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Commands and Parameters Parameter 1 and 2... With these parameters it is reported to the module at a request command onto which CAN Id (CTxId) it should transmit the requested reply. The module only transmits once on this identifier. The identifier is not stored on the module. If another transmission is wanted, another INIT Id with the corresponding parameters has to be transmitted to the module again. At a set command the Rx identifier is interchanged to the module by these parameters on which it should transmit the data. By the sub command it is selected which one of the possible Rx identifiers should be set or reset: Sub command $00 $01 : n Rx identifiers on parameter 1 and 2 RxId1 RxId2 : RxId(n+1) Table 3.4.2: Selection of the Rx identifiers by the sub command The following table shows how the bits of Rx identifiers have to be allocated to the bytes 5 and 6: Bits in byte 5 and 6 Bits of the RxId Byte 5 Byte 6 Parameter 1 Parameter 2 7 6 5 4 3 2 1 0 7 6 5 4 3 2 1 0 RxId-H RxId-L - - - - - id11 id10 id9 id8 id7 id6 id5 id4 id3 id2 id1 (-) These bits are not evaluated. Table 3.4.3: Bits of the Rx identifier in byte 5 and byte 6 esd Protocol for CAN Modules Rev. 3.2 3 - 23
Commands and Parameters Reply of the modules to the command 'request RxIds': The reply of the Rx identifiers depends on the value of the received sub command. The following table shows the information which the module transmits to the CAN. 3 - 24 Sub command Reply of the parameter Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 $00 RxId 1 $03 $00 Rx1S Rx1E - - $01 RxId 2 $03 $01 Rx2S Rx2E - - $02 RxId 3 $03 $02 Rx3S Rx3E - - : : $03 : : : - - n RxId (n+1) $03 n Rx(n+1)S Rx(n+1)E - - (-) Byte is not transmitted Explanation of the bytes transmitted by the module: Table 3.4.4: Transmitting the actual Rx identifiers Byte 1... The first byte returns the contents of the received command byte (here always $03). Byte 2... The second byte returns the contents of the received sub command byte. The sub command designates the selected identifier. Byte 3- Byte 6... In these cells the actual Rx identifier is returned. The bits of the identifier are described in byte 3 and 4 (or byte 5 and 6) and returned in that form as they have to be entered at setting in byte 5 and 6. (See also table 'Bits of the Rx identifier in byte 5 and 6'.) Apart from the allocation of Rx identifiers described above there is the possibility to allocate, depending on the module type, an own identifier to each output bit, byte or word (see chapter 'Rx Block Mode'). If this block mode is activated, the first (Rxm_S) and the last (Rxm_E) identifier of the block are returned at an RxId request command (m=1,2,3,4...). If the module is not in Rx block mode, the returned identifier in byte 3 and byte 4 is identical with the one in byte 5 and byte 6. esd Protocol for CAN Modules Rev. 3.2
Page 1 and 2: esd CAN Protocol esd Protocol for C
Page 3 and 4: esd Protocol for CAN Modules Rev. 3
Page 5 and 6: i - 2 esd Protocol for CAN Modules
Page 7 and 8: Overview 1.4 General Hardware Funct
Page 9 and 10: Overview Explanations to Table 1.5.
Page 11 and 12: Overview 1.6 Advanced Configuration
Page 13 and 14: Overview 1.7 Summary of LED States
Page 15 and 16: CAN Net 1 - 10 Default Parameters R
Page 17 and 18: 1 - 12 Overview esd Protocol for CA
Page 19 and 20: 2 - 2 Overview Byte 1 Byte 2 Byte 3
Page 21 and 22: Overview 2.2 Overview of the Return
Page 23 and 24: 2 - 6 esd Protocol for CAN Modules
Page 25 and 26: Commands and Parameters Transmissio
Page 27 and 28: Commands and Parameters Byte 4: iom
Page 29 and 30: 3 - 6 Commands and Parameters Byte
Page 31 and 32: 3 - 8 Commands and Parameters Byte
Page 33 and 34: Commands and Parameters Sub command
Page 37 and 38: Commands and Parameters Requesting
Page 43 and 44: Commands and Parameters Parameter 1
Page 45: 3.4 Process RxIds 3 - 22 Commands a
Page 49 and 50: Commands and Parameters Parameter 1
Page 51 and 52: Commands and Parameters 3.6 Process
Page 53 and 54: Commands and Parameters 3.7 Service
Page 55 and 56: Commands and Parameters 3.8 Supervi
Page 57 and 58: Commands and Parameters Module no.
Page 59 and 60: L Examples Now the Tx identifier Tx
Page 61: L Examples 4.2.2 ...if the module n

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