User Manual. USBC 9100 USB - CAN Industrial Smart Gateway

Transcription

1 User Manual USBC 9100 USB - CAN Industrial Smart Gateway

2 USBC 9100 Please pay attention to the following before using the UIROBOT products: UIROBOT products meet the specification contained in their particular Data Sheet. UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection. Attempts to break UIROBOT s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to unauthorized access to UIROBOT s IP work, UIROBOT has a right to sue for relief under that Act. Information contained in this publication regarding controller applications and the like is provided only for your convenience and may be superseded by updates. It is your responsibility to ensure that your application meets with your specifications. UIROBOT MAKES NO REPRESENTATIONS OR WARRANTIES OF ANY KIND WHETHER EXPRESS OR IMPLIED, WRITTEN OR ORAL, STATUTORY OR OTHERWISE, RELATED TO THE INFORMATION, INCLUDING BUT NOT LIMITED TO ITS CONDITION, QUALITY, PERFORMANCE, MERCHANTABILITY OR FITNESS FOR PURPOSE. UIROBOT disclaims all liability arising from this information and its use. Use of UIROBOT products in life support and/or safety applications is entirely at the buyer s risk, and the buyer agrees to defend, indemnify and hold harmless UIROBOT from any and all damages, claims, suits, or expenses resulting from such use. No licenses are conveyed, implicitly or otherwise, under any UIROBOT intellectual property rights. [Trade Mark/ Layout-design/Patent] The UIROBOT name and logo are registered trademarks of UIROBOT Ltd. in the P.R. China and other countries. UIROBOT s UIM24XXX series Step Motor Controllers, UIM25XX series CAN-RS232 Converter and their layout designs are patent protected. Please pay attention to the following before using the UIROBOT products: UIROBOT products meet the specification contained in their particular Data Sheet. UIROBOT will only work with the customer who respects the Intellectual Property (IP) protection. Attempts to break UIROBOT s IP protection feature may be a violation of the local Copyright Acts. If such acts lead to unauthorized access to UIROBOT s IP work, UIROBOT has a right to sue for relief under that Act. [Contact] SHANGHAI UNITED INTELLIGENCE ROBOTICS INC. ADD : Rm , Building Y2, No, 112 Liang Xiu Rd, Zhangjiang Innopark,Shanghai,China Z I P : T E L : (sales,Marketing) F A X: N E T: info@uirobot.com [ USBC9100 Ordering Information] In order to serve you quicker and better, please provide the product number in following format: USBC9100 PART NUMBERING SYSTEM USBC Category USB-CAN Gateway Series 1 = Single Channel Page 2 UC EN UI Robot Technology Co. Ltd.

3 Industril Smart USB-CAN Gateway USBC9100 Industrial Smart USB-CAN Gateway Characteristics Size: 72mm * 36mm * 11mm System Performance: 32-bit processor, 48MIPS Frame Flow: Optimal performance, reach theory limit of CAN bus, more than 6500 frame per second in actual measurement Transmission Mode: Transparent conversion CAN interface, CAN 2.0A, CAN 2.0B and CANOPEN protocol are compatible at CAN interface, and USB1.1 and USB2.0 protocol are compatible at USB interface Channel Number: 1 channel, can overlay 100 devices at most to get 100 channels Physical Connection: Shielded or Unshielded twisted pair Transmission Rate: Baud rate is optional in range 125Kbps ~ 1Mbps Communication Interface: Standard CAN bus interface, configure initiating terminal resistance free Length and node number: 100 nodes at one channel at most, and 10 km communication distance Power Supply: Power by USB bus, needless of external power supply Resource Occupancy: Plug and play, resource automatic allocation Working Temperature: -40 C ~+85 C Storage Temperature: -50 C ~+105 C GENERAL DESCRIPTION USBC9100 is an intelligence USB-CAN gateway with 1 channel CAN interface. USB1.1 and USB2.0 bus are compatible by USBC9100. With USBC9100, PC can access the CAN network via USB bus, and condtitude data acquisition and processing system in the CAN network, such as laboratory, industrial control and inrelligent residential district. USBC9100 is a powerful tool for CAN product development and CAN data analysis, meanwhile, it is a pug and play device, and compact in size, it is a good choice for user with protable system. USBC9100 has an optoelectronic isolation mode, the isolation voltage is 2500V. Through this mode, USBC9100 can avoid damage from circumfluent, and enhance the system reliability in the severe environment. USBC9100 is provided with drive programme based on Win9X/Me Win2000/XP Server 2003 Vista Win 7, and VB, VC, C++ demo. UI Robot Technology Co. Ltd. UC EN Page 3

4 USBC 9100 CONTENTS GENERAL DESCRIPTION Installation Termianl Description Typical Application Driver Program Installation Product Use User Programme Struct Defination Interface Function Description Use of Library Function Process of Using Library Function Appendix A CAN2.0B standard frame Appendix B CAN2.0B extended frame Appendix C Dimensions Appendix D Installation instruction Page 4 UC EN UI Robot Technology Co. Ltd.

5 Industril Smart USB-CAN Gateway 1.0 INSTALLATION 1.1 Termianl Description USBC 9100 USB-CAN gateway has 1 CAN channel. It can be connected to a CAN-bus network or a CAN-bus based equipment. User can set up a CAN-bus network with 100 USBC9100 at most. Terminal of USBC 9100 is as follow: Figure 1-1 Terminal of USBC9100 USB TypeA CANH CANL Shielding 120 Power LED USB LED CAN LED CAN-bus is draw out by a 5Pin connector: Table 1-1 Termianal Description Terminal Designator Description No. 1 CH CANH Dominant High 2 CL CANL Dominant Low 3 FG Shielded Wire, Earth Wire (FG) 4 R+ Terminating Resistor (internally connect to CANH) 5 R- Terminating Resistor (internally connect to CANL) 1.2 Typical Application When user needs to connect the USBC 9100 with CAN-bus, connect terminal CH to CANH signal, and CL to CANL signal. CAN-bus network is linear topological structure, both ends of the CAN bus should be terminated with120ω terminating resistors. If node is more than 2, midside node does not need a 120Ω terminating resistor. For branch connection, it should be shorten than 3meters. Topological Structure of CAN-bus network is as follow: UI Robot Technology Co. Ltd. UC EN Page 5

6 CANH CANL CANH CANL CANH CANL CANL CANH USBC 9100 Figure 1-2 Topological Structure of CAN-bus network USBC9100 USB 120 Control Room Factory VDC UIM242xx Controller VDC UIM242xx Controller N VDC UID82x I/O Controller Sensor, Solenoid valve Motor # 1 Motor # N Terminating Resistor In order to enhance reliability of CAN communication, terminating resistors are needed on the two endpoints of CAN network (Figure 1-2). The value of terminating resistor is decided by characteristic impedance of transmission cable. For example, characteristic impedance of twisted-pair is 120Ω, and then the terminating resistor should be 120Ω. When USBC9100 is at one endpoint of CAN network, a 120Ω terminating resistor shoule be connected to the terminal R+ and R- of USBC9100. Comment: Please make sure the two metal pin of the resistor not be short-circuited when a plug-in resistor is used. 1.3 Driver Program Installation USBC9100 is direct supplied by USB, and has an intelligent driver installation package. Step of installation is as follow: 1) Connect USBC9100 to host through USB extension cable; 2) Open Device manager, this bring up a pop-up window: Page 6 UC EN UI Robot Technology Co. Ltd.

7 Industril Smart USB-CAN Gateway 3) Click at Unknow device, select Updata driver programme, then a windows as follow will pop up: 4) Select option labeled by red box on figure above, find correaponding folder from the browse option card, select USBC Driver Install, click OK, and Next : UI Robot Technology Co. Ltd. UC EN Page 7

8 USBC ) A pop-up window as follow will appear when driver programme is successfully installed: 1.4 Product Use Introduction of StepEva If user only wants to test CAN bus communication with USBC9100, the testing software StepEva provided with USBC9100 is available. StepEva has a imaging interface, can display real-time state of data sending and receiving, is convenience to use Use of StepEva 1) Construct hardware platform of USBC9100 and UIM242 (Figure 1-2), power on, all devices shoule be common-grounded; 2) Start StepEva, double-click the icon of StepEva, a windows as follow will popup: Page 8 UC EN UI Robot Technology Co. Ltd.

9 Industril Smart USB-CAN Gateway 3) Device search: click Device Search button (labled by red circle in the following figure), then all device connected to PC (correctly electrify) will be list on the pulldown menu: 4) Device connect: select USBC9100 from the pull-down menu and click Device connect button (labled by red circle in the following figure): 5) Global register: click Global register button (labled by red circle in the following figure), then StepEva will list all CAN network nodes connected to the device selected in Step4 in the table: UI Robot Technology Co. Ltd. UC EN Page 9

10 USBC ) Select node to operate: 7) Operate on node selected, real-time messages are list on the message box: Page 10 UC EN UI Robot Technology Co. Ltd.

11 Industril Smart USB-CAN Gateway UI Robot Technology Co. Ltd. UC EN Page 11

12 USBC USER PROGRAMME If user want to write his own software programme, please read the following description carefully. Demo based on VC, C++ are provided by UIrobot free. 2.1 Struct Defination CAN_MSG_OBJ Function:Transmit CAN message frame in function VCI_Transmit and VCI_Receive typedef struct _CAN_MSG_OBJ DWORD ID; DWORD Reserved0; BYTE Reserved1; BYTE SendType; BYTE IDE; BYTE RTR; BYTE DataLen; BYTE Data[8]; BYTE Reserved [3]; CAN_MSG_OBJ, * P_CAN_MSG_OBJ; ID Message ID = SID (11 bits) EID (18 bits) Reserved0/1 Reserved, value is 0 SendType IDE RTR Type of transmit frame, effective when the frame is transmit frame 0 = normal transmit 1 = internal loopback Remote frame or not 0 = data frame 1 = remote frame Extended frame or not 0 = standare frame 1 = extended frame DataLen Length of Data[8], can not larger than 8 Data Reserved Data of message Originally, one CAN message contains 8 bytes, here it increase to 128 bytes to support RS232 Reserved Page 12 UC EN UI Robot Technology Co. Ltd.

13 2.1.2 CAN_CONFIG_OBJ Function: Defind configuration of CAN initialization typedef struct _ CAN_CONFIG_OBJ DWORD AccCode; DWORD AccMask; DWORD Reserved; UCHAR Filter; UCHAR Timing0; UCHAR Timing1; UCHAR Mode; CAN_CONFIG_OBJ,*P_CAN_CONFIG_OBJ; AccCode AccMask Reserved Accept code Mask off code Reserved Filter Mode of filtering, must be 0 Timing0 Timing 0 Timing1 Timing 1 Mode Mode, must be 0 Industril Smart USB-CAN Gateway Comment: Timing0 and Timing1 are used to set baud rate of CAN, several common baud rate is set as follow: Baud Rate Timing0 Timing1 5Kbps 0xBF 0xFF 10Kbps 0x31 0x1C 20Kbps 0x18 0x1C 40Kbps 0x87 0xFF 50Kbps 0x09 0x1C 80Kbps 0x83 0xFF 100Kbps 0x04 0x1C 125Kbps 0x03 0x1C 200Kbps 0x81 0xFA 250Kbps 0x01 0x1C 400Kbps 0x80 0xFA 500Kbps 0x00 0x1C 666Kbps 0x80 0XB6 800Kbps 0x00 0x Kbps 0x00 0x14 UI Robot Technology Co. Ltd. UC EN Page 13

14 USBC Interface Function Description Find all online USBC devices USBCAN_API DWORD USBC_ListDevices(PDWORD pdevindexlist); pdevindexlist Returned Value Example Store the pointer of device index list Number of devices found. USBC_DevIndex_Count = USBC_ListDevices ((PDWORD)&USBC_DevIndex_List[0]); if ( USBC_DevIndex_Count == 0) printf ("USBC: No USBC9100 device is found!\n"); return; else printf("usbc: Number of USBC9100 found >>> [ %d ] \n", USBC_DevIndex_Count); printf("\nusbc: USBC Device Index List:\n"); printf("========================================================\n\n"); for (i=0;i<usbc_devindex_count;i++) printf(" No.%d >>> Device Index = % d \n", i+1, USBC_DevIndex_List[i]); printf("\n=======================================================\n\n"); printf("usbc: Please make sure all device indexes are unique! \n"); printf("usbc: If any two device indexes are overlapped, please use USBC_SetDeviceIndex() to assign a new index number to one of the above devices.\n"); Page 14 UC EN UI Robot Technology Co. Ltd.

15 Set Index for USBC Device Industril Smart USB-CAN Gateway USBCAN_API DWORD USBC_SetDevicesIndex(DWORD dwdevindex); dwdevindex Retruned Value Example Desired device index 1 = success, -1 = failure printf("press any key to start Device Index Assignment (Only one USBC should be plugged in)..."); _getch(); printf("\nplease type the Device Index Number to be assigned >>> "); s = _getch(); printf("\n\n"); DevIndex = (BYTE) atoi(&s); USBC_DevIndex_Count = USBC_SetDevicesIndex(DevIndex); If ( USBC_DevIndex_Count == 0) printf("usbc: FAILED, No USBC9100 was found! \n"); return; else if ( USBC_DevIndex_Count == 1) printf("usbc: SUCCESS, USBC9100 Device Index is set to %d!\n", DevIndex); else printf("usbc: FAILED, %d USBC9100s found, please keep only one USBC9100 plugged in. \n", USBC_DevIndex_Count); return; UI Robot Technology Co. Ltd. UC EN Page 15

16 USBC Open USBC Device USBCAN_API DWORD USBC_OpenDevice(DWORD DevIndex, DWORD dwreserved); DevIndex Returned Value Example Device Index. 1 = success, -1 = failure printf("\nplease select a device index to start >>> "); s = _getch(); printf("\n\n"); DevIndex = (BYTE) atoi(&s); if( USBC_OpenDevice(DevIndex,0) == -1) printf("usbc: OPEN DEVICE %d FAILED!\n",DevIndex); goto ending; else printf("usbc: OPEN DEVICE %d SUCCESS!\n",DevIndex); Page 16 UC EN UI Robot Technology Co. Ltd.

17 Industril Smart USB-CAN Gateway Close USBC Device USBCAN_API DWORD USBC_CloseDevice(DWORD dwdevindex); dwdevindex Device Index Returned Value 1 = success, -1 = failure Example BYTE DevIndex = 1; USBC_CloseDevice(DevIndex); UI Robot Technology Co. Ltd. UC EN Page 17

18 USBC Initial CAN Mode of USBC Device USBCAN_API DWORD USBC_InitCan (DWORD dwdevindex, DWORD dwdevport, P_CAN_CONFIG_OBJ pinitconfig); dwdevindex dwdevport pinitconfig Returned Value Device Index CAN Port of the device Config structure of parameter 1 = success, -1 = failure Comment: After initialization, USBC_StartCan() must be used to start CAN mode Example InitConfig.AccCode = 0x ; InitConfig.AccMask = 0x1FFFFFFF; InitConfig.Filter = 0; InitConfig.Mode = 0; InitConfig.Timing0 = 1; InitConfig.Timing1 = 0; if( USBC_InitCan(DevIndex, 0, &InitConfig) == 1) printf("\nusbc: Initial No [ %d ] USBC Device CAN Module SUCCESS!\n", DevIndex); else printf("\nusbc: Initial No [ %d ] USBC Device CAN Module FAILED!\n", DevIndex); Page 18 UC EN UI Robot Technology Co. Ltd.

19 Industril Smart USB-CAN Gateway Reset CAN Mode of USBC Device USBCAN_API DWORD USBC_ResetCan(DWORD dwdevindex, DWORD dwdevport); dwdevindex Device Index dwdevport CAN port number of the device Returned Value 1 = success, -1 = failure Example if( USBC_ResetCan(DevIndex, 0) == 1) printf("\nusbc: Reset No [ %d ] USBC Device CAN Module SUCCESS!\n", DevIndex); else printf("\nusbc: Reset No [ %d ] USBC Device CAN Module FAILED!\n", DevIndex); UI Robot Technology Co. Ltd. UC EN Page 19

20 USBC Start CAN Mode of USBC Device USBCAN_API DWORD USBC_StartCan(DWORD dwdevindex, DWORD dwdevport); dwdevindex Device Index dwdevport CAN port number of the device Returned Value 1 = success, -1 = failure Example if( USBC_StartCan(DevIndex,0) == 1) printf("\nusbc: Start No [ %d ] USBC Device CAN Module SUCCESS!\n", DevIndex); else printf("\nusbc: Start No [ %d ] USBC Device CAN Module FAILED!\n", DevIndex); Page 20 UC EN UI Robot Technology Co. Ltd.

21 Send CAN Message Industril Smart USB-CAN Gateway USBCAN_API DWORD USBC_Transmit(DWORD dwdevindex, DWORD dwdevport, P_CAN_MSG_OBJ psend, ULONG ulsize); dwdevindex dwdevport psend ulsize Returned Value Example Device Index CAN port number of the device Parameter structure of sending CAN message (Array is also available) Frame number of CAN message needed to send Number of frame successed sended, value = -1 means operation failure SndNum =53; for (i =0; i<400; i++) Test_CANSnd[i].ID = 0x ; //SID= //EID = //SPD=1000 Test_CANSnd[i].IDE = 1; Test_CANSnd[i].DataLen = 4; Test_CANSnd[i].Data[0] = 0xE8; //0x e8 (hex) = 1000 (bcd) Test_CANSnd[i].Data[1] = 0x03; Test_CANSnd[i].Data[2] = 0; Test_CANSnd[i].Data[3] = 0; Test_CANSnd[i].Data[4] = 5; Test_CANSnd[i].Data[5] = 6; Test_CANSnd[i].Data[6] = 7; Test_CANSnd[i].Data[7] = 8; T0 = timegettime(); retnum = USBC_Transmit(DevIndex, 0, &Test_CANSnd[0], SndNum); T1 = timegettime() - T0; if( retnum == -1) printf("\nusbc: Send message to No.[%d] device FAILED!\n",DevIndex,SndNum); printf(" >>>> Number of message sent >>> [ %d ]\n", retnum); printf(" >>>> Time lapse >>> [ %d ]milliseconds\n", T1); else printf("\nusbc: Send message to No.[ %d ] device SUCCESSED!\n", DevIndex, SndNum); UI Robot Technology Co. Ltd. UC EN Page 21

22 USBC Receive CAN Message in Cache of USBC Device USBCAN_API DWORD USBC_Recieve (DWORD dwdevindex, DWORD dwdevport, P_CAN_MSG_OBJ preceive, ULONG ulsize, UINT uiwaittime); dwdevindex dwdevport preceive ulsize uiwaittime Returned Value Example rcvnum = retnum; T0 = timegettime(); Device Index CAN port number of the device Parameter structure of receiving CAN message (Array is also available) Frame number of CAN message desired to recive Timing of waiting-timeout (unit: ms) Number of frame received successfully, value = -1, means operation failure retnum = USBC_Recieve(DevIndex, 0, &Test_CANRcv[0], rcvnum, 2000); T2 = timegettime() - T0; if( retnum == -1) printf("\nusbc: Receive message from No.[%d] device FAILED!\n", DevIndex); else printf("\nusbc: Receive message from No.[%d] device SUCCESSED!\n", DevIndex); printf("\n=========================================================\n"); printf("msg No ID Data From ID To ID DataLen\n\n"); for (i =0; i< retnum; i++) from_id=((test_canrcv[i].id>>8)&0x3e0)+(test_canrcv[i].id>>19)&0x01f; to_id=((test_canrcv[i].id>>3)&0x3e0)+ Test_CANRcv[i].ID>>24)&0x01F; printf("%d 0x%lx %x %x %x %x %x %x %x %x %d %d %d\n", i+1, Test_CANRcv[i].ID, Test_CANRcv[i].Data[0], Test_CANRcv[i].Data[1], Test_CANRcv[i].Data[2], Test_CANRcv[i].Data[3], Test_CANRcv[i].Data[4], Test_CANRcv[i].Data[5], Test_CANRcv[i].Data[6], Test_CANRcv[i].Data[7], from_id, to_id, Test_CANRcv[i].DataLen ); printf("\n=========================================================\n"); printf("\n >>>> Number of message received >>> [ %d ]\n", retnum); Page 22 UC EN UI Robot Technology Co. Ltd.

23 Industril Smart USB-CAN Gateway Get number of message waiting to receive by host of USBC device USBCAN_API DWORD USBC_GetReceiveNum(DWORD dwdevindex, DWORD dwdevport); dwdevindex dwdevport Returned Value Example Device Index CAN port number of the device Number of frame waiting to receive, value = -1 means operation failure retnum = USBC_GetRecieveNum(DevIndex, 0); if( retnum == -1) printf("\nusbc: Get number of message waiting to receive of No.[ %d ] device FAILED!]\n", DevIndex); else printf("\nusbc: Get number of message waiting to receive of No.[ %d ] device SUCCESSED!]\n", DevIndex); printf(" >>>> The number of message waiting to receive is [ %d ]\n",retnum); UI Robot Technology Co. Ltd. UC EN Page 23

24 USBC Clear Buffer of USBC Device USBCAN_API DWORD USBC_ClearBuffer(DWORD dwdevindex, DWORD dwdevport); dwdevindex Device Index dwdevport CAN port number of the device Returned Value 1 = success, -1 = failure Example if( USBC_ClearBuffer(DevIndex, 0) == -1) printf("\nusbc: Clear buffer of No.[ %d ] device FAILED!\n", DevIndex); else printf("\nusbc: Clear buffer of No.[ %d ] device SUCCESSED!\n ", DevIndex); Page 24 UC EN UI Robot Technology Co. Ltd.

25 Industril Smart USB-CAN Gateway 2.3 Use of Library Function First, put library function file in working directory. Method of calling dynamic library in VC 1) Include header file USBC9100.h in the file with extension.cpp ; For example: #include USBC9100.h 2) Connect to file Winmm.lib in the setting up of connector in engineered. 2.4 Process of Using Library Function USBC_ListDevice USBC_OpenDevice USBC_InitCan USBC_StartCan USBC_SetD eviceindex USBC_GetR eceivenum USBC_Clea rbuffer USBC_Tran smit USBC_Rec eive USBC_Res etcan USBC_CloseDevice UI Robot Technology Co. Ltd. UC EN Page 25

26 USBC 9100 APPENDIX A CAN2.0B STANDARD FRAME CAN standard frame has 11 bytes, contains two parts: information and data. The first three bytes are information Byte1 FF RTR X X DLC ( Data Length ) Byte2 (Message ID) ID.10-ID.3 Byte3 ID.2-ID.0 X X X X X Byte4 Byte5 Byte6 Byte7 Byte8 Byte9 Byte10 Byte11 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Byte 1 is frame information. Bit 7 (FF) indicates frame format, in standard frame, FF = 0; Bit 6 (RTR) indicates frame type, RTR = 0 means data frame, while RTR = 1 means remote frame. DLC indicates the actual data length of data frame. Byte 2, 3 is message ID, has 11 MSBS. Byte 4 ~ 11 is the real data of data frame, is void in remote frame. Page 26 UC EN UI Robot Technology Co. Ltd.

27 APPENDIX B CAN2.0B EXTENDED FRAME Industril Smart USB-CAN Gateway CAN extended frame has 13 bytes, contains two parts: information and data. The first five bytes are information Byte1 FF RTR X X DLC (Date Length) Byte2 (Message ID) ID.28-ID.21 Byte3 Byte4 ID.20-ID.13 ID.12-ID.5 Byte5 ID.4-ID.0 X X X Byte6 Byte7 Byte8 Byte9 Byte10 Byte11 Byte12 Byte13 Data1 Data2 Data3 Data4 Data5 Data6 Data7 Data8 Byte 1 is frame information. Bit 7 (FF) indicates frame format, in extended frame, FF = 1; Bit 6 (RTR) indicates frame type, RTR = 0 means data frame, while RTR = 1 means remote frame. DLC indicates the actual data length of data frame. Byte 2 ~ 5 is message ID, has 29 MSBS. Byte 6 ~ 13 is the real data of data frame, is void in remote frame. UI Robot Technology Co. Ltd. UC EN Page 27

28 USBC 9100 APPENDIX C DIMENSIONS Page 28 UC EN UI Robot Technology Co. Ltd.

29 APPENDIX D INSTALLATION INSTRUCTION Industril Smart USB-CAN Gateway UI Robot Technology Co. Ltd. UC EN Page 29