LS A2C-SG2-M12 User manual

Page 1 of 44
Dual strain gauge amplifier
with CAN bus
Features
 Complete strain gauge signal conditioning
 Programable analogue gain
 Differential analogue frontend
 Selectable excitation voltage 2.5V / 5V
 Up to 4800 samples per second
 24-bit ADC
 Periodic CAN messages with programmable data types
 32 taps user programable FIR filter
 Low power consumption
 Durable aluminum / stainless steel housing
 Software upgradable via CAN bus
 Signal to noise ratio calculation
General Description
The A2C-SG2-M12 Strain gauge amplifier uses state of the art digital and analogue components to achieve exceptional
sensitivity and high band width.
Specifications
 Selectable 2.5V / 5V Strain gauge supply
 11-30V supply voltage
 70mA supply current
 CAN interface (2.0A & B)
 CAN driver ISO 11898 compatible
 Logic output (versions made to order)
 Standard industrial M12 connector
 CNC machined aluminum / stainless steel housing
A2C
-
SG2
-
M12

Page 2 of 44
Dual strain gauge amplifier
with CAN bus
1 Ordering information
Part Number
Package
Interface
CAN Bus
Logic Output
A2C
-
SG
2
-
M12
-
A
Black
a
nodized
aluminum
M12, 5pin Male
connector
for
CAN Bus
2 x M12, 5pin Female for strain
gauges
Yes
No
A2C
-
SG
2
-
M12
-
S
Stainless steel 316
M12, 5pin Male connector
for
CAN Bus
2 x M12, 5pin Female for strain
gauges
Yes
No
For a customer specific package please contact us. We have other materials / coatings available not listed here.

Page 3 of 44
Dual strain gauge amplifier
with CAN bus
Specifications for
A2C-SG2-M12 Dual strain gauge amplifier to CAN bus
Version 1.11
30/07 2021

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
4 of 44
Document tracking control
VERSION
SECTION
CHANGED BY
DATE
CHANGE
1.00
1.01
1.02
1.03
1.04
1.05
1.06
1.07
1.08
1.09
1.10
1.11
All
All
9
All
All
17.1.1
12
2
12
All
2
All
All
JL
JL
JL
JL
JL
WN
JL
JL
WN
JL
JL
JL
0
3
-
0
8
-
201
3
12-02-2014
01-02-2015
26-06-2015
12-05-2017
15-01-2018
17-01-2019
19-03-2019
20-03-2019
20-07-2019
07-07-2020
29-07-2021
Initial Version
Updated error codes, baud rate, added SNR
Added periodic messages follow ADC. Released for
public viewing
Added Integer Scalling section, Corrected CAN follow
ADC wrong values for ints and floats
New commands for periodic messages from firmware
0x0107 and onwards. New examples.
Corrected wrong value to reset factory settings.
Added more examples of float to byte array for
calibration. Added data to specifications
Corrected float to array error
Gramma and typo corrections
Removed old A2C-SG drawing
Added FIR Filter and SNR sections
Corrected custom baud-rate calculations
Added command for default calibration values
Added section From measurement to CAN Value
Updated mechanical drawing

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
5 of 44
Contents
1 Ordering information .......................................................................................................................................................................2
Document tracking control .......................................................................................................................................................................4
2 Specifications ..................................................................................................................................................................................7
2.1 Functional block diagram .....................................................................................................................................................8
............................................................................................................................................................................................................8
2.2 ADC performance .................................................................................................................................................................9
2.2.1 RMS noise (nV) vs. Gain and data rate ...........................................................................................................................9
2.2.2 Effective resolution ..........................................................................................................................................................9
2.3 Conformity ............................................................................................................................................................................9
2.4 Strain gauge pin outs .........................................................................................................................................................10
3 Mechanical Drawing......................................................................................................................................................................10
3.1 Mounting .............................................................................................................................................................................10
4 Programming tools ........................................................................................................................................................................11
5 Getting Started ..............................................................................................................................................................................12
5.1 Trouble shooting connection ..............................................................................................................................................15
6 Protocol .........................................................................................................................................................................................16
6.1 Protocol format ...................................................................................................................................................................16
7 Initial Setup ...................................................................................................................................................................................17
7.1 CAN Identifier .....................................................................................................................................................................17
7.1.1 Command: Set CAN ID .................................................................................................................................................17
7.1.2 Command: Get Standard CAN ID .................................................................................................................................17
7.2 Baud rate ............................................................................................................................................................................17
7.2.1 Command: Set baud rate ..............................................................................................................................................17
7.2.2 Command: Get baud rate ..............................................................................................................................................18
7.3 Custom baud rate ...............................................................................................................................................................18
7.3.1 Command: Set custom baud rate ..................................................................................................................................18
7.3.2 Command: Get custom baud rate .................................................................................................................................19
7.4 CAN Filters .........................................................................................................................................................................19
7.4.1 Command: Set CAN Filters ...........................................................................................................................................19
7.4.2 Command: Get CAN Filters ...........................................................................................................................................20
8 ADC setup.....................................................................................................................................................................................21
8.1 Bipolar / Unipoloar configuration ........................................................................................................................................21
9 From Measurement to CAN value ................................................................................................................................................22
9.1.1 Command: Setup ADC ..................................................................................................................................................23
9.1.2 Get ADC mode ..............................................................................................................................................................24
9.1.3 A note on data rate and data requested ........................................................................................................................24
10 Excitation voltage selection setup ............................................................................................................................................25
10.1.1 Set excitation voltage:...............................................................................................................................................25
10.1.2 Get excitation voltage: ..............................................................................................................................................25
11 Setting up FIR filter ...................................................................................................................................................................26
11.1.1 Command: Set FIR parameters ................................................................................................................................26
11.1.2 Command: Set FIR Coefficients ...............................................................................................................................26
11.1.3 Command: Get FIR parameters ...............................................................................................................................27

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
6 of 44
11.1.4 Command: Get FIR Coefficients ...............................................................................................................................27
11.2 Using the A2C-Sensor Utility ..............................................................................................................................................28
11.3 Using MATLAB ...................................................................................................................................................................28
12 Getting measurement values....................................................................................................................................................29
12.1.1 Command: Get both .................................................................................................................................................29
12.1.2 Command: Get configurable channel measurements ..............................................................................................29
12.1.3 Command: Get current channel measurements with math functions .......................................................................30
12.1.4 Command: Reset Global Minimum, Maximum and Mean values .............................................................................30
12.1.5 Command: Set Integer Scaling .................................................................................................................................30
12.1.6 Command: Get Integer Scaling ................................................................................................................................31
12.1.7 Command: Set CAN timeout ....................................................................................................................................31
12.1.8 Command: Get CAN timeout ....................................................................................................................................31
12.1.9 Command: Set wait period between CAN messages ...............................................................................................31
12.1.10 Command: Get wait period between CAN messages ..............................................................................................32
13 Setting up Periodic Messages ..................................................................................................................................................33
13.1.1 Command: Set Periodic Messages ..........................................................................................................................33
13.1.2 Command: Set Periodic Messages Follow ADC ......................................................................................................34
13.2 J1939 type CAN Messages (only for 2 active channels) ....................................................................................................34
13.2.1 Command: Set Periodic Messages to follow ADC - J1939 style ..............................................................................34
13.2.2 Command: Get Periodic Messages to follow ADC - J1939 style ..............................................................................35
14 Signal to Noise calculations......................................................................................................................................................35
14.1.1 Command: Set SNR sample numbers ......................................................................................................................35
15 Calibrating ................................................................................................................................................................................36
15.1.1 Command: Calibrate input channels using floating point data ..................................................................................36
15.1.2 Command: Calibrate input channels using integer data (signed 32bit integer) ........................................................37
16 Set Default Calibration Values..................................................................................................................................................37
16.1.1 Command: Set Default Calibration Constants ..........................................................................................................37
17 Save Current Calibration Constants .........................................................................................................................................37
17.1.1 Command: Save Current Calibration Constants .......................................................................................................37
18 Getting Sensor Information.......................................................................................................................................................38
18.1.1 Command: Get sensor information ...........................................................................................................................38
19 Save Current Parameters in Sensor.........................................................................................................................................39
20 Reset to Factory Settings .........................................................................................................................................................39
20.1.1 Command: Set factory settings.................................................................................................................................39
21 Recommended settings to get started ......................................................................................................................................40
22 Updating Sensor Firmware .......................................................................................................................................................41
23 Error Codes ..............................................................................................................................................................................42
23.1.1 Command: Not Acknowledged .................................................................................................................................42
23.2 Error message list: .............................................................................................................................................................42

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
7 of 44
2 Specifications
Parameter
Condition
Values
Unit
SUPPLY
VOLTAGE
Operating Voltage (Vin)
Supply Current
Power consumption
Turn-On Time
Vin = 24V
Vin = 24V
Min
11
Typical
22
0.53
1500
Max
32 V
mA
W
ms
STRAIN GAUGE INPUTS
Number of input channels
Programmable gain
Data rate
Bandwidth (-3dB)
Resolution
RMS noise
Differential input voltage range (Bipolar setup)
Analog input current
Input current drift
Excitation voltage 5V
Excitation voltage 2.5V
Excitation current – all excitation voltages
Recommended strain gauge impedance (5V)
Recommended strain gauge impedance (2.5V)
1
0.3
4.95
2.475
2 x differential
24
8.5
±Excitation
voltage/gain
±3
5
2.5
350
150
128
4800
1445
5.05
2.525
150
Hz
Hz
bits
nV
V
nA
pA/°C
V
V
mA
Ω
Ω
NPN
OUTPUT
Maximum Collector Emitter Voltage
Maximum continuous current
40
75
V
mA
CAN BUS 2.0A & B
Transceiver delay loop time
Baud rate
Default device standard ID
Default device filters
Software Protocol
Hardware Protocol
10
0x125
0x3E8-0x3EB
Proprietary
2.0A / 2.0B
150
1000
ns
kBits/sec
HOUSING
Housing Body Material –A suffix
Housing Body Material –S suffix
Lid Material - A suffix
Lid Material - S suffix
Black anodized Aluminum
Stainless steel 316
Black anodized aluminum
Stainless steel 316
CONNECTIVITY
Pin 1 = Shield
Pin 2 = Vin
Pin 3= Ground (both power and CAN ground)
Pin 4= CAN High
Pin 5 = CAN Low
M12
-
A Male 5 pin
Connector
INPUTS x 2
Pin 1 = Negative Input
Pin 2 = Positive Input
Pin 3= Positive Excitation
Pin 4= Negative Excitation
Pin 5 = Shield
M12-A Female 5
pin Connector
DIMENSIONS
(Including base plate)
Length
Width
Height
Weight
Min
80.2
59.6
26.2
Typical
80.6
60
27
190
Max
81
60.4
27.8
mm
mm
mm
gram
TEMPERATURE
Operating Temperature Range
Housing temperature rise
-20
3
65 Deg
Deg

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
8 of 44
2.1 Functional block diagram

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
9 of 44
2.2 ADC performance
2.2.1 RMS noise (nV) vs. Gain and data rate
Data Rate
Filter value
Output data
rate [Hz]
Settling time
[ms] Gain=1 Gain=8 Gain=16 Gain=32 Gain=64 Gain=128
1023
4.7
639.4
270
42
23
13.5
10.5
9
640 7.5 400 320 50 27 17 13 11.5
480
10
300
350
60
35
19
15
12.5
96 50 60 1000 134 86 50 35 29
80
60
50
1050
145
95
55
40
32
32 150 20 1500 225 130 80 58 50
16
300
10
1950
308
175
110
83
73
5 960 3.125 4000 590 330 200 150 133
2
2400
1.25
56,600
7000
3500
1800
900
490
1 4800 0.625 442,000 55,000 28,000 14,000 7000 3450
2.2.2 Effective resolution
Data Rate
Filter
value
Output data
rate
[Hz]
Settling time
[ms]
Gain=1
Gain=8
Gain=16
Gain=32
Gain=64
Gain=128
1023 4.7 639.4 24 24 24 24 24 23
640
7.5
400
24
24
24
24
23.5
22.5
480 10 300 24 24 24 24 23.5 22.5
96
50
60
23.5
23
23
22.5
22
21.5
80 60 50 23 23 22.5 22.5 22 21
32
150
20
22.5
22.5
22
22
21.5
20.5
16 300 10 22.5 22 22 21.5 21 20
5
960
3.125
21.5
21
21
20.5
20
19
2 2400 1.25 17.5 17.5 17.5 17.5 17.5 17.5
1
4800
0.625
14.5
14.5
14.5
14.5
14.5
14.5
2.3 Conformity
IEC 60721
-
3
-
5
Climate
Biological
Chemically active substances
Mechanically active substances
Contaminating fluids
Mechanical conditions
Tests are ongoing

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
10 of 44
2.4 Strain gauge pin outs
Please refer to the marking on the A2C-SG2 for how to connect it.
3 Mechanical Drawing
3.1 Mounting
Mount the sensor on an even surface. Use up to 4x M4 bolts to secure the sensor from the top or the bottom

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
11 of 44
4 Programming tools
In order to simplify programming and to test sensors from Lillie System, a programming tool and accompanying software may be
purchased to speed up development. If the sensor will be used in standalone mode, these tools are essential. No understanding of
CAN bus and programming is required.
The U2C is the programming tool which connects to the USB port of a windows PC in one end, and the sensor CAN bus on the other
end. The U2C also functions as a general USB to CAN Bus adaptor / bus monitor.
Figure 1 - U2C Programming tool
The window GUI enables the user to easily set most parameters in the amplifier, and in real time see the data.
The A2C firmware must be version 1.0.3.4 or above.

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
12 of 44
5 Getting Started
Things you will need:
1. A2C-SG2-M12 - strain gauge amplifier with CAN Bus
2. U2C - Programming tool
3. Strain gauge bridge
4. Power supply
5. Internet connection
Start by downloading the latest version of this manual. Please go to www.lilliesystems.com or click here if you are using an electronic
copy.
Attach your preferred strain gauge bridge by soldering the wires directly to the A2C-SG. Use a gauge with a minimum impedance of
350Ω, as the excitation voltage is 5V. Using a 120Ω gauge will cause excessive heat in the gauge, which can lead to inaccurate
measurements.
Download the latest version of the A2C Sensor Utility software. Please go to www.lilliesystems.com/u2c/ or click here
If you have already installed the A2C Sensor Utility software, then this will update itself after being restarted. If you do not get any
updates, please make sure that you have internet access and that you restart the program 2 times.
Connect the A2C to the T connector. Connect the power supply through the M12 connector which also contains a 120Ohm
terminating resistor. Connect the U2C to the other side of the T connector. Turn on the power supply and watch the LED on the back
of the A2C-SG2-M12 turn red and green.
Make sure the drivers for the U2C have been installed, as described in the separate manual. Connect the U2C to the PC and start
the A2C Sensor Utitlity program. From the top menu bar, choose Sensor and click on the A2C-SG.
Figure 2 - Choose the A2C-SG
Next, press the Go On Bus button
Figure 3 Go On Bus to enable communication

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
13 of 44
To parse all the parameters in the sensor to the A2C Import Utitlity program, press the Get Sensor Parameters
Figure 4 Get sensor parameters
If everything has been connected correctly, the parameters will be updated in the A2C Import Utility program.
Figure 5 ADC setup
To change a value, first change the value, followed by pressing the "Set Sensor Parameters" button. All the values changed will be
sent to the A2C-SG. To save the values, so that the A2C-SG uses the values at start up, press the "Program Sensor" button. If this
button is not press, the A2C-SG will use the previously saved values after a restart (power cycle).
To view real time measurement values, click on the "Measurements" tab. Next click the "Start Receiving" button.

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
14 of 44
Figure 6 Measurements
The normal, min, max and mean values are displayed on the screen.
If the update rate seems slow, then change the update interval (Tools - Options - General ). A value of 100ms or 50ms is suitable,
but lower values are possible if the PC is powerful enough.
To view a graph of the data, press the Ch 0 or Ch 1 check boxes, followed by the "Show Graph" button. The values displayed are the
normal values. Figure 7 shows example data from a load cell being compressed and tensioned by hand.

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
15 of 44
Figure 7 Graphing data
5.1 Trouble shooting connection
If the message “No Sensor found” appears try the following.
1. Make sure the U2C baud rate is correct. Press the Show more U2C Settings on the left pane to open up the settings for
the U2C.
2. Disable periodic messages.
a. Go to the Periodic Messages tab and disable all tasks.
b. Press the Set Sensor Parameters – this will disable standard periodic messages
c. Click the radio button “Standard send Normal value only”
d. Unselect the check boxes “Enable channel 1” and “Enable channel 2”
e. Click “Update A2C-SG”
3. Press the Get Sensor Parameters again to get the parameters.

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
16 of 44
6 Protocol
It is important to understand the simple protocol before reading further. The first CAN byte is always the command. The second CAN
byte is a sub-command. The remaining 6 CAN bytes are Data.
6.1 Protocol format
Communication takes place over a CAN bus Interface
The communication can use both 11-bit or 29bit frame format – CAN 2.0A / 2.0B.
RTR DLC Command Sub command Data 0 Data 1 Data 2 Data 3 Data 4 Data 5
Bit length
1
4
8
8
8
8
8
8
8
8
Range
0 Always 0
1 - 8
0x00 – 0xff 0x00 – 0xff 0x00 – 0xff 0x00 – 0xff 0x00 – 0xff 0x00 – 0xff 0x00 – 0xff 0x00 – 0xff
Identifier: Default Identifier is set to 0x125 from factory, but can be changed as shown in 7.1.1
RTR: RTR is not used, so it must always be 0.
DLC: DLC should be between 1 and 8. There is always at least one data byte as they are used as a commando word.
Command: Command byte
Sub Command: Sub command byte
When data bytes are combined to form 16 or 32bit variables the big endian system is used.

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
17 of 44
7 Initial Setup
The sensor comes with factory setting such as CAN filters, CAN Identifiers, bandwidth, mode etc. To prepare the sensor for
operation some CAN settings might need to be changed. This is described in this section.
7.1 CAN Identifier
The CAN Identifier is the identifier which the sensor sends when transmitting messages.
The factory default value is 0x125.
7.1.1 Command: Set CAN ID
To change the CAN ID to other values send the following message:
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0x68
STD_EXT
ID MSB
ID
ID
ID LSB
DLC = 0x06 (values above 0x06 are also valid, but Data bytes are not used)
STD_EXT:
 0x01 = CAN Standard ID (11bit identifier)
 0x02 = CAN Extended ID (29bit identifier)
ID: This is the CAN Identifier that the sensor uses when transmitting data, sent at an unsigned 32bit integer
 [0x000 – 0x7FF] for CAN Standard ID (11bit identifier). Data[0] and Data[1] must both be 0x00!
 [0x00000000 – 1FFFFFFF] for CAN Extended ID (29bit identifier)
7.1.2 Command: Get Standard CAN ID
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xE8 Any value
DLC = 0x02
(values
above 0x02 are also valid, but Data bytes are not used)
Reply
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xE8 STD_EXT ID MSB ID ID ID LSB
DLC = 0x06
The reply format follows the same format as setting the CAN ID as seen in 7.1.1
7.2 Baud rate
The Baud rate is the communication speed on the CAN bus. It can be set to predefined values or to a custom value. The maximum
CAN bus cable length is dependent on the baud rate. In general, bus speed of 1 Mega bits is used up to 40m, 500kbits/s up to
100m, 250kbits/s up to 250m and 50kbits/s up to 1000m. These values can vary and depends on number of stubs etc.
7.2.1 Command: Set baud rate
The default baud rate from the factory is 500kbits/s. To change the baud rate to another value send the following message:
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0x67
BAUD
AUTOTRANS
(char) ‘S’
0x53
(char) ‘A’
0x41
(char) ‘F’
0x46
(char) ‘E’
0x45
DLC = 0x08
BAUD: See table below for valid values (firmware lower than 3.35 only support messages from 1-9)
 0x01 = 1 Mb/s – sampling point 87.5%
 0x02 = 500 kb/s – sampling point 87.5%
 0x03 = 250 kb/s – sampling point 87.5%
 0x04 = 125 kb/s – sampling point 87.5%
 0x05 = 100 kb/s – sampling point 87.5%
 0x06 = 50 kb/s – sampling point 87.5%
 0x07 = Reserved for future use
 0x08 = Reserved for future use
 0x09 = Custom Baud rate.
 0x0A = 1 Mb/s – sampling point 75%
 0x0B = 500 kb/s – sampling point 75%
 0x0C = 250 kb/s – sampling point 75%
 0x0D = 125 kb/s – sampling point 75%

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
18 of 44
 0x0E = 100 kb/s – sampling point 75%
 0x0F = 50 kb/s – sampling point 75%
AUTOTRANS: Enable / disable automatic re-transmission on CAN bus
 0x00 = No automatic retransmission
 0x01 = Automatic retransmission
In addition of the BAUD and AUTOTRANS values, the data bytes 2 to 5 must contain the chars as shown in 7.2.1. This is to some
degree prevent the baud rate to change and cause a CAN bus error if the filters are set incorrectly.
7.2.2 Command: Get baud rate
To get the current baud rate
Command
Sub
Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xE7
DLC = 0x01
(values
above 1 are also valid, but Data bytes are not used)
Reply
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xE7
BAUD
AUTOTRANS
Not
defined
DLC = 0x04
The reply format follows the same format as seen in 7.2.1
7.3 Custom baud rate
The following values must be calculated first.
𝑇1 = 36 × 10
𝐵𝑎𝑢𝑑 𝑟𝑎𝑡𝑒 × 𝑃𝑅𝐸𝑆
𝑩𝑺𝟏 = 𝑇1 × 𝑆𝑎𝑚𝑝𝑙𝑒 𝑃𝑜𝑖𝑛𝑡 − 1, 𝑚𝑢𝑠𝑡 𝑏𝑒 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 16
𝑩𝑺𝟐 = 𝑇1 − 𝐵𝑆1 − 1, 𝑚𝑢𝑠𝑡 𝑏𝑒 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 8
Example: Generate baud rate of 62.5kbits / second: We first select a prescale (PRES) value that creates an even T1 number. 36 is
selected. The sample point is chosen to be 75%
36 × 10
62500 × 32 = 16 = 𝑇1
16 × 0.75 − 1 = 11 = 𝐵𝑆1 − 𝑠𝑎𝑡𝑖𝑠𝑓𝑦 𝑎 𝑣𝑎𝑙𝑢𝑒 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 16, 𝑜𝑘!
16 − 11 − 1 = 4 = 𝐵𝑆2 − 𝑠𝑎𝑡𝑖𝑠𝑓𝑦 𝑎 𝑣𝑎𝑙𝑢𝑒 𝑙𝑒𝑠𝑠 𝑡ℎ𝑎𝑛 8, 𝑜𝑘!
7.3.1 Command: Set custom baud rate
From the above calculations we can now send the following message.
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0x54
0x01
SJW
BS1
BS2
PRES
_MSB
PRES
_LSB
DLC = 0x07
(values
above 7
are also valid, but Data bytes are not used)
SJW: Resynchronization Jump Width, Specifies the maximum number of time quanta the CAN hardware is allowed to lengthen or
shorten a bit to perform resynchronization. This parameter can be a value of:
 0x01 = 1 time quantum
 0x02 = 2 time quantums
 0x03 = 3 time quantums
 0x04 = 4 time quantums
BS1: Specifies the number of time quanta in Bit Segment 1. This parameter can be a value of
 0x01 = 1 time quantum
 0x02 = 2 time quantums
 …
 0x10 = 16 time quantums

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
19 of 44
BS2: Specifies the number of time quanta in Bit Segment 2. This parameter can be a value of
 0x01 = 1 time quantum
 0x02 = 2 time quantums
 …
 0x08 = 8 time quantums
PRES_MSB: Specifies the MSB prescale value
PRES_LSB: Specifies the LSB prescale value
7.3.2 Command: Get custom baud rate
To get the current baud rate
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xC3
Any value
SJW
BS1
BS2
PRES_MSB
PRES_LSB
DLC = 0x01
(values
above 1 are also valid, but Data bytes are not used)
Reply
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xC3
Value sent
SJW
BS1
BS2
PRES_MSB
PRES_LSB
DLC = 0x02
The reply format follows the same format as seen in 7.3.1
7.4 CAN Filters
The sensor will only respond to values which have passed through its CAN message filters. This means that many similar sensors
can be attached to the same CAN network and by defining filters, only the sensor nodes which filter matches the CAN ID will
interpret the message.
There are two types of filters; standard filters which are unsigned 16bit integers and used for 11 bit identifiers, and extended filters
which are unsigned 32 bit integers and used for 29bit identifiers. There are 4 standard filters and 2 extended filters. The standard
filters only allow a message with the same ID as the filter value to pass through.
From the factory settings the filters are configured as follows:
 Standard Filter 1 = 1000
 Standard Filter 2 = 1001
 Standard Filter 3 = 1002
 Standard Filter 4 = 1003
 Extended Filter 1 = 0
 Extended Filter 2 = 0
7.4.1 Command: Set CAN Filters
To change the filters to other values send the following message:
Command
Sub
Command
Data[0]
Data[1]
Data[2]
Data[3]
0x69 FILT MSB Std Filter 1&3
MSB Ext Filter 1&2
LSB Std Filter 1&3 MSB Std Filter 2&4 LSB Std Filter 2&4
LSB Ext Filter 1&2
DLC = 0x06
(values
above 6
are also valid, but Data bytes are not used)
FILT: Filter Number
 0x01 = Standard Filter 1&2
 0x02 = Standard Filter 3&4
 0x03 = Extended Filter 1
 0x04 = Extended Filter 2
MSB Std Filter 1&3: Most significant bit of standard filters 1 & 3. [0x00-0x07]
LSB Std Filter 1&3: Least significant bit of standard filters 1 & 3. [0x00-0xFF]
MSB Std Filter 2&4: Most significant bit of standard filters 2 & 4. [0x00-0x07]
LSB Std Filter 2&4: Least significant bit of standard filters 2 & 4. [0x00-0xFF]
MSB Ext Filter 1&2: Most significant bit of extended filter 1. [0x00-0x1F]
LSB Ext Filter 1&2: Least significant bit of extended filter 1. [0x00-0xFF]

A2C-SG2-M12
WWW.LILLIESYSTEMS.COM
20 of 44
Example 1
Set standard filters 1&2 to 0x0123 and 0x01C1 respectively
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
0x69
0x01
0x01
0x23
0x01
0x
C1
DLC = 0x0
6
Example 2
Set standard filters 3&4 to 0x0100 and 0x0734 respectively
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
0x69
0x02
0x01
0x00
0x07
0x34
DLC = 0x06
Example 3
Set extended filter 1 to 0x01020304
Byte 0
Byte 1
Byte 2
Byte 3
Byte 4
Byte 5
Byte 6
Byte 7
0x69
0x03
0x01
0x02
0x03
0x04
DLC = 0x06
7.4.2 Command: Get CAN Filters
To get the current sensor filter settings send the following CAN message:
Command
Sub Command
Data[0]
Data[1]
Data[2]
Data[3]
Data[4]
Data[5]
0xE9
FILT
DLC = 0x02
(values
above 2 are also valid, but Data bytes are not used)
FILT: Filter Number
 0x01 = Get Standard Filter 1&2
 0x02 = Get Standard Filter 3&4
 0x03 = Get Extended Filter 1
 0x04 = Get Extended Filter 2
The sensor will reply:
Command
Sub
Command
Data[0]
Data[1]
Data[2]
Data[3]
0xE9
FILT
MSB Std Filter 1&3
MSB Ext Filter 1&2
LSB Std Filter 1&3
MSB Std Filter 2&4
LSB Std Filter 2&4
LSB Ext Filter 1&2
DLC = 0x06
The reply format follows the same format as setting the filters. See 7.4.1