GridConnect CAN232 FD Operation & User’s Manual

i Copyright and Trademark Copyright  2020, Grid Connect, Inc. All rights reserved. No part of this manual may be reproduced or transmitted in any form for any purpose other than the purchaser's personal use, without the express written permission of Grid Connect, Inc. Grid Connect, Inc. has made every effort to provide complete details about the product in this manual, but makes no warranty of any kind with regard to this material, including, but not limited to, the implied warranties of merchantability or fitness for a particular purpose. In no event shall Grid Connect, Inc. be liable for any incidental, special, indirect, or consequential damages whatsoever included but not limited to lost profits arising out of errors or omissions in this manual or the information contained herein. Grid Connect, Inc. products are not designed, intended, authorized or warranted for use as components in systems intended for surgical implant into the body, or in other applications intended to support or sustain life, or in any other application in which the failure of a Grid Connect, Inc. product could create a situation where personal injury, death, or severe property or environmental damage may occur. Grid Connect, Inc. reserves the right to discontinue or make changes to its products at any time without notice. Grid Connect and the Grid Connect logo, and combinations thereof are registered trademarks of Grid Connect, Inc. All other product names, company names, logos or other designations mentioned herein are trademarks of their respective owners. CAN232 FD is a trademark of Grid Connect, Inc. Grid Connect 1630 W. Diehl Rd. Naperville, IL 60563, USA Phone: 630.245.1445 Technical Support Phone: 630.245.1445 Fax: 630.245.1717 On-line: www.gridconnect.com

Disclaimer and Revisions Operation of this equipment in a residential area is likely to cause interference in which case the user, at his or her own expense, will be required to take whatever measures may be required to correct the interference. Attention: This product has been designed to comply with the limits for a Class B digital device pursuant to Part 15 of FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a residential installation. This equipment generates, uses, and can radiate radio frequency energy, and if not installed and used in accordance with this guide, may cause harmful interference to radio communications. Changes or modifications to this device not explicitly approved by Grid Connect will void the user's authority to operate this device. The information in this guide may change without notice. The manufacturer assumes no responsibility for any errors that may appear in this guide. Date Rev. Author Comments 10/30/2019 A EDL Preliminary Release 01/13/2020 B EDL Updated pictures and diagrams

iii Warranty Grid Connect warrants each product to be free from defects in material and workmanship for a period of ONE YEAR after the date of shipment. During this period, if a customer is unable to resolve a product problem with Grid Connect Technical Support, a Return Material Authorization (RMA) will be issued. Following receipt of a RMA number, the customer shall return the product to Grid Connect, freight prepaid. Upon verification of warranty, Grid Connect will -- at its option -- repair or replace the product and return it to the customer freight prepaid. If the product is not under warranty, the customer may have Grid Connect repair the unit on a fee basis or return it. No services are handled at the customer's site under this warranty. This warranty is voided if the customer uses the product in an unauthorized or improper way, or in an environment for which it was not designed. Grid Connect warrants the media containing software and technical information to be free from defects and warrants that the software will operate substantially for a period of 60 DAYS after the date of shipment. In no event will Grid Connect be responsible to the user in contract, in tort (including negligence), strict liability or otherwise for any special, indirect, incidental or consequential damage or loss of equipment, plant or power system, cost of capital, loss of profits or revenues, cost of replacement power, additional expenses in the use of existing software, hardware, equipment or facilities, or claims against the user by its employees or customers resulting from the use of the information, recommendations, descriptions and safety notations supplied by Grid Connect. Grid Connect liability is limited (at its election) to: 1) refund of buyer's purchase price for such affected products (without interest) 2) repair or replacement of such products, provided that the buyer follows the above procedures. There are no understandings, agreements, representations or warranties, expressed or implied, including warranties of merchantability or fitness for a particular purpose, other than those specifically set out above or by any existing contract between the parties. The contents of this document shall not become part of or modify any prior or existing agreement, commitment or relationship.

Table of Contents 1. Overview ........................................................................................................................... 1-1 1.1 Introduction ......................................................................................................... 1-1 1.2 Hardware Description ......................................................................................... 1-2 1.3 Model Description ............................................................................................... 1-2 1.4 CAN Network ..................................................................................................... 1-3 2. Getting Started ................................................................................................................. 1-3 2.1 Software Installation ........................................................................................... 2-4 2.1.1 TeraTerm Install .................................................................................. 2-4 2.2 Hardware Installation .......................................................................................... 2-5 2.2.1 RS232 Serial Cable ............................................................................. 2-5 2.2.2 Power Options ..................................................................................... 2-5 2.2.3 Input Power ......................................................................................... 2-5 2.2.4 OEM Options ...................................................................................... 2-5 2.2.5 Configuration Push Button .................................................................. 2-6 2.2.6 CAN Driver ......................................................................................... 2-6 2.2.7 TTL Option ......................................................................................... 2-7 2.3 Entering Configuration Mode ............................................................................. 2-8 2.3.1 RS232 Interface: ................................................................................. 2-8 2.3.2 Config Button ...................................................................................... 2-8 2.3.3 Serial Command .................................................................................. 2-8 3. Operation .......................................................................................................................... 3-9 3.1 CAN Command Mode ........................................................................................ 3-9 3.1.1 ASCII Message String Syntax ............................................................ 3-9 3.1.2 Binary Formatted Messages .............................................................. 3-12 3.2 Using Message Filters ....................................................................................... 3-19 3.2.1 Defining Filter Entries ...................................................................... 3-19 3.2.2 How Filtering Works ........................................................................ 3-19 3.3 Tunnel Mode ..................................................................................................... 3-19 4. Configuration Mode ....................................................................................................... 4-21 4.1 General Commands ........................................................................................... 4-21 4.1.1 help or ? ............................................................................................. 4-21 4.1.2 show .................................................................................................. 4-21 4.1.3 exit ..................................................................................................... 4-21 4.2 root level ........................................................................................................... 4-21 4.2.1 config ................................................................................................ 4-22 4.2.2 status.................................................................................................. 4-22 4.2.3 export config ..................................................................................... 4-22 4.2.4 import config ..................................................................................... 4-24 4.2.5 exit ..................................................................................................... 4-25 4.3 status level ......................................................................................................... 4-25 4.3.1 show all ............................................................................................. 4-26

v 4.3.2 log ...................................................................................................... 4-26 4.3.3 test...................................................................................................... 4-26 4.4 config level ........................................................................................................ 4-26 4.4.1 com .................................................................................................... 4-27 4.4.2 can ...................................................................................................... 4-27 4.4.3 command ........................................................................................... 4-27 4.4.4 filters .................................................................................................. 4-27 4.4.5 tunnel ................................................................................................. 4-27 4.4.6 save .................................................................................................... 4-27 4.5 config com ......................................................................................................... 4-27 4.5.1 baud ..................................................................................... 4-28 4.5.2 data bits ................................................................................ 4-28 4.5.3 parity .................................................................................... 4-28 4.5.4 stop ...................................................................................... 4-28 4.5.5 flow ...................................................................................... 4-28 4.5.6 mode .................................................................................... 4-28 4.5.7 startup delay ........................................................................ 4-28 4.6 config can .......................................................................................................... 4-28 4.6.1 baud ..................................................................................... 4-29 4.6.2 sample point ........................................................................ 4-29 4.6.3 timeout ................................................................................. 4-30 4.6.4 expert ................................................................................................. 4-30 4.6.5 FD ........................................................................................ 4-30 4.6.6 FDbaud ................................................................................ 4-30 4.6.7 FDexpert ............................................................................................ 4-30 4.7 config can expert ............................................................................................... 4-30 4.7.1 baud ..................................................................................... 4-31 4.7.2 sample point ........................................................................ 4-31 4.7.3 clkdiv ................................................................................... 4-31 4.7.4 tseg1 ..................................................................................... 4-31 4.7.5 tseg2 ..................................................................................... 4-31 4.7.6 sjw ....................................................................................... 4-31 4.8 config can FDexpert .......................................................................................... 4-32 4.8.1 FDbaud ................................................................................ 4-32 4.8.2 FDsample point ................................................................... 4-32 4.8.3 FDclkdiv .............................................................................. 4-32 4.8.4 FDtseg1 ............................................................................... 4-32 4.8.5 FDtseg2 ............................................................................... 4-32 4.8.6 FDsjw .................................................................................. 4-33 4.9 config command ................................................................................................ 4-33 4.9.1 filter ..................................................................................... 4-33 4.9.2 mode .................................................................................... 4-33 4.9.3 format .................................................................................. 4-33 4.9.4 timestamp ............................................................................ 4-33 4.9.5 eol ........................................................................................ 4-33 4.9.6 config cmd ........................................................................... 4-33 4.10 config tunnel .................................................................................................... 4-34 4.10.1 rxid size ............................................................................. 4-34 4.10.2 rxid ..................................................................................... 4-34 4.10.3 txid size .............................................................................. 4-34 4.10.4 txid ..................................................................................... 4-34

4.10.5 txFD .................................................................................. 4-34 4.10.6 lenFD ................................................................................. 4-34 4.10.7 trigger ................................................................................ 4-35 4.10.8 timer .................................................................................. 4-35 4.11 config filters .................................................................................................... 4-35 4.11.1 show all ........................................................................................... 4-35 4.11.2 std filter ......................................................................... 4-35 4.11.3 ext filter ........................................................................ 4-35 4.11.4 Setting Up Message Filters ............................................................. 4-35 4.12 config filters std #n.......................................................................................... 4-36 4.12.1 enable ................................................................................ 4-36 4.12.2 sid1 .................................................................................... 4-36 4.12.3 sid2 .................................................................................... 4-36 4.12.4 type .................................................................................... 4-36 4.12.5 reject .................................................................................. 4-36 4.12.6 limiter ................................................................................ 4-36 4.12.7 scale ................................................................................... 4-37 4.13 config filters ext #n ......................................................................................... 4-37 4.13.1 enable ................................................................................ 4-37 4.13.2 eid1 .................................................................................... 4-37 4.13.3 eid2 .................................................................................... 4-37 4.13.4 type .................................................................................... 4-37 4.13.5 reject .................................................................................. 4-37 4.13.6 limiter ................................................................................ 4-37 4.13.7 scale ................................................................................... 4-38 5. Technical Support .......................................................................................................... 5-39

1-1 1. Overview 1.1 Introduction The CAN232 FD enables the use of an RS232 COM port to send and receive CAN messages on an ISO11898 CAN or CAN FD network. The CAN232 FD can be configured to operate in either the serial command mode or the serial tunnel mode, providing the user with a choice as to the type of functionality desired. In the command mode, the CAN232 FD is capable of sending and receiving arbitrary CAN messages through the serial port, providing a complete CAN-to-232 interface. This mode also supports message filtering to limit the range of CAN identifiers that will be received. In Tunnel mode, the CAN232 FD establishes a full-duplex virtual serial link between itself and an application on another CAN node. A serial device can transparently send and receive serial stream data on the CAN232 serial line and the CAN232 will route the data over CAN to the configured target device. In previous versions of the product this feature was referred to as virtual circuit (VC) mode. The CAN232 FD operating mode and all other configuration parameters are accessed through the ‘config’ button. Pressing the button causes the CAN232 FD to enter configuration mode where it then prompts the user to modify configuration parameters. In addition to parameter configuration, the configuration mode also provides diagnostic tools. The CAN232 FD represents an evolution of the earlier CAN232 product line, providing a performance increase and enhanced features, while retaining much backward compatibility. The CAN-RS232 version is shown below. The new units are based on an ARM Cortex-M0+ 32-bit microcontroller. All device interfaces (UART, CAN) have built-in hardware buffers that allow for high-speed data flow without data loss. Hardware buffering, coupled with a fast and efficient CPU, allows each interface to operate at its maximum rated limit. The new hardware version is now equipped with an isolated CAN interface standard.

1.2 Hardware Description The following drawing shows the location and function of the LEDs. 1.3 Model Description The CAN232 FD platform has the option of DTE (male) or DCE (female) on the RS232 serial cable. It has a Male DB9 CAN connector.

1-3 1.4 CAN Network Before trying to send commands to the CAN232 FD, make sure the unit is attached to a valid CAN network with at least one other node attached and running. Without another node on the network, the CAN232 FD will attempt to transmit the message indefinitely (as per CAN 2.0A/B specifications). Make sure there are terminating resistors on the network. A terminating resistance of 120 ohms is appropriate for ISO11898 drivers. Attempts to communicate over the CAN network without terminating resistors can lead to erratic behavior and many long hours of trouble shooting. CAN ISO11898 specifies a three wire bus: CAN_H, CAN_L, and GROUND. Failure to provide a common ground between network nodes will create some weird behavior. At best, the system will appear to communicate correctly until either the weather changes, you touch something, or the date changes. CAN_H and CAN_L form a differential pair and each one must be referenced to a common ground in order to work properly. PIN Function 2 CAN-L 3 CAN-Ground 7 CAN-H

2. Getting Started 2.1 Software Installation 2.1.1 TeraTerm Install You will need an RS232 serial port and terminal emulation software in order to configure the CAN232 FD device over the serial line. For Windows platforms we recommend the Tera Term terminal emulator. You can download the software using the following link: Tera Term Install.

2-5 2.2 Hardware Installation 2.2.1 RS232 Serial Cable The table below lists the serial line data and control signals for the CAN232 FD. The RS232 interface is a 9- pin D-style connector. Male connectors are wired as DTE and female connectors are wired as DCE. CAN232 FD Signal Direction (J8) DTE DB-9 Male Pin # DCE DB-9 Female Pin # Data Out (TXD) Out (3) 3 2 Data In (RXD) In (4) 2 3 Ground (1) 5 5 CTS In (6) 8 7 RTS Out (5) 7 8 No Connection (8) 6 4 No Connection (9) 4 6 +9-32Vdc In (10) 9 9 No Connection (7) 1 1 Frame Ground (2) Shield Shield Units can be specially ordered with TTL level signals, which are connected in the same manner as the RS232 versions. Pin 9 on the DB-9 connector is shown with +9-32 VDC going to Pin 10 of J8. This is an optional method of supplying power to the device. It is not required if you use a different power source. For more details about power, see Power Options below. 2.2.2 Power Options For the CAN-232 model, power (+9-32 VDC) can be supplied through a Phoenix terminal block, through a barrel jack, through the serial cable (usually pin 9), or through the OEM option connector on the circuit board. The factory default configuration is the Barrel Jack. 2.2.3 Input Power The input power range is from 9-32VDC for the CAN-232 model. 2.2.4 OEM Options The OEM version comes without a RS232 cable. It is designed to be part of an embedded product. Instead of a cable connector, a 10-pin header is used to connect the signals to an OEM’s circuit board. The CAN signals are brought out to the OEM connector at J10. The OEM connector is a 10-pin header soldered to the bottom side of the board.

The RS232 signals are brought out to the OEM connector at J11. Power can be supplied through pin 1 and Ground is tied to pin 9. 2.2.5 Configuration Push Button Pressing the recessed push button for less than 3 seconds will put the processor into configuration mode. Pressing the recessed push button for MORE than 3 seconds will reset the unit to factory defaults. See the Configuration Mode chapter for detailed operation. 2.2.6 CAN Driver The TCAN1042 is a CAN transceiver that meets or exceeds the specifications of the ISO11898-2 (2016) High Speed CAN (Controller Area Network) physical layer standard. The device is designed for use in CAN FD networks up to 5 Mbps (megabits per second). Additionally, the device includes many protection features to enhance device and network robustness. The TCAN1042 is characterized for operation over the ambient temperature range of –40°C to 125°C.  Failsafe Outputs  Meets or Exceeds ISO 11898-2 requirements  Bus Fault Protection: ±58 V  Dominant Time-Out Function  IEC ESD Protection up to ±15 kV DOMINANT TIME-OUT A dominant time-out circuit in the TCAN1042 prevents the driver from blocking network communications if a local controller fault occurs. The time-out circuit is triggered by a falling edge on TXD. If no rising edge occurs on TXD before the time-out of the circuits expires, the driver is disabled to prevent the local node from continuously transmitting a Dominant bit. If a rising edge occurs on TXD, commanding a Recessive bit, the timer will be reset and the driver will be re-enabled. The time-out value is set so that normal CAN communication will not cause the Dominant time-out circuit to expire. FAILSAFE The supply terminals have undervoltage detection that places the device in protected mode. This protects the bus during an undervoltage event on either of the supply terminals.

2-7 THERMAL SHUTDOWN The TCAN1042 has an internal thermal shutdown circuit that turns off the driver outputs when the internal temperature becomes too high for normal operation. This shutdown circuit prevents catastrophic failure due to short-circuit faults on the bus lines. If the device cools sufficiently after thermal shutdown, it will automatically re-enable, and may again rise in temperature if the bus fault is still present. Prolonged operation with thermal shutdown conditions may affect device reliability. BUS LOADING The TCAN1042 family is specified to meet the 1.5 V requirement with a 50Ω load, incorporating the worst case including parallel transceivers. The differential input resistance of the TCAN1042 family is a minimum of 30 kΩ. If 100 TCAN1042 family transceivers are in parallel on a bus, this is equivalent to a 300Ω differential load worst case. That transceiver load of 300 Ω in parallel with the 60Ω gives an equivalent loading of 50 Ω. Therefore, the TCAN1042 family theoretically supports up to 100 transceivers on a single bus segment. However, for CAN network design margin must be given for signal loss across the system and cabling, parasitic loadings, network imbalances, ground offsets and signal integrity thus a practical maximum number of nodes is typically much lower. 2.2.7 TTL Option This CAN-232 model option allows a user to connect TTL level signals to the board through the serial interface. This option is by special order and NOT a field option.

2.3 Entering Configuration Mode 2.3.1 RS232 Interface: To view the Configuration menu, first connect the CAN232 FD serial cable to a PC running a monitor program, such as Tera Term. Set the COM port parameters to 115200, 8, 1, None. The cable should be a null-modem if the CAN232 FD is wired as DTE. 2.3.2 Config Button Press the Config button (for less than 3 seconds) located next to the cable. The config prompt should appear as ‘>’. Type ‘help’ or ? to display the possible commands and settings for each level. Whenever the CONFIG button is pressed, the COM port settings are automatically set to 115200, 8, N, 1 with no flow control in case the user forgets the configured settings. 2.3.3 Serial Command When using Command mode it’s possible to enter configuration mode using the proper command. In this case the serial parameters are left at their configured settings. This ensures that an application can smoothly change from RUN to CONFIG and back to RUN mode without needing to change COM port settings.

3-9 3. Operation The following sections describe the operation of the CAN232 FD. 3.1 CAN Command Mode In the command mode, the CAN232 FD is capable of sending and receiving arbitrary CAN messages via the use of ASCII or Binary formatted message strings (Figure 3). Figure 3 When the CAN232 FD receives a valid command message on the serial line, it converts it to a CAN message and transmits it out over the CAN network. Conversely, when a CAN message is received by the CAN232 FD, it converts it to a command message and transmits it out of the serial port. The CAN232 FD supports ten (10) CAN receive message filters each for standard IDs and Extended IDs consisting of individual IDs, ID ranges or classic ID masks. By using the masks to specify which bits of an identifier are to be compared to the filter value, the CAN232 FD is capable of selecting an arbitrary sub-set of the total possible CAN messages and rejecting all others. Thus, only desired messages will be received and the total required bandwidth of the serial link is kept to a minimum. 3.1.1 ASCII Message String Syntax Message strings are formatted as human-readable ASCII sequences that are easy to enter and read. Each message string is of variable length, depending on the number of data bytes included in the message. In order to facilitate human CAN network monitoring, there is an option to append a CR/LF sequence to each output ASCII message string. Doing so makes it much easier to watch the incoming messages on a terminal where each message is on a separate line. See Appending CR/LF To Received Command Strings on page 3-12. Messages starting with ‘|’ will generate a self-receive of the transmitted message. If the message is transmitted on CAN successfully, it will be received back on the serial line as if it had been sent from some other node. Terminating with ‘!’ instead of ‘;’ indicates the intent is a one-shot transmit. This command option is maintained in the firmware for backward compatibility with previous versions. A one-shot message is only

accepted when the mode option under command settings in configuration is set to one-shot. In this mode, no attempts to automatically retry on error will happen. This is used in time-triggered CAN protocols. All message string characters are in upper case only. Lower case characters will be interpreted as a syntax error and the message will be discarded. Identifier and data fields are treated as base-16 digits (hexadecimal). The syntax of both transmit and receive message strings are identical. There are three types of message strings: - Normal CAN messages - Remote Transmission Request CAN messages (RTR) - Report CAN error status messages (optional) As per the CAN 2.0A/B specification, RTR messages do not contain data. To support RTR messages, the syntax is modified to include an explicit single-digit length. The length field is treated as a base-10 digit and must be a single digit between 0 and 8. The CAN FD specification does not support Remote frames. 3.1.1.1 Normal CAN Message A normal CAN message consists of the identifier type (11-bit or 29-bit), identifier, CAN type, and data bytes and is encoded as follows: Normal CAN Message Syntax : … ; The first character,‘:’, is for synchronization and allows the CAN232 FD parser to detect the beginning of a command string. The following character is either ‘S’ for standard 11-bit, or ‘X’ for extended 29-bit identifier type. The ‘IDENTIFIER’ field consists of three or eight hexadecimal digits, indicating the value of the identifier. Note that if a 29-bit value is entered and an 11-bit value was specified, the command will be treated as invalid and ignored. The character ‘N’ indicates that the message is a normal (non-RTR) CAN 2.0A/B transmission. The character ‘F’ or ‘H’ indicates that the message is a normal CAN FD transmission without or with the higher data baud rate switch (BRS) respectively. Each ‘DATA-n’ field is a pair of hexadecimal digits defining the data byte to be sent. If no data is to be sent (length = zero), then the data bytes are omitted. CAN FD messages can be up to 64 data bytes in length where only lengths 0 – 8, 12, 16, 20, 24, 32, 48 and 64 are valid based on the standard. Each data byte specified must be a hexadecimal pair in order to eliminate ambiguity. The terminating character ‘;’ signals the end of the message.