Analytica AnaGate CAN FX2 User manual

AnaGate CAN FX2
User Manual
Analytica GmbH
A. Schmidt, Analytica GmbH

AnaGate CAN FX2: User Manual
Analytica GmbH
by A. Schmidt
PDF-Datei (deutsch): AnaGate-CAN-FX2-1.0.pdf
PDF-Datei (english): AnaGate-CAN-FX2-1.0-EN.pdf
Publication date March 22nd, 2022
Copyright © 2007-2022 Analytica GmbH
Abstract
This manual describes the modes of operation and interfaces of the AnaGate CAN FX2.
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
Bannwaldallee 60
76185 Karlsruhe
Germany
Fon [phone]
Fax [phone]
<[email protected]>
www.analytica-gmbh.de
www.anagate.de
Revision History
Revision
1.2
22.03.2022 ELa Extended description of the bus termination
Revision
1.1
18.11.2021 ELa New product images
Revision
1.0
30.03.2020 ELa Initial version

iii © 2007-2022 Analytica GmbH
Table of Contents
Introduction ............................................................................................ vii
1. Description ........................................................................................... 1
1.1. Features ..................................................................................... 1
1.2. Specification ................................................................................ 2
1.3. Scope of delivery ......................................................................... 3
1.4. Interfaces and connections ............................................................ 3
2. Configuration ........................................................................................ 6
2.1. Initial installation ......................................................................... 6
2.2. Network settings .......................................................................... 7
2.3. WLAN settings ............................................................................. 9
2.4. CAN settings .............................................................................. 11
2.5. Advanced settings ...................................................................... 14
2.6. Save/Reset settings .................................................................... 15
2.7. Device status ............................................................................. 16
2.8. Firmware update ........................................................................ 17
2.9. Functional extensions based on Lua .............................................. 19
2.10. Analog IO ................................................................................ 20
2.11. Factory reset ........................................................................... 20
3. Use cases ........................................................................................... 22
3.1. Gateway mode ........................................................................... 22
3.2. Bridge mode .............................................................................. 23
3.3. CANopen Conformance Test Tool .................................................. 24
A. FAQ - Frequently asked questions .......................................................... 26
B. Technical support ................................................................................ 30
Abbreviations .......................................................................................... 31
Bibliography ............................................................................................ 32

iv © 2007-2022 Analytica GmbH
List of Figures
1.1. Top view AnaGate CAN FX2 ................................................................. 3
2.1. Web interface, AnaGate CAN F series .................................................... 7
2.2. Web interface, Network settings ........................................................... 8
2.3. Web interface, WLAN settings .............................................................. 9
2.4. AnaGate CAN F4 with WLAN-USB adapter ............................................ 11
2.5. Web interface, CAN settings ............................................................... 12
2.6. Web interface, Advanced settings ........................................................ 14
2.7. Web interface, Save/Reset settings ..................................................... 15
2.8. Web interface, Status ........................................................................ 16
2.9. Web interface, Firmware update ......................................................... 18
2.10. Web interface, Lua settings .............................................................. 19
2.11. AnaGate CAN Gateway, Example flash sequence .................................. 21
3.1. AnaGate CAN Gateway in gateway mode ............................................. 22
3.2. AnaGate CAN Gateway in bridge mode ................................................ 23

v © 2007-2022 Analytica GmbH
List of Tables
1.1. Technical data, AnaGate CAN FX2 ......................................................... 2
1.2. Pin out, CAN socket, upper connector strip ............................................ 4
1.3. Pin layout, CAN socket, lower connector strip ......................................... 5
A.1. AnaGate ports .................................................................................. 27

vi © 2007-2022 Analytica GmbH
List of Examples
3.1. Settings.ini ....................................................................................... 25

vii © 2007-2022 Analytica GmbH
Introduction
This document describes the functionality and features of the CAN FD-Ethernet
gateway AnaGate CAN FX2.
This device is part of a product line, whose single device types mostly differ in the
number of CAN interfaces and/or the device case. The differences are described by
referring to a specific device in the series.
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, such as AnaGate CAN USB, AnaGate CAN uno, AnaGate CAN duo, AnaGate
CAN quattro, AnaGate CAN X2, AnaGate CAN X4, AnaGate CAN X8, AnaGate CAN
FX2, AnaGate CAN FX4, AnaGate CAN FZ8, AnaGate CAN FX8, AnaGate CAN FZ16,
AnaGate CAN FZ16C4, AnaGate CAN F2, AnaGate CAN F4 or AnaGate CAN F8.

1 © 2007-2022 Analytica GmbH
Chapter 1. Description
The AnaGate CAN Gateway connects a PC, an embedded device or other general
devices to one or more CAN buses via the TCP/IP network protocol. It can function
both as an active CAN bus participant and as a passive receiver.
For this purpose, the AnaGate CAN FX2 provides an Ethernet interface and two
electrically isolated CAN FD interfaces.
The AnaGate CAN Gateway is controlled and configured via a proprietary protocol
based on TCP/IP. This protocol is described in detail (see [TCP-2010]). Free
application libraries are available for devices with Windows or Linux operating
systems. The entire range of functions of the individual devices can be integrated
into application programs with these libraries.
In the bridge mode, the AnaGate CAN Gateway can connect two physically
independent CAN networks via LAN/Ethernet (LAN bridge mode). This coupling
allows the connection of separate CAN buses with different baud rates.
Note
The AnaGate CAN duo, AnaGate CAN quattro, AnaGate CAN X2, AnaGate
CAN X4, AnaGate CAN X8, AnaGate CAN FX2, AnaGate CAN FX4, AnaGate
CAN FX8, AnaGate CAN F2, AnaGate CAN F4, AnaGate CAN F8, AnaGate
CAN FZ8, AnaGate CAN FZ16 and AnaGate CAN FZ16C4(within a core
unit) can also connect two internal CAN interfaces. The AnaGate CAN uno
does not support this internal bridge mode.
Important
It is also possible to bridge a CAN FD network to a CAN network. However,
it is important to note that CAN telegram data sent from CAN FD networks
to CAN networks may be lost, since standard CAN supports only telegrams
with a maximum of 8 data bytes.
1.1. Features
• The AnaGate CAN FX2 can send and receive CAN/CAN FD messages via two
independent CAN FD interfaces. The device can be controlled with a socket-
compatible device (e.g. a PC or PLC).
• Each CAN FD interface can be operated individually with CAN 2.0 baud rates 20,
50, 62.5, 100, 125, 250, 500, 800 or 1000kbit/s and with CAN FD data baud rates
0.5, 1, 2, 4, 5 or 8Mbit/s. User defined baud rates are also possible.
• DIP switchable bus termination for each CAN FD interface. The bus termination
cannot be set via software.
• The Power over Ethernet variant can alternatively be supplied via PoE/PoE+.
• Communication via a proprietary network protocol.
• Static or dynamic (DHCP) assignment of the IP address.

Description
2 © 2007-2022 Analytica GmbH
• Four analog inputs and four analog outputs are available, which can be accessed
via Ethernet.
• Several simultaneous network connections (5x TCP and 1x UPD) are supported to
each CAN FD interface.
• Coupling of two independent CAN networks via LAN bridge with two separate
AnaGate CAN Gateways. All devices of the AnaGate product line, except for the
AnaGate CAN USB, support this feature. CAN FD is only supported by the AnaGate
CAN F-series.
• The internal bridge mode allows each CAN FD interface to be logically connected
to one of the other CAN FD interfaces.
1.2. Specification
Technical aspect Specification
Processor Dual ARM Cortex A9 (1GHz)
Memory 512MB RAM, 4GB eMMC Flash
System
Operating system Linux
DIN rail casing 125mm x 127.5 mm x 51mm (WxLxH)Measurements
Weight approx. 250g
Baud rate 20 to 1000kbit/s (0.5 to 8Mbit/s CAN FD data
baud rate), adjustable via software
CAN controller MCP2518FD
CAN interface 2x ISO 11898-2, electrically isolated, CAN FD
ISO or non-ISO
CAN bus
Interface 2x pluggable clamp (4-pole, pitch 3.81mm)
with CAN_H, CAN_L and GND
Inputs 4 (0-24V, RI≈500kΩ)Analog IO
Outputs14 (0.5V-min(24.5V;VSupply), Imax=250mA)
Baud rate 10/100/1000 Mbps
TCP/IP Static or dynamic (DHCP) IP address
LAN interface
Interface RJ45 socket
Voltage2VSupply=9-28V direct current, or optionally
via PoE/PoE+
Power supply
Power consumption about 5W (without USB or I/O devices)
Storage -40 .. 85 °CAmbient
temperatures In operation -20 .. 70 °C3
1Protected by a resettable fuse.
2The integrated resettable fuse resets at 1250mA (25°C). If high ambient temperatures are expected, a
sufficiently high VSupply must be provided (see Section 2.1, “Initial installation”).
3After triggering the overtemperature protection, any further communication is disabled (except error
codes from CANOpenDevice/OP_ANAGATE_CAN_OPEN_REQ) and the device must be power cycled.
Table 1.1. Technical data, AnaGate CAN FX2

Description
3 © 2007-2022 Analytica GmbH
1.3. Scope of delivery
The AnaGate CAN Gateway is supplied with the following components:
• 1x AnaGate CAN FX2
• 2x 4 pole plug connector with screw terminals for analog IO
• 1x 2 pole plug connector with screw terminals for external power supply
• 2x 4 pole plug connector with screw terminals for CAN interface
1.4. Interfaces and connections
1.4.1. AnaGate CAN FX2
Figure 1.1. Top view AnaGate CAN FX2
The upper connector row of the AnaGate CAN FX2 features the following connectors
and LEDs (from left to right):
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. Devices with the optional PoE/PoE
+ feature can use this socket for the power supply, if they are
connected to a PoE/PoE+ capable network component.

Description
4 © 2007-2022 Analytica GmbH
Analog IO The AnaGate CAN Gateway has 4 analog inputs and 4 analog
outputs1. The IOs are not electrically isolated from the device and
are supplied by the external power supply (see Section 2.10, “Analog
IO”).
Power supply The two pole clamping socket can be used to connect an external
power supply. The integrated resettable fuse resets at 1250mA
(25°C). If high ambient temperatures are expected, a sufficiently
high VSupply must be provided (see Section 2.1, “Initial installation”).
CAN 1 ACT LED This green LED lights up when sending and receiving CAN
messages.
ERR LED This red LED lights up during startup or if at least one error
counter exceeds the limit value of 95 for the warning
status.
CAN 4 pole clamping socket to connect the CAN bus.
Pin Description
1 GND
2 CAN_L
3 not connected
4 CAN_H
Table 1.2. Pin out, CAN socket, upper
connector strip
Term This switch enables or disables the integrated CAN
bus termination for the respective CAN port. The bus
termination cannot be set via software.
The lower connector row features the following connectors and LEDs (from left to
right):
Power LED This LED lights up constantly green, when the power supply is stable.
Active LED During an IP output or a factory reset, this LED flashes yellow (see
Section 2.11, “Factory reset”).
Reset Pushing this button resets the AnaGate CAN Gateway to factory
settings (see Section 2.11, “Factory reset”).
USB OTG,
USB Host
Two USB 2.0 interfaces(1x OTG, 1x Host) are available for future
extensions or customer specific solutions.
CAN 2 Term This switch enables or disables the integrated CAN bus
termination for the respective CAN port. The bus termination
cannot be set via software.
CAN 4 pole clamping socket to connect the CAN bus.
1protected by a fuse, see specification

Description
5 © 2007-2022 Analytica GmbH
Pin Description
1 GND
2 CAN_L
3 not connected
4 CAN_H
Table 1.3. Pin layout, CAN socket, lower
connector strip
ACT LED This green LED lights up when sending and receiving CAN
messages.
ERR LED This red LED lights up during startup or if at least one
error counter exceeds the limit value of 95 for the warning
status.

6 © 2007-2022 Analytica GmbH
Chapter 2. Configuration
2.1. Initial installation
First, the AnaGate CAN Gateway must be supplied with a voltage between 9V and
24V.
Important
The AnaGate CAN F series products have a resettable fuse installed, which
resets at 1250mA (25°C). If high ambient temperatures are expected, a
sufficiently high VSupply must be provided, since the fuse triggers earlier
at higher temperatures. A supply voltage of 24V is recommended in such
cases.
Insert a LAN cable into the plug labeled LAN and connect it either to a hub or switch.
If connecting directly to a PC, use a crossover LAN cable instead.
2.1.1. Factory settings
The AnaGate CAN Gateway has the following initial settings:
IP address 192.168.1.254
Address type static
Network mask 255.255.255.0
Gateway 192.168.1.1
Web login password password
The device can now be configured with a browser (Firefox, Chrome, etc.) by going
to http://192.168.1.254 .
The web interface is protected with a password (factory setting: "password"), which
should be changed on the "Save/Reset Settings" page (see Section 2.6, “Save/Reset
settings”). The local access can be locked again by clicking the menu item "Logout"
or by closing the browser completely.

Configuration
7 © 2007-2022 Analytica GmbH
Figure 2.1. Web interface, AnaGate CAN F series
Note
The PC used for the configuration must be in the 192.168.1.x network.
For example, the static IP address 192.168.1.2 with the subnet mask
255.255.255.0 can be used. If necessary, the settings of the network
interface on the connected PC have to be changed temporarily.
2.2. Network settings
On the page IP Settings the following settings can be changed:

Configuration
8 © 2007-2022 Analytica GmbH
Figure 2.2. Web interface, Network settings
DHCP Here you can switch between static IP and dynamic (DHCP)
addresses. If DHCP is being used, the remaining fields are ignored,
because their values are retrieved from the DHCP server. In this
case, a DHCP server must be available and accessible on 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 address of a name server, which resolves domain names (in
dot format). If a name server is set, the end point of an IP bridge
can be entered as a domain name (see Section 2.4, “CAN settings”).
Local domain 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 begins after the first '.'. For example, if xyz.local
is the local domain name, the short name dest is extended to
dest.xyz.local.
The inputs are applied immediately after clicking the button Save all changes and
saved permanently to the AnaGate CAN Gateway. A restart of the device is not
necessary.
Note
After changing the IP address, it may be necessary to clear the ARP cache
of the PC to access the device.

Configuration
9 © 2007-2022 Analytica GmbH
2.3. WLAN settings
Devices of the AnaGate CAN F series can use a WLAN ("Wireless Local Area Network")
connection in addition to or instead of a wired Ethernet connection.
Note
Using WLAN on the AnaGate CAN Gateway requires a compatible WLAN-
USB adapter. The WLAN settings are only displayed, if a compatible
adapter has been detected. The adapter should be plugged in, before the
AnaGate CAN Gateway is powered up. The following adapters are currently
supported:
• TP-Link TL-WN721N
• TP-Link TL-WN721NC
• TP-Link TL-WN722N
• TP-Link TL-WN722NC
If a compatible WLAN adapter was detected, the following settings can be changed
on the page WLAN Settings:
Figure 2.3. Web interface, WLAN settings
WLAN enabled Here you can enable the wireless local area network.
SSID The network name ("Service Set Identifier") can contain up to
32 ASCII characters or 34 to 64 hexadecimal characters.
Operation mode This option allows the selection of the WLAN operation mode.
When using the infrastructure mode, a connection to a central
wireless access point is established. The wireless access point
serves as a bridge or router to other networks.

Configuration
10 © 2007-2022 Analytica GmbH
When using the ad-hoc mode, there is no central access point.
Instead, all connected devices communicate directly with each
other. Just like in infrastructure mode, all devices need to use
the same SSID and encryption settings.
Channel This option is only relevant in ad-hoc mode. It controls which
channel and frequency range should be used. In infrastructure
mode, the channel is selected by the central wireless access point
instead.
Encryption mode WPA ("Wi-Fi Protected Access") encryption offers the best
security, but is only available in infrastructure mode. WEP
encryption ("Wired Equivalent Privacy") is considered insecure
and should only be enabled, if WPA cannot be used. WEP only
offers slightly more protection than no encryption.
WPA mode If WPA encryption is enabled, this option allows the selection of
WPA, its successor WPA2 or both.
Cipher mode If WPA encryption is enabled, this option allows the selection
of the cipher mode. The encryption mode TKIP is deprecated.
However, some older devices do not support the encryption
algorithm AES.
Pre-shared key If WPA encryption is enabled, the network key can have a length
of 8 to 63 ASCII or exactly 64 hexadecimal characters.
If WEP encryption is enabled, the network key must have a
length of exactly 13 ASCII or 26 hexadecimal characters.
DHCP Here you can switch between a static IP and dynamic allocation
via DHCP.
IP address Here you can enter the WLAN IP address of the AnaGate CAN
Gateway, if DHCP is disabled.
Subnet mask Here you can enter the WLAN subnet mask of the AnaGate CAN
Gateway, if DHCP is disabled.
Gateway Here you can enter the WLAN default gateway of the AnaGate
CAN Gateway, if DHCP is disabled.
Note
If a gateway is configured for the WLAN interface, a gateway that was
configured for the wired Ethernet interface will be disabled automatically.
The inputs are applied immediately after clicking the button Save all changes and
saved permanently to the AnaGate CAN Gateway. A restart of the device is not
necessary.
Note
After changing the IP address, it may be necessary to clear the ARP cache
of the PC to access the device.

Configuration
11 © 2007-2022 Analytica GmbH
Figure 2.4. AnaGate CAN F4 with WLAN-USB adapter
2.4. CAN settings
The following settings for each CAN interface can be changed on the page CAN
Settings:

Configuration
12 © 2007-2022 Analytica GmbH
Figure 2.5. Web interface, CAN settings
Nominal Bit Rate The nominal bit rate can be selected in a list
containing all supported values. If the option "User
defined" is selected, the bit rate can be set directly
by using the registers (BRP, T1, T2, SJW) of the
MCP2518. User defined values are interpreted as hex
values.
Termination Activates/deactivates the internal termination
resistor. For X* and FX* devices, the termination can
only be set via the DIP switch.
High Speed Activates/deactivates the Highspeed mode. In this
operating mode all incoming or outgoing CAN
telegrams are no longer confirmed by the opposite
LAN partner in order to increase data throughput.
Software filters are switched off in this mode.
Boot with operational mode Start-up operating mode of the CAN controller. The
default value is offline.
offline The CAN controller is not active on the
CAN bus.
normal Normal operating mode. The set CAN
baud rate is used.
listen The CAN controller is passive in listen
mode. CAN messages are received, but no
messages can be sent (no ACK, no error).
The set CAN baud rate is used.

Configuration
13 © 2007-2022 Analytica GmbH
loopback In loopback mode, every sent CAN
message is mirrored back by the CAN
controller (no ACK, no errors). The set
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 MCP2518).
Bridge Activates/deactivates the bridge mode (see
Section 3.2, “Bridge mode”).
to IP IP address of the partner AnaGate, to which a
connection (bridge) is to be made (only in bridge
mode). The IP address has to be entered in dot
notation. A domain name can be used only, if a name
server is set in the IP settings (see Section 2.2,
“Network settings”).
to Port Port of the partner AnaGate, to which a connection
(bridge) is to be made (only in bridge mode).
Remote Nominal Bit Rate Nominal Bit Rate of the partner AnaGate, to which
a connection (bridge) is to be made (only in bridge
mode). If the option "User defined" is selected, the bit
rate can be set directly by using the registers (BRP,
T1, T2, SJW), if the partner AnaGate uses a MCP2518.
User defined values are interpreted as hex values.
Remote-Termination Activates/deactivates the termination of the partner
AnaGate, to which a connection (bridge) is to be
made (only in bridge mode). On target devices, which
cannot set the CAN bus termination via software (e.g.
AnaGate CAN X2/FX2), this setting is ignored.
CAN FD Activates/deactivates the CAN FD mode.
ICO CRC If enabled, the Stuff Bit Count (SBC) in the CRC field
is included and a non-zero CRC initialization vector is
used according to ISO 11898-1:2015.
Flexible Data Rate The data bit rate can be selected in a list containing
all supported values. If the option "User defined" is
selected, the data bit rate can be set directly by
using the registers (BRP, T1, T2, SJW, TDCO) of the
MCP2518. User defined values are interpreted as hex
values. TDCMOD is always set to "automatic" and
TDCV is measured.
Remote ICO CRC If enabled for the partner AnaGate, the Stuff Bit
Count (SBC) in the CRC field is included and a non-
zero CRC initialization vector is used according to ISO
11898-1:2015.
Remote Flexible Data Rate The data bit rate of the partner AnaGate can be
selected in a list containing all supported values. If