ADF Web HD67428 User Manual page 25

Industrial Electronic Devices
SENDING ASYNCHRONOUS CAN MESSAGES FROM ETHERNET
The converter allows to send asynchronous CAN messages (for example a NMT message) directly from Ethernet to CANopen.
The Ethernet message to send to the converter must have this structure:
To choose the type of CAN (2.0A or 2.0B) of the frame that the converter will send, it is necessary to put the most significant bit of the byte
1 to:
•
0: CAN 2.0A;
•
1: CAN 2.0B.
To send a CAN message from Ethernet to CAN, it is necessary to send the UDP message to the tunneling port of the converter.
Example:
We want to send the CAN message with these characteristics:
CAN Type=2.0A; Frame: Cob_ID=0x0000; Data=0x0105.
So the string of hexadecimal numbers to be send to the converter is: [00][00][00][00][01][05].
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Byte Number Description
1÷4 COB-ID of the CAN message to send
5÷(4+n) Data of the CAN message
n=Number of Byte to Write
User Manual PROFINET / CANopen - Converter
Document code: MN67428_ENG
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