C O B O S p A Divisione 3B6 WICAN2400 UserMan
WiCAN2400 Manual
Rev 1.0.0.0
DESCRIPTION
• TRANSCEIVER FOR AUTOMOTIVE CAN BUS WIRELESS LINK.
• Can Bus Interface, CAN Open support.
• Master Module and Slave Module must have different NodeID.
PIN-OUT
PIN ID Code Signal Note
1A + VB +24/24Vbatt Power supply from vehicle battery to logic
2A
3A
4A
5A
6A
7A
8A
1B
2B
3B
4B
5B
6B
7B
8B
1C - VB GND GND supply from vehicle battery to logic
2C
3C
4C
5C CANL CAN Low Line
6C CANH CAN High Line
7C
8C
CAN OPEN MESSAGE DESCRIPTION
HeartBeat Message:
ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
700h + NodeID 0 MsgType 0 0 MdsUnit FlashAlarm SW Version
0c000280h +
(PGN*100h)+N.I
0 MsgType 0 0 MdsUnit FlashAlarm SW Version
1
SDO RX Messagge:
ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
600h + NodeID Comma nd Object ID Subindex Data
0c000480h +
(PGN*100h)+N.I
Command Object ID Subindex Data
SDO TX Messagge:
ID Byte0 Byte1 Byte2 Byte3 Byte4 Byte5 Byte6 Byte7
580h + NodeID Answer Object ID Subindex Data
0c000380h +
(PGN*100h)+N.I
Answer Object ID Subindex Data
Command / Answer
Command
22h Write request max 4 bytes
23h Write request 4 bytes
2bh Write request 2 bytes
2fh Write request 1 byte
60h Answer to Write request
40h Read request
42h Answer to Read request max 4 bytes
43h Answer to Read request 4 bytes
4bh Answer to Read request 2 bytes
4fh Answer to Read request 1 bytes
80h Error
Error Codes:
05040001h Command byte not supported
06010000h Wrong object access
06010001h Read access in write only
06010002h Write access in read only
06020000h Object not supported
06090011h Subindex not supported
06090030h Value range of parameter exceeded
06090031h Value of parameter written to high
08000000h General error
08000020h Data cannot be transferred or stored to the application
08000021h Data cannot be transferred or stored to the application because of local control
CanOpen Objects:
Object Name Type Attr Default Description
1001 Error Register U16 ro Current Alarm
1009 Hardware Version U32 ro
1010 Parameters Save
0 Subindex no. ro
1 Save all
parameters
100A Software Version U32 ro
1800 MsgType U16 rw 0 Can standard (0) – can extended (1)
2100 Baudrate U8 rw 5 Baudrate (see table below)
2101 NodeID U8 rw 9 or 10 Node ID
2103 MDSunit U8 rw 9 or 10 Winscope Unit
U32 wo =”save” (0x65766173)
2
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