MaxStream Xbee User manual

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XBee™/XBee-PRO™ OEM RF Modules
XBee/XBee-PRO OEM RF Modules
RF Module Operation
RF Module Configuration
Appendices
Product Manual v1.0
For OEM RF Module Part Numbers: XB24-...-001, XB24-...-002
XBP24-...-001, XBP24-...-002
ZigBee™/IEEE®802.15.4 OEM RF Modules by MaxStream, Inc.
M100232
2005.09.16

XBee™/XBee‐PRO™OEMRFModules‐ProductManualv1.0
©2005MaxStream,Inc.,Confidential&Proprietary‐AllRightsReserved ii
© 2005 MaxStream, Inc. All rights reserved
Nopartofthecontentsofthismanualmaybetransmittedorreproducedinany
formorbyanymeanswithoutthewrittenpermissionofMaxStream,Inc.
XBee™andXBee‐PRO™aretrademarksofMaxStream,Inc.
ZigBee™isaregisteredtrademarkoftheZigBeeAlliance.
TechnicalSupport:Phone:(801)765‐9885
LiveChat:www.maxstream.net
E‐mail:rf‐[email protected]

Contents
XBee™/XBee‐PRO™OEMRFModules–ProductManualv1.0
©2005MaxStream,Inc.,Confidential&Proprietary‐AllRightsReserved iii
1. XBee/XBee-PRO OEM RF Modules 4
1.1. Key Features 4
1.1.1. Worldwide Acceptance 4
1.2. Specifications 5
1.3. Mechanical Drawings 5
1.4. Pin Signals 6
1.5. Electrical Characteristics 6
2. RF Module Operation 7
2.1. Serial Communications 7
2.1.1. UART Data Flow 7
2.1.2. Flow Control 8
2.2. Modes of Operation 9
2.2.1. Sleep Mode 9
2.2.2. Command Mode 11
2.3. Networking Modes 12
2.3.1. Addressing Overview 12
2.3.2. Unicast Mode 12
2.3.3. Broadcast Mode 12
3. RF Module Configuration 13
3.1. Programming the RF Module 13
3.1.1. Programming Examples 13
3.2. Command Reference Table 14
3.3. Command Descriptions 15
Appendix A: Agency Certifications 21
FCC Certification (pending) 21
OEM Labeling Requirements 21
FCC Notices 21
FCC-Approved Antennas (2.4 GHz) 22
European Certification (pending) 23
OEM Labeling Requirements 23
Restrictions 23
Declarations of Conformity 23
Appendix B: Development Guide 24
Development Kit Contents 24
Interfacing Options 24
RS-232 Interface Board 25
Physical Interface 25
RS-232 Pin Signals 26
Wiring Diagrams 27
Adapters 28
USB Interface Board 29
Physical Interface 29
USB Pin Signals 29
Appendix C: Additional Information 30
1-Year Warranty 30
Ordering Information 30
Contact MaxStream 31

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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1.XBee/XBee‐PROOEMRFModules
XBee and XBee-PRO Modules were engineered to meet
ZigBee/IEEE 802.15.4 standards and address the unique
needs of low-cost, low-power wireless sensor networks.
The modules require minimal power and provide reliable
delivery of critical data between devices.
The modules operate within the ISM 2.4 GHz frequency
band and are pin-for-pin compatible with each other.
1.1. Key Features
High Performance, Low Cost
XBee
• Indoor/Urban: up to 100’ (30 m)
• Outdoor line-of-sight: up to 300’ (100 m)
• Transmit Power: 1 mW (0 dBm)
• Receiver Sensitivity: -92 dBm
XBee-PRO
• Indoor/Urban: up to 300’ (100 m)
• Outdoor line-of-sight: up to 4000’ (300 m)
• Transmit Power: 100 mW (20 dBm) EIRP
• Receiver Sensitivity: -100 dBm
RF Data Rate: 250,000 bps
Advanced Networking & Security
Retries and Acknowledgements
DSSS (Direct Sequence Spread Spectrum)
13 direct sequence channels, each with over
65,000 unique network addresses available
Point-to-point, point-to-multipoint
and peer-to-peer topologies supported
Unicast and Broadcast Modes supported
128-bit Encryption (downloadable firmware
version coming soon)
Self-routing/Self-healing mesh networking
(downloadable firmware version coming soon)
Low Power
XBee
• TX Current: 45 mA (@3.3 V)
• RX Current: 50 mA (@3.3 V)
• Power-down Current: < 10 µA
XBee-PRO
• TX Current: 270 mA (@3.3 V)
• RX Current: 55 mA (@3.3 V)
• Power-down Current: < 10 µA
Easy-to-Use
No configuration necessary for out-of box
RF communications
Free X-CTU Software
(Testing and configuration software)
Small form factor
Network compatible with other
ZigBee/802.15.4 devices
Free & Unlimited Technical Support
1.1.1. Worldwide Acceptance
FCC Approval pending (USA) Refer to Appendix A [p21] for FCC Requirements.
Systems that include XBee/XBee-PRO Modules inherit MaxStream’s Certifications.
ISM (Industrial, Scientific & Medical) 2.4 GHz frequency band
Manufactured under ISO 9001:2000 registered standards
XBee/XBee-PRO RF Modules are optimized for use in US, Canada, Australia, Israel
and Europe (contact MaxStream for complete list of approvals).

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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1.2. Specifications
1.3. Mechanical Drawings
Figure1‐01. MechanicaldrawingsoftheXBee/XBee‐PROOEMRFModules(antennaoptionsnotshown)
XBeeandXBee‐PRORFModulesarepin‐for‐pincompatible.
Table1‐01. SpecificationsoftheXBee/XBee‐PROOEMRFModules
Specification XBee XBee-Pro
Performance
Indoor/Urban Range up to 100 ft. (30 m) Up to 300’ (100 m)
Outdoor RF line-of-sight Range up to 300 ft. (100 m) Up to 4000’ (1200 m)
Transmit Power Output 1mW (0 dBm) 60 mW (18 dBm) conducted, 100 mW (20 dBm) EIRP
RF Data Rate 250,000 bps 250,000 bps
Interface Data Rate
(software selectable)
1200 - 115200 bps
(non-standard baud rates also supported)
1200 - 115200 bps
(non-standard baud rates also supported)
Receiver Sensitivity -92 dBm (1% packet error rate) -100 dBm (1% packet error rate)
Power Requirements
Supply Voltage 2.8 – 3.4 V 2.8 – 3.4 V
Transmit Current (typical) 45 mA (@ 3.3 V) 270 mA (@ 3.3 V)
Receive Current (typical) 50 mA (@ 3.3 V) 55 mA (@ 3.3 V)
Power-down Current < 10 µA < 10 µA
General
Operating Frequency ISM 2.4 GHz ISM 2.4 GHz
Dimensions 0.960” x 1.087” (2.438cm x 2.761cm) 0.960” x 1.297” (2.438cm x 3.294cm)
Operating Temperature -40 to 85º C (industrial) -40 to 85º C (industrial)
Antenna Options U.FL Connector, Chip Antenna or Wire Antenna U.FL Connector, Chip Antenna or Wire Antenna
Networking & Security
Supported Network Topologies Point-to-Point, Point-to-Multipoint,
Peer-to-Peer and Mesh (coming soon)
Point-to-Point, Point-to-Multipoint,
Peer-to-Peer and Mesh (coming soon)
Number of Channels
(software selectable) 16 Direct Sequence Channels 13 Direct Sequence Channels
Network Layers PAN ID, Channel and Source/Destination Addresses PAN ID, Channel and Source/Destination Addresses
Agency Approvals
FCC Part 15.247 pending pending
Industry Canada (IC) pending pending
Europe pending pending

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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1.4. Pin Signals
Figure1‐02. XBee/XBee‐PRORFModulePinNumber
(topsidesshown‐shieldsonbottom)
‐Minimumconnectionsare:VCC,GND,DOUTandDIN.
‐SignalDirectionisspecifiedwithrespecttothemodule
‐Functionslistedindescriptionsaresoftwareselectableandmaynotallbeavailableattimeofrelease.
‐Moduleincludesa50kpull‐upresistorattachedtoRESET.
‐UnusedinputsshouldbetiedtoGND/Unusedoutputsshouldbeleftdisconnected.
1.5. Electrical Characteristics
Table1‐02. PinAssignmentsfortheXBeeandXBee‐PROModules
(Low‐assertedsignalsaredistinguishedwithahorizontallineabovesignalname.)
Pin # Name Direction Description
1 VCC - Power supply
2 DOUT Output UART Data Out
3 DIN / CONFIG Input UART Data In
4 CD / DOUT_EN / DO8 Output Carrier Detect, TX_enable or Digital Output 8
5RESET Input Module Reset
6 PWM0 / RSSI Output PWM Output 0 or RX Signal Strength Indicator
7 [reserved] - Do not connect
8 [reserved] - Do not connect
9 DTR / SLEEP_RQ / DI8 Input Pin Sleep Control Line or Digital Input 8
10 GND - Ground
11 AD4 / DIO4 / RF_TX Either Analog Input 4, Digital I/O 4 or Transmission Indicator
12 DIO7 / CTS Either Digital I/O 7 or Clear-to-Send Flow Control
13 ON / SLEEP Output Module Status Indicator
14 VREF Input Voltage Reference for A/D Inputs
15 AD5 / DIO5 / Associate Either Analog Input 5, Digital I/O 5 or Associated Indicator
16 AD6 / DIO6 / RTS Either Analog Input 6, Digital I/O 6 or Request-to-Send Flow Control
17 AD3 / DIO3 / COORD_SEL Either Analog Input 3, Digital I/O 3 or Coordinator Select
18 AD2 / DIO2 Either Analog Input 2 or Digital I/O 2
19 AD1 / DIO1 Either Analog Input 1 or Digital I/O 1
20 AD0 / DIO0 Either Analog Input 0 or Digital I/O 0
Table1‐03. DCCharacteristicsoftheXBee&XBee‐PRO(VCC=2.8‐3.4VDC)
Symbol Parameter Condition Min Typical Max Units
VIL Input Low Voltage All Digital Inputs - - 0.35 * VCC V
VIH Input High Voltage All Digital Inputs 0.7 * VCC - - V
VOL Output Low Voltage IOL = 2 mA, VCC >= 2.7 V --0.5V
VOH Output High Voltage IOH = -2 mA, VCC >= 2.7 V VCC - 0.5 - - V
IIIN Input Leakage Current VIN = VCC or GND, all inputs, per pin - 0.025 1 uA
IIOZ High Impedance Leakage Current VIN = VCC or GND, all I/O High-Z, per pin - 0.025 1 uA
TX Transmit Current VCC = 3.3 V - 45
(XBee)
270
(PRO) -mA
RX Receive Current VCC = 3.3 V - 50
(XBee)
55
(PRO) -mA
PWR-
DWN Power-down Current SM parameter = 1 - < 10 - uA

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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2.RFModuleOperation
2.1. Serial Communications
The XBee/XBee-PRO OEM RF Modules interface to a host device through a logic-level asynchro-
nous serial port. Through its serial port, the module can communicate with any logic and voltage
compatible UART; or through a level translator to any serial device (For example: RS-232/485/
422 or USB interface board).
2.1.1. UART Data Flow
Devices that have a UART interface can connect directly to the pins of the RF module as shown in
the figure below.
Figure2‐01. Figure2‐01.SystemDataFlowDiagraminaUART‐interfacedenvironment
(Low‐assertedsignalsdistinguishedwithhorizontallineoversignalname.)
Serial Data
Data enters the module UART through the DI pin (pin 3) as an asynchronous serial signal. The sig-
nal should idle high when no data is being transmitted.
Each data byte consists of a start bit (low), 8 data bits (least significant bit first) and a stop bit
(high). The following figure illustrates the serial bit pattern of data passing through the module.
Figure2‐02. UARTdatapacket0x1F(decimalnumberʺ31ʺ)astransmittedthroughtheRFmodule
ExampleDataFormatis8‐N‐1(bits‐parity‐#ofstopbits)
The module UART performs tasks, such as timing and parity checking, that are needed for data
communications. Serial communications depend on the two UARTs to be configured with compati-
ble settings (baud rate, parity, start bits, stop bits, data bits)
Both the module and host (PC) settings can be viewed and adjusted using MaxStream's propri-
etary X-CTU Software. Use the "PC Settings" tab to configure host settings. Use the "Terminal" or
"RF Module Configuration" tab to configure the module settings.
NOTE: Failure to enter AT Command Mode is most commonly due to baud rate mismatch. Ensure the
‘Baud’ setting on the “PC Settings tab matches the interface data rate of the RF module (by default, BD
parameter = 3 (which is associated to 9600 bps)).

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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2.1.2. Flow Control
Figure2‐03. InternalDataFlowDiagram
DI (Data In) Buffer
When serial data enters the RF module through the DI Pin, the data is stored in the DI Buffer until
it can be transmitted.
When the RO (Packetization Timeout) parameter threshold is satisfied [refer to RO command
description for more information], the module attempts to initialize an RF connection. If the mod-
ule cannot immediately transmit (for instance, if it is already receiving RF data), the serial data
continues to be stored in the DI Buffer. If the DI buffer becomes full, hardware or software flow
control must be implemented in order to prevent overflow (loss of data between the host and the
module).
How to eliminate the need for flow control:
Case in which the DI Buffer may become full and possibly overflow:
Refer to the BD (Interface Data Rate) [p15] and RO (Packetization Timeout) [p19] command descrip-
tions for more information.
DO (Data Out) Buffer
When RF data is received, the data enters the DO buffer and is sent out the serial port to a host
device. Once the DO Buffer reaches capacity, any additional incoming RF data is lost.
If the module is receiving a continuous stream of RF data, any serial data that arrives on the DI
pin is placed in the DI Buffer. The data in the DI buffer will be transmitted over-the-air when the
module is no longer receiving RF data in the network.
Two cases in which the DO Buffer may become full and possibly overflow:
1. Send messages that are smaller than the DI buffer size.
2. Interface at a lower baud rate [BD (Interface Data Rate) parameter] than the RF data rate.
If the module is receiving a continuous stream of RF data, any serial data that arrives on the DI
pin is placed in the DI Buffer. The data in the DI buffer will be transmitted over-the-air when the
module is no longer receiving RF data in the network.
1. If the RF data rate is set higher than the interface data rate of the module, the module will
receive data from the transmitting module faster than it can send the data to the host.
2. If the host does not allow the module to transmit data out from the DO buffer because of
being held off by hardware or software flow control.

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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2.2. Modes of Operation
XBee/XBee-PRO RF Modules operate in five modes.
Figure2‐04. XBee/XBee‐PRORFModuleModesof
Operation
(TheRFModulesoperateinonemodeatatime.)
When not receiving or transmitting data, the RF mod-
ule is in Idle Mode. The RF module shifts into the other
modes of operation under the following conditions:
• Serial data is received in the DI Buffer
(Transmit Mode)
• Valid RF data is received through the antenna
(Receive Mode)
• Sleep Mode condition is met (Sleep Mode)
• Command Mode Sequence is issued
(Command Mode)
2.2.1. Sleep Mode
Sleep Modes enable the RF module to enter states of low-power consumption when not in use. In
order to enter Sleep Mode, one of the following conditions must be met (in addition to the module
having a non-zero SM parameter value):
• SLEEP (pin 9) is de-asserted.
• The module is idle (no data transmission or reception) for the amount of time defined by the
ST (Time before Sleep) parameter. [NOTE: ST is only active when SM = 4-8.]
The SM command is central to setting Sleep Mode configurations. By default, Sleep Modes are dis-
abled (SM = 0) and the module remains in Idle/Receive Mode. When in this state, the module is
constantly ready to respond to serial or RF activity.
Pin/Host-controlled Sleep Modes
Pin Hibernate (SM = 1)
• Pin/Host-controlled
• Typical power-down current: < 10 µA (@3.0 VCC)
• Wake-up time: 13.2 msec
Use this mode to wake a sleeping module by asserting SLEEP. Pin Hibernate Mode minimizes qui-
escent power (power consumed when in a state of rest or inactivity).
Pin Hibernate Mode is level-activated; when SLEEP is de-asserted, the module will finish any
transmitting or receiving activities, enter Idle Mode and then enter the state of sleep. The module
will not respond to either serial or RF activity while in pin sleep. The module will wake when SLEEP
is asserted and is ready to transmit or receive when the CTS line is low.
Table2‐01. SleepModeConfigurations
Sleep Mode
Setting
Transition into
Sleep Mode
Transition out of
Sleep Mode Characteristics Related Commands
Power
Consumption
Pin Hibernate
(SM = 1) De-assert SLEEP Assert SLEEP Pin/Host-controlled (SM) < 10 µA (@3.0 VCC)
Pin Doze
(SM = 2) De-assert SLEEP Assert SLEEP Pin/Host-controlled (SM) < 50 µA
Cyclic Sleep
(SM = 4 - 6)
Automatic transition to
Sleep Mode as defined by
the SM (Sleep Mode) and
ST (Time before Sleep)
parameters.
Transition occurs after the
cyclic sleep time interval
elapses. The time interval
is defined by the SP (Cyclic
Sleep Period) parameter.
RF Module wakes in
pre-determined time
intervals to detect if
RF data is present.
(SM), SP, ST < 50 µA
when sleeping

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Pin Doze (SM = 2)
• Pin/Host-controlled
• Typical power-down current: < 50 µA
• Wake-up time: 2 msec
Use this mode to wake a sleeping module by asserting SLEEP. This pin-controlled Sleep Mode min-
imizes wake-up time.
Pin Doze Mode is level-activated; when the SLEEP is de-asserted, the module will finish any trans-
mitting or receiving activities, enter Idle Mode and then enter the sleep state. The module will not
respond to either serial or RF activity while in pin sleep. The module will wake when SLEEP is
asserted and is ready to transmit or receive when the CTS line is low.
Cyclic Sleep Modes
Cyclic Sleep Remote (SM = 4)
• Typical Power-down Current: < 50 µA (when asleep)
• Wake-up time: 2 msec
Use this mode to have a module periodically check for data. Cyclic Sleep Mode configures the
module to sleep, then wake once a cycle to check for data from a module configured as a Cyclic
Sleep Coordinator (SM = 6). The Cyclic Sleep Remote sends a poll request to the coordinator at a
specific interval set by the SP (Cyclic Sleep Period) parameter. The coordinator will transmit any
queued data addressed to that specific remote upon receiving the poll request. If no data is
queued for the remote, the coordinator will not transmit and the remote will return to sleep for
another cycle. If queued data is transmitted back to the remote, it will stay awake to allow for
back and forth communication until the ST (Time before Sleep) timer expires.
Also note that CTS will go low each time the remote wakes, allowing for communication initiated
by the remote host if desired.
Cyclic Sleep Remote with Pin Wake-up (SM = 5)
Use this mode to wake a sleeping remote module through either the RF interface or by the asser-
tion of SLEEP for event-driven communications. The cyclic sleep mode works as described above
(SM = 4) with the addition of a pin-controlled wake-up at the remote module. The module will
wake quickly when a low is detected and set CTS low as soon as it is ready to transmit or receive.
Any activity will reset the ST (Time before Sleep) timer so the module will go back to sleep only
after SLEEP is de-asserted and there is no activity for the duration of the timer.
Cyclic Sleep Coordinator (SM = 6)
• Typical current = Receive current
• Always awake
Use this mode to configure a module to wake cyclic sleeping remotes through the RF interface. The
cyclic sleep coordinator will accept a message addressed to a specific remote 16 or 64-bit address
and hold it in a buffer until the remote wakes up and sends a poll to request the message. Mes-
sages that are not sent directly, must be buffered and requested are called "Indirect messages".
The coordinator will only queue one indirect message at a time. The coordinator will hold the indi-
rect message for a period 2.5 times the sleeping period indicated by the SP (Cyclic Sleep Period)
parameter. The coordinator's SP parameter should be set to match the value used by the remotes.
Also, the ST parameters of the coordinator and remotes should be set to the same value because
the coordinator will track the 'awake' period of the recent 10 remotes to wake up. If the coordina-
tor receives additional messages addressed to a remote that should be awake, the coordinator will
send a direct message to that remote instead of queuing it. The coordinator is always awake so
that any remote unit can transmit either a poll request or a data message at any time.

XBee™/XBee‐PROOEMRFModules–ProductManualv1.0
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2.2.2. Command Mode
To modify or read RF Module parameters, the module must first enter into Command Mode - a
state in which incoming characters are interpreted as commands. A robust set of AT Commands
are available for programming and customizing the module.
AT Commands
To Enter AT Command Mode:
Default AT Command Mode Sequence (for transition to Command Mode):
• No characters sent for one second [GT (Guard Times) parameter = 0x3E8]
• Input three plus characters (“+++”) within one second [CC (Command Sequence Character)
parameter = 0x2B.]
• No characters sent for one second [GT (Guard Times) parameter = 0x3E8]
All of the parameter values in the sequence can be modified to reflect user preferences.
To Send AT Commands:
Figure2‐05.SyntaxforsendingATCommands
To read a parameter value stored in the RF module’s register, leave the parameter field blank.
The preceding example would change the RF module Destination Address (Low) to “0x1F”. To
store the new value to non-volatile (long term) memory, subsequently send the WR (Write) com-
mand.
For modified parameter values to persist in the module’s registry, changes must be saved to non-
volatile memory using the WR (Write) Command. Otherwise, parameters are restored to previ-
ously saved values after the module is powered off and then on again (or re-booted).
System Response. When a command is sent to the RF module, the module will parse and exe-
cute the command. Upon successful execution of a command, the module returns an “OK” mes-
sage. If execution of a command results in an error, the module returns an “ERROR” message.
To Exit AT Command Mode:
For an example that illustrates programming the RF module using AT Commands, refer to the "RF
Module Configuration" chapter [p13].
Send the 3-character command sequence “+++” and observe guard times before and after the
command characters. [Refer to the “Default AT Command Mode Sequence” below.]
Send AT commands and parameters using the syntax shown below.
1. Send ATCN (Exit Command Mode) Command.
[OR]
2. If no valid AT Commands are received within the time specified by CT (Command Mode
Timeout) Command, the RF module automatically returns to Idle Mode.

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2.3. Networking Modes
Before transmitting data over-the-air, the RF module will first undergo CCA (Clear Channel Assess-
ment). If the CCA fails, the packet will not be transmitted.
2.3.1. Addressing Overview
Packets can be sent and received using a 16-bit or a 64-bit address (802.15.4 protocol). A unique
64-bit IEEE source address is assigned at the factory and can be read with the SL (Serial Number
Low) and SH (Serial Number High) parameters.
To send a packet to a specific RF module using 64-bit addressing, set the Destination Address (DL
+ DH) to match the Source Address (SL + SH) of the intended destination RF module. To send a
packet to a specific RF module using 16-bit addressing, set the DL (Destination Address Low)
parameter to the MY (Source Address) parameter and set the DH (Destination Address High)
parameter to “0x00000000.”
2.3.2. Unicast Mode
Unicast Mode enables acknowledged communications. While in this mode, receiving modules send
an ACK (acknowledgement) of RF packet reception to the transmitter. If the transmitting module
does not receive the ACK, the transmitter will re-send the packet up to three times until the ACK is
received.
Unicast Mode is the only mode that supports retries.
Unicast Communications using 16-bit addressing
The following table shows a sample configuration that would enable Unicast Mode communications
using 16-bit short addresses.
Unicast Communications using 64-bit addressing
The RF module’s serial number (SL parameter concatenated to the SH parameter) can be used as
a 64-bit source address when the MY (16-bit Source Address) parameter is disabled. When the MY
parameter is disabled (set MY to 0xFFFF), the module’s source address is set to the 64-bit IEEE
address stored in the SH and SL parameters.
To send a packet to a specific module, set the Destination Address (DL + DH) so it matches the
Source Address (SL + SH) of the intended destination module.
2.3.3. Broadcast Mode
Any RF module will accept a packet that contains a broadcast address. When configured to operate
in Broadcast Mode, receiving modules do not send ACKs (Acknowledgements) and transmitting RF
modules do not automatically re-send packets as is the case in Unicast Mode.
To send a broadcast packet to all modules regardless of 16-bit or 64-bit addressing, set destina-
tion addresses of all the modules as shown below.
Sample Configuration (All modules in the network):
• DL (Destination Low Address) = 0x0000FFFF
• DH (Destination High Address) = 0x00000000
NOTE: When programming the module, parameters are entered in hexadecimal notation (without
the “0x” prefix). Leading zeros may be omitted.
For more information regarding RF module parameter modification, refer to the “Command Mode”
[p11] and “RF Module Configuration” [p13] sections.
Table2‐02. SampleUnicastConfiguration(using16‐bitaddressing)
Parameter RF Module 1 RF Module 2
MY (Source Address) 0x01 0x02
DH (Destination Address High) 0 0
DL (Destination Address Low) 0x02 0x01

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3.RFModuleConfiguration
3.1. Programming the RF Module
Refer to the “Command Mode” section [p11] for more information about entering Command Mode,
sending AT commands and exiting Command Mode.
3.1.1. Programming Examples
Setup
Sample Configuration: Modify RF Module Destination Address
Sample Configuration: Restore RF Module Defaults
The programming examples in this section require the installation of MaxStream's X-CTU Soft-
ware and a serial connection to a PC. (MaxStream stocks RS-232 and USB boards to facilitate
interfacing to a PC.)
1. Install MaxStream's X-CTU Software to a PC by double-clicking the "setup_X-CTU.exe" file.
(The file is located on the MaxStream CD and under the 'Software' section of the following
web page: www.maxstream.net/helpdesk/download.php)
2. Mount the RF module to an interface board, then connect the module assembly to a PC.
3. Launch the X-CTU Software and select the 'PC Settings' tab. Verify the baud and parity set-
tings of the Com Port match those of the RF module.
NOTE: Failure to enter AT Command Mode is most commonly due to baud rate mismatch.
Ensure the ‘Baud’ setting on the ‘PC Settings’ tab matches the interface data rate of the RF mod-
ule (by default, BD parameter = 3 (which corresponds to 9600 bps)).
Example: Utilize the 'Terminal' tab of the X-CTU Software to change the RF module's DL (Desti-
nation Address Low) parameter and save the new address to non-volatile memory.
After establishing a serial connection between the RF module and a PC [refer to the 'Setup' sec-
tion above], select the ‘Terminal’ tab of the X-CTU Software and enter the following command
lines (‘CR’ stands for carriage return):
Method 1 (One line per command))
Send AT Command
+++
ATDL <Enter>
ATDL1A0D <Enter>
ATWR <Enter>
ATCN <Enter>
System Response
OK <CR> (Enter into Command Mode)
{current value} <CR> (Read Destination Address Low)
OK <CR> (Modify Destination Address Low)
OK <CR> (Write to non-volatile memory)
OK <CR> (Exit Command Mode)
Method 2 (Multiple commands on one line)
Send AT Command
+++
ATDL <Enter>
ATDL1A0D,WR,CN <Enter>
System Response
OK <CR> (Enter into Command Mode)
{current value} <CR> (Read Destination Address Low)
OK <CR> (Execute commands)
Example: Utilize the 'Modem Configuration' tab of the X-CTU Software to restore default param-
eter values of the RF module.
After establishing a connection between the RF module and a PC [refer to the 'Setup' section
above], select the 'Modem Configuration' tab of the X-CTU Software.
1. Select the 'Read' button.
2. Select the 'Restore' button.

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3.2. Command Reference Table
Table3‐01. XBee/XBee‐PROCommands(RFmodulesexpectnumericalvaluesinhexadecimal.Hexadecimalvaluesaredesignatedbythe
“0x”prefix.Decimalequivalentsaredesignatedbythe“d”suffix.)
AT
Command
Command
Category Name and Description Parameter Range Default
BD Serial Interfacing Interface Data Rate. Set/Read the serial interface data rate for communications
between the RF module serial port and host.
0 - 7
(custom rates also supported) 3
CC AT Command
Mode Options
Command Sequence Character. Set/Read the ASCII character value to be used
between Guard Times of the AT Command Mode Sequence (GT+CC+GT). The AT
Command Mode Sequence enters the RF module to AT Command Mode.
0 - 0xFF 0x2B
('+' ASCII)
CH Networking &
Security
Channel. Set/Read the channel number used for transmitting and receiving between
RF modules. Uses 802.15.4 protocol channel numbers.
0x0B - 0x1A (XBee)
0x0C - 0x18 (XBee-PRO) 0x0C (12d)
CN AT Command
Mode Options Exit Command Mode. Explicitly exit AT Command Mode. - -
CT AT Command
Mode Options
Command Mode Timeout. Set/Read the period of inactivity (no valid commands
received) after which the RF module automatically exits AT Command Mode and
returns to Idle Mode.
2 - 0xFFFF [x 100 ms] 0x64 (100d)
DB Diagnostics
Received Signal Strength. Read signal level [in dB] of last good packet received
(RSSI). Absolute value is reported. (For example: 0x58 = -88 dBm) Reported value is
accurate between -40 dBm and RX sensitivity.
0 - 0x64 [read-only] -
DH Networking
& Security
Destination Address High. Set/Read the upper 32 bits of the 64-bit destination
address. When combined with DL, it defines the destination address used for
transmission. To transmit using a 16-bit address, set DH parameter to zero and DL less
than 0xFFFF. 0x000000000000FFFF is the broadcast address for the PAN.
0 - 0xFFFFFFFF 0
DL Networking &
Security
Destination Address Low. Set/Read the lower 32 bits of the 64-bit destination
address. When combined with DH, DL defines the destination address used for
transmission. To transmit using a 16-bit address, set DH parameter to zero and DL less
than 0xFFFF. 0x000000000000FFFF is the broadcast address for the PAN.
0 - 0xFFFFFFFF 0
GT AT Command
Mode Options
Guard Times. Set required period of silence before and after the Command Sequence
Characters of the AT Command Mode Sequence (GT+ CC + GT). The period of silence
is used to prevent inadvertent entrance into AT Command Mode.
0x02 - 0xFFFF [x 1 ms] 0x3E8
(1000d)
ID Networking &
Security
PAN ID. Set/Read the PAN (Personal Area Network) ID.
0xFFFF indicates a message for all PANs. 0xFFFF 0x3332 (13106d)
MY Networking &
Security
16-bit Source Address. Set/Read the RF module 16-bit source address. Set MY =
0xFFFF to disable reception of packets with 16-bit addresses. 64-bit source address
(serial number) and broadcast address (0x000000000000FFFF) is always enabled.
0 - 0xFFFF 0
P0 Diagnostics PWM0 Configurations. Select/Read function for PWM0. 0 - 1 1
PL RF Interfacing Power Level. Select/Read power level at which the RF module transmits. 0 - 4 4
RE (Special) Restore Defaults. Restore RF module parameters to factory defaults. Follow with WR
command to save values to non-volatile memory. --
RN Networking &
Security
Random Delay Slots. Set/Read the minimum value of the back-off exponent in the
CSMA-CA algorithm that is used for collision avoidance. If RN = 0, collision avoidance
is disabled during the first iteration of the algorithm (802.15.4 - macMinBE).
0 - 3 0
RO Serial Interfacing
Packetization Timeout. Set/Read number of character times of inter-character delay
required before transmission. Set to zero to transmit characters as they arrive instead of
buffering them into one RF packet.
0 - 0xFF [x character times] 3
RP Diagnostics RSSI PWM Timer. Enable a PWM (pulse width modulation) output (on pin 3 of the RF
modules) which shows RX signal strength. 0 - 0xFF [x 100 ms] 0x28 (40d)
SH Diagnostics Serial Number High. Read high 32 bits of the RF module's unique IEEE 64-bit
address. 64-bit source address is always enabled. 0 - 0xFFFFFFFF [read-only] Factory-set
SL Diagnostics Serial Number Low. Read low 32 bits of the RF module's unique IEEE 64-bit address.
64-bit source address is always enabled. 0 - 0xFFFFFFFF [read-only] Factory-set
SM Sleep
(Low Power) Sleep Mode. Set/Read Sleep Mode configurations. 0 - 6 0
SP Sleep
(Low Power)
Cyclic Sleep Period. Set/Read sleep period for cyclic sleeping remotes. Maximum
sleep period is 268 seconds (0x68B0). 0x01 - 0x68B0 [x 10 ms] 0x64 (100d)
ST Sleep
(Low Power)
Time before Sleep. Set/Read time period of inactivity (no serial or RF data is sent or
received) before activating Sleep Mode. The ST parameter is only valid with Cyclic
Sleep settings (SM = 4 - 6). Set ST on Cyclic Sleep Coordinator to match Cyclic Sleep
Remotes.
0x01 - 0xFFFF [x 1 ms] 0x1388
(5000d)
VR Diagnostics Firmware Version. Read firmware version of the RF module. 0 - 0xFFFF [read-only] Factory-set
WR (Special) Write. Write parameter values to RF module's non-volatile memory so that
modifications persist through subsequent power-up or reset. --

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3.3. Command Descriptions
Command descriptions in this section are listed alphabetically. Command categories are desig-
nated within "< >" symbols that follow each command title. XBee-PRO RF modules expect param-
eter values in hexadecimal (designated by the "0x" prefix).
BD (Interface Data Rate) Command
<Serial Interfacing> The BD command is used to
set and read the serial interface data rate (baud
rate) used between the RF module and host. This
parameter determines the rate at which serial
data is sent to the RF module from the host. Mod-
ified interface data rates do not take effect until
the CN (Exit AT Command Mode) command is
issued and the system returns the 'OK' response.
When parameters 0-7 are sent to the RF module,
the respective interface data rates are used (as
shown in the table on the right).
The RF data rate is not affected by the BD param-
eter. If the interface data rate is set higher than
the RF data rate, a flow control configuration may
need to be implemented.
Non-standard Interface Data Rates:
When parameter values outside the range of standard baud rates are sent, the closest interface
data rate represented by the number is stored in the BD register. For example, a rate of 19200
bps can be set by sending the following command line "ATBD4B00". NOTE: When using Max-
Stream’s X-CTU Software, non-standard interface data rates can only be set and read using the X-
CTU ‘Terminal’ tab. Non-standard rates are not accessible through the ‘Modem Configuration’ tab.
When the BD command is sent with a non-standard interface data rate, the UART will adjust to
accommodate the requested interface rate. In most cases, the clock resolution will cause the
stored BD parameter to vary from the parameter that was sent (refer to the table below). Reading
the BD command (send "ATBD" command without an associated parameter value) will return the
value that was actually stored to the BD register.
CC (Command Sequence Character) Command
<AT Command Mode Options> The CC command
is used to set and read the ASCII character used
between guard times of the AT Command Mode
Sequence (GT + CC + GT). This sequence enters
the RF module into AT Command Mode so that
data entering the modem from the host is recog-
nized as commands instead of payload.
Refer to the Command Mode section [p11] for more information regarding the AT Command Mode
Sequence.
Tab le3‐02. ParametersSentVersusParametersStored
BD Parameter Sent (HEX) Interface Data Rate (bps) BD Parameter Stored (HEX)
0 1200 0
4 19,200 4
7 115,200 7
12C 300 12B
1C200 115,200 1B207
AT Command: ATBD
Parameter Range: 0 - 7 (standard rates)
Parameter Configuration (bps)
0 1200
1 2400
2 4800
3 9600
4 19200
5 38400
6 57600
7 115200
Default Parameter Value:3
AT Command: ATCC
Parameter Range: 0 - 0xFF
Default Parameter Value: 0x2B (ASCII “+”)
Related Commands: GT (Guard Times)

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CH (Channel) Command
<Networking & Security> The CH command is
used to set and read the channel on which RF
connections are made between RF modules. The
channel is one of three network layers available
to the RF module. The other layers are the PAN
ID (ID command) and destination addresses (DL
& DH commands).
In order for RF modules to communicate with
each other, the RF modules must share the same channel number. Different channels can be used
to prevent RF modules in one network from listening to transmissions of another.
The RF module uses channel numbers of the 802.15.4 standard.
Center Frequency = 2.405 + (CH - 11d) * 5 MHz (d = decimal)
Refer to the “Addressing Overview” section [p12] for more information.
CN (Exit AT Command Mode) Command
<AT Command Mode Options> The CN command
is used to explicitly exit the RF module from AT
Command Mode.
CT (Command Mode Timeout) Command
<AT Command Mode Options> The CT command
is used to set and read the amount of inactive
time that elapses before the RF module automati-
cally exits from AT Command Mode and returns
to Idle Mode.
Use the CN (Exit AT Command Mode) command
to exit AT Command Mode manually.
DB (Received Signal Strength) Command
<Diagnostics> The DB parameter is used to read
the received signal strength (in dBm) of the last
RF packet received. Reported values are accurate
between -40 dBm and the RF module's receiver
sensitivity.
Absolute values are reported. For example: 0x58 = -88 dBm. If no packets have been received
(since last reset, power cycle or sleep event), “0” will be reported.
DH (Destination Address High) Command
<Networking & Security> The DH command is
used to set and read the upper 32 bits of the RF
module's 64-bit destination address. When com-
bined with the DL (Destination Address Low)
parameter, it defines the destination address
used for transmission.
RF modules will only communicate with other RF
modules having the same channel (CH parame-
ter), PAN ID (ID parameter) and destination address
(DH + DL parameters).
To transmit using a 16-bit address, set the DL parameter to zero and the DH parameter less than
0xFFFF. 0x000000000000FFFF (DH concatenated to DL) is the broadcast address for the PAN.
Refer to the “Addressing Overview” section [p12] for more information.
AT Command: ATCH
Parameter Range: 0x0B - 0x1A (XBee)
0x0C - 0x18 (XBee-PRO)
Default Parameter Value: 0x0C (12 decimal)
Related Commands: ID (PAN ID), DL
(Destination Address Low, DH (Destination
Address High)
AT Command: ATCN
AT Command: ATCT
Parameter Range: 2 - 0xFFFF
[x 100 milliseconds]
Default Parameter Value: 0x64 (100 decimal,
which equals 10 decimal seconds)
Number of bytes returned: 2
Related Command: CN (Exit AT Command
Mode)
AT Command: ATDB
Parameter Range: 0 - 0x64 [read-only]
AT Command: ATDH
Parameter Range: 0 - 0xFFFFFFFF
Default Parameter Value: 0
Related Commands: DL (Destination Address
Low), CH (Channel), ID (PAN VID), MY (Source
Address)

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DL (Destination Address Low) Command
<Networking & Security> The DL command is
used to set and read the lower 32 bits of the RF
module's 64-bit destination address. When com-
bined with the DH (Destination Address High)
parameter, it defines the destination address
used for transmission.
RF modules will only communicate with other RF
modules having the same channel (CH parameter), PAN ID (ID parameter) and destination
address (DH + DL parameters).
To transmit using a 16-bit address, set the DL parameter to zero and the DH parameter less than
0xFFFF. 0x000000000000FFFF (DH concatenated to DL) is the broadcast address for the PAN.
Refer to the “Addressing Overview” section [p12] for more information.
GT (Guard Times) Command
<AT Command Mode Options> GT Command is
used to set the DI (data in from host) time-of-
silence that surrounds the AT command sequence
character (CC Command) of the AT Command
Mode sequence (GT + CC + GT).
The DI time-of-silence is used to prevent inad-
vertent entrance into AT Command Mode.
Refer to the Command Mode section [p11] for
more information regarding the AT Command Mode Sequence.
ID (Pan ID) Command
<Networking & Security> The ID command is
used to set and read the PAN (Personal Area Net-
work) ID of the RF module. Only RF modules with
matching PAN IDs can communicate with each
other. RF modems with non-matching PAN IDs
will not receive unintended data transmission.
Setting ID to 0xFFFF indicates a global message for all PANs.
Refer to the “Addressing Overview” section [p12] for more information.
MY (16-bit Source Address) Command
<Networking & Security> The MY command is
used to set and read the 16-bit source address of
the RF module.
By setting MY to 0xFFFF, the reception of RF
packets having a 16-bit address is disabled. The
64-bit address is the module serial number and is
always enabled.
Refer to the “Addressing Overview” section [p12] for more information.
AT Command: ATDL
Parameter Range: 0 - 0xFFFFFFFF
Default Parameter Value: 0
Related Commands: DH (Destination Address
High), CH (Channel), ID (PAN VID), MY (Source
Address)
AT Command: ATGT
Parameter Range: 0x02 - 0xFFFF
[x 1 millisecond]
Default Parameter Value: 0x3E8
Related Commands: CC (Command Sequence
Character)
AT Command: ATID
Parameter Range: 0 - 0xFFFF
Default Parameter Value:0x3332
(13106 decimal)
AT Command: ATMY
Parameter Range: 0 - 0xFFFF
Default Parameter Value: 0
Related Commands: DH (Destination Address
High), DL (Destination Address Low), CH
(Channel), ID (PAN ID)

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P0 (PWM0 Configuration) Command
<Diagnostics> The P0 command is used to select
and read the function for PWM0 (Pulse Width
Modulation output 0 - pin 6).
Note: The second character in the command is a
zero (“0”), not the letter “O”.
PL (Power Level) Command
<RF Interfacing> The PL command is used to
select and read the power level at which the RF
module transmits conducted power.
RE (Restore Defaults) Command
<(Special)> The RE command is used to restore
all configurable parameters to their factory
default settings. The RE command does not write
restored values to non-volatile (persistent) memory. Issue the WR (Write) command after issuing
the RE command to save restored parameter values to non-volatile memory.
RN (Random Delay Slots) Command
<Networking & Security> The RN command is
used to set and read the minimum value of the
back-off exponent in the CSMA-CA algorithm. The
CSMA-CA algorithm was engineered for collision
avoidance (random delays are inserted to prevent
data loss caused by data collisions).
If RN = 0, collision avoidance is disabled during the first iteration of the algorithm (802.15.4 -
macMinBE).
CSMA-CA stands for "Carrier Sense Multiple Access - Collision Avoidance". Unlike CSMA-CD (reacts
to network transmissions after collisions have been detected), CSMA-CA acts to prevent data colli-
sions before they occur. As soon as a modem receives a packet that is to be transmitted, it checks
if the channel is clear (no other modem is transmitting). If the channel is clear, the packet is sent
over-the-air. If the channel is not clear, the RF module waits for a randomly selected period of
time, then checks again to see if the channel is clear. After a time, the process ends and the data
is lost.
AT Command: ATP0
Parameter Range: 0 - 1
Parameter Configuration
0 Disabled
1RSSIPWM0enabled
Default Parameter Value: 1
AT Command: ATPL
Parameter Range: 0 - 4
Parameter XBee XBee-Pro
0 -11.5 dBm 10 dBm
1 -5.5 dBm 12 dBm
2 -4.5 dBm 14 dBm
3 -2 dBm 16 dBm
4 0 dBm 18 dBm
Default Parameter Value: 4
AT Command: ATRE
AT Command: ATRN
Parameter Range: 0 - 3
Default Parameter Value: 0

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RO (Packetization Timeout) Command
<Serial Interfacing> The RO command is used to
set and read the number of character times of
inter-character delay required before transmis-
sion. RF transmission commences when data is
detected in the DI (data in from host) buffer and
RO character times of silence are detected on the
UART receive lines (after receiving at least 1 byte).
(RF transmission will also commence when 100 bytes (maximum packet size) are received in the
DI buffer.)
Set the RO parameter to '0' to transmit characters as they arrive instead of buffering them into
one RF packet.
RP (RSSI PWM Timer) Command
<Diagnostics> The RP command is used to
enable PWM (Pulse Width Modulation) output on
the RF module. The output is calibrated to show
the level a received RF signal is above the sensi-
tivity level of the RF module. The PWM pulses
vary from zero to 95 percent. Zero to twenty-nine
percent means the received RF signal is at or below the published sensitivity level of the RF mod-
ule. The following table shows levels above sensitivity and PWM values.
The total period of the PWM output is 8.32 ms. Because there are 40 steps in the PWM output, the
minimum step size is 0.208 ms.
*PWM%=(295+(17.5*dBmabovesensitivity))/10.24
A non-zero value defines the time that the PWM output will be active with the RSSI value of the
last received RF packet. After the set time when no RF packets are received, the PWM output will
be set low (0 percent PWM) until another RF packet is received. The PWM output will also be set
low at power-up until the first RF packet is received. A parameter value of 0xFF permanently
enables the PWM output and it will always reflect the value of the last received RF packet.
SH (Serial Number High) Command
<Diagnostics> The SH command is used to read
the high 32 bits of the RF module's unique IEEE
64-bit address.
The RF module serial number is set at the factory
and is read-only.
SL (Serial Number Low) Command
<Diagnostics> The SL command is used to read
the low 32 bits of the RF module's unique IEEE
64-bit address.
The RF module serial number is set at the factory
and is read-only.
Tab le3‐03. PWMPercentages
dB above Sensitivity PWM percentage*
(high period / total period)
10 46.0%
20 63.0%
30 80.1%
AT Command: ATRO
Parameter Range: 0 - 0xFF
[x character times]
Default Parameter Value: 3
AT Command: ATRP
Parameter Range: 0 - 0xFF
[x 100 milliseconds]
Default Parameter Value: 0x28 (40 decimal)
AT Command: ATSH
Parameter Range: 0 - 0xFFFFFFFF [read-only]
Related Commands: SL (Serial Number Low),
MY (Source Address)
AT Command: ATSL
Parameter Range: 0 - 0xFFFFFFFF [read-only]
Related Commands: SH (Serial Number High),
MY (Source Address)

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SM (Sleep Mode) Command
<Sleep Mode (Low Power)> The SM command is
used to set and read RF module Sleep Mode set-
tings. By default, Sleep Modes are disabled (SM =
0) and the RF module remains in Idle/Receive
Mode. When in this state, the RF module is con-
stantly ready to respond to either serial or RF
activity.
SP (Cyclic Sleep Period) Command
<Sleep Mode (Low Power)> The SP command is
used to set and read the duration of time in which
a remote RF module sleeps. After the cyclic sleep
period is over, the RF module wakes and checks
for data. If data is not present, the RF module
goes back to sleep. The maximum sleep period is
268 seconds (SP = 0x68B0).
The SP parameter is only valid if the RF module is
configured to operate in Cyclic Sleep (SM = 4-6).
ST (Time before Sleep) Command
<Sleep Mode (Low Power)> The ST command is
used to set and read the period of time that the
RF module remains inactive (no transmitting or
receiving) before entering into Sleep Mode.
For example, if the ST parameter is set to its
default value of 0x1388 (5000 decimal), the RF
module will enter into Sleep mode after 5 seconds
of inactivity. This command can only be used if
Cyclic Sleep settings have been selected using SM
(Sleep Mode) Command (SM = 4-6).
VR (Firmware Version) Command
<Diagnostics> The VR command is used to read
which firmware version is stored in the RF mod-
ule.
WR (Write) Command
<(Special)> The WR command is used to write
configurable parameters to the RF module's non-
volatile memory (Parameter values remain in RF
module's memory until overwritten by subsequent use of the WR Command).
If changes are made without writing them to non-volatile memory, the RF module reverts back to
previously saved parameters the next time the RF module is powered-on.
AT Command: ATSM
Parameter Range: 0 - 6
Parameter Configuration
0 Disabled
1PinHibernate
2PinDoze
3(reserved)
4 Cyclic Sleep Remote
5Cyclic Sleep Remote
(with Pin Wake-up)
6Cyclic Sleep
Coordinator
Default Parameter Value: 0
Related Commands: SP (Cyclic Sleep Period),
ST (Time before Sleep)
AT Command: ATSP
Parameter Range: 1 - 0x68B0
[x 10 milliseconds]
Default Parameter Value:0x64
(100 decimal)
Related Commands: SM (Sleep Mode), ST
(Time before Sleep)
AT Command: ATST
Parameter Range: 1 - 0xFFFF
[x 1 millisecond]
Default Parameter Value:0x1388
(5000 decimal)
Related Commands: SM (Sleep Mode),
SP (Cyclic Sleep Period)
AT Command: ATVR
Parameter Range: 1 - 0xFFFF [read only]
AT Command: ATWR