IXXAT CANio 500 Instruction manual

Quickstart Manual
CANio 500
I/O-to-CAN Gateway
English

HMS Technology Center Ravensburg GmbH
Helmut-Vetter-Straße 2
D-88213 Ravensburg
Germany
Tel.: [phone]
Fax: [phone]
Internet: www.hms-networks.com
E-Mail: [e-mail]
Support
In case of unsolvable problems with this product or other HMS products
please fill in support form in the support are on www.ixxat.com.
Further international support contacts can be found on our webpage
www.ixxat.com
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distribution of this document is only allowed with explicit permission of
HMS Technology Center Ravensburg GmbH. HMS Technology Center
Ravensburg GmbH reserves the right to change technical data without
prior announcement. The general business conditions and the regulations
of the license agreement do apply. All rights are reserved.
Registered Trademarks
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party registered are absolutely subject to the conditions of each valid
label right and the rights of particular registered proprietor. The absence
of identification of a trademark does not automatically mean that it is not
protected by trademark law.
Document number: 4.01.0098.20000
Version: 1.3

Content
Copyright IXXAT Automation GmbH
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CANio 500 Quickstart Manual, version 1.3
1General information .......................................................................5
1.1 Highlights................................................................................ 5
1.2 Designs and device variants ................................................. 6
2Connector assignments.................................................................6
2.1 Connector (X1) power supply 6-32 V DC.............................. 6
2.2 Connector (X2) CAN............................................................... 7
2.3 Connector (X3) digital............................................................ 7
2.4 Connector (X4) analog........................................................... 9
3LED displays...................................................................................9
3.1 PWR - LED .............................................................................. 9
3.2 CAN - LED............................................................................. 10
3.3 USR 1/2 - LED....................................................................... 10
4Description of functions ..............................................................10
4.1 Introduction.......................................................................... 10
4.2 Galvanic isolation ................................................................ 10
4.3 Digital outputs...................................................................... 10
4.4 Digital inputs..........................................................................11
4.4.1 Digital inputs 1-4 ....................................................................11
4.4.2 Additional digital input on connector (X1) ..............................11
4.5 Analog outputs......................................................................11
4.6 Analog inputs ....................................................................... 12
4.6.1 0 - 10 V input range................................................................13
4.6.2 ±5V input range......................................................................13
4.6.3 ±100 mA input range..............................................................14
4.7 Power supply PWR(+).......................................................... 14
5Software........................................................................................15
5.1 CANio 500 as a CAN module............................................... 16
5.1.1 CAN –Identifier......................................................................16
5.1.2 CAN baudrate ........................................................................16
5.1.3 Node number .........................................................................16
5.1.4 Setting the digital outputs.......................................................16
5.1.5 Control of the analog outputs.................................................17
5.1.6 Digital inputs...........................................................................18

Content
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CANio 500 Quickstart Manual, version 1.3
5.1.7 Digital inputs: edge events..................................................... 19
5.1.8 Analog inputs .........................................................................20
5.1.9 Value of the power supply PWR(+)........................................20
5.1.10 Heartbeat message..............................................................21
5.1.11 Emergency messages..........................................................22
5.1.12 Error management................................................................25
5.1.13 Factory settings....................................................................25
5.1.14 Reserved CAN identifiers.....................................................26
5.1.15 Steering the state machine of the CANio 500......................26
6General......................................................................................... 29
6.1 Support ................................................................................. 29
6.2 Returning hardware.............................................................. 29
6.3 Note on disposal of used devices....................................... 29
6.4 Note on EMC......................................................................... 30
6.5 FCC Compliance................................................................... 30
6.6 EC DECLARATION OF CONFORMITY................................. 31

General information
Copyright IXXAT Automation GmbH
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CANio 500 Quickstart Manual, version 1.3
1 General information
The CANio 500 is a universal interface for analog and digital signals.
This manual is intended to help you to learn more about the CANio 250.
Please read this manual before using the CANio 250 for the first time. There-
fore it is restricted to the essential topics. For further details –mainly with re-
spect to the application software –the corresponding manuals are provided
online.
1.1 Highlights
Power supply 6 - 32 V DC
Power consumption 1.2 Watt (without load connected to the outputs)
CAN bus connection according to ISO 11898-2 with galvanic isolation
Communication as CAN node or CANopen device
4 digital inputs
4 digital outputs, high-side switch, short-circuit protection
4 analog inputs, 12-bit, precision typical 3%, device variants:
o0 … +10 V
o-5 … +5 V
o-100 … +100 mA
4 analog outputs, 12-bit, precision typical 0.5%, output ranges pro-
grammable via software:
o0 … +5 V
o0 … +10 V
o-5 … +5 V
o-10 … +10 V
o-10.8 … +10.8 V
Monitoring of the power supply
Additional digital input on power supply connector
All inputs are protected for voltages up to 60 V
2 LEDs (both two-colored) controllable via software
1 LED for the CAN bus status
1 LED for the power supply
Robust aluminum housing
Temperature range -40 °C to 70 °C

Connector assignments
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CANio 500 Quickstart Manual, version 1.3
1.2 Designs and device variants
The CANio 500 is available in the following variants of the analog inputs:
Order number
Designs and device versions
1.01.0098.00000
CANio 500 with 4 analog inputs 0 … +10 V
1.01.0098.00001
CANio 500 with 4 analog inputs -5 … +5 V
1.01.0098.00002
CANio 500 with 4 analog inputs -100 … +100 mA
2 Connector assignments
X1 X3
LED
X2 X4
Figure 2-1: Connector assignments
2.1 Connector (X1) power supply 6-32 V DC
The CANio 500 is supplied with DC voltage of 6 V –32 V The scope of supply
includes made-up cable for power supply. The terminal assignment is given in
table 2-1.
The type of connector is: Binder cable socket 99-0976-100-03
The CANio 500 is protected against reverse polarity, undervoltage and over-
voltage. It is switched off in the case of reverse polarity or undervoltage. The
CANio survives overvoltage up to 60 V and load dump undamaged. In the
event of voltages above this, an internal fuse may be tripped. If the internal
fuse is tripped, the CANio 500 is no longer operational and must be returned to
IXXAT for repair.
CANio 500
I/O-to-CANGateway

Connector assignments
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CANio 500 Quickstart Manual, version 1.3
The additional digital input is also connected on this connector.
Pin no. X1
Signal
Wire color
1
1
2
3
1
PWR (+)
white
2
GND (-)
brown
3
Additional digital input on pow-
er supply connector
Shield
Table 2-1: Pin assignment power supply
2.2 Connector (X2) CAN
CAN is available on connector X2 with a bus connection according to ISO
11898-2. The signals of the bus connection are available on the 9-pin D-Sub
connector (pins, male) (see table 2-2).
Pin no. X2
Signal
1
-
2
CAN Low
3
GND_GND
4
-
5
-
6
-
7
CAN High
8
-
9
-
Table 2-2: Pin assignment CAN connector D-Sub 9
2.3 Connector (X3) digital
The digital signals are available on connector X3. Connector X3 is designed as
a 15-pin high density D-Sub HDF15 (socket, female) (see table 2-3).
The functions of the digital inputs and outputs are described in chapters 4.3
and 4.4.

Connector assignments
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CANio 500 Quickstart Manual, version 1.3
Pin
no. X2
Signal
Description
1
DIG_IN1
Digital input 1
2
DIG_IN2
Digital input 2
3
GND
Ground
4
DIG_OUT1
Digital output 1, high-side switch supplied with VBAT_IN.
5
DIG_OUT2
Digital output 2, high-side switch supplied with VBAT_IN.
6
VREF_IN
Reference input for digital inputs
7
VREF_OUT
Output. Here a voltage is available according to the power
supply PWR(+). This output can be connected to the
VREF_IN input.
8
Reserved
This connection must remain open
9
VBAT_IN
Power supply for the high-side switches of the digital out-
puts.
10
VBAT_OUT
Output (1 A protected). Here a voltage is available accord-
ing to the power supply PWR(+). This output can be con-
nected to the VBAT_IN input.
11
DIG_IN3
Digital input 3
12
DIG_IN4
Digital input 4
13
GND
Ground
14
DIG_OUT3
Digital output 3, high-side switch supplied with VBAT_IN.
15
DIG_OUT4
Digital output 4, high-side switch supplied with VBAT_IN.
Table 2-3: Pin assignment digital interface connector D-Sub HDF15

LED displays
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CANio 500 Quickstart Manual, version 1.3
2.4 Connector (X4) analog
The analog signals are available on connector X4. Connector X4 is designed
as a 15-pin high density D-Sub HDM15 (pins, male) (see table 2-4).
The functions of the analog inputs and outputs are described in chapters 4.5
and 4.6.
Pin no. X4
Signals
Description
1
ANA_IN1_P
Analog input 1 positive (+)
2
ANA_IN2_P
Analog input 2 positive (+)
3
GNDA
Analog ground
4
ANA_IN3_P
Analog input 3 positive (+)
5
ANA_IN4_P
Analog input 4 positive (+)
6
ANA_IN1_M
Analog input 1 negative (-)
7
ANA_IN2_M
Analog input 2 negative (-)
8
GNDA
Analog ground
9
ANA_IN3_M
Analog input 3 negative (-)
10
ANA_IN4_M
Analog input 4 negative (-)
11
ANA_OUT1
Analog output 1
12
ANA_OUT2
Analog output 2
13
GNDA
Analog ground
14
ANA_OUT3
Analog output 3
15
ANA_OUT4
Analog output 4
Table 2-4: Pin assignment analog interface connector D-Sub HDM15
3 LED displays
The CANio 500 has four two-colored LEDs (see Figure 2-1). The LEDs react
as follows according to the operating mode of the CANio 500.
3.1 PWR - LED
The Power-LED (PWR) is lit green when the CANio 500 is connected to the
power supply. The Power-LED (PWR) is lit red when the power supply is con-
nected with reverse polarity.

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CANio 500 Quickstart Manual, version 1.3
3.2 CAN - LED
The CAN-LED displays the status of the CANopen State Machine (green) and
the error status. In the 'CAN BUS OFF' status, no more communication is pos-
sible and the CAN - LED is permanently lit red.
3.3 USR 1/2 - LED
The User-LEDs (USR 1/2-LED), which can be freely programmed by the user,
can be switched via CAN messages. More information is given in chapters
5.1.4 and Error! Reference source not found..
4 Description of functions
4.1 Introduction
The CANio 500 allows monitoring or setting of analog and digital signals via a
CAN network.
4.2 Galvanic isolation
In the case of galvanic isolation, the ground of CAN (GND_CAN) is isolated
from the rest of the circuit.
The ground of the power supply [GND (-)] and of the digital and analog inter-
faces are connected to each other.
4.3 Digital outputs
High-side switches are used for the 4 digital outputs. The digital outputs can
be switched with a CAN message. More information is given in chapter 5.1.4.
The high-side switch can switch up to 34 V. In addition, they offer current limi-
tation, thermal monitoring and surge protection up to 60 V (load dump). They
can also operate with inductive loads. The sum of the currents across all four
outputs should not exceed 1 A. Otherwise current limitation may be triggered.
The high-side switch modules are operated with the voltage VBAT_IN, which
is to be connected on the digital connector (X3). The power supply PWR(+) is
led out again on the connector for the digital interfaces (X3) (VBAT_OUT) and
can then be connected to the pin VBAT_IN via a bridge on connector (X3). If
other voltages are used, the bridge remains open and any voltage between 0
to 34 V can be supplied to the pin VBAT_IN. The pin VBAT_IN is used as a
power input for all 4 digital outputs. If the pin VBAT_IN remains open, the digi-
tal outputs have no function.
The voltage output VBAT_OUT is protected against overcurrent and short-
circuiting via a resettable fuse. If the fuse is triggered in the event of an over-

Description of functions
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CANio 500 Quickstart Manual, version 1.3
current, first the error of the overcurrent must be eliminated or the short-circuit
removed. Then the fuse switches on again automatically after a few seconds.
The CANio 500 is protected by diodes against reverse polarity and return cur-
rents.
4.4 Digital inputs
The CANio 500 has 4 digital inputs and an additional digital input on the power
supply connector, which can be monitored via a CAN message. More infor-
mation is given in chapter 5.1.6.
4.4.1 Digital inputs 1-4
The digital inputs (1-4) are equipped with an adjustable threshold.
The external reference voltage VREF_IN is freely selectable from 0 to 60 V.
The internal circuit enables a switching threshold at 50 % of the external refer-
ence voltage VREF_IN. This means, for example, that at a voltage VREF_IN
of 12 V the switching threshold is approximately 6V. A hysteresis of approxi-
mately 50 mV ensures trouble-free operation of the switching threshold. The
reference voltage VREF_IN is used for all 4 digital inputs simultaneously. The
reference voltage VREF_IN and the digital inputs are protected for voltages of
more than 60 V.
A reference voltage VREF_OUT is available on the digital connector, which
corresponds to the power supply PWR(+). This reference input VREF_OUT
can be connected to the external reference input VREF_IN via a bridge on the
connector.
The digital inputs have a low-pass filter to minimize disturbances. The filter
used is a simple grade 1 filter with an RC circuit set to a cut-off frequency 3 dB
of approximately 1 kHz.
4.4.2 Additional digital input on connector (X1)
The additional digital input on the power supply connector (X1) has a fixed
threshold of approx. 7 V and can be used, for example, in the automotive sec-
tor for the monitoring of terminal 15.
4.5 Analog outputs
Four channels are available in the CANio 500 with a resolution of 12 bits on
the analog output. The analog outputs can be set with CAN messages. More
information is given in chapters 5.1.5
The internal reference voltage source and the DAC itself have an accuracy of
0.2 %. The output current is limited to 20 mA. If the current is exceeded, the
corresponding output is switched off and an emergency message is sent (see
5.1.12).

Description of functions
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CANio 500 Quickstart Manual, version 1.3
The following output ranges can be selected via the software for every individ-
ual analog output: +5 V, +10 V, +/-5 V, +/-10 V.
The voltages on the output can be calculated with the following formulae:
For unipolar outputs (+5 V, +10 V, +10.8V):
UAna-out = AD value / 4096 * output range [V]
With:
UAna-out: voltage on the analog output
AD value: value of the analog output in the CAN message.
The AD value is to be inserted with 0 to 4095 in each
case.
Output range: 5, 10 or 10.8 V
For bipolar outputs (+/-5 V, +/-10 V, +/-10.8 V):
UAna-out = AD value / 2048 * output range [V]
With:
UAna-out: voltage on the analog output
AD value: value of the analog output in the CAN message.
The AD value is to be inserted with 0 to 2047 (0x000
to 0x7FF) in each case for positive voltages and -1 to
-2048 (0xFFF to 0x800) for negative voltages.
Output range: 5, 10 or 10.8 V
4.6 Analog inputs
The CANio 500 has four analog inputs with a differential input amplifier, which
can be monitored with a CAN message. More information is given in chapter
5.1.8.
The inputs ANA_INx_P
1
for the positive (+ plus) and ANA_INx_M for the nega-
tive (- minus) voltage level are connected to the analog connector (X4). The
input (+ plus) should be connected to the positive voltage level and the input (-
minus) to the negative voltage level. In the case of the device versions with a
+/- input range, polarity reversal according to the calculation from the AD value
produces a negative voltage or current value.
1
x stands for channel 1,2,…4

Description of functions
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CANio 500 Quickstart Manual, version 1.3
If a single-ended signal is required, the corresponding input ANA_INx_M is to
be connected to ground.
The voltage is measured between the two connections (P +plus and M -
minus). The common mode range is from -12 V to +24 V, i.e. both inputs may
not exceed this voltage. Voltages above this lead to incorrect results.
The inputs are protected up to 60 V. The inputs have a low-pass filter to mini-
mize disturbances. The filter used is a simple grade 1 filter with an RC circuit
set to a cut-off frequency 3 dB of approximately 1 kHz.
The input resistance of the device versions with a voltage input is approx. 80
kΩ. In the case of the device versions with a current input, a shunt resistor of
15 Ohm is used for current measurement.
The CANio 500 is a high quality instrument to measure voltages and currents.
The voltage values (or current values) must be calculated with the formulae
given in the following chapters. To increase the accuracy in the application, it
may be necessary to calibrate the CANio 500. For this, the user must measure
and record 2 to 3 different voltage values for each channel and calculate a cor-
rection curve or table from these.
4.6.1 0 - 10 V input range
The voltage on the input with an input range of 0 - 10 V can be calculated from
the AD value as follows:
UANA-IN = AD value / 4095 * 3.30 * 3.3271 [V]
Simplified:
UANA-IN = AD value * 2.6812 [mV]
4.6.2 ±5V input range
The voltage on the input with an input range of ±5 V can be calculated from
the AD value as follows:
UANA-IN = (AD value / 4095 * 3.30 * 3.3271) –5.00 [V]
Simplified:
UANA-IN = AD value * 2.6812 –5000 [mV]

Description of functions
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CANio 500 Quickstart Manual, version 1.3
4.6.3 ±100 mA input range
A shunt resistor R = 15 Ωis integrated for current measurement with ±100mA.
This results in a voltage drop of U = R * I = 15 Ω* 100 mA = 1.5 V. The load
capacity at 1.5 V is given as P = U²/R = (1.5 V)² / 15 Ω= 0.15 W. The shunt
resistor is protected via a resettable fuse. The permanent load of the shunt re-
sistor of 1/2 W or a current of 0.18 A should not be exceeded.
The voltage on the input with an input range of ±100 mA can be calculated
from the AD value as follows:
IANA-IN = AD value / 4095 * 3.30 / 15 - 0.110 [A]
Simplified:
IANA-IN = AD value * 0.05371 –110 [mA]
4.7 Power supply PWR(+)
The power supply PWR(+) is monitored and measured with an additional ana-
log channel. The input voltage range is between 6 and 32 V.
The voltage on the input can be calculated from the AD value as follows:
UIN = AD value / 4095 * 3.30 * 10 [V]
Simplified:
UIN = AD value * 8.0586 [mV]

Software
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CANio 500 Quickstart Manual, version 1.3
5 Software
CANio 500 can be operated as a simple CAN module as well as as a CANo-
pen slave.
The CANio 500 is delivered with a standard configuration. The following chap-
ters do refer to these standard settings. Nevertheless it is possible to configure
the device according to the own, specific requirements. Beside others, the fol-
lowing topics can be configured:
Baudrate
Node number, Message-IDs
Cycle time of the messages
Debounce time
Value range of the analog outputs
Behavior of the digital inputs (default value, edge triggering)
Behavior of the analog inputs (default value, delta value)
The configuration possibilities are versatile. Details are described in the CANio
500 manual which can be downloaded from the IXXAT Homepage
1
.
Dependent on the use case, the different configuration possibilities can be
achieved like described below:
Via the comfortable CANio 500 configuration tool which can be down-
loaded from the IXXAT homepage1.
In pure CAN networks with the message sequences described in the
CANio 500 manual
In CANopen networks by the corresponding LSS services or objects
(see CANio 500 manual)
Should the desired functionality not be reached by the described configuration
possibilities, the “Application Development Kit (ADK)
2
” to be purchased at
IXXAT can be used to generate a specific application which can be executed
on the CANio 500.
1
http://www.ixxat.com/can_canio500_analog_digital_can_modul_en.html
2
http://www.ixxat.com/can_canio500_adk_en.html

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CANio 500 Quickstart Manual, version 1.3
5.1 CANio 500 as a CAN module
5.1.1 CAN –Identifier
The CANio 500 supports CAN identifier with 11 bits.
5.1.2 CAN baudrate
As default, the CANio500 is delivered with the CAN baudrate 250kBit/s.
5.1.3 Node number
As default, the CANio 500 is delivered with node number 10d (0x0A). This in-
formation is requisite to determine the CAN identifiers of its transmit and re-
ceive messages respectively.
5.1.4 Setting the digital outputs
The digital outputs of the CANio 500 are controlled with the following CAN
message:
CAN identifier
Data field (length = 2)
Byte 0
Byte 1
0x200 + node number of the
CANio 500
Saved configuration:
saved identifier
Digital outputs 1-4
digital outputs to con-
trol the USR 1/2 LEDs
Assignment of byte 0:
Bit number
Meaning
0
Value of digital output 1
1
Value of digital output 2
2
Value of digital output 3
3
Value of digital output 4
4 - 7
are ignored

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CANio 500 Quickstart Manual, version 1.3
Assignment of byte 1:
Bit number
Meaning
Value
Reaction
1:0
controls USR 1 LED
00
LED is switched off
01
LED is lit green
10
LED is lit red
11
LED is switched off
3:2
controls USR 2 LED
00
LED is switched off
01
LED is lit green
10
LED is lit red
11
LED is switched off
4 - 7
are ignored
Factory settings of the digital outputs:
The digital outputs are initialized with 0.
USR 1 LED and USR 2 LED are switched off.
5.1.5 Control of the analog outputs
The analog outputs of the CANio 500 are controlled with the following CAN
message:
CAN identifier
Data field (length = 8)
Byte 0/1
Byte 2/3
Byte 4/5
Byte 6/7
0x300 + node number of the
CANio 500
Saved configuration:
saved identifier
Data of
analog
output 1:
LSB first
Data of
analog
output 2:
LSB first
Data of
analog
output 3:
LSB first
Data of
analog
output 4:
LSB first
Only bits 0-11 are relevant for the value of an analog output. Bits 12-15 are
ignored.
No check or conversion of the values is done. The received value is written
directly to the analog output.
The resulting voltage on the output depends on the configuration of the analog
output and is described in chapter 4.5.

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CANio 500 Quickstart Manual, version 1.3
Factory settings of the analog outputs:
1
The default analog output range is defined by the HW variant of the
CANio 500 (see Info in 5.1.5):
Range of the analog inputs
Range of the analog outputs
0 - 10 V
0 - 10 V
+/- 5 V
+/- 5 V
+/- 100 mA
+/- 10 V
After power on every output is initialized with 0 V.
5.1.6 Digital inputs
The CANio 500 transmits the values of the digital inputs 1-4 with the following
CAN message:
CAN identifier
Data field (length = 2)
Byte 0
Byte 1
0x180 + node number of the
CANio 500
Saved configuration:
saved identifier
Values of the digital
inputs 1-4
Additional digital input
and HW info
Assignment of byte 0:
Bit number
Meaning
0
Value of digital input 1
1
Value of digital input 2
2
Value of digital input 3
3
Value of digital input 4
4 - 7
not relevant
1
In case that no configuration has been saved or the saved configuration was declared as invalid, the
analog outputs are initialized with these factory settings.

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CANio 500 Quickstart Manual, version 1.3
Assignment of byte 1:
Bit number
Value
Meaning
Additional digital input, see chapter 4.4.2
0
0
no voltage is connected
1
voltage is connected
HW info - Variant of the analog inputs:
2:1
11
0 to 10 V
01
+/- 5 V
10
+/- 100 mA
00
not defined
3 - 7
not relevant
The values of the digital inputs are transmitted if at least one valid value of a
digital input has changed or at the latest after 500 ms (“Msg Cycle Time”). On-
ly valid values are transmitted and not those that were last read.
Factory setting:
all digital inputs are interrupt triggered but not debounced
5.1.7 Digital inputs: edge events
In addition to the values of the digital inputs CANio 500 transmits the related
edge events with the following CAN message:
CAN identifier
Data field (length = 4)
Byte 0
Byte 1
Byte 2
Byte 3
0x480 + node number of the
CANio 500
Saved configuration:
saved identifier
edge
events of
digital in-
put 1
edge
events of
digital in-
put 2
edge
events of
digital in-
put 3
edge
events of
digital in-
put 4
The single data bytes do inform about the count of detected edge events of a
digital input.

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CANio 500 Quickstart Manual, version 1.3
5.1.8 Analog inputs
The CANio 500 transmits the values of the analog inputs 1-4 with the following
CAN message:
CAN identifier
Data field (length = 8)
Byte 0/1
Byte 2/3
Byte 4/5
Byte 6/7
0x280 + node number of the
CANio 500
Saved configuration:
saved identifier
Data of
analog
input 1:
LSB first
Data of
analog
input 2:
LSB first
Data of
analog
input 3:
LSB first
Data of
analog
input 4:
LSB first
The analog inputs are polled cyclically.
The read values are not analyzed or processed.
The values of the analog inputs are transmitted if at least one value of the ana-
log inputs has been changed by its delta value or at the latest after 500 ms.
The conversion between the raw value and the physical value is described in
section 4.6.
Factory setting:
Delta value for every input: 10 (0x0A)
All inputs are read every cycle of the CANio 500
5.1.9 Value of the power supply PWR(+)
The value of the power supply PWR(+) is transmitted with the following CAN
message:
CAN identifier
Data field (length = 2)
Byte 0/1
0x380 + node number of the
CANio 500
Saved configuration:
saved identifier
Value of the power supply PWR(+):
see chapter 4.7
LSB first
Note for „Value of the power supply PWR(+)“:
It is a 16 –bit value
Only the lower 12 bit are relevant
The conversion from raw to physical value is described in chapter 4.7