BRIO - Application note - CAN2.0B communication
Contents
1. x leroy 5 Hart AUTOMATION BRIO EN50155 Basic Remote I O module Application note CAN2 0B communication P DOC BRIO 102E V01 Leroy Automation Axseam Group 35 Bld du Libre Echange ZAC des Champs Pinsons 31650 Saint Orens Toulouse France AA E mail sales leroy autom com Ce rt ifi ca t io n Web site www leroy automation com This page is intentionally left blank Introduction BRIO is a decentralized remote input output module designed to be embedded onboard rolling stock vehicles BRIO is fully compliant with the EN50155 standard for railway systems This application note describes all the necessary information to getting started with 1 BRIO with CAN 2 0B functionalities hardware amp software settings Following User Manual for BRIO are available Y User Manual Hardware specifications amp installation P_DOC_BRIO_002E v User Manual Getting Started Software Guide reference P_DOC_BRIO_003E Prerequisites It is necessary that the user has got technical knowledge in mechanical electrical railway systems Safety instructions Following symbols are used in this documentation in order to avoid user for potential risks A Risk of personal injury or damage to the equipment A Risk of an electrical hazard Intellectual Propert Leroy Automation owns the sole industrial and intellectual property of the products The company Leroy Automation maintains and regularly impr2. Contents In this section we will discuss the following topics e Principle e CAN2 0B communication with Busmaster e CAN2 0B communication with Straton Runtime for PC Principle BRIO will communicate with one PC through the CAN network For this the PC will be fitted with a specific hardware 1 USB CAN device from IXXAT USB to CAN V2 and specific software able to manage this hardware and CAN frames We will explain 2 examples with 2 different softwares in order to drive this hardware on the laptop and then to monitor BRIO through the CAN network e First example use of Busmaster software from RBEI Company e Second example use of Straton T5 Runtime software from Copalp Company Power supply Sensors Actuators P DOC BRIO 101E VO1 Page 9 _ leroy gt Monitoring examples CAN2 0B communication with Busmaster Software Installation We need to install Busmaster software on the PC gt Download it htt rbei etas github io busmaster gt Install it BUSMASTER_Installer_Ver_2 x y exe After Busmaster installation start it Busmaster settings FP Do the following settings in the CAN menu gt Driver selection select IXXAT VCI Baudrate kBit s Bittiming Registers FCE fs fic Reg 0 Reg 1 gt Channel configuration for Baudrate kBit s select 125 a gt Configure Transmission Messages add 2 messages Cancel i o Message 1 ID 0x1010400 gt for writing BRIO digital outputs o M
3. 0 O 880080 00 43 Period t 1s Graphic Train CAN AN PE bi Sl E O REA ANA E A AL senufo U BRIO2E_EIP1 BRIO 80 20 EIP 2 E BRIO2E_TRAIN BRIO 80 20 UDP El ai BRIO IO control CAN 2 0B communication H Espions pour le test o Programs BG IO i Ta BRIO_IOx t BRIO_Process_x o TrainProcess 18 DOOR_process fi DOORS VALID CAN E E m e FRE 63030 a LES E Fieldbus Configurations ES 4 4 Binding Configuration EE 39 Global defines a Variables gt E Types 11 All Projects P DOC BRIO 101E VO1 Page 12
4. 2 0B protocol v Ethernet port o EtherNet IP adapter o UDP protocol BRIO too includes internal safety features as Y a watchdog for monitoring the data communication between FPGA and microcontroller Y awatchdog on the microcontroller Y a safe communication HDLC between FPGA and microcontroller P DOC BRIO 101E VO1 Page 3 leroy 5 Introduction This page is intentionally left blank P DOC BRIO 101E VO1 Page 4 CAN2 0B communication protocol er oy gt AUTOM ATION CAN2 0B communication protocol Contents In this section we will discuss the following topics e CAN2 0B header description e Messages description Refer to documentation BRIO CAN Data dictionary for the complete description of all CAN messages CAN2 0B header description 2 2 2 2 2 2 2 2 2 1 1 1 1 1 1 1 1 1 1 else el s a s 2 3joJojoprfefs fof2 afo Function Code Module addr Message ID mme CE Used to identify function requested Module Address src Is the source of emitter 0 TCU Only TCU is allowed by BRIO Module Address dest For request is the destination 0 Broadcast all device send a response 1 255 unicast only device requested send a response For response equal to originator of request Message ID Free running counter incremented by one at each new message only managed by BRIO Messages description Set Digital Output O TOT RQST_SET_DO_VALUE Function DATA code 0x101 Name offset DIGITA
5. L _ DIGITAL_OUTPUT_1 8 1 8 Output value from 1 to 8 P DOC BRIO 101E VO1 Page 5 ler y CAN2 0B communication protocol y AUTOM ATION pe DIGITAL_OUTPUT_9_10 0X01 Output value from 9 to 10 BRIO response message y RESP_SET_DO_ VALUE Function DLC DATA code DIGITAL_OUTPUT_1_8 Output value from 1 to 8 DIGITAL_OUTPUT_9_ 10 0X01 Output value from 9 to 10 Get Digital Input Request message Function DLC DATA code 0x103 BRIO response message Function code DIGITAL_INPUT_1 8 0x00 Digital input from 1 to 8 O not activated 1 activated 0x201 offset DIGITAL_INPUT_9_16 0x01 Digital input from 9 to 16 O not activated 1 activated DIGITAL_INPUT_17_24 0X02 Digital input from 17 to 24 O not activated 1 activated DIGITAL_INPUT_25_32 0X03 Digital input from 25 to 32 ls O not activated 1 activated DIGITAL_INPUT_33_40 0X04 Digital input from 33 to 40 O not activated 1 activated 0x203 P DOC BRIO 101E VO1 Page 6 gt lero Installation wiring settings Y gt AUTOM ATION 3 Installation wiring settings Contents In this section we will discuss the following topics e Installation e Wiring e Settings Installation BRIO shall be mounted on the standalone support designed for it It receives F48 connectors for power supply and IO on the rear panel For mounting or dismounting refer to User Manual Hardware specifications amp installation P
6. _DOC_BRIO_002E Chapter 4 Wiring A F48 IO connector pinout Pinout is described in P_DOC_BRIO_OO2E documentation Chapter3 CAN2 0 B subD9 connector pinout SubD9 Male Pinout is as following according to ISO 11898 2 SubD9 CAN ground CAN high BRIO Settings Settings are saved in BRIO NVM Non Volatile Memory They can be set or modified through BRIO subD9 RS232 link refer to User Manuel Getting Started Software Guide P_DOC_BRIO_003E Chapter 5 Use command j then command a in order to read all NVM settings P DOC BRIO 101E VO1 Page 7 leroy gt ERO Autonat ion HH leroy autonat ion con RIO EIP Adapter Device WA configuration nenu IP address etnazk address atevay address ther config Huto negot iat ion 1 true O f alse ther config Speed 0 10Kb s 1 100Hb s ther config Typell halft 1 f4111 hcp O no 1 yas ption 61 M no 1 yez ostnane ine out scannerT0 255 nalog input threzhold 0 2494 1 224 2 14001 stenzion nunber 0 3 tension nunber with analogl0 8 odule typelO0 naster l slave evice id CAN addr a Setting for CAN management gt device id or CAN address P DOC BRIO 101E VO1 102 168 1 15 2 255 255 255 0 192 168 1 1 I Dl D i BRIO EIF 50 Il D 1 Il set to 4 in this example Installation wiring settings Page 8 _ n a leroy 5 onitoring examples AUTOMATION Chapter 4 Monitoring examples
7. ale eeeeeeee een eenees 7 BRIO SCCUOS ocres ocacion 7 Chapter 4 Monitoring examples ici 9 WOMLCNES ao idas 9 EINCDe iaia ele ion 9 GAN2 0B communication with BUusmaster aii iaia ail Lilia 10 SofWare Installationisafi aaa 10 BUS master SeN seen a a eten 10 BUSmaster tests e E 10 CAN2 0B communication with Straton Runtime for PC oooccccccccncnononccccnnnnnnnnnnnnnnnnnnnnnnn os 11 SoftWare Instalacion ii AA AAA AR 11 Copal ES TUNE Me Da 11 STRATON DESC Diario 11 STRATON Project Sansa AA AAA 11 PEncipleale lari 11 CONNOTA RON ae 11 OS 12 leroy gt Introduction This page is intentionally left blank ler OY y Introduction Chapter 1 Introduction Contents In this section we will discuss the following topics e Description e Product part numbers e System architecture examples e Features Description BRIO is a hardware unit fully compliant with the EN50155 standard and it is designed to be integrated in embedded railway systems and subsystems Guide rail for rack mount chassis or for standalone use Insertion extraction handles Label Diagnostic LEDs F48 connectors for power supply and I O signal aA connections Ethernet port Serial port CAN port Insertion extraction handles gt Protection enclosure P DOC BRIO 101E VO1 Page 1 n Introduction leroy 5 ntroductio Product part numbers Power supply Full range from 24V to 110VDC Digital outputs 8 Relays 2 Solid S
8. eloped for this example Copalp T5 runtime setup Execute the following setup file STRATON T5 setup 8 7 build 2 exe This software is protected but you can run it for demonstrations during 15 minutes If you need more you have to stop amp start it STRATON IDE setup Execute the following setup file STRATON IDE setup 8 7 build 2 exe This software is protected but for demonstrations you can run it and build projects containing less 40 IO variables STRATON Project List The complete project list is contained in a zip file BRIO2E zip gt BRIO_CAN project with CAN2 0 communication In STRATON Editor 8 7 IDE select menu File Open Project List From Zip select the zip file BRIO2E zip and validate Principle The project BRIO_CAN enables 1 CAN2 0B connection with one BRIO Configuration The fieldbus Configurations tool allows to define the complete CAN2 0B communication with each project variables linked to pu I rd I l Jad EEE T Aeee pene na si i li sen loci fe Workspace CASTRATON_ PROJECTSIBRIO CAN 10 Drivers Ul BRIOZE_EIP1 BRIO 80 20 EIP 2 E an Cadre rr Name G BRIOZE_TRAIN BRIO 80 20 UDP a Port 125Kbs TSCANIXXAT f CAN 2 08 E BRIOZE_UDP1 BRIO 80 20 UDP 2 Er TI 1095 O BRIO_CAN B a 0 USI_OUT O 0 e TECANIXXAT 13 Espions pour le test E a 1 USI_OLUT O 1 13 Programs Aa diag Lai ld n A diag Fe BRIO_IOx a diagi
9. essage 2 ID 0x1030400 for reading BRIO digital inputs Busmaster tests Connect Busmaster to IXXAT device menu CAN and Connect or Connect button N View Windov Then select one Message and click on the Send button The send message and BRIO response appear in Message Window View Window Help alo FOE OOOO M EDSAC EREA a OF CAN ae CAN wn Tx Rx Channel Msg Type ID Message DIC Data Byte mm 17 13 37 8100 17 13 37 8204 0x1010400 0x2014000 17 13 47 0437 01030400 0x2034000 0x1010400 FO 03 0x2014000 00 00 0x1030400 0x2034000 FO OF FO OF FF Tx Message List BRIO1_ MONOSH 100ms secos CiNome Chomel Typs Die Daetves Delete All Name ID in Hex DLC _Data Bytes Block Details j Channel y Type vane ff Pf 7 N ac e ee PAR Name BRIO1_DO r oe Details Tx Mode J fot 4 3 E 1 o Physical Value Config File C Users JRU Documents test_BRIO_can cfx CAN Recordi J1939 Recordi 1 Channel s IXXAT VCI 500 000 Kbps Allowec P DOC BRIO 101E VO1 Page 10 i Monitoring examples eroy gt AUTOM ATION CAN2 0B communication with Straton Runtime for PC Software Installation We need to install several softwares on the PC gt T5 runtime gt STRATON IDE After STRATON installation we will restore in STRATON the BRIO2E list of projects dev
10. oves its hardware and software products The information contained in the document herein may be altered removed or modified without prior notice and this does not engage the responsibility of the company This application note cannot be released copied or duplicated in any forms without the written authorization issued by Leroy Automation Contact gt lt Leroy Automation 35 Boulevard du Libre Echange 31650 SAINT ORENS FRANCE a 33 562 240 550 33 562 240 555 a mailto sales leroy autom com http www leroy automation com Support technique a 33 562 240 546 S mailto support leroy autom com This page is intentionally left blank Table of Contents Chapter 1 Introduction 1 GaN gel ES EON E ricade li cela ale ET eil Te MTR iii 1 Description lO li lle 1 Product part NUDOS iS AIN ARIAS 2 System architecture example s1110000000000rrrrviiiririii ieri vicini ri vici viari ieri vieni 2 FCIS saci in an bier d ean alan iti iaia ai 3 Chapter 2 CAN2 0B communication protoOCOl s ssssssssus2u2222222u22u22u22uu2uununnnnnnnnnnnnnnnnnn 5 CONTENER a 5 CANZ OB Neader desSchHpPUON eiiie A AAA 5 Messages GESCLIDHON ii ii e Th 5 Sel Digital QUID traia ea 5 GEelDigitolINputrrissarioia nia iano aa 6 Chapter 3 Installation wiring SettiNGs 11 crei 7 EOL Re EEC EERE ii oo 7 INsigldlio iaia een 7 Wil 7 Fao 1LOCOnMeCCOl DINO U lero criar 7 CAN2 0 B subD9 connector pinout SubD9 M
11. re BRIO_Frocess_x da a diagd 4 TrainProcess EM 2034000 5 DI re CUVOF_ process EY A Mess Rec st DOORS Mess_Rec_1 st Mainx a 0 USI_IN 0 0 Train CAN a 1 USI_IN 0 1 ll i a 2 USI_IN 0 2 igurati a 3 USI_IN 0 3 AE ea a 4 USI_IN 0 4 39 Global defines EF 1030400 0 CDE_DI A aa P DOC BRIO 101E VO1 Page 11 _ n a leroy onitoring examples Test The project BRIO_CAN shall have been selected then gt connect you to the T5 Runtime with the On line button gt download the project code into the T5 runtime The Graphic windows Valid_CAN or Train_CAN allows to monitor the BRIO Graphic Valid_CAN Y Alt B Workspace El BRIO2E_EIP1 BRIO 80 20 EIF 2 E Es E BRIOZE_TRAIN BRIO 80 20 UDP E BRIO2E_UDP1 BRIO 80 20 UDP 2 3 P BRIO_CAN RUN Li Espions pour le test B Programs IO Sta BRIO_IOx Ta BRIO_Process_x 3 TrainProcess t DOOR_process ti DOORS Ca 2 Train_CAN Xie VALID_CAN z ia rations Yid Binding Configuration 39 Global defines 3 Variables E Types 3 All Projects 5 BRIO_CAN vee lot IRUN gt 0000 C S amp TON_PROJECTS BRIO_CAN VALID_CAN gra eS BRIO IO control CAN 2 0B communication Local control Doors control a ISEE E connection status wo sit mo discrete inputs discrete outputs Q1 Q2 Q3 Q4 Q5 Q6 Q7 Q8 QI Q1
12. tate Relays SSR CT ANOS System architecture example BRIO may be used as a CAN2 0B IO device it will then be controlled by another CAN2 0B device scanner through the CAN network the scanner device will be able to read the state and values of the input signals and to drive its output signals MPU lt master Automation process ee Power Power Power supply supply supply Sensors Sensors Sensors Actuators Actuators Actuators lt gt CAN2 0B communication P DOC BRIO 101E VO1 Page 2 ay S Introduction leroy 5 AUTOM ATION Features Variable power supply range from 24V to 110VDC 40 Digital inputs Y Variable power supply full range from 24V to 110VDC v logical levels defined by software settings v Individual filter parameters configurable Y 10mA fritting current Permanent auto test on each input 10 Digital outputs v SPDT Single Pole Double Throw type relay outputs Y SSR Solid state relay isolated solid state ouputs up stream or down stream loads current monitoring on one output optional Y Command read back feature on each output optional Input Output management implemented in an FPGA device STM32 ARM Cortex M3 microcontroller with FreeRTOS real time operating system Maximum delay between Ethernet and I O v Between digital or analog inputs and Ethernet lt 10ms Y Between Ethernet and digital or analog outputs lt 15ms Protocols available Y CAN port CAN
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