6TL YAV91074 User manual

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 1
48-Channels SPDT, 2A relays
YAV91074
YAV91074CM000E04
Created 5/2014
Updated 7/26/2021

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 2
This manual is related to the following product:
Product –P/N
YAV91074
Version
03.18.01
Document History
Version
Issued date
Reason
E01
05/2014
First Release
E02
11/2015
CE Revision // Remove Packaging Chapter
E03
02/2018
Change of electrical characteristics after characterization of product
E04
02/2021
Added section 4
Hardware History
Version
Issued date
Reason
01
05/2014
First Release
02
12/2015
New design with RF isolation
03
09/2017
Improvements on relays control
Software History
Version
Issued date
Reason
01.00
04/2011
First release
07.00
05/2016
Added support for YAV91074
12.00
02/2018
Added SN write and read feature
13.00
09/2018
Added self-test feature
18.01
01/2021
Added bootloader and updated baud-rate configuration
All S.A. Sistel’s hardware and software products are covered by na-
tional and international patents and/or copyright or with pending trade
marks or patents. Any violation of the intellectual copyrights will be pros-
ecuted with all legal means available.
S.A. Sistel Solsonès, 87-89 E-08211 BARCELONA

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 3
0. Before you begin ............................................................................................................4
1. Safety...............................................................................................................................4
1.1 Precautions against damage to people......................................................................4
1.2 Precautions against damage to the product ..............................................................5
1.3 Limits of the guarantee..............................................................................................5
2. Certifications...................................................................................................................6
3. Description and main features ......................................................................................7
3.1General features........................................................................................................7
3.2 Applications ...............................................................................................................7
3.3 Ordering information..................................................................................................7
3.4 Device electrical Characteristics................................................................................8
3.5 Electric Diagram ......................................................................................................11
3.5.1 Connector X2.................................................................................................... 12
3.6 YAV boards Dimensions..........................................................................................13
4. YAV modules overview ................................................................................................14
4.1 YAV modules drivers...............................................................................................14
4.1.1 Phi6 LabVIEW driver........................................................................................ 14
4.1.2 SixTL_Driver..................................................................................................... 15
4.2 YAV modules common information..........................................................................16
4.2.1 SW1 DIP switch functionality............................................................................ 16
4.2.2 CAN bus communication speed. ...................................................................... 16
4.2.3 YAV module address........................................................................................ 16
4.3 YAV modules standard addressing & Virginia Panel Receivers ..............................17
5. Low level CAN commands...........................................................................................19
5.1 Example: Managing a YAV board using C language...............................................20
6. PHI6-Explorer panel......................................................................................................22
7. Operation.......................................................................................................................24
7.1 Outputs Activation....................................................................................................24
7.2 Soft Panel................................................................................................................24
8. Test ................................................................................................................................25
TABLE OF CONTENTS

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 4
0.Before you begin
Thank you very much for purchasing this system/module.
This manual contains the information of the characteristics, performance and usage of the system/module required for
using it.
When using the system, observe the following:
- Read this manual carefully to understand the contents well, and make the proper use of this system accordingly.
- Keep the manual safely for ready reference at any time. For basic operation of the system/module, else read
the relevant manuals carefully to understand the contents well, and then make the proper use of this system
accordingly.
1.Safety
Follow the following safety measures to avoid and prevent damaging this product, products connected to it, or people.
Only qualified and entitled
1
personnel are authorized to carry out operations of installation and routine on the devices
described in this manual. The company installing it would bear responsibility for any security or operating failure of the
lift, when such failure is due to the parameters incorrect programming.
The product described in this manual can be configured to comply with the ruling of different countries. The manufacturer
does not hold any responsibility if the company installing it does not configured it according to the legal, commercial or
security prescriptions that may be in force in the place of installation or otherwise agreed with the customer.
Should you need to access other components of the system while you are using this product, as a measure of precaution,
read the General Safety Summary in the other products manual.
1.1 Precautions against damage to people
Do not work on the product with the
power on.
To avoid electrical discharge, this product must not be handled with
the system powered on and in any case can operate without the pro-
tective covers.
The device has mobile parts that can be
in motion by operating electric or elec-
tronic control units.
Before starting any operation, make sure that there are no people who
could be affected by any moving part.
Check through-out each one of the secu-
rity devices before the unit comes into op-
eration.
Each one of the safety switches must be individually checked and,
under no circumstances, the device must remain on service without
ensuring the correct operation of the security devices.
1
The qualified staff must have proved their technical knowledge of this product and should have the corresponding accreditation.

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 5
1.2 Precautions against damage to the product
Do not insert / unplug cards or other elec-
tronic elements when powered up
The connection/disconnection of the I/O’s when plugged to the power
could produce a sequence of connections that could damage elec-
tronic components which had been previously connected to their cor-
responding reference earth.
Do not use insulation testers.
The insulation testers work at very high voltages, and are capable of
destroying the semiconductors. Under no circumstances should the
“Megger” type of testers be used between electronic systems.
Do not force the connection tag strips
The connection tag strips are connected exerting a small pressure. If
you encounter difficulty to plug them this may mean that they are up-
side down or not aligned. If they are forced, besides the damage to
the strip you can cause damages on the electronics.
Secure the ground connections quality.
All the ground connections must be star-type and with the suitable
section. Loop ground connections are potential receptor antennas
with capacity to generate important current peaks.
Use suitable packing material for trans-
portation
An electronic module with a lot of fragile components should be trans-
ported with a good protection packaging. A collision can cause dam-
ages that could appear long time after the start up.
Do not install this product near heat
sources, strong vibrations or high humid-
ity that exceeds the technical specifica-
tions.
Check that the product works without vibrations that exceed the max-
imum levels specified, and which could damage its integrity or cause
a contact to become disconnected. The product should work without
humidity and in the temperature range detailed in the technical spec-
ifications.
1.3 Limits of the guarantee
1. Products are supplied to the latest available development state at the time of manufacture. Should there be any
future changes for functional or productive improvements of the products; the manufacturer does not hold any
obligation to reprocess at no charge the products that have been already manufactured to upgrade them to the
latest versions.
2. All the products supplied by S.A. Sistel have passed all established quality controls as well as the EMC (Elec-
tromagnetic Compatibility Checks). The manufacturer cannot be held responsible for any damage produced by
defective manipulation, installation or incompatibility with other products.
3. The products’ guarantee will only be in force when the installation has been done in accordance with the tech-
nical prescriptions in this manual and the settled general standards: Low Voltage Electro Technical Regulation
(or equivalent for each country) and CE regulations for the Electromagnetic Compatibility.
4. The commutation of highly unsettling loads nearby (Frequency converters, doors operators, coils, fluorescent
lamps, contactors, etc.), require the installation of the corresponding interference suppression/reduction re-
sources and connections to earth are required
2
. If these requirements are not followed or are defectively installed
there may be severe failures in the electronic devices, for which the installing company will be held responsible.
5. All equipment under guarantee that be sent for repair must have the manufacturing label with its serial number
6. The guarantee period is years since invoicing date.
7. Device operation under thermal or voltage conditions out of technical specifications detailed in this operation
manual cancels guarantee terms.
2
RF filters on the input and output frequency converters, RC net, diodes and/or varistors in the coils, screened cables in the VVVF
motors, screened starters, etc.

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 6
2.Certifications
89/336/CEE Directive
Declaration of Conformity
S.A. Sistel declare, under his sole responsability, that the product
YAV90074–48-Channels SPDT, 2A Relays
to which this declaration relates, meets the provisions of the EU Directives listed below:
•Electro Magnetic Compatibility (EMC) directive, 2004/108/CE referreing to
•Low voltaje directive, 2006/95/CE
and therefore, the CE mark showed below is applied.
For accessories or other elements that can be connected to this product, see their corre-
sponding Declaration of Conformities
The conformity mark is given by the CE mark and the year when it was applied
Authorized by:
Representative: Jordi Batet
Title: General Manager
Company: SA Sistel - Barcelona
Barcelona, May 05th 2015
98

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 7
3.Description and main features
The YAV90074 module contents 48 SPDT Relays independent. Each relays PCB contact track is
shielded individually in order to handle very low voltage signals and audio signals with extremely low
crosstalk. The build-in power supply includes two extra filters to reduce the DC voltage ripple to the
relay coils; the control tracks have been drawnin quadrature with signal ones, reducing the inductive
coupling produced by the transient current.
The ITA side connector allows free scanner, matrix or independent relays configurations, with an
acceptable dielectric breakdown voltage of 1 kV.
3.1 General features
•48-Bipolar relays 250VAC 2A
•CAN bus control
•High density integration: Only 15 mm width
•LabVIEW drivers available
3.2 Applications
•Low voltage, sensitive Measurement and Stimulus selection unit in ATE
3.3 Ordering information
Descripción
P/N
48-SPDT Shielded relays Module
Scope of supply:
•Module P/N YAV90074
•4 Pole 3,5 mm pitch Weidmüller connector (CAN and Power supply)
YAV90074

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 8
3.4 Device electrical Characteristics
Parameter
At Te= 5 … 65ºC, unless otherwise specified
Symbol
Values
Unit
Min.
Typ.
Max.
Module Operating Parameters
Control Voltage
Vcc
18
24
32
VDC
Max. Operating current @24VDC and 25ºC
ID
76mA
200mA
430
mA
Maximum number of relays activated simultaneously
-
-
48
units
Contacts Data
Maximum switching voltage
VMax
-
-
220
250
VDC
VAC
Rated current
IR
-
2
-
A
Limit continuous current
IC
-
-
2
A
Switching power
Ps
-
-
60
62.5
W
VA
Minimum switching voltage
Vmin
100
-
-
mV
Operate time
ton
1
-
3
ms
Release time
toff
3
-
5
ms
Bounce time
tbnc
-
1
5
ms
Initial contact resistance
<50mΩat 10 mA/20 mV
Thermoelectric potential
<10mV
Module Data
Dielectric Breackdown AC
VBrk
-
-
1
kV
Terminal resistance of relays path
Total resistance of path (shortest path), i.e. K20 (Pin B20 –
PinA20)
R
-
-
6,35
mΩ
Total resistance of path (longest path), i.e. K24 (Pin B24 –
PinA24)
-
-
19,35
mΩ

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 9
Crosstalk
Worst case analysis, between K24-K23 and B32-K31
Best case analysis, K4-K3 and B44-K43

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 10

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 11
3.5 Electric Diagram

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 12
3.5.1 Connector X2
A
Description
B
Description
C
Description
D
Description
1
NC Relay K001
1
COM. Relay K001
1
NO Relay K001
1
Shield K001
2
NC Relay K002
2
COM. Relay K002
2
NO Relay K002
2
Shield K002
3
NC Relay K003
3
COM. Relay K003
3
NO Relay K003
3
Shield K003
4
NC Relay K004
4
COM. Relay K004
4
NO Relay K004
4
Shield K004
5
NC Relay K005
5
COM. Relay K005
5
NO Relay K005
5
Shield K005
6
NC Relay K006
6
COM. Relay K006
6
NO Relay K006
6
Shield K006
7
NC Relay K007
7
COM. Relay K007
7
NO Relay K007
7
Shield K007
8
NC Relay K008
8
COM. Relay K008
8
NO Relay K008
8
Shield K008
9
NC Relay K009
9
COM. Relay K009
9
NO Relay K009
9
Shield K009
10
NC Relay K010
10
COM. Relay K010
10
NO Relay K010
10
Shield K010
11
NC Relay K011
11
COM. Relay K011
11
NO Relay K011
11
Shield K011
12
NC Relay K012
12
COM. Relay K012
12
NO Relay K012
12
Shield K012
13
NC Relay K013
13
COM. Relay K013
13
NO Relay K013
13
Shield K013
14
NC Relay K014
14
COM. Relay K014
14
NO Relay K014
14
Shield K014
15
NC Relay K015
15
COM. Relay K015
15
NO Relay K015
15
Shield K015
16
NC Relay K016
16
COM. Relay K016
16
NO Relay K016
16
Shield K016
17
NC Relay K017
17
COM. Relay K017
17
NO Relay K017
17
Shield K017
18
NC Relay K018
18
COM. Relay K018
18
NO Relay K018
18
Shield K018
19
NC Relay K019
19
COM. Relay K019
19
NO Relay K019
19
Shield K019
20
NC Relay K020
20
COM. Relay K020
20
NO Relay K020
20
Shield K020
21
NC Relay K021
21
COM. Relay K021
21
NO Relay K021
21
Shield K021
22
NC Relay K022
22
COM. Relay K022
22
NO Relay K022
22
Shield K022
23
NC Relay K023
23
COM. Relay K023
23
NO Relay K023
23
Shield K023
24
NC Relay K024
24
COM. Relay K024
24
NO Relay K024
24
Shield K024
25
NC Relay K025
25
COM. Relay K025
25
NO Relay K025
25
Shield K025
26
NC Relay K026
26
COM. Relay K026
26
NO Relay K026
26
Shield K026
27
NC Relay K027
27
COM. Relay K027
27
NO Relay K027
27
Shield K027
28
NC Relay K028
28
COM. Relay K028
28
NO Relay K028
28
Shield K028
29
NC Relay K029
29
COM. Relay K029
29
NO Relay K029
29
Shield K029
30
NC Relay K030
30
COM. Relay K030
30
NO Relay K030
30
Shield K030
31
NC Relay K031
31
COM. Relay K031
31
NO Relay K031
31
Shield K031
32
NC Relay K032
32
COM. Relay K032
32
NO Relay K032
32
Shield K032
33
NC Relay K033
33
COM. Relay K033
33
NO Relay K033
33
Shield K033
34
NC Relay K034
34
COM. Relay K034
34
NO Relay K034
34
Shield K034
35
NC Relay K035
35
COM. Relay K035
35
NO Relay K035
35
Shield K035
36
NC Relay K036
36
COM. Relay K036
36
NO Relay K036
36
Shield K036
37
NC Relay K037
37
COM. Relay K037
37
NO Relay K037
37
Shield K037
38
NC Relay K038
38
COM. Relay K038
38
NO Relay K038
38
Shield K038
39
NC Relay K039
39
COM. Relay K039
39
NO Relay K039
39
Shield K039
40
NC Relay K040
40
COM. Relay K040
40
NO Relay K040
40
Shield K040
41
NC Relay K042
41
COM. Relay K042
41
NO Relay K042
41
Shield K042
42
NC Relay K042
42
COM. Relay K042
42
NO Relay K042
42
Shield K042
43
NC Relay K043
43
COM. Relay K043
43
NO Relay K043
43
Shield K043
44
NC Relay K044
44
COM. Relay K044
44
NO Relay K044
44
Shield K044
45
NC Relay K045
45
COM. Relay K045
45
NO Relay K045
45
Shield K045
46
NC Relay K046
46
COM. Relay K046
46
NO Relay K046
46
Shield K046
47
NC Relay K047
47
COM. Relay K047
47
NO Relay K047
47
Shield K047
48
NC Relay K048
48
COM. Relay K048
48
NO Relay K048
48
Shield K048

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 13
3.6 YAV boards Dimensions
YAV90164 is Form L

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 14
4.YAV modules overview
The use of YAV modules provides a real technical, economical and logistic advantage against all
other classic instrumentation solutions. YAV modules are the solution for typical practical problems
that occur while designing test platforms. They provide a considerable test system performance
increase. The minimal number of connections and wiring length reduction maintains the best quality
and integrity of the signals and provides a short assembly and wiring time.
Being a combination of hardware modules and software drivers, the implementation of the YAV
modules in your test system is very fast. When connected, the modules are immediately operative.
YAV modules make your test system very flexible, re-configurable, easy to expand and maintain.
Each module can work independently form the tester, so you can just plug each of them directly into
the ITA frame of a fixture to start debugging the software without the need of using the test platform.
While the tester is being used to test PCBAs you have the advantage to debug or build any new
configuration in a few minutes.
Can bus control has a big advantage; it provides all the control and power supply signals to power
the YAV modules with just 4 wires. Therefore, the modules can be mounted in any part of the test
system or test fixture. The Can bus transmission speed might be lower than the one available in
parallel buses, but it is at least 100 times faster than the speed needed to control all the available
functions in each of our YAV modules.
4.1 YAV modules drivers
YAV modules are directly interfaced via High-Speed CAN bus.
Drivers to control the YAV modules can be downloaded from 6TL Engineering website.
4.1.1 Phi6 LabVIEW driver
This is 6TL recommended driver, which has four versions depending on the hardware used to inter-
face with the YAVs:

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 15
Complete: you can use a NI-CAN card or a NI-XNET card. Both drivers have to be installed.
NI-CAN: Only the NI-CAN driver needed. Use any High-Speed NI-CAN interface:
- NI USB-8473: 1 port High-Speed CAN Interface.
- NI USB-8502/2 Interface (*): 1 (2) port High-Speed CAN Interface.
- NI PCI-8512/2 Interface (*): 1 (2) port High-Speed CAN Interface.
- NI PXI-8512/2 Interface (*): 1 (2) port High-Speed CAN Interface.
- NI PCI-8513/2 Interface (*): 1 (2) port Software-Selectable/FD NI-XNET CAN Interface.
- NI PXI-8513/2 Interface (*): 1 (2) port Software-Selectable/FD NI-XNET CAN Interface.
(*) With the card comes the software CD with the NI-XNET driver. Install the “Compatibility with NI-CAN option” to work
as a NI-CAN card.
NI-XNET: Only the NI-XNET driver needed, which provides connectivity to CAN networks. Use any
High-Speed NI-XNET interface:
- NI USB-8502/2 Interface: 1 (2) port High-Speed XNET Interface.
- NI PCI-8512/2 Interface: 1 (2) port High-Speed XNET Interface.
- NI PXI-8512/2 Interface: 1 (2) port High-Speed XNET Interface.
- NI PCI-8513/2 Interface: 1 (2) port Software-Selectable/FD NI-XNET CAN Interface.
- NI PXI-8513/2 Interface: 1 (2) port Software-Selectable/FD NI-XNET CAN Interface.
UDP: this driver requires the YAV90090 or the YAV90MMU to work as a CAN bridge for the YAV
modules. Does not require any NI driver to be installed.
4.1.2 SixTL_Driver
The 6TL YAV SDK (Software Development Kit) allows users to control and use YAV modules in
Microsoft Windows applications.

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 16
The SixTL_Driver.dll can be downloaded from our website, together with application examples.
Please, note that the dll requires the YAV90MMU to act as a CAN bridge for the other YAV mod-
ules.
4.2 YAV modules common information
4.2.1 SW1 DIP switch functionality
The eight switches contained in SW1 are covering the following functionalities:
•Set CAN bus speed.
•Set module address.
ON
1 2 3 4 5 6 7 8
ON=1
OFF=0
4.2.2 CAN bus communication speed.
Switches 1 and 2 set the CAN communication speed:
Select 50Kb/s to communicate with Phi6 and all 6TL modules. All devices communicating through
the CAN network must have the same speed configured to communicate properly.
ON
1 2 3 4 5 6 7 8
ON=1
OFF=0
00 = 50 kB/s
01 = 125 kB/s
10 = 100 kB/s
11 = 250 kB/s
4.2.3 YAV module address
The logic address is composed by 2 elements: the module identification and the hardware address.
The hardware address is selected by switches 3 to 8 of SW1, being 3 the least significant bit (LSB).
The module identification is contained in the module firmware and cannot be changed. There is a
different identification for each YAV module type. Therefore, modules of different module identifica-
tion can have the same hardware address.

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 17
Since there are 6 bits there are up to 64 possible addresses (from 0 to 63).
ON
1 2 3 4 5 6 7 8
ON=1
OFF=0
LSB MSB
Board Address
4.3 YAV modules standard addressing & Virginia Panel Receivers
Although the user can set any address for his modules, 6TL defines standard addressing for the
modules that are installed by default in 6TL testing platforms.
The motivation is to ease compatibility between platforms and systems and 6TL strongly recom-
mends following this standard in order to facilitate platforms setup and maintenance.
The following table shows the standard addressing for the YAV modules and 6TL products installed
in the different slots of the Virginia Panel receivers:
SW1 Address
(Binary code)
Phi6 Ad-
dress
Skeeter
S6
Gemini
10
Gemini
12
Gemini
12X
Gemini
25
MSB
LSB
00 0001
1
A1
1
A1
A1
1
00 0010
2
A2
2
A2
A2
2
00 0011
3
B1
3
A3
A3
3
00 0100
4
B2
4
A4
A4
4
00 0101
5
C1
5
B1
B1
5
00 0110
6
C2
6
B2
B2
6
00 0111
7
7
B3
B3
7
00 1000
8
8
B4
B4
8
00 1001
9
9
C1
C1
9
00 1010
10
10
C2
C2
10
00 1011
11
C3
C3
11
00 1100
12
C4
C4
12
00 1101
13
A5
13
00 1110
14
A6
14
00 1111
15
B5
15
01 0000
16
B6
16
01 0001
17
C5
17
01 0010
18
C6
18
01 0011
19
19
01 0100
20
20
01 0101
21
21
01 0110
22
22
01 0111
23
23
01 1000
24
24
01 1001
25
25

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 18
Next table shows the list of YAV modules that are installed in each of the 6TL platforms. Note that
the “Platform” column indicates whether the module is actually installed in the platform or not:
First (YAV Module Identification) and second (Phi6 Address) columns are composing the address
of the module when it is part of a 6TL testing platform.
Fourth column (YAV module) refers to 6TL’s internal code for the PCB HW used by the module.
Fifth column (Firmware name) is referring to 6TL’s internal name given to the firmware running in
the PCB HW of the module.
Sixth column (Function; Module Alias) refers to the default (and standard 6TL) name given by Phi6
to each module, depending on his function in the 6TL platform. These aliases could be changed
through Phi6 Explorer, edit Tags.
Seventh column (Platform) is informing about what platform uses what modules. A cross [X] is indi-
cating that the module is always installed as standard delivery. A cross with bar [-/X] is indicating
that that module is a potential option for that platform.
Eighth column (Module P/N) is showing the module commercial P/N of the module (Typically 8 or 9
digit number. If less numbers in the table, complete with 0’s).

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 19
5.Low level CAN commands
Following, details on all CAN messages available to manage the board

TECHNICAL MANUAL 620074E04
Due to the continuous products improvement, the indications of the present manual can be modified without previous warning and in any case are a
contract commitment. The present information publishing does not represent resignation of intellectual property or patent.
Copyright ©2009-2021 S.A. Sistel -E 08211 BARCELONA Pag. 20
5.1 Example: Managing a YAV board using C language
Following example is showing how to manage a YAV board by using NI-CAN interface and C lan-
guage.
We strongly recommend the software engineer to read NI-CAN manual for clear understanding on
how to implement the communication with YAV boards (http://www.ni.com/pdf/manu-
als/370289k.pdf)
The YAV board used for this example is YAV904X8.
/************************************************************
Example showing how to command the YAV904X8 board from a PC,
using a National Instruments NICAN interface board.
To be compiled with MS Visual C as a console application.
************************************************************/
#include <stdio.h> // Include file for printf
#include <stdlib.h> // Include file for strtol
#include <windows.h> // Include file for Win32 time functions
#include <conio.h> // Include file for _getch/_kbhit
#include <string.h>
#include "Nican.h" // Include file for NI-CAN functions and constants
/* NI-CAN handle */
NCTYPE_OBJH TxHandle=0;
/* Print a description of an NI-CAN error/warning. */
void PrintStat(NCTYPE_STATUS status, char *source)
{
char statusString[1024];
if (status != 0)
{
ncStatusToString(status, sizeof(statusString), statusString);
printf("\n%s\nSource = %s\n", statusString, source);
// close object handle, then exit.
ncCloseObject(TxHandle);
exit(1);
}
}
int main ()
{
NCTYPE_STATUS Status;
NCTYPE_CAN_FRAME Transmit;
NCTYPE_ATTRID AttrIdList[8];
NCTYPE_UINT32 AttrValueList[8];
NCTYPE_UINT32 Baudrate = 50000;
char Interface[7] = "CAN0";
int ch;
/* Configure the CAN Network Interface Object */
AttrIdList[0] = NC_ATTR_BAUD_RATE;
AttrValueList[0] = Baudrate;
AttrIdList[1] = NC_ATTR_START_ON_OPEN;
AttrValueList[1] = NC_TRUE;
AttrIdList[2] = NC_ATTR_READ_Q_LEN;
AttrValueList[2] = 0;
AttrIdList[3] = NC_ATTR_WRITE_Q_LEN;
AttrValueList[3] = 1;
AttrIdList[4] = NC_ATTR_CAN_COMP_STD;
AttrValueList[4] = 0;
AttrIdList[5] = NC_ATTR_CAN_MASK_STD;
AttrValueList[5] = NC_CAN_MASK_STD_DONTCARE;