key
“pidout” defines the identifier which the gate-
way uses to reply to the configuration software.
For CAN channel 1 and CAN channel 2 diffe-
rent PIDs can be set. But it is also possible to
program the gateway just via one CAN chan-
nel. To set the wanted identifiers for CAN
channel 1 use the keys “pidin1” and “pidout1”.
For CAN channel 2 use the keys “pidin2” and
“pidout2”.
To use a 29-bit identifier prepend the character
“x” before the particular key. Without prefix be-
fore the key 11-bit identifiers will be sent.
Example:
# PIDs for CAN channel 1
# CAN 1: 11-bit IN-Id: 0x5
pidin1 = x5
# CAN 1: 29-bit OUT-Id: 0xA00
xpidout1 = xA00
CG-ARM7/RMD CAN/CAN - Gateway
User Manual 5
# PIDs for CAN channel 2
# CAN 2: 29-bit IN-Id: 0x6E
xpidin2 = x6E
# CAN 2: 29-bit OUT-Id: 0x1FFE
xpidout2 = x1FFE
name configuration label
For easier identification of the programmed
settings, the configuration can be labeled. The
configuration name must not have more than
32 characters and must not contain space cha-
racters or tabs. If this key is missing, no name
will be assigned to the configuration.
Example:
name = standard_configuration
deviceid device id
During the configuration process via CAN the
device has to be uniquely selected in the net-
work. This process is based on the serial num-
ber of the device.
If there is the need to have the configuration
process independent of the serial number, a
device id can be assigned. Then the identifica-
tion of the device depends on the device id
and not on the serial number.
Care must be taken to use a particular device
id just once in a network, if more than one ga-
teways is used.
The device id can have values between 1 and
99999999.
Example:
deviceid = 50
CAN/CAN - Gateway CG-ARM7/RMD
6 User Manual
busoff bus off behavior
This key defines the period in milliseconds,
which shall be waited until the gateway gets
bus on again after a bus off condition has oc-
cured. If this value is not defined, the device
remains in bus off state. If a bus off time of 0
milliseconds is set, the gateway tries immedi-
ately to get bus on again.
Example :
busoff = 100
password password
Using a password, the gateway can be protec-
ted against unauthorized access. If the key is
not defined or the value is set to 0, password
protection is disabled. The password is an up
to 14-digit hexadecimal value.
The password protection supports two security
levels.
For the highest security level the highest bit
(56th bit) of the password must be set to 1.
This security level prevents any communicati-
on with the gateway, if the device has not been
unlocked with the correct password before.
At the normal security level, the highest bit
(56th bit) is 0. Read out of information about
the gateway and the configuration is enabled.
Changing the configuration however is not
possible!
Example:
# Security: high
CG-ARM7/RMD CAN/CAN - Gateway
User Manual 7
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