Programming Appscan Via Can Messages - ECM appsCAN Module Instruction Manual

Appendix F: Programming appsCAN via CAN Messages
1.0 Connecting the appsCAN module
1. Power and CAN connections to the module are made using the Eurofast 12mm connector
on the module. The power input requirement is 11 to 28VDC at 250mA. Multiple
modules can be connected together. All modules are configured to broadcast CAN
messages at the CAN bit rate of 500kbps. The maximum distance between any two nodes
on the CAN bus at this baud rate is 100m. Each end of the CAN bus must have a
terminating resistor of 121 Ohms.
2. Configuration software (ECM Configuration Tool) for the module is located on the CD.
This software allows the setup, configuration, monitoring, and recording of data using
supported CAN adapters.
3. You can lengthen the power wires on the DC Power Cable (P/N: 11-01 or 11-02) but use
large gauge wire and make sure that the voltage at the power terminals of the supplied
harness is at least 11V. You can lengthen the CAN communication wires using Eurofast
12mm cable. Eurofast 12mm cable was designed specifically for CAN communication
and along with additional "Tees", allows you to easily build long and reliable CAN
networks.
4. The appsCAN broadcasts several messages on the CAN bus using the CANopen
protocol. Each message has an identifying number known as the CAN identifier
(CANid). Since multiple modules can be placed on the same CAN bus, each module on
the bus also has an identifying number known as the node identifier (NID). The allowable
range for the NID is 0x01 to 0x7F. When connecting other non-ECM devices on the
same CAN bus, ensure that the following CANids are not used:
Note this list applies to EACH ECM module on the CAN bus.
30
Message type
NMT
Emergency
TPDO1
RPDO1
TPDO2
RPDO2
TPDO3
RPDO3
TPDO4
RPDO4
SDO Tx
SDO Rx
Heartbeat
LSS
CANid (hex)
0x00
0x80 + NID
0x180 + NID
0x200 + NID
0x280 + NID
0x300 + NID
0x380 + NID
0x400 + NID
0x480 + NID
0x500 + NID
0x580 + NID
0x600 + NID
0x700 + NID
0x7E4, 0x7E5