Analytica GmbH AnaGate CAN duo User manual

AnaGate CAN duo
User Manual
Analytica GmbH
A. Schmidt, Analytica GmbH

AnaGate CAN duo: User Manual
Analytica GmbH
by A. Schmidt
This document was generated with DocBook at 2014-10-31 12:47:08.
PDF-Datei (dtsch.): AnaGate-CAN-duo-1.8.pdf
PDF-Datei (engl.): AnaGate-CAN-duo-1.8-EN.pdf
Publication date 09. Juni 2014
Copyright © 2007-2014 Analytica GmbH
Abstract
This manual describes the interfaces and modes of operation of a AnaGate CAN duo.
All rights reserved. All the information in this manual was compiled with the greatest of care. However, no warranty
can be given for it.
No parts of this manual or the program are to be reproduced in any way (printing, photocopying, microfilm or any
other process) without written authorisation. Any processing, duplication or distribution by means of any electronic
system is also strictly prohibited.
You are also advised that all the names and brand names of the respective companies mentioned in this documentation
are generally protected by brand, trademark or patent laws.
Analytica GmbH
Vorholzstraße 36
76137 Karlsruhe
Germany
Fon [phone]
Fax [phone]
<[email protected]>
www.analytica-gmbh.de [http://www.analytica-gmbh.de]
www.anagate.de [http://www.anagate.de]
Revision History
Revision
1.0
08.02.2008 Uwe Initial version
Revision
1.1
23.07.2008 Uwe Integration AnaGate CAN duo
Revision
1.2
17.04.2009 ASc Integration AnaGate CAN quattro
Revision
1.3
18.05.2009 ASc Description Firmware-Update added
Revision
1.4
10.08.2010 ASc Manual changed to DocBook format
Revision
1.5
05.10.2011 ASc New option Boot with operational mode on web configuration page CAN
settings (FW 1.3.16).
Revision
1.6
14.08.2013 ASc Description of advanced unit settings on web configuration page
Advanced settings (FW 1.3.19) and the informational Status page.
Revision
1.7
22.05.2014 ASc Support of CANopen Conformance Test Tool of the CiA.
Revision
1.8
09.06.2014 ASc Description of the new network parameters Name Server and Local
Domain.

iii © 2007-2014 Analytica GmbH
Table of Contents
Introduction ........................................................................................... vii
1. Description ........................................................................................... 1
1.1. Features ..................................................................................... 1
1.2. Specification ................................................................................ 2
1.3. Scope of delivery ......................................................................... 2
1.4. Interfaces and plugs ..................................................................... 3
2. Configuration ........................................................................................ 5
2.1. Initial installation ......................................................................... 5
2.2. Network settings .......................................................................... 6
2.3. CAN settings ............................................................................... 7
2.4. Advanced settings ........................................................................ 8
2.5. Device status .............................................................................. 9
2.6. Functional extensions based on Lua .............................................. 11
2.7. Digital IO .................................................................................. 13
2.8. Factory reset ............................................................................. 14
2.9. Firmware update ........................................................................ 15
3. Fields of application ............................................................................. 17
3.1. Gateway mode ........................................................................... 17
3.2. Bridge mode .............................................................................. 18
3.3. CANopen Conformance Test Tool .................................................. 20
A. FAQ - Frequently asked questions .......................................................... 21
B. Technical support ................................................................................ 25
Abbreviations .......................................................................................... 26
Bibliography ........................................................................................... 27

iv © 2007-2014 Analytica GmbH
List of Figures
1.1. Front view, AnaGate CAN duo .............................................................. 3
1.2. AnaGate CAN duo, back panel .............................................................. 4
2.1. HTTP interface, AnaGate CAN duo ......................................................... 5
2.2. HTTP interface, network settings .......................................................... 6
2.3. HTTP interface, CAN settings ................................................................ 7
2.4. HTTP interface, CAN settings ................................................................ 9
2.5. HTTP interface, Status ....................................................................... 10
2.6. HTTP interface, Lua settings ............................................................... 12
2.7. Pin layout, digital IO plug .................................................................. 13
2.8. AnaGate CAN Gateway, Example blinking output ................................... 15
2.9. HTTP interface, AnaGate CAN duo ....................................................... 15
2.10. HTTP interface, firmware update ....................................................... 16
3.1. AnaGate CAN Gateway in gateway mode ............................................. 17
3.2. AnaGate CAN Gateway in bridge mode ................................................ 18
3.3. Bridge mode: Setting for device which initiates the bridge (here AnaGate
CAN uno) ............................................................................................... 19

v © 2007-2014 Analytica GmbH
List of Tables
1.1. Technical data, AnaGate CAN duo ......................................................... 2
1.2. Pin layout, CAN plug ........................................................................... 3
A.1. Using AnaGate hardware with firewall .................................................. 22

vi © 2007-2014 Analytica GmbH
List of Examples
3.1. Settings.ini ....................................................................................... 20

vii © 2007-2014 Analytica GmbH
Introduction
This document describes the features and objectives of the CAN-Ethernet gateway
AnaGate CAN duo.
This device is part of a product line, whose single devices only differ in the number
of CAN interfaces and/or the device case.
In this manual the term AnaGate CAN Gateway is uniformly used, if no specific model
is addressed or it is not necessary to differentiate. Otherwise the full product name
is used, like AnaGate CAN USB, AnaGate CAN uno, AnaGate CAN duo, AnaGate CAN
quattro, AnaGate CAN X2, AnaGate CAN X4 or AnaGate CAN X8.

1 © 2007-2014 Analytica GmbH
Chapter 1. Description
The AnaGate CAN Gateway connects a PC, an embedded PC or an other general
device to one or more CAN busses via the TCP/IP network protocol. It basically works
as a CAN master with no own CAN identifier on the bus.
For this reason the AnaGate CAN duo provides an ethernet interface and two
independent electrically isolated CAN interface.
Controlling and configuration of an AnaGate CAN Gateway is made through TCP/IP.
The application protocol itself is described in detail (see [TCP-2010]). Thus the access
to the device can be programmed via native calls to the TCP/IP socket interface. This
means that any communication partner with a LAN interface is able to communicate
to the device. Accessing the device with the supplied application libraries for Windows
and Linux is much comfortable. The libraries includes the entire range of device
functions and can be used with conventional programming languages.
In bridge mode the AnaGate CAN Gateway can interconnect two physically
independent CAN networks via LAN/Ethernet (LAN bridge mode). With the coupling
over LAN/Ethernet it is possible to connect separate CAN buses with different baud
rates over long distances.
Note
The AnaGate CAN duo, AnaGate CAN quattro, AnaGate CAN X2, AnaGate
CAN X4 and AnaGate CAN X8 can additionally interconnect two internal
CAN interfaces. The AnaGate CAN uno do not support this so called
internal bridge mode.
1.1. Features
• The AnaGate CAN duo can send and receive CAN messages via both existing
CAN interfaces independantly. This can be done using a device that supports TCP
sockets (like a personal computer or a PLC).
• Variable CAN bus speed per interface (10, 20, 50, 62.5, 100, 125, 250, 500, 800
or 1000 kbps).
• Software configurable bus termination for each CAN interface.
• Two different plugs for voltage supply.
• System is addressed using a proprietary network protocol.
• Static or dynamic assignment (DHCP) of IP address.
• 4 digital inputs and outputs, which can be accessed via LAN/Ethernet
• Several simultaneous network connections (5x TCP and 1x UPD) are supported on
each existing CAN interface.
• Coupling of two independent CAN networks via LAN/internet bridge over two
seperate devices. All devices of the AnaGate product line except the AnaGate CAN
USB support this feature.

Description
2 © 2007-2014 Analytica GmbH
• Coupling of two independent CAN networks via the internal CAN/CAN bridge (not
possible for AnaGate CAN uno and AnaGate CAN USB).
1.2. Specification
Technical aspect Specfication
Desktop casing 155mm x 105mm x 40mm , fixable on DIN
rail with optional adapter kit
Measurements
Weight approx. 295g
Baud rate 10, 20, 50, 62.5, 100, 125, 250, 500, 800 or
1000 kbps, software configuration
CAN controller 2x Microchip MCP 2515
CAN interface 2x ISO 11898-2, galvanic decoupled
CAN bus
Interface 2x DB9 plug incl. CAN_H, CAN_L and GND
Inputs 4, galvanic decoupled (3,3 – 24V)Digital IO
Outputs 4, galvanic decoupled, 3,3 – 24V (Itotal max =
0,5A)
Baud rate 10/100 Mbps
TCP/IP Static or dynamic (DHCP) IP address
LAN interface
Interface RJ45 socket
Voltage VInput=9-28V direct currentVoltage supply
Power consumption max. 350 mA (9V) without plugged USB
consumers
Storage 0 .. 85 °CAmbient
temperature In operation 0 .. 60 °C (industrial version: -20 .. 70°C)
Table 1.1. Technical data, AnaGate CAN duo
Note
Protect the AnaGate CAN Gateway from direct sunlight.
1.3. Scope of delivery
The AnaGate CAN Gateway is supplied with the following components:
• 1x AnaGate CAN duo
• 1x CD with manual, programming API for Windows/Linux and CANopen driver for
CANFestival
• 1x 1,8 m Cat. 5 LAN cable (standard, not crossed)
• 1x 10 pole plug connector (for digital IO)
• 1x 2 pole plug connector (for external power supply)

Description
3 © 2007-2014 Analytica GmbH
• 1 x plug-in power supply unit, compatible with country of delivery: EU, US or UK.
1.4. Interfaces and plugs
1.4.1. AnaGate CAN duo - front view
Figure 1.1. Front view, AnaGate CAN duo
The front panel of the AnaGate CAN Gateway features for each existing CAN interface,
the following connectors and LEDs (from left to right):
Activity LED This green LED lights up on activity on the relevant CAN line.
CAN port 9 pole D-Sub plug to connect the CAN bus (CiA recommondation
DS 102).
The pin allocation of the plug can be inferred from the following
table.
Pin Description
3 GND
2 CAN_L
1,4-6,8,9 not connected
7 CAN_H
Table 1.2. Pin layout, CAN plug

Description
4 © 2007-2014 Analytica GmbH
1.4.2. AnaGate CAN duo - rear view
Figure 1.2. AnaGate CAN duo, back panel
The rear panel of the AnaGate CAN Gateway features the following connectors and
LEDs (from left to right):
Power LED This green LED lights up when voltage is being supplied.
Power supply The AnaGate CAN Gateway can be power supplied in two different
ways.
For the use as desktop device the barrel connector socket is
intended, in order to supply the device via a plug power supply
For the use in a switchboard the two-pole Wago clamping socket can
be used to connect an external power supply.
Warning
Be sure to use only one power supply.
LAN Via the RJ45 socket the AnaGate CAN Gateway is connected with
the Ethernet. The device can be connected to a network component
like a hub or a switch. For a direct connection to a PC a crossover
network cable has to be used.
USB Hosts The AnaGate CAN Gateway has two USB 1.1 interfaces for further
extensions or customer specific solutions.
Digital IO The AnaGate CAN Gateway has 4 digital inputs and 4 digital outputs
which can be used freely. The digital io are galvanically decoupled
from the device and must be externally power supplied from 3,3V
to 24V (see Section 2.7, “ Digital IO”).
Reset The AnaGate CAN Gateway can be reset to the factory settings using
this button (see Section 2.8, “ Factory reset” for further details).
Activity LED This yellow LED lights up when the AnaGate CAN Gateway is
processing incoming CAN messages.

5 © 2007-2014 Analytica GmbH
Chapter 2. Configuration
2.1. Initial installation
First the AnaGate CAN Gateway must be supplied via the power plug with a tension
from 9 to 24 V.
Insert the included LAN cable into the plug labelled LAN and connect it either to a
hub or switch. If connecting directly to a PC use a crossover LAN cable (not in scope
of delivery) instead of the included LAN cable.
2.1.1. Factory settings
The AnaGate CAN Gateway is delivered with the following initial network settings:
IP address 192.168.1.254
Address type static
Network mask 255.255.255.0
Gateway 192.168.1.1
The device can now be configured using a standard browser (Internet Explorer,
Firefox, etc.) by using http://192.168.1.254 .
Figure 2.1. HTTP interface, AnaGate CAN duo
Note
The PC used for the configuration must be in the 192.168.1.x network.
The static IP address 192.168.1.2 with the subnet mask 255.255.255.0

Configuration
6 © 2007-2014 Analytica GmbH
can be e.g. used. If neccessary the settings of the network interface on
the configuration pc has to be changed temporarily.
2.2. Network settings
On the page IP Settings the following settings can be changed.
DHCP Here you can switch between static IP and dynamic (via DHCP)
addresses. If DHCP is being used, the remaining fields are ignored,
because this information is retrieved from the DHCP server.
In this case, a DHCP server must be available and accessible in the
network.
IP address The IP address of the AnaGate CAN Gateway is entered in dot format
(e.g. 192.168.1.200).
Subnet mask The subnet mask is entered in dot format (e.g. 255.255.255.0).
Gateway The default gateway is entered in dot format (e.g. 192.168.1.1).
Leave blank or enter 0.0.0.0 if a default gateway is not required.
Name Server The IP adress of a name server, which resolves domain names (in
dot format). If a name server is set, the end point of a IP bridge can
be entered as domain name (see Section 2.3, “ CAN settings”).
Local domain Local domain name. Most queries for names within this domain can
use short names relative to the local domain in the end point field
of a CAN/IP bridge. The domain part is taken to be everything after
the first '.'. Is xyz.local the local domain name, the short name
dest will extended to dest.xyz.local.
Figure 2.2. HTTP interface, network settings

Configuration
7 © 2007-2014 Analytica GmbH
The inputs will be taken over immediately after clicking the button Save settings
and saved permanently on the AnaGate CAN Gateway . A restart of the device is not
necessary for activation of the settings.
Note
Maybe the ARP cache of the PC has to be deleted to find the device with
the changed IP address.
2.3. CAN settings
On the page CAN Settings the global settings for all existing CAN interfaces are
displayed and can be changed individually.
Figure 2.3. HTTP interface, CAN settings
Baudrate The baud rate can be selected easily via a list box
containing all supported values.
Termination Use the check box to switch on/off the internal
termination resistor.
High Speed Activates/deactivates the Highspeed mode. In this
operating mode all incoming/outgoing CAN telegrams
are not longer confirmed by the opposite LAN side to
accelerate process throughput. Software-Filters are
switched off too in this mode.

Configuration
8 © 2007-2014 Analytica GmbH
Boot with operational mode Initial operating mode of the CAN controller. Default
value is offline.
offline The CAN controller is not active on the
CAN bus (offline).
normal Normal operating mode. The default
setting of CAN baud rate is used.
listen In listen mode the CAN controller is
passive. CAN messages are received, but
no messages can be sent (no ACK, no
error). The default setting of CAN baud
rate is used.
loopback In loopback mode every sent CAN
message is mirrowed back by the CAN
controller (no ACK, no errors). The default
setting of CAN baud rate is used.
A more detailed description of the operating modes
can be found in the data sheet of the CAN controller
(Microchip MCP2515).
Bridge Activates/deactivates the bridge mode (see
Section 3.2, “ Bridge mode”).
to IP IP address of the partner device, to which a
connection (bridge) is to be made. The IP address has
to be entered in dot notation. A domain name can
be entered only if a name server is entered in the IP
settings (see Section 2.2, “ Network settings”). (only
Bridge Modus).
at Port Port of the partner device, to which a connection
(bridge) is to be made (only Bridge Modus).
Remote-Baudrate Baudrate of the partner device, to which a connection
(bridge) is to be made (only Bridge Modus).
Remote-Termination Terminierung of the partner device, to which a
connection (bridge) is to be made (only Bridge
Modus). On destination devices, which can not
software-configure the CAN bus termination (like the
CAN X2/X4/X8), this setting is ignored.
The inputs will be taken over immediately after clicking the button Save settings
and saved permanently on the AnaGate CAN Gateway. A restart of the device is not
necessary for activation of the settings.
2.4. Advanced settings
On the page CAN Settings the advanced settings of the unit are displayed and can
be changed individually.

Configuration
9 © 2007-2014 Analytica GmbH
Figure 2.4. HTTP interface, CAN settings
Reception timer interval This value specifies the frequency which is used
to examine if new CAN telegrams are available in
the internal driver buffer. The more frequently this
examination is done, the shorter is the latency of
the re-transmission of the CAN data via ethernet. On
the other hand, its maximum message throughput is
decreased.
The interval is defined in micro seconds, default value
is 3000. To give control immediately to the firmware
after a CAN telegram is received by the CAN driver,
the value 0 has to be set.
The inputs will be taken over immediately after clicking the button Save settings
and saved permanently on the AnaGate CAN Gateway. A restart of the device is not
necessary for activation of the settings.
2.5. Device status
On the page Status the device dependand status information is shown.

Configuration
10 © 2007-2014 Analytica GmbH
Figure 2.5. HTTP interface, Status
TCP Receive Number of via TCP/UDP received CAN messages (CAN
firmware)
TCP Transmit Number of via TCP/UDP transmitted CAN messages (CAN
firmware)
CAN Receive Number of received CAN messages (CAN bus, CAN driver)
CAN Transmit Number of transmitted CAN messages (CAN bus, CAN driver)
CAN Discard • Timeout sending CAN telegram (1s)
This indicates that no active partner is connected to the
CAN bus (no ACK received). Also a wrong baud rate or
missing termination can cause this error.
• A CAN telegram received from CAN bus is discared because
the receive buffer is full (600 entries)
This happens when the CAN firmware does not read
telgrams fast enough out of the driver receive buffer. This
may be the case even if CAN telegrams routed via TCP/UPD
can not received fast enough by the connected ethernet
client(PC,PLC) because of load problems (e.g. full receive
TCP buffers).

Configuration
11 © 2007-2014 Analytica GmbH
• The firmware discards outgoing CAN telegrams because
the send buffer is running full (1000 entries)
This happens when CAN telegrams are not sent fast enough
successfully to CAN bus. This may be a resultant problem
of timeouts during transmission or of overloading the CAN
bus concerning the current used baud rate.
CAN Receive Error Register Rx-Err-Count of the CAN-Transceiver
CAN Transmit Error Register Tx-Err-Count of the CAN-Transceiver
Network Error TCP/UPD transmit error (CAN firmware)
After clicking the button Clear all saved diagnosis entries are deleted on the device.
To reset the system counters the device must be switched off.
2.6. Functional extensions based on Lua
On an AnaGate CAN duo it is possible to execute self-created applications with an
installed Lua script interpreter (see [Prog-2013] for a detailed description of all
programming features).
On the page Lua Lua script files can be uploaded to the device and executed locally.

Configuration
12 © 2007-2014 Analytica GmbH
Figure 2.6. HTTP interface, Lua settings
Browse... Opens a file upload dialog to select a Lua script file.
Upload Uploads the selected script file to the device.
Clear Clears the current script file selection.
Boot script Script file executed on system startup. Via the button Delete
the boot script can be deactivated. Only one boot script is
allowed.
Running script Displays the currently executing script file. Via the button
Stop the execution can be cancelled.
Available scripts Displays all scripts which are currently available on the
device.

Configuration
13 © 2007-2014 Analytica GmbH
To start the execution of a script click on the button Start.
Via button Delete a script can be deleted on the device and
via Boot a script can be defined as boot script.
script output area In this text area the standard output (stdout) of the currently
executing script is displayed. Via the button Clear this text
area can be cleared.
error output area In this text area the standard error output (stderr) of the
currently executing script is displayed. Via the button Clear
this text area can be cleared.
Tip
The text areas for script and error output are not refreshed automatically.
A manual page reload of the current page refreshes both text areas.
2.7. Digital IO
2.7.1. Pin layout of plug
Over the 10-pole pin row on the back of the AnaGate CAN Gateway four digital inputs
and four digital outputs are led out, which can be used freely. Since the IO's are
electrically isolated from the device, they must be separately supplied via the pins
1 us 2 with a voltage by 3,3V - 24V DC.
Figure 2.7. Pin layout, digital IO plug
2.7.1.1. Connecting the digital inputs
At the inputs IN1 to IN4 any external voltage between VCC and GND can be applied.
As soon as the voltage difference between INx and GND is more than 1.0 V, the
AnaGate CAN Gateway interprets the input as logically HI otherwise LOW.
2.7.1.2. Connecting the digital outputs
The outputs are implemented as open collector drivers. If a output is active, it is
pulled down to GND. In the inactive condition the output is floating.
In principle the maximum current of each individual output is 400mA. For thermal
reasons is the sum of all output currents is limited to 500mA. The outputs not short-
circuit proofed, and must be protected with a pre-resistor.