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CANgate User`s Manual

1. sensor not used UM 0086 A2 CANgate User s Manual Page 40 15 17 2 as above for Bank 1 sensors 2 4 18 1B 2 as above for Bank 2 sensors 1 4 1C 1 OBD standards this vehicle conforms to bit encoded 1D 1 Oxygen sensors present b7 6 bank 4 sensors 2 1 b5 4 bank 3 sensors 2 1 b3 2 bank 2 sensors 2 1 b1 0 bank 1 sensors 2 1 1E 1 Auxiliary input status b0 power take off status 1F 2 Run time since engine start 1 0 S 20 4 PIDs supported b31 0 PIDs 0x21 0x40 21 2 Distance travelled with MIL on 1 0 km 22 2 Fuel rail pressure relative to manifold vacuum 0 079 0 kPa 23 1 Fuel pressure diesel 3 0 kPa gauge 24 4 bytes 1 2 Sensor 1 WR lambda 1 Equivalence ratio 0 0000305 0 bytes 3 4 Sensor 1 WR lambda 1 Voltage 0 000122 0 NA 25 2B 4 as above for sensors 2 8 2C 1 Commanded EGR 0 3922 0 2D 1 EGR error 0 7812 100 2E 1 Commanded evaporative purge 0 3922 0 2F 1 Fuel level input 0 3922 0 30 1 Number of warm ups since DTCs cleared 1 0 31 2 Distance travelled since DTCs cleared 1 0 km 32 2 Evaporative system vapour pressure 0 25 8192 Pa 33 1 Barometric pressure 1 0 kPa abs 34 4 bytes 1 2 Sensor 1 WR lambda 1 Equivalence ratio 0 0000305 0 bytes 3 4 Sensor 1 WR lambda 1 Current 0 00391 128 mA 35 3B 4 as above for sensors 2 8 3C 2 Catalyst temperature bank 1 sensor
2. When CANgate is being controlled by a DT80 800 data logger Verbose mode is normally switched off This avoids any parsing complications which may occur due to unexpected messages returned by CANgate The current Verbose mode setting is saved to flash memory so it will be restored following a power interruption VERSION Display Firmware Version VERSION This command will return the version number of the CANgate firmware eg 1 24 followed by CRLF In Verbose mode the product name is also included The VERSION command is a useful check that the host port communications are correctly configured and CANgate is responding as it should always return some text in response to this command RESET Clear Memory Slots RESET This command will clear all defined memory slots It does not affect the currently configured CAN GPS bit rates or the current verbose mode setting SNOOP Report CAN GPS Activity SNOOP port snoopTime where e portis either the CAN port number 1 or 2 or GPS e snoopTime is the time to spend listening integer in ms must be multiple of 100ms Default is 10000 10 seconds This command may be used to determine which CAN identifiers are being broadcast on a CAN network During the specified snoop time all incoming CAN messages on the specified port are received For each distinct CAN identifier that was received the following information is displayed e identifier type standard 11 bit STD or extended 29
3. returns gt 02 0 lt truncate minutes 02 09 to 4 chars Other Commands With the exception of END all of the following commands are only valid in Run Mode BEGIN Begin Program Entry BEGIN This command erases all memory slots and switches CANgate to Program Mode In Program Mode the only commands that are accepted are numbered slot definition commands The CAN and GPS interfaces are disabled in Program Mode and no memory slots are processed END Finish Program Entry END This command saves all defined memory slots to flash memory then switches to Run Mode Once in Run Mode no more numbered memory slots can be defined However Slot 0 which is not saved to flash may be defined and re defined any number of times by entering an unnumbered slot definition command UM 0086 A2 CANgate User s Manual Page 22 RP Poll Memory Slot RP slot1 slot2 where e slot is the first memory slot to poll 0 150 default 0 e slo 2 is the last memory slot to poll 0 150 default 0 This command will poll memory slots s ot7 to slot2 inclusive If no parameters are specified then Slot 0 is polled What does polling a slot mean e Fora passive memory slot RECH RECVE RECVJ or GPS the most recent received value is formatted and returned to the host Alternatively the minimum maximum or average calculated since the last poll may be returned instead if the FORMAT clause specifies to do so If no data at all have been r
4. e b7 4 fourth character 0 9 e _b3 0 fifth character 0 9 UM 0086 A2 CANgate User s Manual Page 42
5. startByte bit endByte bit ECUaddr sampleRate FORMAT options slot RECVJ CANport PGN startByte bit endByte bit ECUaddr priority sampleRate FORMAT options slot ROSTJ CANport PGN startByte bit endByte bit ECUaddr priority sampleRate FORMAT options slot GPS header fieldNum option sampleRate FORMAT options FORMAT rawFormat scale offset formatString stats BEGIN END RP slot1 slot2 CONNECT CANport bitrate VERBOSE state VERSION RESET SNOOP CANport GPS snoopTime SNOOPJ CANport snoopTime NETLOAD CANport SETADDR CANport address GPSBAUD baudRate GPSSEND text STATUS STATS CLEAR DIAG mode UM 0086 A2 CANgate User s Manual Page 15 Command Reference Commands and Parameters In this section literal text to be entered exactly as shown is shown thus RECV Variable parameters are shown as CANport Optional parameters are surrounded by braces If multiple parameters are surrounded by braces eg CMD Garam param2 param3 param4 then one or more of the parameters may be omitted starting with the rightmost parameter That is you can specify either CMD param param2 or CMD param1 param2 param3 or CMD Garam param2 Garam param4 If parameters have their own individual braces eg CMD Garam param2 param3 param4 then each optional parameter can be either specified or not So as well as the above choices you could also specify CMD pa
6. 1 0 1 40 LE 3D 2 Catalyst temperature bank 1 sensor 2 0 1 40 C 3E 2 Catalyst temperature bank 2 sensor 1 0 1 40 C 3F 2 Catalyst temperature bank 2 sensor 2 0 1 40 C 40 4 PIDs supported b31 0 PIDs 0x41 0x60 41 42 2 Control module voltage 0 001 0 V 43 2 Absolute load value 0 3922 0 44 2 Command equivalence ratio 0 0000305 0 45 1 Relative throttle position 0 3922 0 46 1 Ambient air temperature 1 40 C 47 1 Absolute throttle position B 0 3922 0 48 1 Absolute throttle position C 0 3922 0 49 1 Accelerator pedal position D 0 3922 0 4A 1 Accelerator pedal position E 0 3922 0 4B 1 Accelerator pedal position F 0 3922 0 4C 1 Commanded throttle actuator 0 3922 0 4D 2 Run time with MIL on 1 0 min 4E 2 Time since DTCs cleared 1 0 mins Note All multi byte values are returned most significant byte first UM 0086 A2 CANgate User s Manual Page 41 DTCs Fault Codes OBD II Diagnostic Trouble Codes DTCs are normally written as a letter followed by four decimal digits The letter describes the category P powertrain B body C chassis or U network For example e P0118 Engine Coolant Temperature Circuit High Input e P0203 Injector Circuit Malfunction Cylinder 3 e U0003 High Speed CAN Communication Bus Open When a DTC is returned it is encoded as a 16 bit value as follows e b15 14 first character 00 P 01 C 10 B 11 U e 613 12 second character 0 3 e b11 8 third character 0 9
7. 2 e bitrate is the CAN bitrate in kbps integer 0 10 20 50 125 250 500 1000 Before a CAN port can be used it is necessary to specify the bitrate using the CONNECT command Initially the bitrate is set to 0 which will disable the port If the bitrate is set incorrectly bus errors will result and the port will be disabled for a period of two seconds after which CANgate will re attempt connection The currently selected bitrate setting is saved to flash memory so it will automatically be set if CANgate restarts following a power interruption Examples CONNECT 2 250 Configure the CAN port 2 for connection to a 250kbps CAN network Note that J1939 based CAN networks always use a bitrate of 250kbps VERBOSE Enable Extended Messages VERBOSE state where e state is either ON or OFF Default is OFF In Verbose mode CANgate will return error and confirmation messages as required Also all received commands will be echoed back to the host computer This is useful for troubleshooting In Normal non verbose mode no unsolicited messages are returned to the host Data values are returned as is text that is generated in direct response to a command eg VERSION Commands are not echoed UM 0086 A2 CANgate User s Manual Page 23 Verbose mode should normally be switched on when manually entering CANgate commands and slot definitions Once you are confident that the slots are working as expected Verbose mode can be turned off
8. 32 The flip side of this capability is that if you don t want special characters such as to be interpreted then they need to be escaped So if you actually want to output a followed by a n then the backslash would be escaped by entering it twice ie n Example Suppose you are using DeTransfer to enter a DT80 logger program which requests a parameter from CANgate and you want CANgate to return the parameter in the following format A B 15 9 CRLF The CANgate command to do this might be ROST 1 0199 FORMAT A B SE 3 n RPCR which is what you would type if you were directly connected to CANgate using a simple terminal program such as HyperTerminal Note that where literal and characters are required they have been escaped so that they are not interpreted by CANgate To send the above command from the DT80 serial sensor port the command would be 1SERIAL ROST 1 0199 FORMAT 034A B 3f 3 3 n 034 RP M Note that the DT80 firmware also treats and characters as special Consequently in order to output the required three backslash and three percent characters to CANgate it is necessary to escape each of them as shown The character is also special so it too must be escaped In this case the 034 sequence is used to force the output of an ASCII 34 character Later DT80 firmware versions also allow a double quote to be escaped using But DeTransfer also interprets backslash sequences So in order to sen
9. 71 Vehicle Application Layer standard The SNOOPJ command P24 can be used to determine which J1939 PGNs are being broadcast on a CAN network See also J1939 PGNs amp SPNs P28 The J1939 protocol also supports multi packet broadcast messages These messages use a fixed PGN value in the CAN identifier PGN 59904 60160 or 60416 the actual PGN is embedded in the CAN data field CANgate will receive multi packet broadcasts where the embedded PGN value matches PGN Note that there are some special considerations to be aware of regarding multi packet transfers see Multi Packet J1939 Messages P30 Examples RECVJ 2 61444 1 8 256 3 Receive messages on CAN port 2 from any ECU which relate to PGN 61444 which contains various engine controller parameters and return the entire message to the host when polled Only messages with priority 3 will be received UM 0086 A2 CANgate User s Manual Page 19 RQSTJ Request J1939 Data slot ROSTJ CANport PGN startByte bit endBytef bit ECUaddr priority sampleRate FORMAT fmtOpt The parameters for a RQSTJ slot are the same as for a RECVJ slot except that ALL is not a valid setting for sampleRate but they are used in a somewhat different way When a RQST slot is polled CANgate will send a message to request a particular parameter group PGN The format of this request message is defined in SAE J1939 21 Data Link Layer The request will be sent to destination address
10. LSB byte 5 MSB e then multiply by 0 125 e and when polled return the result as a floating point value with 3 decimal places 3 e followed by the text rpm and a CRLF An Note that for J1939 multi byte fields are always specified LSB first Intel format It is not necessary to specify the n option after the FORMAT for RECVJ RQSTJ slots Request PGNs Some PGNs are not broadcast they are only returned when specifically requested For example if the above PGN was actually a request only PGN the engine speed would then be obtained using ROSTJ 1 61444 4 5 2 3 FORMAT 125 3 rpm n RP which looks very similar to the RECVJ slot definition The RP on the end causes the memory slot to be immediately polled which will cause the request to be immediately sent Note that it doesn t make sense to poll a RECVJ slot immediately after defining it because at that time it is likely that no matching messages will have been received in which case nothing will be returned Reusing Request Data Often a J1939 PGN will contain several separate parameters which is why it is called a Parameter Group Number These parameters are typically extracted using a number of memory slots all with the same PGN but with different start and end bytes specified The same is true for certain OBD PIDs For requested PGNs it is inefficient for each slot to send a separate request particularly for multi packet PGNs Also you may not get a
11. any reply shown from the ECU it is possible that the ECU does not implement this request e For J1939 it may be necessary to set the CANgate s network address default is 0 to a value that is unique on the network Use the SETADDR command for this Note that CANgate does not implement the network address management protocol described in SAE J1939 81 GPS data are not returned e Use the STATUS command to check the status of the slot and double check the slot definition parameters as described above e Ensure that the GPS port baud rate set using the GPSBAUD command matches that of the GPS unit e Use SNOOP GPS to check the NMEA 0183 strings being sent by the GPS If you don t see the string you want then you may need to send a command to the GPS using GPSSEND to enable it Verify that the required data item within the string is present in the field number specified in the slot definition Data Logger reports timeouts or scan errors In this case CANgate is connected to the serial sensor port on a DT80 series data logger e Check that the logger s serial sensor baud rate has been set to match that of CANgate eg PS 57600 e Check flow control settings by default CANgate uses hardware flow control so the logger serial sensor port should also be set to hardware flow control using PS HWEC If CANgate has been configured to use software flow control then the logger must be set likewise PS SWFC otherwise the XON and XOFF characters m
12. bit EXT e identifier value in hexadecimal e the 64 bit data value from the first received message with this identifier If GPS is specified instead of a CAN port number this command will display all NMEA strings that are received during the snoop period This is useful for verifying that the GPS unit is sending the expected strings Examples SNOOP 1 EXT 18FEF000 FFFFFFOOOOFOCCFF EXT 18F0000F CO7DFFFFOFFFFFFF EXT 18EBFFOO 0115FF5E0004016F EXT 18ECFFOF 20130003FFE1FE00 EXT 18EBFFOF 010306602254A041 EXT 18FEEEOO 17FFO0O20FFFFFFFF END SNOOP This shows that 6 different extended identifiers were captured on CAN port 1 during the default 10 second snoop time SNOOP GPS 5000 GPGLL 5330 25 N 00215 31 W 134531 A GPGLL 5330 25 N 00215 31 W 134532 A GPGLL 5330 25 N 00215 32 W 134533 A GPGLL 5330 24 N 00215 32 W 134534 A GPGLL 5330 23 N 00215 32 W 134535 A This shows the strings received from a GPS unit over a 5 second period SNOOPJ Report 41939 Activity SNOOPJ port snoopTime This works in exactly the same way as SNOOP except that the results are interpreted in terms of the J1939 protocol That is the PGN priority source address and destination address components of the CAN identifier are decoded This command also recognises J1939 multi packet messages For such messages the displayed PGN is extracted from the data field not the identifier For multi packet messages the PGN encoded into the CAN identifier relates to the tr
13. consistent snapshot of all of a PGN s constituent parameters that is they may not have been measured at the same time which may or may not be a problem For this reason CANgate will attempt to reuse requested data where possible ie a RAST RQSTJ slot will use previously received reply data rather than sending a new request This will however only be done if e the most recently sent request message exactly matches this slot s request message ie it s a request for the same PGN same source and destination address and so on and e this is a different slot to the one which sent the request or if this and the requesting slot are both slot 0 then the two slot definitions are different in some way eg they are extracting a different range of bytes and e the reply data was received less than 5 seconds ago The second condition means that if you repeatedly poll a group of slots each of which extracts a different part of the same PGN then only one request will be sent each time the group is polled provided that the group is polled within 5 seconds UM 0086 A2 CANgate User s Manual Page 29 Example 31939 PGN 65254 may be used to request the current time setting from an ECU This PGN contains separate fields for hours minutes and seconds It is important that this PGN be queried using a single request otherwise the time may roll over to the next minute hour between requests leading to an incorrect reading The followin
14. end of the cable Note that if the cable is short and the bit rate moderate then you may well get away with no external termination ie CANgate s internal weak termination may be adequate Inside CANgate Accessing CANgate Internals If it is necessary to alter the settings on the internal DIP switch then CANgate will need to be disassembled as follows 1 Disconnect any cables from the CANgate connectors 2 Remove the two Philips head screws on the right hand Host RS232 end of the case 3 Remove the aluminium end plate and plastic surround 4 Push on the connector at the other end of the case The printed circuit board PCB should slide out UM 0086 A2 CANgate User s Manual Page 10 To reassemble 1 Slide the printed circuit board into the topmost slot in the case the one closest to the front panel label The male DE9 should be at the right hand Host RS232 end of the case Note It is normal for one of the solder connections on the PCB near the male DE9 connector to make contact with the case 2 Replace the plastic surround then the end plate 3 Fasten the two screws CBOU SU U DO Psu ZE a Power CAN bus Kreta A A CANgate internal view Configuration Switches By default the CANgate s host RS232 port is configured for 57600 baud hardware flow control RTS CTS 8 data bits no parity 1 stop bit This should be suitable for most applications however these settings can be changed by
15. of operation and simply indicate that a CANgate transmission was delayed by a higher priority message e number of CANgate system errors including RAST RQSTJ queue overflows and processing overflows occasions when the configured slot sample rates could not be met due to excessive processing load e an indication as to whether an exception serious CANgate error that required a firmware restart has occurred If the CLEAR parameter is specified then all statistics values are reset UM 0086 A2 CANgate User s Manual Page 26 Example STATS HOST Tx 218408 Rx 1255 bytes Dropped Tx 0 Rx 0 Errors 0 GPS Tx 0 Rx 0 bytes Dropped Tx 0 Rx 0 Errors 0 CAN1 Tx 44 Rx 272042 frames Dropped Tx 0 Rx 9 Errors Warning 0 Bus 0 ArbLost 5 CAN2 Tx 0 Rx 273096 frames Dropped Tx 0 Rx 220 Errors Warning 0 Bus 0 ArbLost 0 Sys RQST dropped 0 Proc ovf1 0 Except 0 0 DIAG Set Diagnostic Mode DIAG mode This command enables certain diagnostic functions Each bit of the mode parameter enables a particular function as follows e ifbitO 1 then all CAN messages sent by CANgate will be displayed eg CAN2 TX gt 18ECOOFF 132C0007 FFEBFE0OO which shows that a message has been sent on CAN2 with identifier Ox18ECOOFF and the indicated data value e if bit 1 1 then all CAN messages received by CANgate will be displayed eg CAN2 RX lt 18EBFFOO 07A50403 12FFFFFF Note that only those messages which match the current filter criteria as specified by the defined
16. of the theoretical maximum for the bit rate in use It should be noted that a network with a load approaching 80 is close to the practical maximum load possible on a CAN network Examples NETLOAD CAN1 0 0 CAN2 7 8 In this case nothing is connected to CAN1 and a single ECU is connected to CAN2 7 8 of the available bus bandwidth is being consumed by the regular broadcasts from this ECU SETADDR Set CANgate Address SETADDR CANport address where e CANport is the CAN port integer 1 2 e address is the protocol address which CANgate should use when communicating on the specified CAN network integer 0 255 default 0 For some CAN protocols each device on the network needs to have a unique address assigned This command allows you to assign an address to the CANgate Currently this will only have an effect for the J1939 protocol Note that in most cases the default address 0 can be used GPSBAUD Set GPS Port Baud Rate GPSBAUD baudRate where e baudRate is the required baud rate to use on the GPS port integer 300 115200 default 4800 Most NMEA 0183 devices operate at 4800 baud however some newer high speed devices operate at a faster rate This command allows the GPS port baud rate to be set to match that of the connected device The current GPS port baud rate setting is saved to flash memory so it will be restored following a power interruption UM 0086 A2 CANgate User s Manual Page 25 GPSSEND Send Command
17. s Manual Page 33 Watch the RS232 Rx and RS232 Tx LEDs when you send the VERSION command They should both flash briefly to indicate reception of the command and transmission of the response If you are using a USB to RS232 converter check whether its Tx and Rx LEDs flash If the converter s TX LED doesn t flash then either you are talking to the wrong COM port or CANgate has signalled the host to stop sending Double check the flow control settings on both devices and try closing then reopening the connection in DeTransfer CAN Bus Errors are reported Check that the bit rate you have set using the CONNECT command matches the bit rate in use on the CAN network Check that the polarity of the network connection is correct CAN HI signal connected to CAN1 Hi or CAN2 Hi on CANgate Check that the CAN network is correctly terminated This may require the addition of a terminating resistor see CAN Bus Type and Termination P9 Check that the CAN network you are connecting to is actually a high speed ISO 11898 2 CAN network If CANgate is configured to send CAN frames verify that there is at least one other CAN device connected and operating at the correct bit rate A bus error will result if a transmitted CAN frame is not properly acknowledged by the receiving device Errors occur when sending a large program to CANgate Check flow control settings on CANgate and host computer or data logger Note that DT80 series data loggers with firmwa
18. setting the internal DIP switch as shown below The factory default is all switches OFF Host port 57600 off off off D X X X off panarat e400 off off ON x x x x off 19200 off ON off X X X X off 9600 off ON ON x x x x off 115200 ON off off X X X X off Host port hardware X X X off X X X off flow control software X X X ON X X X off Factory Defaults ON ON ON ON ON ON ON off Bootstrap Mode X X X X X X X ON Note Switch numbers refer to the numbers printed on the switch itself Ignore the labels marked on the printed circuit board Note The switch settings are only checked immediately after power up Changing the switches during operation has no effect The Factory Defaults setting can be used to force CANgate to revert to a factory default state ie verbose mode off both CAN ports disabled GPS baud rate 4800 all memory slots cleared Set the switches as indicated above ie switches 1 7 ON then cycle the power all LEDs should illuminate briefly then return the switches to their normal setting and cycle the power again The Bootstrap Mode switch provides an alternative way of entering Bootstrap Mode which is only used when upgrading CANgate firmware UM 0086 A2 CANgate User s Manual Page 11 Using CANgate Memory Slots By default CANgate will not send or receive any CAN messages In order to do anything useful it must first be programmed CANgate is programmed by sending commands to set u
19. the instrument In no event shall Thermo Fisher s liability with respect to the instrument the use thereof this warranty statement or any cause of action related thereto under any circumstances exceed the purchase price of the instrument actually paid by purchaser Where Thermo Fisher supplies to the customer equipment or items manufactured by a third party then the warranty provided by the third party manufacturer shall pass through to purchaser but only to the extent allowed by the original manufacturer or third party supplier EXCEPT AS EXPRESSLY PROVIDED IN THIS WARRANTY STATEMENT THERMO FISHER DISCLAIMS ALL OTHER WARRANTIES WHETHER EXPRESS OR IMPLIED ORAL OR WRITTEN WITH RESPECT TO THE INSTRUMENTS INCLUDING WITHOUT LIMITATION ALL IMPLIED WARRANTIES OF MERCHANTABILITY OR FITNESS FOR ANY PARTICULAR PURPOSE THERMO FISHER DOES NOT WARRANT THAT THE INSTRUMENTS ARE ERROR FREE OR WILL ACCOMPLISH ANY PARTICULAR RESULT ANY ADVICE OR ASSISTANCE FURNISHED BY THERMO FISHER IN RELATION TO THE INSTRUMENTS SHALL NOT GIVE RISE TO ANY WARRANTY OR GUARANTEE OF ANY KIND AND SHALL NOT CONSTITUTE A WAIVER BY THERMO FISHER The Purchaser shall be solely responsible for complying with all applicable local state and Federal laws with respect to the installation use and implementation of the equipment Trademarks dataTakeris a registered trademark of Thermo Fisher Scientific Australia Pty Ltd CANgate is a trademark of Thermo Fisher Scientific Australia
20. 10 hexadecimal values are prefixed by 0x UM 0086 A2 CANgate User s Manual Page 13 e hex data enter a string of hexadecimal digits eg 12 09270045db08 To make long strings easier to read one or more underscores or any other non hex non whitespace character can optionally be inserted between bytes eg 12 0927 0045db08 The hexadecimal prefix Ox can also be included if desired e string enter an ASCII string inside quotation marks eg big top MX007Alert r n Control characters may be inserted into strings using a backslash followed by three decimal digits representing the ASCII code eg 1013 will insert a carriage return To insert an actual backslash character use As a shortcut carriage return newline CR LF and tab characters may be inserted using Mr n and t respectively Note If DeTransfer is used to send commands to CANgate then each backslash must be entered as in the DeTransfer Send window So if you want the string to contain an actual backslash character you would need to enter in DeTransfer Commands must be terminated by a carriage return or a semi colon character Comments may be included using an apostrophe character All characters after the apostrophe up until the end of the line will be ignored Run Mode and Program Mode CANgate has two operational modes Run Mode is the normal mode of operation Following power up CANgate always starts in Run Mode In Run
21. 5 OF byte 6 Ox9F bits 4 1 OxF In this case three of the memory slots use the FORMAT specifier to return their values in scaled engineering units rather than raw hexadecimal Slot 15 uses the default format string of S n ie floating point 2 decimal places followed by CRLF J1939 PGNs amp SPNs Broadcast PGNs J1939 based systems typically have a multitude of SPNs Suspect Parameter Numbers each representing an individual measured quantity or status A group of related SPNs will be broadcast over the CAN network under a particular Parameter Group Number PGN which is specified as part of the 29 bit identifier Each 29 bit identifier carries with it one 64 bit packet of CAN data Some PGNs with a data length larger the 64 bits require several packets to send them CANgate automatically uses the J1939 transport protocol to send or receive large PGNs Refer to RQSTJ Request J1939 Data P20 or the SAE J1939 21 Data Link Layer standard for a more detailed description on PGN numbers and how they are encoded into CAN identifiers An example of a J1939 SPN would be Engine Speed In order to capture engine speed using CANgate it is first necessary to determine the PGN which contains this parameter This can be found in SAE J1939 71 Vehicle Application Layer which specifies Electronic Engine Controller 1 Update rate Engine speed dependent Data length 8 bytes Data page 0 PDU format 240 PDU specific 4 D
22. AN1 LO CAN port 1 low 6 CAN2 HI CAN port 2 high 7 CAN2 LO CAN port 2 low 8 GPS TXD GPS port Transmit Data output 9 POWER in 10 30V DC power input LEDs The LEDs are used to indicate activity on the various ports Power red on while CANgate is powered RS232 Tx red flashes when characters are transmitted to host port RS232 Rx green flashes when characters are received from host port CAN 1 Rx blue flashes when a CAN frame is successfully received from CAN port 1 CAN 2 Rx red flashes when a CAN frame is successfully received from CAN port 2 GPS Rx green flashes when characters are received from GPS port Note that the CAN LEDs will only flash on receipt of CAN frames which match CANgate s current hardware filter settings If CANgate has not yet been programmed to receive CAN data then the LEDs will not flash even if there is traffic on the connected bus UM 0086 A2 CANgate User s Manual Page 7 Connecting CANgate Host Computer Connection The supplied host computer serial cable is wired as a standard null modem cable Host CANgate Computer DE9 female DE9 female Host computer serial connection wiring diagram If the host computer does not have an RS232 port then a USB to serial adapter may be used Data Logger Connection The supplied data logger serial cable is designed to connect to the serial sensor port on a DT80 series logger DT80 series CANgate d
23. DTC 5 MIL 0 SPN 752 FMI 4 Count 1 SPN 888 FMI 2 Count 1 In this case five fault codes are active spaces have been manually inserted in the hex data for clarity If CANgate is connected to a data logger then you would typically dispense with the decoding and just return the hex data eg BEGIN 1 ROSTJ 1 65230 1 1 number of fault codes 2 RECVJ 1 65226 fault code data END The DT80 would then be programmed to regularly poll the slots using RP 1 2 then parse the returned hex string and log individual fault codes Using CANgate with a DT8x Data Logger CANgate can be readily interfaced to a DT80 series data logger The supplied host port RS232 cable plugs directly into the DT80 s serial sensor port The DT80 s 1SERIAL channel type can then be used to send commands to the CANgate host port and interpret the responses Refer to the DT80 User s Manual for more information on programming the logger The logger program will generally consist of e anumber of immediate schedule 1SERIAL commands channel definitions These are executed once only and serve to configure CANgate s operating parameters and define the required memory slots e anumber of 1SERIAL commands within one or more logger schedules typically one 1SERIAL command per parameter of interest These commands will normally send a poll command RP memsiot then parse the response and either log it directly or assign it to a channel variable CV As well as poll
24. ECUadar or to the broadcast address if ECUaddr 256 The source address will be set to CANgate s configured address see SETADDR Set CANgate Address P25 CANgate will then listen for a response with an appropriate CAN identifier the same as a RECVJ slot Some PGNs have more than 8 bytes of data which is the limit of a single CAN frame associated with them In this case the ECU will respond with a multi packet transfer This may take the form of a multi packet broadcast or it may be a point to point transfer using the J1939 transport protocol CANgate will accept either type of response Note that there are some special considerations to be aware of regarding multi packet transfers see Multi Packet J1939 Messages P30 See also Request PGNs P29 Note As is the case with ISO 14230 RQST slots the response time will depend upon the particular ECU J1939 requests are queued in the same way as ISO 14230 requests CANgate will only send out one request at a time and will time out after approximately 400ms if there is no response Examples RQSTJ 2 65254 1 1 0 6 1000 FORMAT 25 Once per second 1000ms send a request on CAN port 2 for PGN 65254 time date to the ECU with address 0 and expect a reply with priority 6 The first byte of the response seconds x 4 is extracted and returned GPS Receive NMEA 0813 Messages slot GPS header fieldNum option sampleRate FORMAT formatOptions where e slotis the memory sl
25. Mode all configured memory slots will receive and or transmit their programmed CAN or GPS messages and return data to the host system as required Whilst in Run Mode any of the commands described in the Command Reference P16 may be entered However only Memory Slot 0 s configuration may be changed Commands that attempt to modify any of the other memory slots will be ignored the only way to update these slots is to switch to Program Mode Program Mode is entered by sending the BEGIN command This command will erase all existing memory slots and prepare CANgate for receiving new definitions In Program Mode the CAN and GPS ports are not active The only commands that are accepted in this mode are the slot definition commands BECH RECVE SEND SENDE RECVJ ROST ROSTJ and GPS These commands are prefixed by the number of the memory slot to define eg 12 RECV 1 0x712 1 2 will define memory slot 12 When all required memory slots have been defined the END command will save all memory slot details except Slot 0 to non volatile flash memory and return to Run Mode UM 0086 A2 CANgate User s Manual Page 14 Command Summary slot RECH CANport RxID fstartBytef bit endByte bit sampleRate FORMAT options slot RECVE CANport RxID startByte bit endByte bit sampleRate FORMAT options slot SEND CANport TxID hexData sampleRate slot SENDE CANport TxID hexData sampleRate slot RQST CANport hexData
26. O 14230 3 manufacturer diagnostics Maximum broadcast parameters 150 Maximum polled parameters No Limit Statistical functions for broadcast parameters Average Minimum Maximum GPS Interface 1 RS232 port Port Speeds 300 1200 2400 4800 default 9600 19200 38400 57600 115200 baud Serial Parameters No parity 8 data bits 1 stop bit Flow Control Not supported Protocols NMEA 0183 Host Data Logger Computer Interface 1 RS232 port Port Speeds 9600 19200 38400 57600 default 115200 baud Serial Parameters No parity 8 data bits 1 stop bit Flow Control Hardware RTS CTS or Software XON XOFF Protocols ASCII LED indicators Power red CAN1 Data Receive blue CAN Data Receive red GPS Data Receive green HOST Data Receive green HOST Data Transmit red Connectors 1 DE9 male Host standard PC AT DTE pin out 1 DEY female CANT CAN2 GPS power Host Software DeLogger supports use of CANgate with dataTaker DT80 range of data loggers Includes built in parameter databases for J1939 OBD NMEA 0183 and supports user developed custom parameter databases DeTransfer or any other ASCII terminal emulator may be used to program CANgate when directly connected to a host PC UM 0086 A2 CANgate User s Manual Page 38 Power Supply External Input Range 10 to 30VDC 5V power output 200mA max is also provided for powering GPS modules Power Consumption Idle 0 75W 50mA 15V Maxi
27. Pty Ltd All other brand and product names are trademarks or registered trademarks of their respective holders Regulatory Notices This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense Changes or modifications not expressly approved by the party responsible for compliance could void the user s authority to operate the equipment CANgate Firmware Covered in This Manual This version of the CANgate User s Manual UM 0086 A2 applies to CANgate products running version 1 28 or later firmware WARNING dataTaker products are not authorized for use as critical components in any life support system where failure of the product is likely to affect the system s safety or effectiveness UM 0086 A2 CANgate User s Manual Page 2 Contents COMES E 3 Intro ducto EE 5 About GANG E nico dir da 5 About This Mana id dd 5 AC Kin EE 6 CANGate H
28. X or floating point conversion specifier will be ignored if the data field is larger than 32 bits In this case the value will be returned in raw hexadecimal format e Integer or floating point conversion specifiers are ignored for GPS slots For a GPS slot all data values are treated as strings UM 0086 A2 CANgate User s Manual Page 21 e The floating point conversion only supports values in the range 16777216 to 16777216 Values outside this range will be returned as 99999 9 e Ifan integer conversion type is specified the scale and offset parameters will be converted to integers e The format strings X n and n do different things The former will output the scaled data value as a hexadecimal number the latter will output the raw data value as it appears in the CAN message no byte reversal scaling etc e To include a literal or character enter 3 or respectively Defaults To summarise the rules regarding default formatting behaviour e if FORMAT is present with a formatString and the format string contains a conversion specifier then the data will be formatted according to the conversion specifier Numeric conversion specifiers will only work if the data size is 32 bits or less if it is longer then the data will be returned in raw hexadecimal format e if FORMAT is present with a formatString and the format string does not contain a conversion specifier then the data will be returned in raw hexade
29. addr priority sampleRate FORMAT fmtOpt where e slotis the memory slot being defined integer 0 150 If not specified then 0 is assumed If CANgate is in Run Mode then zero is the only value that can go here e CANport is the CAN port to use integer 1 2 e PGNis the J1939 Parameter Group Number integer 0 131071 e startBytef bit is the starting bit position of the field of interest within the received message Bytes are numbered from 1 bits are numbered from 8 MSB down to 1 LSB If sfartByte is O or not specified then 1 is assumed If bit is not specified then 8 is assumed e endBytef bit is the ending bit position inclusive of the field of interest If endByte is O or not specified then this will be the last received byte in the message If bit is not specified then 1 is assumed e ECUaddr is the address of the ECU source address from which to receive messages integer 0 255 or 256 If 256 is specified which is the default messages are received from any source address e priority integer 0 7 default 6 specifies the expected value of the priority field bits 28 26 in the CAN ID e sampleRate is the rate at which to return values to the host integer in ms must be multiple of 100ms May also be ALL in which case a value is returned on receipt of every matching CAN message If this parameter is 0 or not specified the memory slot will only return data when it is polled by the host system using th
30. am will set up CANgate then poll it at the specified rate in conjunction with any other analog or digital measurements that may be required and log the results DeLogger is supplied with pre defined databases containing parameter definitions for J1939 OBD II and NMEA 0183 These databases are in standard XML Extensible Markup Language format and are readily expandable to cover other protocols or manufacturer specific parameters For more details on using DeLogger with CANgate and a DT80 refer to the CANgate and DT80 Start Here guide and the DeLogger on line help Troubleshooting This section gives a few tips which may assist in resolving problems that may occur when using CANgate CANgate does not respond to commands from host computer e Check that CANgate is powered Power LED is on e Check that the supplied null modem cable is securely connected between CANgate and an RS232 port on the host computer e Check that the serial parameters for the DeTransfer or other terminal program connection match those set on the CANgate DIP switches by default 57600 baud 8 data bits no parity 1 stop bit hardware flow control e Confirm that you have selected the correct COM port especially if you are using a USB to serial converter e When CANgate is in non verbose mode which is the default many commands do not return anything to the host The VERSION command should always return something however UM 0086 A2 CANgate User
31. and Ware acid 7 Connectors and N E D REE E E E T E A eher 7 H st TE 7 CAN GPS PoOwer ET 7 EEE A E pidan E TEET ile 7 Connecting CANgate ieia a A E EEA AE a aE aiaa 8 Host Computer Conpnechon 8 Data Logger Connection ENNER EENS 8 CAN GPS Power Connections issicssrirrriserrinetinnssinitaniannesennanetnannenadandi nawada na annea tannanna iann 9 CAN Bus Type and Termination snaa a a a A E Er A Ra 9 Inside CANGate sc id A Ai E 10 Accessing CANgate Internals AA 10 Configuration Switches cn nn arc iia ana Neea ina oria N aeaii ia 11 lte Reg e EE 12 MEMO OS it A AAA 12 Memory Slot Commands and Protocol Hierarchie 13 Entering Commande ooooooococoncnonononcnonononononcnonnnnnnnnnononnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnos 13 Run Mode and Program Made cross tacna EES EE 14 Command SUMIMALY ee stees ge Eege ed 15 Command Reference casona iii 16 Commands and ParametersS cceccceccceeceeee cece cnn 16 Slot Definition Commandes 16 RECH Receive Standard ID CAN Messages 16 RECVE Receive Extended ID CAN Messages 17 SEND Transmit Standard ID CAN Message nono cc nn rn nnnnnnnnn 17 SENDE Transmit Extended ID CAN Message 17 RQST Request OBD Data oooocococccccccccicoconoononcnncnnnonnnnononcnnnnnnnnnnnnnnnnnnnnn cnn nnnnnnnnnnncnnnanannnes 17 RECH Receive J1939 Messages ooooononccccnnococccononoconnnonnncnnn nn cnn anar nnr rn rn cnannnnn 19 RQSTJ Request J1939 Data nn nna
32. ansport UM 0086 A2 CANgate User s Manual Page 24 protocol used to break up and reassemble long messages not the actual data parameters Examples SNOOPJ 2 EXT 0CF00400 FE7D7D000000FFFF PGN 61444 PRI 3 SA 0 DA 0 EXT 18FEF000 FFFFFFOOOOFOCCFF PGN 65264 PRI 6 SA 0 DA 0 EXT 18F0000F CO7DFFFFOFFFFFFF PGN 61440 PRI 6 SA 15 DA 0 EXT 0CF00300 FOFEOOFFFFFFFFFF PGN 61443 PRI 3 SA 0 DA 0 EXT 18FEF100 FFO00050000000C0 PGN 65265 PRI 6 SA 0 DA 0 EXT 18ECFFOO 202E0007FFCAFEOO PGN 65226 PRI 6 SA 0 DA 255 LEN 46 EXT 18FEFFOO FDFFFFFFFFFFFFFF PGN 65279 PRI 6 SA 0 DA 0 EXT 18ECFFOO 20220005FFE3FE0O0O PGN 65251 PRI 6 SA 0 DA 255 LEN 34 EXT 18ECFFOF 20130003FFE1FEOO PGN 65249 PRI 6 SA 15 DA 255 LEN 19 END SNOOP In this example six different single packet parameter group messages were observed For each the PGN priority source address and destination address are returned There are also three different multi packet messages indicated by EXT These include an additional display item the length of the data message in bytes Note that the displayed 64 bit data field does not contain any actual message data it contains transport protocol information including PGN and data length NETLOAD Measure CAN Traffic Load NETLOAD CANport where e CANport is the CAN port to measure integer 1 2 If not specified both CAN ports are measured This command measures the traffic load on one or both CAN ports and reports it as a percentage
33. are These updates may include fixes for reported problems as well as new features and enhancements The procedure for upgrading CANgate s firmware is as follows 1 MO Oe 9 Download the update package a zip archive and extract the files therein to a convenient location on the host computer Read the release notes included in the package These will describe what has changed and any special upgrade procedures that may be required Install the Philips LPC2000 upgrade utility on the host PC This is included on the dataTaker resource CD under Utilities Do not run the utility yet Connect power to CANgate and connect the serial cable between CANgate and the host PC Run DeTransfer or other terminal program Type VERSION to confirm the current firmware version Type RESET to clear any existing CANgate configuration Type VXVX All CANgate LEDs will turn on to indicate that the bootloader is active Some random characters may be returned as the bootloader operates at lower baud rate 38400 baud Close the DeTransfer connection Run the Philips LPC2000 Flash Utility E LPC2000 Flash Utility E lol x File Buffer Help PHILIPS LPC2000 Flash Utility V2 1 0 m Flash Programming m Erase Blank r Communication Filename Connected To Port c cangate 1260001 hex Blank Check e Entire Device coma y C Selected Sectors Upload to Flash Execute Code Use Baud Rate pose tis a after Upload Start Secto
34. as a single decimal integer prefixed by P1 Remember if DeTransfer is used to send the above command then it would need to be entered as BECH 1 0x603 1 2 FORMAT P1 d n UM 0086 A2 CANgate User s Manual Page 16 RECV 1 0x603 3 8 3 5 ALL FORMAT 25 f As each ID 0x603 message is received return the value of the upper 4 bits of data byte 3 0 15 This is then scaled by a factor of 0 25 and returned as a floating point number range 0 3 75 followed by a comma RECV 1 0x112 4 8 1000 Once per second 1000ms return the most recent values of data bytes 4 8 of received ID 0x112 messages RECVE Receive Extended ID CAN Messages slot RECVE CANport RxID startByte bit endByte bit sampleRate FORMAT formatOptions This command is exactly the same as RECV except that the CAN identifier is an extended mode 29 bit identifier as opposed to a standard mode 11 bit identifier The allowable range for Rx D is therefore 0 Ox1FFFFFFF SEND Transmit Standard ID CAN Message slot SEND CANport TxID hexData sampleRate where e slotis the memory slot being defined integer 0 150 If not specified then 0 is assumed If CANgate is in Run Mode then zero is the only value that can go here e CANport is the CAN port to use integer 1 2 e TxID is the CAN identifier to include in the transmitted message integer O Ox7FF e hexData is up to 8 bytes of hex data to include in the transmitted message Non hex character
35. at GPS data is always treated as a string scaling options will be ignored The FORMAT clause is therefore only useful for adding before and after text If a GPS receiver is connected to CANgate then positional data latitude longitude elevation etc can be returned along with measured CAN parameters A GPS receiver will transmit position messages via its RS232 interface typically about once per second These messages are formatted according to the NMEA 0183 protocol NMEA 0183 defines many different sentences each of which consists of an identification string followed by a number of comma separated data values For example the sentence GPGLL 3749 1965 S 14458 9940 E 073510 22 A provides a basic positional fix containing the current latitude 37 49 1965 S 144 58 9940 E and the time the fix was taken 07 35 10 22 UTC Other sentence types eg GPGGA provide more detailed information including elevation accuracy number of satellites in view etc A CANgate GPS memory slot is used to parse incoming NMEA 0183 data and then return specific fields to the host This will capture all messages with the specified ID string and extract the required data field When polled using the RP command or at the intervals specified by the sampleRate parameter the slot will return the most recent value for the data field If no messages have been received or if the specified field does not exist in the received messages then nothing will be
36. at the same time There are no restrictions for RAST RQSTJ slots because only one request can be active at any one time Terminal Control The following example is intended to be used with an ANSI VT100 terminal or emulator Two data values are extracted from received CAN messages with ID 0x212 and one from ID 0x444 messages These values are displayed at particular row column positions on the terminal using the ANSI ESC row co H sequence and are then updated once per second CONNECT 2 250 BEGIN 1 RECV 2 0x212 1 3 1000 FORMAT 027 1 10HEngine Speed 6f rpm 2 RECV 2 0x212 4 5 1000 FORMAT 027 2 10H Temp Se Lt degC 3 RECV 2 0x444 1 3 1000 FORMAT 027 3 10H Gear 3d END This should display the data on the terminal as follows Engine speed 2310 rpm Temp 39 2 degC Gear 4 KWP2000 OBD II ISO 14230 Requests Keyword Protocol 2000 KWP2000 is a widely used poll response protocol that allows diagnostic equipment to query and control ECUs on an automotive network As discussed in RQST Request OBD Data P17 the basic structure of KWP2000 is defined in ISO 14230 3 This standard defines various request messages each of which consists of a single byte service identifier or mode byte usually followed by a number of parameters Reply messages also begin with a mode byte which is derived from the mode byte of the request KWP2000 modes 0x00 0x0F are reserved for standardised legislated OBD on board diagnostics funct
37. ata logger terminal block DE9 female Data logger serial connection wiring diagram Note By default the CANgate host port operates at a high baud rate 57600 baud At this speed the maximum cable length for the host computer or data logger connection is approximately 5 metres assuming good quality shielded cable is used If a longer cable is required the CANgate baud rate should be reduced see Configuration P11 eg at 9600 baud a cable length of 40m is normally possible UM 0086 A2 CANgate User s Manual Page 8 CAN GPS Power Connections The supplied terminal adapter plug DE9 male to 9 way terminal block provides convenient screw terminal connections to the CAN GPS POWER connector Alternatively a custom cable can be made up using a conventional DEQ plug A typical wiring configuration is shown below 1 1 5V out J1850 2 2 GND 3 3 CANT HI CHAS GND 4 4 GPS RXD Vehicle SIG GND 5 5 CAN1 LO CANgate Diagnostic CAN HI 6 6 CAN2 HI Connector ISO 9141 K 7 7 CAN2 LO E 8 8 GPS TXD 9 9 POWER J1850 10 11 12 13 CAN LO 14 ISO 9141 L 15 BATTERY 16 DE9 male SAE J1962 male GPS Connector to suit GPS unit Diagnostic connector and GPS wiring diagram Note A vehicle with an SAE J1962 diagnostic connector may not necessarily use a CAN network If CAN is not used then the indicated pins will either be not connected or in some applications may hav
38. ay appear in the received data stream which will probably disrupt the parsing of the returned data e With the logger in pass through mode verify that CANgate is configured for normal operation with no extraneous output ie VERBOSE OFF DIAG 0 e With the logger in pass through mode verify slot definitions using STATUS Manually send some of the commands that the logger is sending in its 1SERIAL channel definitions and check that CANgate is returning data Check that the format of the data matches that expected by the input conversion in the serial sensor control string eg if CANgate is returning a floating point value then the serial sensor string should be set up to read a floating point value and not for example an integer d e Alternatively enable diagnostic mode on the logger P56 1 which will display data received on the serial sensor port in conjunction with the input conversions which are endeavouring to parse it By examining these it should be possible to determine why the input conversions are not working CANgate repeatedly resets If CANgate detects a serious firmware problem then it will trigger a hardware reset If this does not clear the problem then repeated resets may occur Ifthis is the case then to regain control it may be necessary to set the internal DIP switches to the Factory Defaults setting see Configuration P11 and cycle the power Error Messages If Verbose mode is selected CANgate will
39. cimal form or ASCII string form for GPS slots followed by the format string text e if FORMAT is present without a formatString then a default format string will be used S n for CAN slots or Ss n for GPS e if FORMAT is not present then a default format string will be used An for CAN slots ie raw hexadecimal followed by CRLF or s n for GPS Examples The following examples assume that the last matching CAN message had the data 01234567AABBCCDD RECV 1 0x100 1 2 returns 0123 CR LF BECH 1 0x100 1 2 FORMAT 100 returns 29100 00 CRLF 0123 hex scaled by 100 RECV 1 0x100 1 2 FORMAT returns 0123 BECH 1 0x100 1 2 FORMAT d 1n returns 291 CRLF 0123 hex BECH 1 0x100 1 2 FORMAT N x d Palin returns x 8961 Pa CRLF 2301 hex BECH 1 0x100 1 8 FORMAT d n returns 01234567AABBCCDD CR LF no conversion if gt 32 bits BECH 1 0x100 1 2 FORMAT 5 10 9 3f n returns 155 500 CRLF 2 leading spaces BECH 1 0x100 1 2 FORMAT 5 10 09 3 n returns 00155 500 CR LF 2 leading zeroes BECH 1 0x100 1 2 FORMAT 5 10 9 3f n returns 155 500 CRLF 2 trailing spaces BRECH 1 0x100 1 2 FORMAT 5 10 Sf returnms 155 50 BECH 1 0x100 4 8 4 6 FORMAT Z t d returns Z TAB 3 byte 4 67 hex bits 8 6 011 binary 3 The following assume that the last received GPS string was SGPGLL 1244 98 S 11102 09 E GPS GPGLL 2 FORMAT gt 3s lt returns gt S lt GPS GPGLL 3 M FORMAT gt 4s lt
40. d by the host system using the RP command e formatOptions specify how the data value is to be formatted when it is returned to the host system see FORMAT Sub command P21 for more details if not specified data will be returned in raw hexadecimal format A RECV memory slot captures all messages on the specified CAN port with the specified standard identifier and extracts the required data field When polled using the RP command or at the intervals specified by the sampleRate parameter the slot will return the most recent value for the data field If no messages have been received nothing will be returned other than the configured static formatting text which is specified by the FORMAT sub command and by default is just CRLF The SNOOP command P24 can be used to determine which CAN identifiers are being broadcast on a CAN network Note If the sampleRate parameter is set to ALL it is not guaranteed that every CAN message will be returned Many CAN networks operate at high speed and some parameters are broadcast at very frequent intervals The rate at which these messages arrive may exceed the bandwidth of the host RS232 connection or the processing capabilities of the CANgate Examples RECV 1 0x220 Receive messages on CAN port 1 with ID 0x220 When polled return all 8 data bytes in hexadecimal of the most recent message RECV 1 0x603 1 2 FORMAT P1 d n Receive ID 0x603 messages When polled return the first two data bytes
41. d the above string to the logger you would need to enter the following into the DeTransfer Send window 1SERIAL ROST 1 0199 FORMAT 034A B Sf 33 3 n 034 RP M Serial Sensor Direct Mode When CANgate is connected to a DT80 series data logger you may sometimes need to interact with the CANgate directly for example to send a SNOOP command To facilitate this the DT80 series data logger incorporates a serial sensor direct mode DT80 firmware version 6 08 or later To enter this mode enter the following logger command SSDIRECT A confirmation message should be displayed Everything you send to the logger connection from now on will be ignored by the logger and will instead be forwarded to the serial sensor port ie to CANgate Furthermore all normal text output from the logger eg real time data returns will be discarded and instead any output from CANgate will be returned To return the logger to normal operation send the command ENDSSDIRECT and the logger should return a message indicating that serial sensor direct mode has been cancelled Using CANgate with DeLogger The dataTaker DeLogger software Version 3 Release 5 and later provides a way of easily configuring CANgate when it is used in conjunction with a DT80 series data logger DeLogger allows you to select parameters of interest from a database It will then generate a logger program similar to that described in the previous section The generated progr
42. datalaher CANgate User s Manual O Copyright 2007 08 Thermo Fisher Scientific Australia Pty Ltd ABN 52 058 390 917 UM 0086 A2 Warranty Thermo Fisher Scientific Australia Pty Ltd Thermo Fisher warrants the instruments it manufactures against defects in either the materials or the workmanship for a period of three years from the date of delivery to the original customer This warranty is limited to and purchaser s sole remedy for a breach of this warranty is the replacement or repair of such defects without charge when the instrument is returned to Thermo Fisher or to one of its authorized dealers pursuant to Thermo Fisher s return policy procedures The obligations set forth above shall be void with respect to any damage to the instrument resulting from accident abuse improper implementation or use lack of reasonable care loss of parts force majeure or any other third party cause beyond Thermo Fisher s control Any installation maintenance repair service or alteration to or of or other tampering with the instruments performed by any person or entity other than Thermo Fisher without its prior written approval or any use of replacement parts not supplied by Thermo Fisher shall immediately void and cancel all warranties with respect to the affected instruments Thermo Fisher shall not be liable for any incidental indirect special punitive or consequential loss or damages resulting from or arising out of the use of
43. e RP command e fmtOpt specifies how the data value is to be formatted when it is returned to the host system see FORMAT Sub command P21 for more details if not specified data will be returned in raw hexadecimal format A RECVJ memory slot operates in a similar way to a RECVE slot That is it listens for CAN messages with a particular extended identifier extracts the required data field then returns it to the host when polled or at regular intervals or after every message is received The difference is in the way the identifier is specified The SAE J1939 protocol assigns meaning to various parts of the 29 bit CAN identifier as follows 28 26 Priority 25 Reserved 24 Data Page which is effectively bit 16 of the PGN 23 16 Parameter Group Number PGN MSB bit 15 8 if lt 240 then this identifier has PDU1 directed message format otherwise it has PDU2 broadcast message format 15 8 if PDU1 format destination address implied PGN LSB 0 if PDU2 format PGN LSB or group extension implied destination address 0 7 0 source address CANgate will receive messages where e the Priority field matches priority and e the 17 bit PGN Datapage fields match PGN for PDU1 format any destination address will be accepted and e the source address field matches ECUadar if ECUaddr 256 any source address will be accepted PGN numbers and the layout of the data fields therein are defined in the SAE J1939
44. e User s Manual Page 9 Connecting to an Existing CAN Network A typical CAN network might be wired as follows Typical layout of a vehicular CAN network In this case the vehicle has five ECUs connected to the CAN bus plus a diagnostic connector ECUs 1 and 5 are at the ends of the main bus so they incorporate termination resistors ECUs 2 3 and 4 connect to the bus via short stub connections and do not include a termination resistor Notice that CANgate incorporates weak termination 2 6k Q This value is high enough so as not to significantly increase the DC load on the already terminated bus yet low enough to provide some damping of reflections on CANgate s stub connection to the bus This allows the length of the stub to be extended to around 2 3 metres Note that some of the ECUs may also include weak termination to allow their stub connections to be extended slightly Connecting to a Single ECU If CANgate is connected to a single ECU eg for laboratory testing then an external termination resistor may be required CANgate Direct connection to a single ECU In this case a short 1m cable is used so the two 120 Q resistors are combined into one 60 Q resistor If a long cable is used then 120 Q resistors should be placed at each end This assumes that the ECU is not terminated or weakly terminated If the ECU includes its own 120 Q termination then an external 120 Q resistor is only required at the CANgate
45. e a different function Ensure that the vehicle does actually use high speed CAN before connecting CANgate to the diagnostic connector CAN Bus Type and Termination The CAN protocol can operate over a number of different physical layers A physical layer is a specification defining the low level electrical characteristics of the network eg allowable bit rates voltage levels cable type and so on It is important to note that CANgate only supports the high speed CAN physical layer as defined in ISO 11898 2 SAE J2284 This is by far the most widely used physical layer The important characteristics of this standard are e two wire 5V differential signalling e bitrate 10kbps 1Mbps e twisted pair cable 120 Q characteristic impedance A high speed CAN network is required to have a linear topology There is a single twisted pair backbone cable which can be up to 40m long Electronic control units ECUs are then connected to the bus using short stub connections max length 0 3m These limits are for 1Mbps operation and can be increased somewhat for lower bit rates At each end of the bus correct termination is required This typically consists of a resistor wired across the two bus lines that matches the impedance of the cable ie 120 Q The termination resistance provides the correct DC load for the CAN output drivers and minimises signal reflections which can distort the CAN signals and cause errors UM 0086 A2 CANgat
46. eceived then no value will be returned e For an active memory slot SEND SENDE RQST RQSTJ CANgate will transmit the required CAN message In the case of the request types CANgate will then wait for a response and return the required data to the host If no response is received to a request or if no data at all have been received at the time that a passive slot is polled then no value will be returned If there was text specified in the format string then that text it will still be returned If any slots in the specified range have not been defined then they will be skipped nothing will be returned for the undefined slots Note When passive slots are polled the data is returned instantly while for RAST RQSTJ slots the data will only be returned when a response is received from the ECU This means that if a mixture of receive and request slots are polled all at once then the order of responses may not match the order of the memory slots Examples RP 1 150 Poll all defined memory slots ROSTJ 2 65226 3 6 FORMAT f n RP SEND 1 0x142 112233 RP The RP command is often appended when defining an active memory slot in Slot 0 This usage is not applicable to passive slots because at the point where the RP command is executed it is unlikely that any data has been received since the slot was defined so nothing will be returned CONNECT Set CAN Bit Rate CONNECT CANport bitrate where e CANport is the CAN port to use integer 1
47. efault priority 3 Parameter Group Number 61 444 0x00F004 Byte 1 Status_EEC1 Bit 8 5 Not defined Bit 4 1 Engine retarder torque mode Byte 2 Driver s demand engine percent torque Byte 3 Actual engine percent torque Byte 4 5 Engine Speed Byte 6 8 Not defined The precise format of each SPN is also specified in SAE J1939 71 Engine Speed Data Length 2 bytes Resolution 0 125 rpm bit gain 0 rpm offset UM 0086 A2 CANgate User s Manual Page 28 Data Range 0 to 8031 875 rom Type Measured Suspect Parameter Number 190 The SNOOPJ command can now be used to verify that the PGN is in fact being broadcast by an ECU on the CAN network This involves examining the returned data looking for the required PGN 61444 For example SNOOPJ 1 EXT OCF00402 PGN 61444 PRI 3 SA 2 DA 0 This line indicates that the required PGN is being broadcast on the network and decodes the CAN identifier QCF00402 as follows e priority field is 3 e PGN field is 61444 0x00F004 e destAdadr field is not applicable because this PGN uses PDU2 format bits 15 8 of PGN gt OxF0 e srcAdar ie the address of the sending ECU is 2 Using this information a memory slot can be initialised for example RECVJ 1 61444 4 5 2 3 FORMAT 0 125 3 3f rpmin which will e receive J1939 messages e on CAN port 1 e with identifier OxOCF00402 PGN 61444 source address 2 priority 3 e and extract bytes 4 5 as an unsigned 16 bit value byte 4
48. er 0 150 If not specified then 0 is assumed If CANgate is in Run Mode then zero is the only value that can go here e CANport is the CAN port to use integer 1 2 e hexData is 1 39 bytes of data to include in the transmitted request message The first byte is the ISO 14230 mode byte the remainder of the data are parameters The number and meaning of the parameters vary depending on the mode byte Non hex characters eg _ may be inserted between bytes to make the string easier to read See OBD II Modes and PIDs P40 for more details on some common OBD request messages e startBytef bit is the starting bit position of the field of interest within the received message Bytes are numbered from 1 bits are numbered from 8 MSB down to 1 LSB If startByte is 0 or not specified a default value is chosen based on the mode byte If bit is not specified then 8 is assumed e endBytef bit is the ending bit position inclusive of the field of interest If endByte is O or not specified then this will be the last received byte in the message If bit is not specified then 1 is assumed UM 0086 A2 CANgate User s Manual Page 17 e ECUaddr is the address of the ECU to which to send the request integer 0 7 or 256 If 256 is specified which is the default a non specific request is made For ECUs which do not use the standard OBD II CAN IDs you can alternatively specify an explicit CAN ID here in hexadecimal e g 0x220 this is di
49. g group of slot definitions will when polled using RP 1 3 return the current time in hh mm ss format BEGIN 1 ROSTJ 1 65254 3 3 FORMAT 02d hours 2 ROSTJ 1 65254 2 2 FORMAT 02d minutes 3 RQSTJ 1 65254 1 1 FORMAT 25 0 f n seconds END Sending the following slot 0 definitions in quick succession would have the same effect RQSTJ 1 65254 3 3 FORMAT 02d RP RQSTJ 1 65254 2 2 FORMAT 02d RP RQSTJ 1 65254 1 1 FORMAT 25 0 f n RP Multi Packet J1939 Messages An ECU on a J1939 network may periodically broadcast multi packet messages for one or more PGNs These messages are used when the PGN contains more than 8 bytes of data A message consists of a header CAN frame containing the PGN number and message length followed by one or more CAN frames each containing up to 7 bytes of data It is possible for two or more broadcast messages to overlap in which case some or all of their constituent CAN frames will be interleaved CANgate can track a certain number of simultaneous multi packet messages Be aware of the following limitations e Only one RECVJ slot can reference a data field of size greater than 8 bytes e Multiple RECVJ slots can reference data fields up to 8 bytes in size within a multi packet message e Ifthere are RECVJ slots which reference data fields up to 8 bytes from three or more different multi packet PGNs then this will work provided that the ECU does not transmit more than two of these PGNs
50. ifies the output type raw hexadecimal integer floating point string etc formatting options eg number of decimal places and any leading or trailing text Default is n output floating point value 2 decimal places followed by CRLF See below for more details e stats is a statistical operation MIN MAX or AVE If set all matching CAN messages are received and processed When the slot is polled the calculated minimum maximum or average value since last poll is returned If not specified which is the default the most recent instantaneous data value is returned Note statistical operations are only valid for passive CAN slot types RECV RECVE RECVJ Format String A format string consists of three text elements e some text to display before the data value default none e aconversion specifier which begins with a character and specifies the data type integer floating point etc and possibly some other formatting details If no conversion specifier is present which is the default the data value will be output in raw hexadecimal format exactly as it appears in the CAN message in this case the rawFormat scale offset and stats parameters will be ignored e some text to display after the data value default An If no conversion specifier is present all text in the format string will be returned after the data value The format of the conversion specifier is as follows there are no gaps between the various elemen
51. ing the pre defined memory slots these commands may also set up a Slot 0 request then poll it and interpret the response A typical program structure would be BEGIN CANNY k Immediate Schedule execute once only Initialise DT80 port that CANgate is connected to PS RS232 57600 8 N 1 HWFC Initialise CANgate settings 1SERIAL VERBOSE OFF M W 1SERIAL CONNECT 1 250 M W 1SERIAL GPSBAUD 9600 M wi define CANgate memory slots 1SERIAL BEGIN M W 1SERIAL 1 RECVJ 1 61444 A 5 256 3 FORMAT 125 M W 1SERIAL 2 GPS 034GPGLL 034 1 D M W 1SERIAL END M W x A Schedule execute once per second RA1S 1SERIAL e RP 1 M 5 EngSpd RPM 1SERIAL e RP 2 M Lat Deg Degrees 1SERIAL e ROSTJ 1 65256 3 4 FORMAT 0 00390625 RP M NavSpd km h LOGON END Escaping Control Characters A frequent source of confusion when using DeTransfer dataTaker terminal software the DT80 serial sensor control language and CANgate is the process of escaping control characters Each of these pieces of software parses input text strings and performs certain actions when particular characters are seen For example CANgate uses the backslash character to introduce special character sequences eg n is used to indicate that a CR LF character sequence should be inserted into a format string or 003 for an ETX character UM 0086 A2 CANgate User s Manual Page
52. ions and are defined in SAE J1979 ISO 15031 Modes 0x10 0x3F are functionally defined by ISO 14230 3 but the details of parameters and response data format tend to be manufacturer specific Each ECU parameter that can be requested or set is identified by a PID parameter identifier code For the legislated OBD functions the PID codes are standardised for the ISO 14230 3 functions the PID definitions are manufacturer specific Example In this example the engine speed is requested From ISO 15031 or the Appendix OBD II Modes and PIDs P40 we know that the Engine RPM is PID 0x0C and the returned value has a resolution of 0 25 rpm and an offset of O KWP2000 mode 0x01 indicates a request for the current value of a PID The complete request message therefore contains two bytes the UM 0086 A2 CANgate User s Manual Page 30 mode byte and the PID ROQST 1 010C FORMAT 25 RP In this case ECUaddr is not specified so the message will be broadcast using CAN ID 0x7DF The reply will be expected to have a CAN identifier in the range 0x7E8 0x7EF In this case 4 bytes will be returned mode byte PID and a 16 bit data value MSB first CANgate knows the format of a mode 0x01 request and will discard the first two bytes of the response and return all remaining bytes as the data value This behaviour can be overridden if startByte and endByte parameters are specified The data value will then by multiplied by 0 25 and returned in the default for
53. is dead and make the next request Note Some ECUs do not use the standard CAN identifier range 0x7E0 0x7E7 In this case an arbitrary CAN ID 0x000 0x7F7 can be specified explicitly as the ECUaddr This should be specified in hexadecimal CANgate will then send the request using the specified CAN ID and expect a response with CAN ID ECUaddr 8 The following two commands are therefore equivalent RQST 1 010C 3 01 RQST 1 010C 3 0 Ox7E1 In both cases the request will be sent with CAN ID 0x7E1 and the response will be expected to have CAN ID 0x7E9 Examples RQST 1 010D FORMAT d n When polled send a message on CAN port 1 requesting the current value mode 0x01 of Parameter ID PID 0x0D which is vehicle speed see OBD II Modes and PIDs P40 The speed will be returned as a single decimal integer 0 255 km h followed by CRLF ROST 1 1800FF00 2 2 0 RP This will immediately send a message on CAN port 1 to ECU 0 to ReadDTCByStatus mode 0x18 returning all currently active fault codes parameter byte 1 0x00 for all fault code groups parameter byte 2 3 OxFFOO The ECU will return a mode byte fault code count and a variable length string of 3 byte SAE J2012 format fault codes The slot selects just fault code count byte 2 and returns it in the default format hexadecimal UM 0086 A2 CANgate User s Manual Page 18 RECVJ Receive J1939 Messages slot RECVJ CANport PGN startByte bit endByte bit ECU
54. mat floating point 2 decimal places CRLP The above is equivalent to the following which specifies every parameter explicitly RQST 1 010C 3 0 256 0 FORMAT UM 25 0 fAn RP That is e CAN port 1 e 2 byte request message 0x01 Ox0C e data field of interest starts at byte 3 and continues to the end of the reply message 0 e broadcast request to all ECUs ECUaddr 256 e sampleRate 0 ie only when polled e raw data format is unsigned Motorola byte order MSB first e scaling factor is 0 25 offset Is O e output format is floating point 2 decimal places then CRLF Reading Fault Codes OBD II For an OBD II compliant vehicle stored fault codes can be read out using a Mode 03 request as noted in the Appendix OBD II Modes and PIDs P40 It is useful to first determine how many fault codes are stored which can be done by sending a Mode 01 query for PID 01 eg RQST 1 0101 RP 81066060 The most significant 8 bits 81 of the 32 bit result contains the most pertinent information In this case b31 is set which indicates that the Malfunction Indicator Light MIL is currently on and the next 7 bits indicate the number of fault codes which in this case is 1 The request for the actual codes can now be sent RQST 1 03 RP 013300000000 Fault codes are returned in 6 byte packets each of which contains three 16 bit fault codes In this case there is only one fault code 0133 so the remainder of the packet is padded with
55. memory slots will be received and displayed So if there are no memory slots defined then nothing will be displayed To switch on display of both transmitted and received messages you would therefore use DIAG 3 and to switch off all diagnostic displays use DIAG 0 This command can be useful when troubleshooting ISO 14230 and J1939 multi packet request sequences UM 0086 A2 CANgate User s Manual Page 27 Notes and Examples Extracting and Formatting Bit Fields In the following example two 16 bit fields plus four 4 bit fields are packed into the CAN message with identifier 0x118 The most recent value for each of these fields will be returned when polled by the host CONNECT 1 500 Enable CAN port 1 at 500kbps BEGIN 12 RECV 1 0x118 1 2 FORMAT P1 d n 13 RECV 1 0x118 3 4 14 RECV 1 0x118 5 8 5 5 15 RECV 1 0x118 5 4 5 1 FORMAT 10 40 16 BECH 1 0x118 6 8 6 5 FORMAT 25 Gibble Freq 6 3f Hz n 17 RECV 1 0x118 6 4 6 1 END So if the last message that CANgate received with CAN ID 0x118 happened to have the following 64 bit data field 019266401A9F0000 and the above six memory slots were polled for example using the command RP 12 17 then the following data would be returned P1 402 bytes 1 2 0x0192 402 6640 bytes 3 4 0x6640 01 byte 5 Ox1A bits 8 5 0x1 60 00 byte 5 0x1A bits 4 1 OXA scaled by 10 with offset 40 60 Gibble Freq 2 250 Hz byte 6 0x9F bits 8 5 0x9 scaled by 0 25 2 2
56. mpatible device such as a GPS unit Data may then be returned to the host computer or data logger via a second RS232 interface CANgate is capable of performing a range of functions such as sending and receiving raw CAN messages or performing higher level functions to interface with ISO 14230 OBD II and SAE J1939 compatible devices The CAN ports are hot pluggable and all CANgate settings are saved in non volatile flash memory so that the unit will resume its configured tasks following a power interruption CAN bus 1 CAN bus 2 RS232 DT80 DT800 Data Logger CANgate ASCII data commands Gr 99 RS232 NMEA 0183 Host Computer 12V DC power Typical CANgate application About This Manual This document is primarily a reference manual which describes the commands used to configure the CANgate It is assumed that the reader has some familiarity with the operation of CAN based systems and the various communication protocols which operate over CAN Note that dataTaker DeLogger software provides an easy to use front end which will generate the required logger and CANgate commands in order to monitor and record the parameters of interest from the CAN bus If DeLogger is used then detailed knowledge of the CANgate commands described in this manual is not required UM 0086 A2 CANgate User s Manual Page 5 Acronyms CAN Controller Area Network CRLF Carriage Retur
57. mple STATUS X CHANNEL TABLE 0 RQST CAN1 TxID 0x07df TxData 041800ff 00000000 RxID 0x07df RxBytes 2 8 end Flags c0820000 Sample 0 ms 1 RECV CAN1 RxID 0x0001 RxBytes 1 8 1 1 Flags c0020000 Sample 0 ms 2 RECV CAN1 RxID 0x0002 RxBytes 1 8 1 1 Flags c0020000 Sample 0 ms 3 RECV CAN1 RxID 0x0003 RxBytes 1 8 1 1 Flags c0020000 Sample 0 ms 6 RECVE CAN1 RxID 0x0006 RxBytes 1 8 1 1 Flags c0220000 Sample 0 ms 7 RECVE CAN1 RxID 0x0007 RxBytes 1 8 1 1 Flags c0220000 Sample 0 ms kkkkkkkkkkkkkkkkkkkkkkkkkkk STATS Display Communications Statistics STATS CLEAR This diagnostic command displays communications statistics for each port host GPS CAN1 CAN2 These include e volume of traffic sent Tx and received Rx measured in bytes for the serial ports and in frames for the CAN ports e number of transmit bytes frames that could not be sent Dropped Tx This may occur if the slot sample rates are set too fast so that the volume of traffic required to be sent exceeds the available bandwidth on the port e number of bytes frames that could not be received and or processed Dropped Rx This may occur if the slot sample rates are set such that CANgate cannot keep up with the rate of incoming messages e number of bytes frames which were discarded due to errors These may be due to electrical noise or incorrect bit rate settings Note that for CAN ports arbitration lost ArbLost errors are a normal part
58. mum CANgate only 2 25W 150mA 15V Maximum CANgate external device drawing 200mA from 5V output 3 75W 250mA 15V Physical Construction Anodised aluminium plastic surrounds on ends removable if required Overall Dimensions 57 5 x 95 x 26 mm Weight 110g Environmental Temperature Range 20 to 70 C Humidity 85 RH non condensing UM 0086 A2 CANgate User s Manual Page 39 OBD II Modes and PIDs OBD II defines a standardised set of on board diagnostic functions which are described in the SAE J1979 and ISO 15031 standards Modes The first byte of an OBD II request message specifies the mode of operation Modes 0x00 0x0F are reserved for standardised legislated functions of which nine are currently defined 01 Show current value of specified PID 02 Show stored freeze frame value of specified PID 03 Show stored Diagnostic Trouble Codes DTCs 04 Clear DTCs and stored values 05 Test results oxygen sensors 06 Test results non continuously monitored 07 Show pending DTCs 08 Special control mode 09 Request vehicle information Modes 0x10 0x3F are defined in ISO 14230 The precise details of how these modes work eg parameter definitions are manufacturer specific PIDs For Modes 01 and 02 the second byte of the request message is the PID of interest The table below lists some of the standard PIDs Refer to the standards for more details The first byte of the re
59. n Line Feed ECU Electronic Control Unit GPS Global Positioning System ID Identifier ISO International Standards Organisation NMEA National Marine Electronics Association OBD On Board Diagnostics PGN Parameter Group Number PID Parameter Identifier SAE Society of Automotive Engineers SPN Suspect Parameter Number OBD On Board Diagnostics DTC Diagnostic Trouble Code PDU Protocol Data Unit UM 0086 A2 CANgate User s Manual Page 6 CANgate Hardware Connectors and LEDs CANgate consists of a small aluminium box with a DE9 connector on each end and six LEDs on the top face Host RS232 Port The female DE9 is used to connect to an RS232 port on a host computer or data logger The pin out follows the standard DTE Data Terminal Equipment layout as used on a PC That is 1 E 2 RXD Receive Data input 3 TXD Transmit Data output 4 5 GND Ground 6 K RTS Request To Send output 8 CTS Clear To Send input 9 Note that the RTS and CTS pins are only used if hardware handshaking is selected see Configuration P11 CAN GPS Power Port The male DES is used to e supply power to CANgate 10 30V DC e connect to two separate CAN buses e connect to the RS232 interface and possibly power on a GPS unit The pin out is as follows 1 5V out 5Vdc output 200mA max 2 GND Ground 3 CAN1 HI CAN port 1 high 4 GPS RXD GPS port Receive Data input 5 C
60. nacicin inn in Aden Eege 30 Rule Ier EE 30 KWP2000 OBD II ISO 14230 Reouests nr ranas 30 Reading Fault COdOS EE 31 OB ari e 31 RE o el e El 31 Using CANgate with a DT8x Data Logger seesssssseeeieereeseerirrirrrreeesrirrnnnnssssrrrrrnrnnen 32 Escaping Control Characters A 32 Serial Sensor Direct Mode conto dde SEENEN 33 Using CANgate with Del eewer 0 aca dada 33 Troubleshooting EE 33 Error Mess AOS taa A vara A a Aa ao heaven acia tai 35 Upgrading CAN gate Firmware aii ta da 37 o E 38 CANgate SDECITICAMONAS siii o 38 BE Ee 38 GPS INCH ACE sico ee dee eege See Nasa N canteens iba 38 Host Data Logger Computer Interface 38 LEDO CAOS ue See A A A A ae ie 38 EDD neuen elie lel AA es eae 38 Host Softwares ceived NN ae heed eal ede Pee ated 38 Power Supply 20 30 28 caitlin as ae ede ey en ced ca eee aed 39 Power Consumption iscsi nein A eh ed ana ea eae ide 39 Emwee eeg ln ege ENEE Er 39 ENVIO Ma A a anced Le aie 39 OBD ll Modes and PIDS ostia aida 40 lee 40 PD A ee 40 DIGs Fault Codes a teenies 42 UM 0086 A2 CANgate User s Manual Page 4 Introduction About CANgate CAN Controller Area Network is a data communication system widely used in the automotive industry The dataTaker CANgate allows a data logger such as the dataTaker DT80 or a host computer to be interfaced to a CAN network CANgate is equipped with two standard CAN interfaces plus a serial interface for connecting to an NMEA 0183 co
61. nann mann 20 GPS Receive NMEA 0813 Messages 20 FORMAT SUD COMM Adi a ii 21 Other COMMANS issnin ageet Eege coil Aan aes 22 BEGIN Begin Program Emir 22 END FiniSh Program Entidad 22 RP Poll Memory Slots ia bd ii 23 CONNECT Set CAN Bit hRate nan rn narco 23 VERBOSE Enable Extended Messages 23 VERSION Display Firmware Version 24 RESET Clear Memory Oti aci 24 SNOOP Report CAN GPS Activity oooooconnccinnccncccononncnnnncnoncncnnnnnnnnnnn nac cnn nn aran nn nnnnncnnnnnnns 24 SNOOPJ Report J1939 Activity coooocoonnncinnnncnnncccncccnnnonncononcnonccnnnrnnn cnn nnnn cnn nc 24 NETLOAD Measure CAN Traffic Load arc ncnnnnnnccnannnnncnns 25 SETADDR Set CANgate Address 25 UM 0086 A2 CANgate User s Manual Page 3 GPSBAUD Set GPS Port Baud Rate no nn nnano conc cnn nn nn nana ncnnncnnns 25 GPSSEND Send Commands to GP 26 STATUS List Memory Slot Status o oooooonnonccononocococononacnnononcn cnn nono cnn rra n nn rr rr rra 26 STATS Display Communications Gtatseiice ar cronicas 26 DIAG Set Diagnostic Mode cvcuiiccoociccdtdccaind dd tall 27 Notes and Examples ini dit 28 Extracting and Formatting Bit Fields 28 JI1939 PGNSSESPNS ai deed eebe 28 Broadcast PONS coincidi ee A ek ete ee ete 28 Request PENSA ii Ree 29 Reusing Request Data neieaneent e i re a a a n E E R E ea a ia N Ea AEA KA ARREA RE ia a 29 Multi Packet J1939 Messages cceeiccoiscrccin
62. ng is returned when it is polled Use the STATUS command to verify that the slot definition has been accepted by CANgate Remember that in non verbose mode no error messages are issued If some slots don t appear in the status display or don t look right switch on Verbose mode and send the slot definition s again to see if any error messages are reported Double check all of the memory slot definition parameters especially ECU address and priority for RECVJ Note that a given ECU will generally only implement a subset of the possible set of PGNs PIDs Is the specified CAN ID or PGN being broadcast by the ECU Use the SNOOP or SNOOPJ command to verify this If the ID PGN doesn t appear in the snoop list then it s not being broadcast Note that for infrequently broadcast parameters you may need to extend the snoop time eg SNOOP 1 60000 to have CANgate listen for messages for 60 seconds It is possible that at the time the slot was polled no data had yet been received Note that the RP command should not be appended to the end of a RECV RECVE RECVJ slot definition because at that time it is almost certain that no messages will have been received in the time since the definition command was processed Check the CAN LED Once the memory slot has been set up the LED should flash when matching messages are received Note that if any J1939 slots are defined the LED will flash on receipt of any multi packet message Non matching multi packet message
63. of CAN message contains six separate values packed into its data area of which four are of interest then you would set up four memory slots each one configured to extract a different subfield Up to 150 memory slots which are referred to by number 1 150 can be set up Slot configurations are automatically saved to flash memory so that operation will automatically resume following a power interruption One further memory slot Slot 0 is provided This is intended to be used as a scratch pad for one off requests ie it may be reprogrammed many times during operation This slot s configuration is not saved to flash UM 0086 A2 CANgate User s Manual Page 12 Memory Slot Commands and Protocol Hierarchy CAN networks can use a number of different higher level communications protocols The following diagram illustrates the protocols used by each type of memory slot RECV RECVE SEND SENDE ISO 14230 3 OBD II SAE J1939 71 Diagnostic Services Vehicle Application Layer Application Layer ISO 15765 2 SAE J1939 21 Network Layer Data Link Network Layer NMEA 0183 CAN 2 0B PROTOCOL ISO 11898 2 Data Link Physical Layer CAN PORT 1 CAN PORT 2 GPS PORT CANgate protocol hierarchy As can be seen the RECV RECVE SEND and SENDE memory slot types operate on raw CAN messages A raw CAN message consists of an 11 or 29 bit identifier plus 8 bytes of data RQST memory slots allow parameters to be requested
64. ot being defined integer 0 150 If not specified then O is assumed If CANgate is in Run Mode then zero is the only value that can go here e header is the NMEA 0183 sentence header string without the leading character string eg GPGLL e fieldNum specifies the data field of interest in the NMEA 0183 string integer 1 19 The field immediately following the sentence header is field 1 e option single character D or M or N default N If N normal is specified then the indicated field is returned as is Otherwise the indicated field and the next field are interpreted as a latitude or longitude value with format DDDMM mmmmm h DDD degrees MM mmmmm minutes h hemisphere N S E or W If option D then the degrees component is returned ie DDD which will be prefixed by a minus sign if h S or W Similarly if option Mthen the minutes component is returned ie MM mmmmm which will also be prefixed by a minus sign if h S or W e sampleRate is the rate at which to return values to the host integer in ms must be multiple of 100ms May also be ALL in which case a value is returned on receipt of every matching GPS message If this parameter is 0 or not specified the memory slot will only return data when it is polled by the host system using the RP command e formatOptions specify how the data value is to be formatted when it is returned to the host system see FORMAT Sub command P21 for more details Note th
65. p one or more memory slots Each memory slot can be configured to perform one of the following functions RECV passive receive CAN messages with a specified identifier value extract the specified data field and return RECVE its value as a formatted ASCII value RECVJ passive receive CAN messages relating to a specified J1939 PGN number extract and return the specified data field GPS passive receive NMEA 0183 messages of the specified sentence type extract and return the specified data field SEND active send a CAN message SENDE RQST active request an ISO 14230 parameter wait for the reply extract and return the specified data field RQSTJ active request a J1939 PGN wait for the reply extract and return the specified data field As can be seen there are two classes of slots passive and active For RECV RECVE RECVJ and GPS slots CANgate passively receives all matching messages then returns the last known data value either at a fixed rate or when requested by the host data logger or computer Statistical calculations can optionally be performed resulting in a min max average value being returned instead of an instantaneous value For SEND SENDE RQST and RQSTJ slots CANgate will take the specified action ie transmit a message and possibly wait for a reply either at a fixed rate or when requested by the host In all cases one memory slot corresponds to one data value of interest So if a particular type
66. ply message is the mode byte with bit 6 set eg 0x41 for a reply to a mode 0x01 request The second byte is the PID and the third and subsequent bytes are the actual data value 00 4 PIDs supported b31 0 PIDs 0x01 0x20 01 4 Mode 01 only MIL Malfunction Indicator Light status b31 MIL status b30 24 num DTCs number of DTCs test status b23 0 test status 02 2 Mode 02 only DTC associated with freeze frame data DTC code see below if O then there is no stored freeze frame data 03 2 Fuel systems 1 and 2 status 1 byte each bit encoded 04 1 Calculated engine load 05 1 Engine coolant temperature 1 40 C 06 1 Short term fuel trim bank 1 lean rich 0 7812 100 07 1 Long term fuel trim bank 1 lean rich 08 1 Short term fuel trim bank 2 lean rich 0 7812 100 09 1 Long term fuel trim bank 2 lean rich 0 7812 100 OA 1 Fuel pressure 3 0 kPa gauge 0B 1 Intake manifold pressure 1 0 kPa abs oc 2 Engine RPM 0 25 0 rpm 0D 1 Vehicle speed 1 0 km h 0E 1 Timing advance 0 5 64 degrees OF 1 Intake temperature 1 40 C 10 2 MAF air flow rate 0 01 0 g s 11 1 Throttle position 0 3922 0 12 1 Secondary air status bit encoded 13 1 Oxygen sensors present b7 4 bank 2 sensors 4 1 b3 0 bank 1 sensors 4 1 14 2 byte 1 Bank 1 sensor 1 oxygen sensor voltage 0 005 0 NA byte 2 Bank 1 sensor 1 short term fuel trim OxFF if 0 7812 100
67. r i 38400 y Erase WO Compare Flesh ES Ered Seer de Time Out sec Hl m Device Use DTR RTS Device LPC2129 y Geen Patt pi e for Reset and Boot Loader XTAL Freq kHz fi 2000 Device ID Boot Loader ip Selection Flash Utility screenshot showing required settings 10 11 12 13 14 15 Set the Filename field to point to the firmware hex file set the Connected To Port field to the COM port in use set all other options as shown above Press Read Device ID to verify communications This should fill in the Part ID and Bootloader ID fields Press Upload to Flash and wait for completion Close the Flash Utility Cycle the power on CANgate The LEDs should return to their normal state Connect using DeTransfer Type VERSION to confirm the new firmware version Note An alternative method of entering the bootloader is to set DIP switch 8 ON and then cycle the CANgate power This replaces steps 5 8 above Note that the all LEDs on indication will not occur using this method Return the switch to the OFF position prior to step 14 UM 0086 A2 CANgate User s Manual Page 37 Appendix CANgate Specifications CAN Interfaces 2 independent CAN ports Physical Layer ISO 11898 2 SAE J2284 High speed CAN two wire Port Speeds 10 20 50 125 250 500 or 1000 kbit s Protocols Raw CAN SAE J1939 ISO 15765 2 based protocols e g J1979 ISO 15031 5 Legislated OBD IS
68. ram param2 param4 All optional parameters have a defined default value which is what will be used if the parameter is not specified Remember that CANgate commands are not case sensitive so recv is equivalent to RECV Slot Definition Commands RECH Receive Standard ID CAN Messages slot RECH CANport RxID startByte bit endByte bit sampleRate FORMAT formatOptions where e slotis the memory slot being defined integer 0 150 If not specified then 0 is assumed If CANgate is in Run Mode then zero is the only value that can go here e CANport is the CAN port to use integer 1 2 e Ravi is the 11 bit CAN identifier to listen for integer O Ox7FF e startBytef bit is the starting bit position of the field of interest within the 8 byte CAN data field Bytes are numbered from 1 to 8 bits are numbered from 8 MSB down to 1 LSB If startByte is not specified then 1 is assumed If bit is not specified then 8 is assumed e endByte bit is the ending bit position inclusive of the field of interest within the 8 byte CAN data field If endByte is not specified then 8 is assumed If bit is not specified then 1 is assumed e sampleRate is the rate at which to return values to the host integer in ms must be multiple of 100ms May also be ALL in which case a value is returned on receipt of every matching CAN message If this parameter is 0 or not specified the memory slot will only return data when it is polle
69. re version less than 6 08 do not support flow control on the serial sensor port It is recommended that the logger firmware be upgraded to the latest available release Every command seems to generate an error message This may occur if you fail to send the END command following an earlier BEGIN All commands other than numbered slot definition commands are invalid when inside a BEGIN END block Send an END command to restore proper operation SNOOP returns no data Verify that the ECU is correctly wired to the CAN port you specified in the SNOOP command Ensure that the bit rate has been set for the CAN port in use using the CONNECT command Verify that the ECU is powered correctly If you are talking to a single ECU on the bench then it may require one or more connector pins to be linked to indicate to it that the ignition switch is on Check the LED for the CAN port It should flash while the snoop is active as messages are received If the other CAN port is connected to an active bus then its LED may also flash during the snoop If the CAN LED gives a brief flash at two second intervals then this may indicate that bus errors are occurring causing CANgate to disconnect from the bus then retry every 2 seconds Switch on Verbose mode to see whether bus error messages are being returned If so refer to the Bus Errors section above Broadcast CAN data are not returned In other words you have defined a RECV RECVE or RECVJ memory slot but nothi
70. return a descriptive message in the event that a problem is detected with any received command or operational situation If verbose mode is switched off no unsolicited messages will be returned erroneous commands will be silently ignored Syntax Errors If there is a problem with a command or parameter a message is returned indicating where the error occurred For example Error SWOOPJ lt err gt 2 5000 In this case the problem is clear a misspelt command note that the lt err gt tag immediately follows the problematic command or parameter Error 3 RECVJ lt err gt 2 61444 Here the command name is OK but it is not valid in this context eg a slot number has been specified but CANgate is not in Program Mode ie BEGIN has not been seen Error SNOOPJ lt err gt In this case the lt err gt tag is not attached to any particular parameter so the problem here is a missing parameter CANport UM 0086 A2 CANgate User s Manual Page 35 Overload Errors If CANgate is heavily loaded many slot definitions rapid slot poll rate fast host CAN baud rates errors such as CAN1 RX OVERFLOW may be issued indicating that one or more incoming CAN messages have been dropped Even though these events are not reported in non verbose mode they are still counted and the event counts may be displayed using the STATS command P26 In a similar vein PROC TIME OVERFLOW indicates that CANgate may not have satisfied the requested slo
71. returned other than the configured static formatting text which is specified by the FORMAT sub command and by default is just CRLP UM 0086 A2 CANgate User s Manual Page 20 Examples GPS GPGLL 1 D 5000 Receive NMEA 0183 GPGLL sentences Every 5 seconds return the current degrees component 37 for the above input data GPS GPGSV 3 When polled return the number of satellites in view the third field in a GPGSV sentence FORMAT Sub command As indicated above all slot definition commands that return a data value may include a FORMAT clause to specify how the data value should be formatted otherwise the data will be returned in raw hexadecimal form The format of a FORMAT sub command is as follows FORMAT rawFormat scale offset formatString stats where e rawFormat specifies how the raw bit field is to be interpreted It consists of two letters one being U or S unsigned or 2 s complement signed default U the other M or N Motorola MSB first or Intel LSB first default M Note that for J1939 memory slots RECVJ RQSTJ Intel format is always used The byte swapping options are ignored if the size of the data field is not a multiple of 8 bits e scale is a floating point scaling factor which will be multiplied by the raw bit field value default 1 0 e offset is a floating point offset which will be added to the scaled bit field value default O 0 e formatString is a string which spec
72. rs are manufacturer specific CANgate will then listen for a response with CAN ID 0x7E8 0x7EF ECU 0 will reply using ID Ox7E8 ECU 1 with ID 0x7E9 and so on The response message s mode byte will be either e a copy of the request mode byte with bit 6 set this is a positive response and the mode byte will generally be followed by one or more data values or the value Ox7F this is a negative response and indicates that an invalid request was made All messages are transmitted using the ISO 15765 network layer protocol This protocol fragments long messages into multiple CAN frames and then reassembles them CANgate recognises a few of the common ISO 14230 mode byte values and sets the default startByte value appropriately so that header information in the response is skipped In particular 0x01 0x02 0x33 3 skip first 2 bytes mode PID in response 0x22 4 skip first 3 bytes mode ID hi ID lo in response other 2 skip first byte mode in response All received data from startByte through to the end of the message or endByte if specified will be returned to the host Note The response time for ISO 14230 OBD I commands depends upon the particular ECU and can vary greatly CANgate will only send out one request at a time if it is asked to make many requests simultaneously then the requests will be placed in a queue and executed sequentially If no reply is received within 400ms then CANgate will assume the ECU
73. s eg _ may be inserted between bytes to make the string easier to read e sampleRate is the rate at which to send messages integer in ms must be multiple of 100ms If this parameter is O or not specified the memory slot will only send a message when it is polled by the host system using the RP command When polled a SEND memory slot transmits a raw CAN message No data is returned to the host system Note that it is not possible to set up a RECV slot on the same CAN port to monitor messages sent by CANgate If this is required connect the two CAN ports together and set up the RECV slot on the other port Examples SEND 2 0x302 1122FF07 RP This will immediately send a CAN message on CAN port 2 The message s identifier will be 0x302 and the data field will be 1122FF07 The DLC data length code field in the CAN frame will be set to 4 SEND 2 0x119 FF110203_040599CC 2000 Every 2000ms send the indicated 8 byte data field with CAN ID 0x119 SENDE Transmit Extended ID CAN Message slot SENDE CANport TxID hexData sampleRate This command is exactly the same as SEND except that the CAN identifier is an extended mode 29 bit identifier as opposed to a standard mode 11 bit identifier The allowable range for Rx D is therefore 0 Ox1FFFFFFF RQST Request OBD Data slot RQST CANport hexData startByte bit endByte bit ECUaddr sampleRate FORMAT formatOpt where e slotis the memory slot being defined integ
74. s to GPS GPSSEND text where e textis a text string to send to the GPS port Escape sequences eg in 1009 will be translated into the appropriate control characters Some GPS devices can be configured for example to switch certain NMEA 0183 strings on or off by sending commands to them via their serial interface The GPSSEND command allows you to send arbitrary command strings to the GPS If the GPS requires that commands be terminated by a CRLF then include n at the end of the string Examples GPSSEND PGRMO GPVTG 0 n This command will configure a Garmin GPS unit to not output the GPVTG sentence type STATUS List Memory Slot Status STATUS This command returns a summary of all defined memory slots The information returned includes e memory slot number 0 150 e type of memory slot SECH RQST etc e port number CANT or CAN2 e CAN identifier and 8 byte data field to use in transmitted message SEND SENDE RQST RQSTJ only e CAN identifier to look for in received message RECH RECVE RECVJ RQST RQSTJ only e GPS header and field number to look for GPS only e Start and end byte bit number of field of interest RECV RECVE RECVJ RQST RQSTJ only e Internal status information flags e sample period This command can be useful for verifying that all required memory slots have been created successfully Recall that in non verbose mode no error messages will be issued if an invalid slot definition is entered Exa
75. s will be discarded by the CANgate firmware Only one memory slot can reliably receive a data field longer than 8 bytes from a multi packet J1939 broadcast If you define two or more slots which return more than 8 bytes of data then they may sometimes return no data depending on the timing of the broadcast messages If you need to receive data from multiple multi packet PGNs then multiple slots should be used each configured to return no more than 8 bytes When receiving multi packet messages using RECVJ check that the specified start end byte positions don t extend past the actual size of the message if they do then no data will be returned The value O can be used as the endByte parameter in fact it is the default which means the last byte received for a particular message UM 0086 A2 CANgate User s Manual Page 34 Requested CAN data are not returned e Use the STATUS command to check the status of the slot and double check the slot definition parameters as described above e Have you actually polled the slot A common mistake is to simply enter a ROST command which by itself will do nothing unless the sample rate parameter is specified Normally an RP command is required which for slot 0 definitions can be appended to the end of the request command eg RQSTJ 2 61444 RP e Try switching on the diagnostic message display using DIAG 3 then poll the request slot You should see a CANx TX gt message Check whether there is
76. scussed further below e sampleRate is the rate at which to send messages integer in ms must be multiple of 100ms If this parameter is O or not specified the memory slot will only send a message when it is polled by the host system using the RP command e formatOpt specify how the data value is to be formatted when it is returned to the host system see FORMAT Sub command P21 for more details if not specified data will be returned in raw hexadecimal format A RQST memory slot transmits a request message to an ISO 14230 OBD II compatible ECU and waits for a reply Then e if a reply is forthcoming the required bytes are extracted from the reply message formatted if required and returned to the host e if an ISO 14230 negative reply code is received this is reported to the user if the Verbose flag is on and no data is returned e H nothing is received then CANgate will time out after approximately 400ms and abort the request The request will be sent using CAN ID 0x7E0 ECUadoar H ECUaddr 256 this indicates a functionally addressed request which will instead be broadcast using CAN ID 0x7DF The message data consists of a single mode byte or service identifier followed by a variable number of parameters Modes 0x01 0x0F are standardised legislated OBD II modes defined in SAE J1979 or ISO 15031 while modes 0x10 0x3F are manufacturer extended modes specified in ISO 14230 although details of data and paramete
77. t sample rate This error may sometimes occur if a diagnostic command is entered that produces a large volume of output text eg STATUS Comms Errors If a large number of communications errors occur on a CAN port the port will be briefly shut down and the following message returned if in verbose mode CANT BUS ERROR DISCONNECTED The most common cause for this is an incorrectly configured bit rate although it may also be caused by noise or an intermittent electrical connection After two seconds CANgate will re enable the port and attempt communication again All comms errors on the CAN host and GPS ports are counted and counts may be displayed using the STATS command P26 Certain ECU responses will also be indicated via an error message if in Verbose mode eg IS014230 NEGATIVE REPLY 11 which in this case indicates that the requested service is not available Internal Errors If the CANgate firmware detects a serious internal inconsistency it will force a hardware reset and display a message such as DATA ABORT EXCEPTION AT 000049F8 or INTERNAL ERROR 1 00000008 Following the reset CANgate will attempt to resume normal operation If one of these errors ever occur please note the circumstances of the failure and contact dataTaker support UM 0086 A2 CANgate User s Manual Page 36 Upgrading CANgate Firmware From time to time dataTaker may make available new versions of CANgate s internal operating system or firmw
78. ts flag width precision type where e marks the start of the conversion specifier e type is a single character which specifies the data type floating point d signed decimal integer u unsigned decimal integer x X unsigned lower upper case hexadecimal integer or s ASCII string e flag is a single character which alters the way the other elements work as described in width below default none e width is an integer the minimum number of characters to output If the converted data value is longer than width then all characters will still be output If the data value is shorter then it will be padded on the left with spaces or zeroes if flag 0 so that a total of width characters are output If flag then the data value will instead be padded on the right with spaces if it is shorter than width The default value for width is O ie no padding characters will be inserted e precision is an integer which specifies different things depending on the data type For floating point it is the number of digits displayed to the right of the decimal point default 2 For integers it is the minimum number of displayed digits if the data value has fewer digits it will be prefixed by zeroes default 0 For strings it is the maximum number of characters to display If the data string is longer then it will be truncated default no maximum Note that following points about format strings e An integer d u x
79. using standard automotive OBD On Board Diagnostics requests The ISO 15765 2 network layer protocol is responsible for breaking up the request and response messages into multiple CAN frames if required RECVJ and RQSTJ memory slots allow broadcast and requested parameters to be read from a J1939 network J1939 also incorporates a network layer which can break long messages up into multiple CAN frames Finally GPS memory slots allow fields of interest to be extracted from the NMEA 0183 data stream produced by a GPS device Entering Commands CANgate memory slots and other settings are configured by sending textual commands via the host port The available commands are detailed in the Command Reference P16 If CANgate is directly connected to host computer then these commands can be entered using a terminal program eg DeTransfer If CANgate is connected to the serial sensor port on a DT80 DT800 series data logger then the logger would be programmed to transmit commands and receive data using the 1SERIAL channel type Refer to the logger User Manual for more details CANgate commands are not case sensitive Most commands have a set number of space separated parameters All parameters must be specified unless a parameter is marked as optional A parameter s data type will be specified as either e floating point enter a decimal value eg 1 25 4 0 9907 e integer enter a decimal or hexadecimal value eg 2309 Ox 07
80. zeroes Referring again to the Appendix this number 0133 decodes as fault code P0133 If you then look up this code in a list of OBD II DTCs you find that it means Oxygen Sensor Circuit Slow Response Bank 1 Sensor 1 J1939 A J1939 ECU will normally periodically broadcast any active fault codes using a DM1 message PGN 65226 These messages can be received using RECVJ 1 65226 The returned data consists of a 2 byte lamp status indicator then one or more 4 byte fault code packets Each packet consists of e the Suspect Parameter Number which specifies what has failed e the Failure Mode Indicator which specifies what is wrong with the indicated parameter eg over voltage e the occurrence count which is the number of times the fault has occurred For more details see SAE J1939 71 For example the following slot definitions will return all data in hex format then decode the MIL status plus the first two fault code packets BEGIN 1 RECVJ 1 65226 2 RECVJ 1 65226 1 8 1 7 FORMAT MIL x n 3 RECVJ 1 65226 3 4 FORMAT 8 SPN d 4 RECVJ 1 65226 5 8 5 6 FORMAT FMI x 5 RECVJ 1 65226 6 7 6 1 FORMAT Count x n 6 RECVJ 1 65226 7 8 FORMAT 8 SPN d UM 0086 A2 CANgate User s Manual Page 31 7 RECVJ 1 65226 9 8 9 6 FORMAT FMI x 8 RECVJ 1 65226 10 7 10 1 FORMAT Count x n END When polled using RP 1 8 this might return 15FF 5E000401 6F000201 5B000401 61000301 6C000401 lamp DTC 1 DTC 2 DTC 3 DTC 4

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