ÿþþ ÿ R O - C A N - I N T E R F A C E ...

RO-CAN-INTERFACE 

Hardware-Description 

2012 

Juli

INDEX 

1. Introduction 7 

1.1. General remarks 7 

1.2. Customer satisfaction 7 

1.3. Customer response 7 

2. Hardware description 9 

2.1. Overview screen 9 

2.2. Technical data 10 

2.3. Plug-in connector of the module 11 

2.3.1. Power supply 

11 

2.3.2. CAN interface 

11 

2.4. Control LEDs 12 

2.4.1. Definition of LEDs 

3. Configuring the module 14 

3.1. DIP-switches 14 

3.2. The “special mode” 15 

3.3. Software mode 16 

3.4. DIP-switch mode 18 

3.4.1. Setting up the transfer rate 

3.4.2. Setting up the CAN module address 

4. Firmware update 22 

4.1. DEDITEC Flasher 22 

5. CAN-Configuration Utility 26 

5.1. Configuration 27 

5.1.1. Basic configuration 

12 

18 

19 

27 

Index | Seite 2

INDEX 

5.1.1.1. Select Config-Port (1) 

5.1.1.2. Test communication with module (2) 

5.1.2. Select the configuration 

5.1.2.1. Create new configuration (1) 

5.1.2.2. Load current configuration (2) 

5.1.3. Value range and CAN-Baudrate 

5.1.3.1. Set the CAN-Baudrate (1) 

5.1.3.2. Set the A/D value range (2) 

5.1.3.3. Set the D/A value range (3) 

5.1.3.4. Set timeout (4) 

5.1.4. DEDITEC address mode 

5.1.4.1. Set the address mode (1) 

5.1.4.2. Set the module address (2) 

5.1.4.3. Set the response module address (3) 

5.1.5. Auto Tx mode 

34 

5.1.6. Auto Rx mode 

35 

5.1.7. Save and exit 

36 

5.2. Structure of the CAN packets 37 

5.2.1. Digital inputs 

5.2.1.1. Structure of an 8-byte CAN packet 

5.2.2. Digital outputs 


5.2.3. Digital input counter (16-bits) 




5.2.5. A/D inputs 


5.2.5.2. Examples for setting the value range 

5.2.5.2.1. Setting voltage range ±10V 

5.2.5.2.2. Setting voltage range 0-5V 

5.2.5.2.3. Setting current range 0-20mA 

5.2.6. D/A outputs 






5.2.7. Temperature inputs 

27 

28 

29 

29 

29 

30 

30 

30 

31 

31 

32 

32 

32 

33 

37 

37 

38 

38 

39 

39 

40 

40 

41 

41 

41 

41 

42 

42 

43 

43 

43 

43 

44 

44 

45 

Index | Seite 3

INDEX 


5.2.8. Stepper 


5.2.8.2. Command list 

5.2.8.3. Values for par 1 for command 

SET_MOTORCHARACTERISTIC 

5.2.8.4. Values for par 1 for command GO_REFSWITCH 

5.2.8.5. Example 

5.3. Control LEDs 49 

6. Software 51 

6.1. Using our products 51 

6.1.1. Access via graphical applications 

51 

6.1.2. Access via the DELIB driver library 

51 

6.1.3. Access via protocol 

51 

6.1.4. Access via provided test programs 

52 

6.2. DELIB driver library 53 

6.2.1. Overview 

6.2.1.1. Program under diverse operating systems 

6.2.1.2. Program with diverse programming languages 

6.2.1.3. Program independent of the interface 

6.2.1.4. SDK-Kit for Programmer 

6.2.2. Supported operating systems 

55 

6.2.3. Supported programming languages 

55 

6.2.4. Installation DELIB driver library 

56 

6.2.5. DELIB Configuration Utility 

60 

6.3. Integration of the DELIB 61 

6.3.1. Integration of the delib.h in Visual-C/C++ 

61 

6.3.2. Integration of the delib.cs in Visual-C# 

64 

6.3.3. Integration of the delib.cs in Visual-C# unter Windows 64bit 65 

6.3.4. Integration of the delib.pas in Delphi 

69 

6.3.5. Integration of the delib.bas in Visual Basic 

70 

6.3.6. Integration of the delib.vb in VB.NET 

71 

6.3.7. Integration of the delib.bas in MS-Office (VBA) 72 

6.3.8. Integration of the delib.dll in LabVIEW 

74 

6.3.8.1. Integration of the delib.dll in LabVIEW 

74 

6.3.8.2. Usage of the VIs in LabVIEW 

45 

46 

46 

46 

47 

48 

48 

53 

53 

54 

54 

54 

83 

Index | Seite 4

INDEX 

6.4. Test programs 85 

6.4.1. Digital Input-Output Demo 

85 

6.4.2. Analog Input-Output Demo 

86 

6.4.3. Stepper Demo 

87 

6.4.4. Watchdog Demo 

88 

6.4.5. Temperature Read Demo 

89 

6.5. DELIB CLI (command-line interface) 90 

6.5.1. Customisation for USB-Modules (only Linux) 

6.5.2. Customisation for RO-ETH-Modules (only Linux) 

6.5.3. DELIB CLI samples 

7. Appendix 99 

7.1. Revisions 99 

7.2. Copyrights and trademarks 100 

92 

93 

94 

Index | Seite 5

Introduction 

I 

Introduction |Seite 6

1. Introduction 

1.1. General remarks 

First of all, we would like to congratulate you to the purchase of a high quality 

DEDITEC product. 

Our products are being developed by our engineers according to quality 

requirements of high standard. Already during design and development we take 

care that our products have -besides quality- a long availability and an optimal 

flexibility. 

Modular design 

The modular design of our products reduces the time and the cost of development. 

Therefor we can offer you high quality products at a competitive price. 

Availability 

Because of the modular design of our products, we have to redesign only a module 

instead of the whole product, in case a specific component is no longer available. 

1.2. Customer satisfaction 

Our philosophy: a content customer will come again. Therefor customer 

satisfaction is in first place for us. 

If by any chance, you are not content with the performance of our product, please 

contact us by phone or mail immediately. 

We take care of the problem. 

1.3. Customer response 

Our best products are co-developments together with our customers. Therefor we 

are thankful for comments and suggestions. 

Introduction |Seite 7

Hardware description 

II 

Hardware description |Seite 8

2. Hardware description 

2.1. Overview screen 

The figure shows the control module with CAN-interface (left side) combined with 

an input/output module (right side). 

The figure shows the control module with CAN-interface (left side) combined with a 

flexible connector input/output module (right side). 


2.2. Technical data 

Single power supply +7V..+24V DC 

7 control LEDs 

CAN 2.0A (11 Bit addressing) 

CAN 2.0B (29 Bit addressing) 

Transmission range up to 10km (at 10Kbit/s) 

Easy to configure over DIP switches 

Galvanically isolated interface using optocouplers 

9 pol. D-SUB socket 

Timeout feature providing ability to disconnect outputs for safety reasons 

Comfortable connector system with ejection mechanism 

Expandable in 16 gradations 

Can be combined without any problem to other modules of the RO series 


2.3. Plug-in connector of the module 

2.3.1. Power supply 

The input-power-supply-range lies between +7V and +24V DC. Power supply can 

be realized with a standard AC/DC adaptor with 1A output current. A suitable plugin 

connector is included. 

2.3.2. CAN interface 

The connection to the CAN bus is realized through a 9 pol D-SUB connector. It is 

galvanically isolated through optocouplers. The CAN module is configured over the 

PC’s RS-232 interface using the the included adaptor plug. 

Pin 

1 RS-232 config 

3 RS-232 config 

2 CAN low 

7 CAN high 

5 GND 


2.4. Control LEDs 

The CAN module has a series of control LEDs. They are used for easy visual 

indication of various state functions. 

While switching-on the module in DIP-switch mode oder software mode, the 

module should signalize the following sequence: 

all five LEDs flashing briefly 

right LED (I/O access) flashing briefly 

In ”special mode”, the following signal sequence should be seen: 


right LED (I/O access) flashing briefly 


2.4.1. Definition of LEDs 

LED Description 

3,3V Internal 3,3V power supply 

5V Internal 5V power supply 

Interface Active communication- over the CAN bus 

Activity 

ERROR Error during CAN-transfer (for details see document ”CAN 

protocol”) 

Inputs: Change State change between 2 read-out cylces detected 

Outputs: Auto-Due 

to timeout, all outputs are switched-off for safety reasons 

Off 

I/O Access CPU-access on the inputs and outputs of the connected 

modules 


Configuring the module 

III 

Configuring the module |Seite 13

3. Configuring the module 

In order to integrate a module into an existing bus system, it is necessary to first 

assign a free module address and the appropriate bit rate. The ”special mode” 

may be alternatively used to quickly operate the system. 

3.1. DIP-switches 

Some of the settings are easily configurable using DIP-switches. Configurable are 

the ”special mode”, the activation of the extended IDs, the data transfer range or 

the module’s address. 

DIP-switch A8 DIP-switch A7 Description 

ON ON ”special mode” -> Blinking squency during 

start-up (5 LEDs, 1 right LED, 5 LEDs), 

100KHz, CAN-ID=0x100, Response- 

Module-Addr=1, keine 29 Bit Adressen 

ON OFF Only for SERVICE-purpose: application 

won’t start. Forced into bootloader 

OFF ON Software mode: configuration by software 

OFF OFF DIP-switch mode: configuration by DIP- 

Switches, Response-Module-Addr=1, CAN 

2.0A 

DIP-switch Description 

A6 to A4 *) Setting up transfer rate 

A3 to A1 *) Setting up CAN address 

B8 to B1 *) Setting up CAN address 

*) if A8 and A7 = OFF 


3.2. The “special mode” 

The ”special mode” is to quickly and easily set the device to the default values. This 

is helpfull for a quick and easy setup and facilitates an error analysis or an initial 

operation. 

This mode is active, if switching the DIP-switches A7 and A8 to ”ON”. The 

remaining DIP-switches are disabled. The module will work with the following 

settings: 

11 bit-addressing 

100 kbit/s bitrate 

CAN-address = 0x100 

Response-Modul-Addr = 1 (responses are sent to this address) 


3.3. Software mode 

This module can configured in “software mode” only with the small CAN/SER 

program adpater, which is included in delivery. Configuration will be done by the 

serial interface of your pc. 

For using the software mode, the dip switches A7 and A8 must be set “on”. Dip 

switch changes will be taken over, only by restart of the module. 

Connect the module with a DSUB-9 cable to the RS-232 interface of your pc with 

the CAN/SER adapter and connect it with the CAN-module. 

After installing the DELIB driver library, you can find under Start ->Programs -> 

DEDITEC ->DELIB, the DELIB Configuration Utility. 


Approach: 

1. Choose the RO-CAN module 

2. Choose COM port, that is connected to the module 

3. Test commuikation with RO-CAN module 

4. This button shows the config of the module 

5. Here you can save your configuration to the module 

6. This button loads the config of the module 


3.4. DIP-switch mode 

In this mode, the module is entirely set up by DIP-switch. This mode is active, if 

DIP-switch A7=OFF and A8=OFF. The address range is 11 bit large (CAN 2.0A). 

The module-address is set using the DIP-switches (DIP A3..A1 und B8..B1). The 

Response-Modul-Addr = 1 (responses are sent to this address). 

3.4.1. Setting up the transfer rate 

The bit rate is dependent on the CAN bus data transfer range. 3 DIP-switches are 

used to set the bit rate. Other bit rates can be implemented on customer request. 

Bitrate 1Mbit 500K 250K 125K 100K 50K 20K 10K 

DIP-switch A6 On On On On Off Off Off Off 

DIP-switch A5 On On Off Off On On Off Off 

DIP-switch A4 On Off On Off On Off On Off 


3.4.2. Setting up the CAN module address 

Any connected device to the CAN network needs a fix address in order to be 

directly accessed. With the 11 DIP-switches, up to 2047 different addresses are 

selectable. Further 18 addressing bits may be supplemented by software. To 

unlock this option, DIP-switch 7A must be set to ON. 

Baud rate Bit Value ON Value OFF 

DIP-switch A3 Bit 10 1024 0 



DIP-switch B8 Bit 7 128 0 









Examples: 

Baud rate Address 0 Address 117 Address 588 

DIP-switch A3 Off Off Off 

DIP-switch A2 Off Off On 

DIP-switch A1 Off Off Off 

DIP-switch B8 Off Off Off 

DIP-switch B7 Off On On 

DIP-switch B6 Off On Off 


DIP-switch B4 Off Off On 

DIP-switch B3 Off On On 

DIP-switch B2 Off Off Off 



Firmware update 

IV 

Firmware update |Seite 21

4. Firmware update 

4.1. DEDITEC Flasher 

You can find the latest firmware version for your DEDITEC product always at the 

download section of our homepage. 

( -> http://www.deditec.de/en/module/downloads/firmware-updates.html ) 

Approach after download 

Unzip the ZIP archive 

Start the program deditec-flasher.exe 

The following application will be opened: 

You can find a detailed description of the available commands on the following 

page. 


1. Select the Interface of the module of the RO-Series 

Command (Key) Interface 

U USB-Interface 

S Serial Interface (RS-232 / RS-485) 

C CAN-Interface 

E Ethernet-Interface 

V USB2-Interface 

Note: 

1) The current selected interface will be displayed in the last line (Selected Device 

= USB) 

2) Press key Q to flash "non-RO-Series-products" (USB-Mini-Sticks, USB-Logi- 

500, ..) 

3) In order to flash products of the RO-CAN-Series, you have to connect the 

module with your PC via the CAN/SER adapter. 

2. Additional options 

Command (Key) Description 

D Flasher runs in DEBUG mode 

Therefore, additional information will be displays 

P Reads the current firmware of connected DEDITEC 

products 

3. Select the module which you want to flash (RO-Series only) 

Command (Key) Description 

M Flash the RO-Interface module 

A Flash all AD16, AD16-DA4, DA4 or AD16_ISO sub 

modules 

B Flash all DA2_ISO sub modules 

G Flash all STEPPER2 sub modules 

H Flash all O8-R8 or M16 sub modules 

I Flash all PT100 sub modules 

J Flash all CNT8 or CNT/IGR sub modules 

Z Scan the module for available sub modules 


After successful update procedure, the message FLASH-OK! appears. 


CAN-Configuration Utility 

V 

CAN-Configuration Utility |Seite 25

5. CAN-Configuration Utility 

Start "CAN Configuration Utility" as follows: 

Start Programme DEDITEC DELIB CAN 

The "CAN Configuration Utility" is used to configure DEDITEC CAN modules. 

Additionally, it enables the control of the automatic reception mode (Auto-Rx) and 

the automatic transmit mode (Auto-Tx). The Auto-Rx-mode allows to configure up 

to 4 different data packets, which can be received from other CAN addresses 

automatically. However, the Auto-Tx-mode allows to send automatically also up to 

4 different data packets to other CAN addresses. 


5.1. Configuration 

5.1.1. Basic configuration 

To start the "CAN Configuration Utility", the CAN module has to be in the software 

mode (-> Software mode). 

After starting program, the following window appears: 

5.1.1.1. Select Config-Port (1) 

Select via the drop-down list Select Config-Port, the COM port, to which the 

module is connected. 


5.1.1.2. Test communication with module (2) 

You can test the communication with the module via the button Test 

Communication with RO-CAN Module. 

Notice: 

If the communication with the module is not possible, the following errors could be 

responsible for: 

1) CAN / SERIAL adapter is not plugged 

2) Wrong COM port selected 

3) Module is not turned on 


5.1.2. Select the configuration 

5.1.2.1. Create new configuration (1) 

With the button New Configuration, you create a complete new (empty) 

configuration. 

5.1.2.2. Load current configuration (2) 

You can load the current configuration of the module via the button Load Config 

from Module. 

Notice: 

Please note that a new or edited configuration will take effect only after transferring 

to the module. 


5.1.3. Value range and CAN-Baudrate 

5.1.3.1. Set the CAN-Baudrate (1) 

You can set the CAN-Baudrate vie the drop-down list Baudrate. The baudrate 

indicates the transfer speed of the module. 

5.1.3.2. Set the A/D value range (2) 

You can set the value range of the A/D Converter via the drop-down list A/D - 

Range. The value range indicates the range, in which digital signals will be 

converted analogously (e.g. in the range 0-5V). If there is no A/D converter 

connected, this setting will be ignored. 


5.1.3.3. Set the D/A value range (3) 

You can set the value range of the D/A Converter via the drop-down list D/A - 

Range. The value range indicates the range, in which analogous signals (e.g. in 

the range 0-10V) will be converted digital. If there is no D/A converter connected, 

this setting will be ignored. 

5.1.3.4. Set timeout (4) 

You can set the timeout time via the drop-down list Timeout for outputs. The 

timeout protection provides the ability to disable the outputs of the module 

automatically, if no more messages were received by the module, in this defined 

timeframe. If no timeout is desired, please select the setting not active. 


5.1.4. DEDITEC address mode 

The following settings apply only to the DEDITEC address mode: 

5.1.4.1. Set the address mode (1) 

You can set the address mode via the drop-down list Adress Mode. With this 

setting, the DEDITEC address Mode is used. 

5.1.4.2. Set the module address (2) 

The text line Module-Adress [hex] allows to set the address of the module. The 

module will be addressed by this address. Please note, that the module address 

must be hexadecimal. 


5.1.4.3. Set the response module address (3) 

The text line Response-Module-Adress [hex] allows to set an address, to which 

the module returns a confirmation, once the module has received a packet. Please 

note, that the module address must be hexadecimal. 


5.1.5. Auto Tx mode 

The automatic transmit mode (Auto-Tx-mode) allows to send automatically up to 4 

different data packets to other CAN addresses. 

Approach: 

1. Set the packet number (a total of 4 different packets available). 

2. Activate the TX packet. 

3. Set the Time-Interval, in which the module will transmit packets automatically. 

4. Set the address range (11 bits or 29 bits). 

5. Set the module address to which the packet should be sent. 

6. Set the data (e.g. channels of a module), which should be sent. 

7. Next. 


5.1.6. Auto Rx mode 

The automatic reception mode (Auto-Rx-mode) allows to receive automatically up 

to 4 different data packets from other CAN addresses. 

Approach: 

1. Set the packet number (a total of 4 different packets available). 

2. Activate the RX packet. 

3. Set the address range (11 bits or 29 bits). 

4. Set the address at which the packet should be received. 

5. Set the module (or channels of a module) to which the data packets should be 

given. 

6. Next. 


5.1.7. Save and exit 

Approach: 

1. Save and transfer the current configuration to the module. 

2. Show a summary of the current configuration of the module. Please note, that 

this option is only available, if the module is in the software mode (-> Software 

mode). 

3. Exit program. 


5.2. Structure of the CAN packets 

5.2.1. Digital inputs 


CAN-Data-Byte Content 

1 DI channel 1-8 (Bit 0-7) 








This example shows the structure of an auto-Tx-packet with the settings for DI 

channel 1-64 (-> Auto Tx Mode). 


5.2.2. Digital outputs 



1 DO channel 1-8 (Bit 0-7) 








This example shows the structure of an auto-Rx-packet with the settings for DO 

channel 1-64 (-> Auto Rx Mode). 





1 DI counter 1 (Bit 0-7) 








This example shows the structure of an auto-Tx-packet with the settings for DI 

counter 1-4 (-> Auto Tx Mode). 





1 CNT8 counter 1 (Bit 0-7) 








This example shows the structure of an auto-Tx-packet with the settings for CNT8 

counter 1-2 (-> Auto Tx Mode). 

Notice: 

Please note, that only the first 32-bit of an 48-bit input counter can be sent in one 

CAN packet 


5.2.5. A/D inputs 



1 A/D channel 5 (Bit 0-7) 








This example shows the structure of an auto-Tx-packet with the settings for AD 

channel 5-8 (-> Auto Tx Mode). 


The value range of an A/D converter indicates the range, in which analogue signals 

(eg in the range 0-5V) were converted digitally. The configuration of the value 

range can be set in the CAN Configuration Utility (-> Set the A/D value range). 

Notice: 

The hexadecimal value FFFF always characterizes the upper limit of a value range, 

value 0000 the lower limit. 


Value (hex) Voltage 

FFFF +10V 

8000 0V 

0000 -10V 




FFFF +5V 

8000 +2,5V 

0000 0 V 


Value (hex) Current 

FFFF 20 mA 

8000 10 mA 

0000 0 mA 


5.2.6. D/A outputs 



1 D/A channel 1 (Bit 0-7) 








This example shows the structure of an auto-Rx-packet with the settings for DA 

channel 1-4 (-> Auto Rx Mode). 


The value range of an D/A converter indicates the range, in which digital signals 

were converted analogously (eg in the range 0-5V). The configuration of the value 

range can be set in the CAN Configuration Utility (-> Set the D/A value range). 

Notice: 

The hexadecimal value FFFF always characterizes the upper limit of a value range, 

value 0000 the lower limit. 



FFFF +10V 

8000 0V 

0000 -10V 




FFFF +5V 

8000 +2,5V 

0000 0 V 


Value (hex) Current 

FFFF 20 mA 

8000 10 mA 

0000 0 mA 

Notice: 

The output of an current range is only available for modules, which support that 

mode. 


5.2.7. Temperature inputs 



1 PT100 channel 1 (Bit 0-7) 








This example shows the structure of an auto-Tx-packet with the settings for PT100 

channel 1+2 (-> Auto Tx Mode). 


5.2.8. Stepper 



1 COMMAND 

2 PAR1 (Bit 0-7) 

3 PAR1 (Bit 8-15) 

4 PAR1 (Bit 16-23) 

5 PAR1 (Bit 24-31) 

6 PAR2 (Bit 0-7) 

7 PAR2 (Bit 8-15) 

8 PAR3 (Bit 0-7) 

5.2.8.2. Command list 

Commands with DAPI_STEPPER_CMD_ Value 

(hex) 

Description 

SET_MOTORCHARACTERISTIC 1 (hex) Set the motor characteristic 

GET_MOTORCHARACTERISTIC 2 (hex) Get the motor characteristic 

SET_POSITION 3 (hex) Set the motor position 

GO_POSITION 4 (hex) Go to position 

GET_POSITION 5 (hex) Get the motor position 

SET_FREQUENCY 6 (hex) Set the nominal motor frequency 

SET_FREQUENCY_DIRECTLY 7 (hex) Set the motor frequency 

GET_FREQUENCY 8 (hex) Get the motor frequency 

FULLSTOP 9 (hex) Immediate stopping the motor 

STOP 10 (hex) Stopping the motor (with deceleration slope) 

GO_REFSWITCH 11 (hex) Go to a reference position 

DISABLE 14 (hex) Enable/Disable the motor 

MOTORCHARACTERISTIC_LOAD_DEFAULT 15 (hex) Set the motor characteristic to default 

MOTORCHARACTERISTIC_EEPROM_SAVE 16 (hex) Save the motor characteristic to EEPROM 

MOTORCHARACTERISTIC_EEPROM_LOAD 17 (hex) Load the motor characteristic out of EEPROM 

GET_CPU_TEMP 18 (hex) Get the temperature of the CPU 

GET_MOTOR_SUPPLY_VOLTAGE 19 (hex) Get the supply voltage of the CPU 

GO_POSITION_RELATIVE 20 (hex) Go to a relative position 


5.2.8.3. Values for par 1 for command SET_MOTORCHARACTERISTIC 

Parameter 

(DAPI_STEPPER_MOTORCHAR_PAR_ ...) 

Value Description 

(dec) 

STEPMODE 1 Stepmode (Full-, 1/2-, 1/4-, 1/8-, 1/16-step) 

GOFREQUENCY 2 Speed [Full-step / s] - related to full-step 

STARTFREQUENCY 3 Startfrequency [Full-step / s] 

STOPFREQUENCY 4 Stopfrequency [Full-step / s] 

MAXFREQUENCY 5 Maximum frequency [Full-step / s] 

ACCELERATIONSLOPE 6 Acceleration slope [Full-step / ms] 

DECELERATIONSLOPE 7 Deceleration slope [Full-step / 10ms] 

PHASECURRENT 8 Phase current [mA] 

HOLDPHASECURRENT 9 Phase current for motor hold [mA] 

HOLDTIME 10 Time in that the hold goes to motorstop [ms] 

STATUSLEDMODE 11 Mode of the Status-LED 

INVERT_ENDSW1 12 Invert endswitch1 

INVERT_ENDSW2 13 Invert endswitch2 

INVERT_REFSW1 14 Invert referenceswitch1 

INVERT_REFSW2 15 Invert referenceswitch2 

INVERT_DIRECTION 16 Invert all direction details 

ENDSWITCH_STOPMODE 17 Setting of the stop behaviour (0=Fullstop / 

1=Stop) 

GOREFERENCEFREQUENCY_TOENDSWITCH 18 Frequency before endswitch [Full-step / s] 

GOREFERENCEFREQUENCY_AFTERENDSWITC 

H 

19 Frequency after endswitch [Full-step / s] 

GOREFERENCEFREQUENCY_TOOFFSET 20 Frequency to optional offset [Full-step / s] 


5.2.8.4. Values for par 1 for command GO_REFSWITCH 

Parameter 

(DAPI_STEPPER_GO_REFSWITCH_PAR_ 

...) 

Value 

(dec) 

Description 

REF1 1 Go to refswitch 1 

REF2 2 Go to refswitch 2 

REF_LEFT 4 Go to the left edge of the refswitch 

REF_RIGHT 8 Go to the right edge of the refswitch 

REF_GO_POSITIVE 16 Start motor to the right 

REF_GO_NEGATIVE 32 Start motor to the left 

SET_POS_0 64 Set motor position to 0 

5.2.8.5. Example 

The command 

DapiStepperCommand(handle, 1, DAPI_STEPPER_CMD_GO_POSITION, 3200, 0, 0, 0); 

will be sent in an 8-byte CAN-packet. The packet has the following structure: 

CAN-Byte Type Value Byte 

1 COMMAND 4 04 

2 PAR1 (Bit 0-7) 

80 

3 

4 

PAR1 (Bit 8-15) 

PAR1 (Bit 16-23) 

3200 

0C 

00 

5 PAR1 (Bit 24-31) 00 

6 

7 

PAR2 (Bit 0-7) 

PAR2 (Bit 8-15) 

0 

00 

00 

8 PAR3 (Bit 0-7) 0 00 


5.3. Control LEDs 

The following examples show the functionality of the LEDs 

Example 1 

Once a second, a test counter will be sent automatically . 

-> The "CAN-ACTIVITY" LED blinks once a second. 

Example 2 

Once a second, an A/D value will be sent automatically 

-> The "CAN-ACTIVITY" LED blinks once a second. 

-> The "I/O-ACCESS" LED blinks every time, whenever accessing the A/D 

converter. 

Example 3 

Nothing is sent automatically. The module is set to the RX address 100hex (goes 

to the D/A converter). 

-> The "CAN-ACTIVITY" LED blinks whenever data go to the D / A converter. 

-> The "I/O-ACCESS" LED blinks every time, whenever accessing the D/A 

converter. 


Software 

VI 

Software |Seite 50

6. Software 

6.1. Using our products 

6.1.1. Access via graphical applications 

We provide driverinterfaces e.g. for LabVIEW and ProfiLab. The DELIB driver 

library is the basis, which can be directly activated by ProfiLAB. 

For LabVIEW, we provide a simple driver connection with examples! 

6.1.2. Access via the DELIB driver library 

In the appendix, you can find the complete function reference for the integration of 

our API-functions in your software. In addition we provide examples for the 

following programming languages: 

C 

C++ 

C# 

Delphi 

VisualBasic 

VB.NET 

MS-Office 

6.1.3. Access via protocol 

The protocol for the activation of our products is open source. So you are able to 

use our products on systems without Windows or Linux. 

Software |Seite 51

6.1.4. Access via provided test programs 

We provide simple handling test programs for the most important functions of our 

products. These will be installed automatically by the installation of the DELIB 

driver library. 

So you can test directly e.g. relays or you can check the voltage of an A/D 

converter. 

Software |Seite 52

6.2. DELIB driver library 

6.2.1. Overview 

The following figure explains the structure of the DELIB driver library 

The DELIB driver library allows an uniform response of DEDITEC hardware with 

particular consideration of the following viewpoints: 

Independent of operating system 

Independent of programming language 

Independent of the product 

6.2.1.1. Program under diverse operating systems 

The DELIB driver library allows an uniform response of our products on diverse 

operating systems. 

We has made sure, that all of our products can be responded by a few commands. 

Whatever which operating system you use. - Therefore the DELIB cares! 

Software |Seite 53

6.2.1.2. Program with diverse programming languages 

We provide uniform commands to create own applications. This will be solved by 

the DELIB driver library. 

You choose the programming language! 

It can be simply developed applications under C++, C, Visual Basic, Delphi or 

LabVIEW®. 

6.2.1.3. Program independent of the interface 

Write your application independent of the interface ! 

Program an application for an USB product of us. - Also, it will work with an 

ethernet or RS-232 product of us ! 

6.2.1.4. SDK-Kit for Programmer 

Integrate the DELIB in your application. On demand you receive an installation 

script for free, which allows you, to integrate the DELIB installation in your 

application. 

Software |Seite 54

6.2.2. Supported operating systems 

Our products support the following operating systems: 

Windows 7 

Windows Vista 

Windows XP 

Windows 2000 

Linux 

6.2.3. Supported programming languages 

Our products are responsive via the following programming languages: 

C 

C++ 

C# 

Delphi 

VisualBasic 

VB.NET 

MS-Office 

Software |Seite 55

6.2.4. Installation DELIB driver library 

Start screen of the DELIB installer 

Insert the DEDITEC driver CD into the drive and start „delib_install.exe“. The 

DELIB driver library is also available on http://www.deditec.en/delib 

Software |Seite 56

Click on „Install“. 

Software |Seite 57

The drivers will be installed. 

Software |Seite 58

The DELIB driver library is now installed. Press „Close“ to finish the installation. 

You can configure your module with the „DELIB Configuration Utility“ (see next 

chapter). This is only necessary, if more than one module is present. 

Software |Seite 59

6.2.5. DELIB Configuration Utility 

Start the “DELIB Configuration Utility” as follows: 

Start Programs DEDITEC DELIB DELIB Configuration Utility. 

The „DELIB Configuration Utility“ is a program to configure and subdivide 

identical USB-modules in the system. This is only necessary if more than one 

module is present. 

Software |Seite 60

6.3. Integration of the DELIB 

6.3.1. Integration of the delib.h in Visual-C/C++ 

Description of the DELIB integration in Visual-C/C++ 

The DELIB Installation defines environment variables to facilitate links to the 

DELIB-include and DELIB-lib directory. 

DELIB_LIB = C:\Programs\DEDITEC\DELIB\lib 

DELIB_INCLUDE = C:\Programs\DEDITEC\DELIB\include 

Start Visual-C/C++ and open via menu "Projekt -> Einstellungen" 

Software |Seite 61

DELIB.H entry in the Visual-C/C++ Project configurations 

Under the tab "C/C++" choose the "Kategorie" Präprozessor and enter on 

"Zusätzliche Include Verzeichnisse" "$(DELIB_INCLUDE)". 

Software |Seite 62

DELIB.LIB entry in the Visual-C/C++ Project configurations 

Under the tab "Linker" extend the existing line in "Zusätzliche Include 

Verzeichnisse" with the ending "$(DELIB_LIB)\delib.lib" 

Software |Seite 63

6.3.2. Integration of the delib.cs in Visual-C# 

Description of the DELIB integration in Visual-C# 

You can find the needed files for Visual-C# in the directory C: 

\Programme\DEDITEC\DELIB\Include\delib.cs. Start Visual-C# and open via 

menu "Projekt -> Vorhandes Element hinzufügen" in the directory C: 

\Programme\DEDITEC\DELIB\Include\ the file "delib.cs" to import. 

Add the following reference in your program: 

using DeLib; 

Software |Seite 64

6.3.3. Integration of the delib.cs in Visual-C# unter Windows 64bit 

Program sample for the DELIB driver library under Windows 64 Bit 

In the following sections there is a description how to compile the project as "x86" 

Show all settings 

Open the options via menue "Extras -> Optionen" 

Check “Alle Einstellungen anzeigen" 

Software |Seite 65

Check under "Projekte und Projektmappen" "Erweiterte Buildkonfigurationen 

anzeigen". 

Software |Seite 66

The Configuration Manager 

Open the configuration manager via "Any CPU -> Konfigurations-Manager...". 

In the configuration manager select under der column "Plattform" "Any CPU -> 

Neu...". 

Under "Neue Plattform" select "x86". 

Software |Seite 67

Start debugging 

You can start the debugging as normal via the "Start-Button". Note that the toolbar 

combobox for Platform Configuration now lists both "x86" and "AnyCPU" and has 

"x86" selected 

Software |Seite 68

6.3.4. Integration of the delib.pas in Delphi 

Description of the "delib.pas" integration in Delphi 

You can find the needed files for Delphi in the directory C: 

\Programme\DEDITEC\DELIB\include\delib.pas. 

Start Delphi and open via menu "Projekt -> dem Projekt hinzufügen" the file "delib. 

pas" to import. 

Software |Seite 69

6.3.5. Integration of the delib.bas in Visual Basic 

Description of the "delib.bas" integration in Visual Basic 

You can find the needed files for VB in the directory C: 

\Programme\DEDITEC\DELIB\include\delib.bas. 

Start Visual Basic and open via menu "Projekt -> Datei hinzufügen..." the file 

"delibi.bas" to import. 

Software |Seite 70

6.3.6. Integration of the delib.vb in VB.NET 

Description of the DELIB integration in VB.NET 

You can find the needed files for VB.NET in the directory C: 

\Programme\DEDITEC\DELIB\Include\delib.vb. Start VB.NET and open via menu 

"Projekt -> Vorhandes Element hinzufügen" in the directory C: 

\Programme\DEDITEC\DELIB\Include\ the file "delib.vb" to import. 

Software |Seite 71

6.3.7. Integration of the delib.bas in MS-Office (VBA) 

Description of the "delib.bas" integration in Visual Basic for Applications 

You can find the needed files for VBA in the directory C: 

\Programme\DEDITEC\DELIB\include\delib.bas. 

Start Microsoft Excel and open via menu "Extras -> Makro -> Visual Basic Editor". 

Software |Seite 72

Creation of UserForm 

Create a new UserForm via menu "Einfügen -> UserForm". In the top left-hand 

corner of the project manager right click on "UserForm -> Datei importieren". Open 

in the directory C:\Programme\DEDITEC\DELIB\include the file "delib.bas" to 

import. 

Software |Seite 73

6.3.8. Integration of the delib.dll in LabVIEW 

6.3.8.1. Integration of the delib.dll in LabVIEW 

The LabVIEW-Sampleprogram "Deditec_Modul_Control.vi" is not a EXE-File and 

you need to execute this file the LabVIEW development environment. 

Description of the delib.dll integration in LabVIEW Version 11 

- You can find the needed files for LabVIEW in the directorys 

"C:\Windows\System32\delib.dll" and "C:\Programme\DEDITEC\DELIB\include\ delib.h" 

- Start LabVIEW and open the menu "Tools -> Import -> DLL ..." 

Software |Seite 74

- Choose the option "create VIs for DLL" and press continue 

Software |Seite 75

- In the next window, choose the path to the delib.h and delib.dll and press continue 

Software |Seite 76

- Press continue again 

- The Header-File will now be analized. Afterwards press continue. 

Software |Seite 77

- Follow the instructions and configurate the name and the saving location for the 

VIs. 

Software |Seite 78

- In the new window choose "Easy error correction" in the drop-down menu and 

press continue. 

Software |Seite 79

- VIs which are working with 64-bit values must be edited. The display must be 

changed from "unsigned long" to "unsigned quad". 

- The following VIs must be edited: 

-> DapiCNT48CounterGet48 (function return) 

-> DapiDIGet64 (function return) 

-> DapiDOSet64 (data) 

-> DapiDOReadBack64 (function return) 

Software |Seite 80

- In addition for some VIs you need to change the elementype to "numeric". 

- The following VIs must be edited: 

-> DapiWriteLongLong (value) 

-> DapiReadLongLong (function return) 

- Afterwards press continue. 

Software |Seite 81

- You recive a summary of the executed steps. 

- Press continue 

- The VIs will now be created and are ready to use. 

Software |Seite 82

6.3.8.2. Usage of the VIs in LabVIEW 

Some functions of the DELIB-library are expecting a string as a parameter value. 

This example shows how to use such functions in LabVIEW. 

We will use the A/D converter function which is used to set the voltage range as an 

example. 

The definition of this function is: 

void DapiADSetMode(ULONG handle, ULONG ch, ULONG mode); 

The voltage ranges for this function are already defined in the DELIB-library. 

Example code in C/C++: 

DapiADSetMode(handle, 0, ADDA_MODE_UNIPOL_5V); 

This code can also be written like this: 

DapiADSetMode(handle, 0, 1); 

In the delib.h file can you read the hexadecimal values to determine the modes. 

The hex values must be convertet to decimal. 

After the installation of the DELIB-library, the delib.h file is located in the following 

directory: C:\Programs\Deditec\DELIB\Include\delib.h 

Software |Seite 83

The function could look like this in LabVIEW: 

The channel and mode are passed as unsigned long 

Software |Seite 84

6.4. Test programs 

6.4.1. Digital Input-Output Demo 

Start “Digital Input-Output Demo” as follows: 

Start Programme DEDITEC DELIB Digital Input-Output Demo. 

The screenshot shows a test of the RO-USB-O64-R64. The configuration of the 

module (64 inputs and 64 outputs) is shown on the upper left side. 

Software |Seite 85

6.4.2. Analog Input-Output Demo 

Start “Analog Input-Output Demo” as follows: 

Start Programme DEDITEC DELIB Analog Input-Output Demo. 

The screenshot shows a test of the RO-USB-AD16-DA2_ISO. The configuration of 

the module (16 A/D inputs and 2 D/A outputs) is shown on the upper left side. 

Software |Seite 86

6.4.3. Stepper Demo 

Start “Stepper Demo” as follows: 

Start Programme DEDITEC DELIB Stepper Demo. 

The screenshot shows a test of the RO-USB-STEPPER2. The configuration of the 

module (2 Stepper) is shown on the upper left side. 

Software |Seite 87

6.4.4. Watchdog Demo 

Start "Watchdog Demo" as follows: 

Start Programme DEDITEC DELIB Watchdog Demo 

This screenshot shows a test of the watchdog stick. The configuration of the 

module is shown on the upper left side. 

Software |Seite 88

6.4.5. Temperature Read Demo 

Start "Temperature Read Demo" as follows: 

Start Programme DEDITEC DELIB Temperature Read Demo 

The screenshot shows a test of the RO-USB-PT100-4. The configuration of the 

module (4 PT100 inputs) is shown on the upper left side. 

Software |Seite 89

6.5. DELIB CLI (command-line interface) 

In some programming languages (like PHP), you can't include DLLs, therefore is 

an extra console command, which you can directly call out of the program (with 

appropriate parameters). You can find this command after installation of the DELIB 

driverlibrary in the directory C:\Programme\DEDITEC\DELIB\Programs\Console. 

You can find the DELIB CLI Command for Windows after Installation of the DELIB 

driverlibrary in the directory C:\Programme\DEDITEC\DELIB\programs\cli\ . 

The DELIB CLI Command for Linux is located in the directory "/deditec-cli/, after 

unzipping the ZIP-Archiv "delib-linux-cli". 

Definition (Windows) 

delib_cli command channel [value | unit ["nounit"] ] 

Definition for USB-Module (Linux) 

sudo delib-cli-usb command channel [value | unit ["nounit"] ] 

Definition for RO-ETH-Module (Linux) 

delib-cli-eth command channel [value | unit ["nounit"] ] 

Note: The parameters are separated by spaces. 

These commands and parameters are not case sensitive. 

Parameter 

command channel value unit nounit 

di1 0, 1, 2, ... 

di8 

di16 

di24 

0, 8, 16, ... 

- hex nounit 

do1 0, 1, 2, ... 0/1 (1-bit command) 

do8 

do16 

do24 

0, 8, 16, ... 

8-bit value 

(Bit 0 for channel 1, Bit 

16-bit value 

1 for channel 2, ...) 

24-bit value 

- - 

ai 0, 1, 2, ... - 

integer or hexadecimal number 

hex, volt, mA nounit 

ao 0, 1, 2, ... 

(starting with 0x). 

For an integer a V for Volt, mA for 

milli Ampere can be attached. 

- - 

Software |Seite 90

Return-value 

Read state of the inputs (in combination with command = di, di8, di16, di32 and 

ai). 

Read state of the inputs as hexadecimal (in combination with command = di, di8, 

di16, di32 and ai and unit "hex") 

Voltage of the input (in combination with unit "volt" and command "ai") 

Current of the input (in combination with unit "mA" and command "ai") 

Software |Seite 91

6.5.1. Customisation for USB-Modules (only Linux) 

In order to access the right module under Linux via DELIB CLI, you have to set the 

module id at the command "DapiOpenModule". Therefore you can find in the 

directory "/deditec-cli/source" the file "delib_cli_open_module_usb.c" after 

unzipping the ZIP archive. 

By default, the program "delib-cli-usb" (see source code) tries to open a RO-USB 

module. If the module is not found, it will try to open an USB-Mini-Stick, and so on... 

Since this causes unnecessary error-messages, you can simply remark not 

needed entries. 

#include "../../delib-sources/delib/delib.h" 

ULONG handle; 

ULONG delib_cli_open_module() 

{ 

handle = DapiOpenModule(RO_USB, 0); 

if(handle==0) 

{ 

handle = DapiOpenModule(USB_MINI_STICK, 0); 

} 

if(handle==0) 

{ 

handle = DapiOpenModule(USB_RELAIS_8, 0); 

} 

if(handle==0) 

{ 

handle = DapiOpenModule(USB_OPTOIN_8_RELAIS_8, 0); 

} 

if(handle==0) 

{ 


} 

if(handle==0) 

{ 


} 

} 

return handle; 

Note: 

The project "delib-cli-usb" has to recompiled after each modification. Therefore, 

you can find in the directory "/deditec-cli/", the shell script "compile_delib_cli_usb. 

sh", with which you can compile the project under Linux. 

Software |Seite 92

6.5.2. Customisation for RO-ETH-Modules (only Linux) 

In order to access a RO-ETH module under Linux, you have to set IP address of the 

module. Therefore you can find in the directory "/deditec-cli/source" the file 

"delib_cli_open_module_eth.c" after unzipping the ZIP archive. 

You have to modify following entry: 

#include "../../delib-sources/delib/delib.h" 

extern char global_ip_addr[]; 

ULONG handle; 

ULONG delib_cli_open_module() 

{ 

sprintf(global_ip_addr, "192.168.1.11"); // Set the IP address of the RO-ETH 

module here 

} 

handle = DapiOpenModule(RO_ETH,0); 

return handle; 

Note: 

The project "delib-cli-eth" has to recompiled after each modification. Therefore, 

you can find in the directory "/deditec-cli/", the shell script "compile_delib_cli_eth. 

sh", with which you can compile the project under Linux. 

Software |Seite 93

6.5.3. DELIB CLI samples 

Digital Outputs 

Windows 

delib_cli DO1 17 1 

-> digital output 18 will be switched on 


-> digital output 4 will be switched on 


-> digital outputs 1-8 will be switched on 


-> digital outputs 1-16 will be switched off 



delib_cli DO32 0 4294967295 


Linux 

sudo delib_cli _usb DO1 17 1 

-> digital output 18 of an USB-Module will be switched on 

delib_cli _eth DO1 3 0 

-> digital output 18 of a RO-ETH-Module will be switched off 

Software |Seite 94

Digitale Inputs 

Windows 

delib_cli DI1 3 

Example of a return value: 1 

-> reads the state of digital input 4 

delib_cli DI8 0 hex 

Example of a return value: 0xFF 

-> reads the state of digital input 4 as hexadecimal 


Example of a return value: 0xFFFF 

-> reads the state of digital inputs 1-16 as hexadecimal 


Example of a return value: 0xFFFFFFFF 


Alternatively you can append the argument "nounit" 

delib_cli DI8 0 hex nounit 

Example of a return value: FF 


Linux 

sudo delib_cli _usb DI1 3 


-> reads the state of digital input 4 of an USB-Module 

delib_cli_eth DI8 0 hex 

Example of a return value: 0xFF 

-> reads the state of digital input 1-8 of a RO-ETH-Module as hexadecimal 

Software |Seite 95

Analog Outputs 

Windows 

delib_cli AO 7 4711 

->analog output 8 will be set to the decimal value 4711 

delib_cli AO 6 0x4711 

->analog output 7 will be set to the hexadecimal value 0x4711 

delib_cli AO 7 3.7V 

-> the voltage of analog output 8 will be set to 3,7 Volt 

(the comma "," and the dot "." can be used for decimal separation) 

delib_cli AO 7 13.3mA 

-> the current of analog output 8 will be set to 13,3 mA 

(the comma "," and the dot "." can be used for decimal separation) 

Linux 

sudo delib_cli_usb AO 7 4711 

-> analog output 8 of an USB-Module will be set to the decimal value 4711 

delib_cli_eth AO 6 0x4711 

-> analog output 7 of a RO-ETH-Module will be set to the hexadecimal value 0x4711 

Software |Seite 96

Analog Inputs 

Windows 

delib_cli AI 2 


-> reads the value of analog input 3 as decimal 

delib_cli AI 2 hex 

Example of a return value: 0x1FA 

-> reads the value of analog input 3 as hexadecimal 

delib_cli AI 2 V 

Example of a return value: 12.500000V 

-> reads the voltage of analog input 3 as point number 

delib_cli AI 2 mA 

Example of a return value: 20.551600mA 

-> reads the current of analog input 3 as point number 

Alternatively you can append the argument "nounit" 

delib_cli AI 3 hex nounit 

Example of a return value: 1FA 

-> reads the value of analog input 4 as hexadecimal 

delib_cli AI 3 V nounit 

Example of a return value: 12.500000 

-> reads the voltage of analog input 4 as point number 

delib_cli AI 3 mA nounit 

Example of a return value: 20.551600 

-> reads the current of analog input 4 as point number 

Linux 

sudo delib_cli_usb AI 2 


-> reads the value of analog input 3 of an USB-Module as decimal 

delib_cli_eth AI 2 hex 

Example of a return value: 0x1FA 

-> reads the value of analog input 3 of an RO-ETH-Module as hexadecimal 

Software |Seite 97

Appendix 

VII 

Appendix |Seite 98

7. Appendix 

7.1. Revisions 

Rev 1.00 First issue 

Rev 2.00 Design change 

Rev 2.01 Added Chapter CAN Configuration Utility 

Rev 2.02 Various supplements CAN Configuration Utility 

Rev 2.03 Added chapters "Firmware update" and "Integration of the 

DELIB" 

Appendix |Seite 99

7.2. Copyrights and trademarks 

Linux is registered trade-mark of Linus Torvalds. 

Windows CE is registered trade-mark of Microsoft Corporation. 

USB is registered trade-mark of USB Implementers Forum Inc. 

LabVIEW is registered trade-mark of National Instruments. 

Intel is registered trade-mark of Intel Corporation 

AMD is registered trade-mark of Advanced Micro Devices, Inc. 

Appendix |Seite 100

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