PLUS+1 CAN I/O Module Communications Protocol
Technical Information
About this Manual
Organization
and Headings
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Table of Contents
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the TOC entries are hyperlinked.
Revision History
Date Change Remarks
15 December 2005 —— Draft
22 December 2005 Add SUBCMD 19 Draft, protocol version 2.00
23 December 2005 Config values only 8 bit and not 16 bit in SUBCMD 19 Draft, protocol version 2.00
30 January 2006 Add IO_TYPE 6 for digital inputs on SUBCMD 19 Draft, protocol version 2.00
20 April 2006 —— Released
28 September 2007 Add current change limit—SUBCMD 20
Add recovery times—SUBCMD 21
New values in NV—SUBCMD 22
12 November 2007 Corrected Message Name—Configuration Type Definition table
Updated description of recover times—Bus Off Rcvr Time and CAN Drv Error Rcvr Time
23 November 2007
16 January 2008
31 January 2008 —— Released
3 June 2008 Renamed SUBCMD 18 and edited comments ——
21 October 2008 Corrected shown CMD values—CMD69 and CMD70 ——
26 February 2009 Corrected shown parameter list—CMD 71 (includes Digital ,Digital_AnIn, and Rheo
23 March 2009 Use correct names for CMD69 and CMD70
25 March 2009 Extended Request Configuration message to backwards compatatible for CRC—
31 March 20009 —— Released
26 March 2010 Added Non-Volatile Memory Storage—SUBCMD 22 Draft, protocol version 2.05
14 April 10 Added CMD71, CMD72, CMD73, and CMD74 Draft, protocol version 2.06
27 July 2010 Clarification on Mask—Configuration Type Definition table ——
27 October 2010 Further clarification on Mask—Configuration Type Definition table ——
1 December 2010 —— Reformat, Rev AA
Extended CRC message for backwards compatibility—SUBCMD 18 Draft, protocol version 2.02
inputs)
Changed wording for SUBCMD 18
SUBCMD 255
Draft, protocol version 2.01
Draft, protocol version 2.01
Draft, protocol version 2.04
Draft, protocol version 2.04
Draft, protocol version 2.04
jumps
2
11005130 · AA · December 2010
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Message Timing Information
In the following section on message structures, the repetition time is specified. If the
repetition time is set to zero, then the message is disabled and is not sent. If the repetition
time is not zero, then the message is active and is transmitted periodically at the interval
specified by the repetition time. (The following tables identify the repetition time as the
Rate.)
To change the repetition time, use the Configure Timing message (SUBCMD 12.)
Some of the messages are referred to as optimized and others are not. Optimized
messages have the designation OPT in the title of the message. Optimized messages have
the data for several inputs or outputs of a certain type contained in the message. This
minimizes the number of messages needed to be sent on the CAN bus in order to reduce
bus traffic.
Non-optimized (regular) messages typically have only the data for a single input or output.
In general optimized messages are used as the default so that all data can be
communicated between the I/O module and the controller. A system designer has the
option of turning off optimized messages and using regular messages instead. Typically,
the default set of messages is adequate for most systems.
11005130 · Rev AA · December 2010
7
Supply (CMD 0)
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
This frame is transmitted from the I/O device continuously with a default cycle time.
This frame is transmitted from the I/O device continuously with a default cycle time. This
message has to be activated. By default, packed frames are used.
CMD
CAN B 0
0x10 Channel* DigIn† —— —— —— —— —— 0 ms D_IN
*
Identifies the channel.
†
Actual pin status.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
Ana/Temp/Rheo (CMD 32)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message has to be activated. By default the packed frames are used.
Actual measured value. mV in an analogue configuration; otherwise an Ω value.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
8
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Dig and Ana/Temp/Rheo Opt I (CMD 33)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device are set to zero.
CMD
CAN B 0
0x21 Value 0* (LSB) Value 0* (MSB) Value 1† (LSB) Value 1† (MSB) Dig 0_7‡ Dig 8_15§ Dig 16_23# 20 ms RHEO_OPTI
*
Actual measured value of the first channel; mV in an analogue configuration; otherwise an Ω value.
†
Actual measured value of the second channel; mV in an analogue configuration; otherwise an Ω value.
‡
Bit pattern for the first 8 digital inputs; bit 0 is channel 0.
§
Bit pattern for the next 8 digital inputs; bit 0 is channel 8.
#
Bit pattern for the next 8 digital inputs; bit 0 is channel 16.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig and Ana/Temp/Rheo Opt II (CMD 34)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default. Only input devices with more than
two Ana/Temp/Rheo will transmit this message or if the device has more than 24 digital
inputs. Values not available on the I/O device are set to zero.
CMD
CAN B 0
0x22 Value 2* (LSB) Value 2* (MSB) Value 3† (LSB) Value 3† (MSB) Dig 24_31‡ Dig 32_39§Dig 40_47# 20 ms RHEO_OPTII
*
Actual measured value of the third channel; mV in an analogue configuration; otherwise an Ω value.
†
Actual measured value of the fourth channel; mV in an analogue configuration; otherwise an Ω value.
‡
§
Bit pattern for the next 8 digital inputs; bit 0 is channel 32.
#
Bit pattern for the next 8 digital inputs; bit 0 is channel 40.
Data 0
CAN B 1
Bit pattern for the first 8 digital inputs; bit 0 is channel 24.
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig/Ana (CMD 48)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message will only be transmitted if the device does have this type of input. This message
has to be activated; by default the packed frames are used.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x31 Value 0* (LSB) Value 0* (MSB) Value 1† (LSB) Value 1† (MSB) Value 2‡ (LSB) Value 2‡ (MSB) Dig 0_2§ 20 ms Dig_ANA_OPTI
*
Actual measured value of the first channel in mV.
†
Actual measured value of the second channel in mV.
‡
Actual measured value of the third channel in mV.
§
Bit pattern for the first 3 digital inputs; bit 0 is channel 0.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig/Ana Opt II (CMD 50)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x32 Value 3* (LSB) Value 3* (MSB) Value 4† (LSB) Value 4† (LSB) Value 5‡ (LSB) Value 5‡ (LSB) Dig 3_5§ 20 ms Dig_ANA_OPTII
*
Actual measured value of the fourth channel in mV.
†
Actual measured value of the fifth channel in mV.
‡
Actual measured value of the sixth channel in mV.
§
Bit pattern for the next 2 digital inputs; bit 0 is channel 3.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig/Ana/Freq (CMD 64)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message will only be transmitted if the device does have this type of input. This message
has to be activated; by default the packed frames are used.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x41 Value 0* (LSB) Value 0* (MSB) Value 1†(LSB) Value 1†(MSB) Value 2‡(LSB) Value 2‡(MSB) Dig 0_2§ 50 ms DIG_ANA_FREQ_OPTI
*
Actual measured value in mV on the first analogue input.
†
Actual measured value in mV on the second analogue input.
‡
Actual measured value in mV on the third analogue input.
§
Bit pattern of the first 3 digital inputs; bit 0 is channel 0.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig/Ana/Freq Opt II (CMD 66)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x42 Value 3*(LSB) Value 3*(MSB) Value 4†(LSB) Value 4†MSB) Value 5‡(LSB) Value 5§(MSB) Dig 3_5# 50 ms DIG_ANA_FREQ_OPTI
*
Actual measured value in mV on the fourth analogue input.
†
Actual measured value in mV on the fifth analogue input.
‡
Actual measured value in mV on the sixth analogue input.
#
Bit pattern of the fourth, fifth, and sixth digital input; bit 0 is channel 4.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
Dig/Ana/Freq Opt III (CMD 67)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
Actual measured frequency in Hz on the first input.
†
Actual measured frequency in Hz on the second input.
‡
Actual measured frequency in Hz on the third input.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
11
Dig/Ana/Freq Opt IV (CMD 68)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Actual measured frequency in Hz on the fourth input.
†
Actual measured frequency in Hz on the fifth input.
‡
Actual measured frequency in Hz on the sixth input.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig/Ana/Freq Opt V(CMD 69)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x45 Value 6* (LSB) Value 6* (MSB) Value 7† (LSB) Value 7† (MSB) Value 8‡ (LSB) Value 8‡ (MSB) Dig 6_8§ 50 ms DIG_ANA_FREQ_OPTV
*
Actual measured value in mV on the seventh analogue input.
†
Actual measured value in mV on the eighth analogue input.
‡
Actual measured value in mV on the ninth analogue input.
§
Bit pattern of the seventh, eighth, and ninth digital input; bit 0 is channel 7.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
Dig/Ana/Freq Opt VI (CMD 70)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these inputs.
Values not available on the I/O device will be set to zero.
Actual measured frequency in Hz on the seventh input.
†
Actual measured frequency in Hz on the eighth input.
‡
Actual measured frequency in Hz on the ninth input.
12
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Dig/Ana/Freq Opt VII (CMD 71)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message will only be transmitted if the device does have this type of input. This message
has to be activated; by default the packed frames are used.
CMD
CAN B 0
0x47 Channel* Value†(LSB) Value† (MSB) Freq‡ (LSB) Freq‡ (MSB) Period§ (LSB) Period (MSB) DigIn# 0 ms DIG_ANA_FREQ_OPTVII
*
Indentifies the channel.
†
Actual measured value in mV.
‡
Actual measured frequency.
§
Actual measured period (15-bit).
#
Status of the digital input (MSB of CAN B 7).
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Dig/Ana/Freq Opt VIII (CMD 72)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and has to be activated if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x48 Per 0* (LSB) Per 0* (MSB) Per 1† (LSB) Per 1† (MSB) Per 2‡ (LSB) Per 2‡ (MSB) —— 0 ms DIG_ANA_FREQ_OPTVIII
*
Actual measured period, value in ms on the first input.
†
Actual measured period, value in ms on the second input.
‡
Actual measured period, value in ms on the third input.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
Dig/Ana/Freq Opt IX(CMD 73)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and has to be activated if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x49 Per 3* (LSB) Per 3* (MSB) Per 4† (LSB) Per 4† (MSB) Per 5‡ (LSB) Per 5‡ (MSB) —— 0 ms DIG_ANA_FREQ_OPTIX
*
Actual measured period, value in ms on the fourth input.
†
Actual measured period, value in ms on the fifth input.
‡
Actual measured period, value in ms on the sixth input.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
13
Dig/Ana/Freq Opt X(CMD 74)
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and has to be activated if the device does have these inputs.
Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x4A Per 6* (LSB) Per 6* (MSB) Per 7† (LSB) Per 7† (MSB) Per 8‡ (LSB) Per 8‡ (MSB) —— 0ms DIG_ANA_FREQ_OPTX
*
Actual measured period, value in ms on the seventh input
†
Actual measured period, value in ms on the eighth input
‡
Actual measured period, value in ms on the ninth input
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Digital Out Status (CMD 80)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message will only be transmitted if the device does have this type of output. This message
has to be activated; by default the packed frames are used.
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these
outputs. Values not available on the I/O device will be set to zero.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Digital/PVG Out Status Opt I (CMD 82)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these
outputs. Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x52 Value 0*
*
Identifies the channel.
†
Actual measured value of first PVG channel in mV.
†
Actual measured value of second PVG channel in mV.
‡
Actual measured value of third PVG channel in mV.
§
Status of the digital output of digital and PVG outputs; bit 0 = digital channel 0.
Data 0
CAN B 1
(LSB)
Data 1
CAN B 2
Value 0*
(MSB)
Data 2
CAN B 3
Value 1†
(LSB)
Data 3
CAN B 4
Value 1†
(MSB)
Data 4
CAN B 5
Value 2
(LSB)
Data 5
CAN B 6
‡
Value 2
(MSB)
Data 6
CAN B 7
‡
DigOut_Stat 0_5
RateName
§
20 ms PVG_STAT_OPTI
Multifunction Out Status (CMD 96)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message will only be transmitted if the device does have this type of output. This message
has to be activated; by default the packed frames are used.
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these
outputs. Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x61 Value 0* (LSB) Value 0* (MSB) Value 1† (LSB) Value 1† (MSB) Value 2‡ (LSB) Value 2‡ (MSB) Status§ 20 ms MF_OUT_OPTI
*
Actual measured feedback value of channel 0 in 0.1 mA.
†
Actual measured feedback value of channel 1 in 0.1 mA.
‡
Actual measured feedback value of channel 2 in 0.1 mA.
§
Status of the output; Status of channel 0 is bit 0 and bit 1, status of channel 1 is bit 2 and bit 3, status of channel 3 is bit 4 and bit 5.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7 Rate Name
15
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Multifunction Out Status Opt II (CMD 98)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these
outputs. Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x62 Value 3* (LSB) Value 3* (MSB) Value 4† (LSB) Value 4† (MSB) Value 5‡ (LSB) Value 5‡ (MSB) Status§ 20 ms MF_OUT_OPTII
*
Actual measured feedback value of channel 3 in 0.1 mA.
†
Actual measured feedback value of channel 4 in 0.1 mA.
‡
Actual measured feedback value of channel 5 in 0.1 mA.
§
Status of the output; Status of channel 3 is bit 0 and bit 1, channel 4 bit 2 and bit 3, channel 5 bit 4 and bit 5.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Multifunction Out Status Opt OPT III (CMD 99)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these
outputs. Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x63 Value 6* (LSB) Value 6* (MSB) Value 7† (LSB) Value 7† (MSB) Value 8‡ (LSB) Value 8‡ (MSB) Status§ 20 ms MF_OUT_OPTIII
*
Actual measured feedback value of channel 6 in 0.1 mA.
†
Actual measured feedback value of channel 7 in 0.1 mA.
§
Status of the output; Status of channel 6 is bit 0 and bit 1, channel 7 bit 2 and bit 3, channel 8 bit 4 and bit 5.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Multifunction Out Status Opt IV (CMD 100)
This frame is transmitted from the I/O device continuously with a default cycle time. This
message is a packed frame and is activated by default if the device does have these
outputs. Values not available on the I/O device will be set to zero.
CMD
CAN B 0
0x64 Value 9* (LSB) Value 9* (MSB) Value 10† (LSB) Value 10† (MSB) Value 11‡ (LSB) Value 11‡ (MSB) Status§ 20 ms MF_OUT_OPTIV
*
Actual measured feedback value of channel 9 in 0.1 mA.
†
Actual measured feedback value of channel 10 in 0.1 mA.
‡
Actual measured feedback value of channel 11 in 0.1 mA.
§
Status of the output; Status of channel 9 is bit 0 and bit 1, channel 10 bit 2 and bit 3, channel 11 bit 4 and bit 5.
16
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Rate Name
Digital Out (CMD 128)
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. DIGOUT is
interpreted as False for a value of zero and True for all other values.
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. DIGOUT is
interpreted as False for a value of zero and True for all other values.
CMD
CAN B 0
0x81 Channel* PVGOut† —— —— —— —— —— 0 ms PVG_REQ
*
Identifies the channel.
†
Requested output state.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Timeout Name
11005130 · Rev AA · December 2010
17
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Digital/PVG Out Opt I (CMD 130)
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. DIGOUT is
interpreted as False for a corresponding bit of zero and True for a corresponding bit of
one.
Requested state for DIGOUT 0 to 7; Channel 0 is bit 0.
†
Requested state for DIGOUT 8 to 15; Channel 8 is bit 0.
‡
Requested state for PVGOUT 0 to 7; Channel 0 is bit 0.
§
Requested state for DIGOUT 8 to 15; Channel 8 is bit 0.
Data 0
CAN B 1
Data 1
CAN B 2
Data 2
CAN B 3
Data 3
CAN B 4
Data 4
CAN B 5
Data 5
CAN B 6
Data 6
CAN B 7
Timeout Name
Multifunction Out (CMD 144)
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. OUTPUT is
interpreted based on the pin configuration. Please see the corresponding device API for
more details of proper values. If configured as a digital output is interpreted as False for a
value of zero and True for all other values.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Multifunction Out Opt I (CMD 145)
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. OUTPUT is
interpreted based on the pin configuration. Please see the corresponding device API for
more details of proper values. If configured as a digital output is interpreted as False for a
value of zero and True for all other values.
CMD
CAN B 0
0x91 Output 0*
*
Requested output for channel 0.
†
Requested output for channel 1.
‡
Requested output for channel 2.
Data 0
CAN B 1
(LSB)
Data 1
CAN B 2
Output 0*
(MSB)
Data 2
CAN B 3
Output 1†
(LSB)
Multifunction Out Opt II (CMD 146)
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined For more information
see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13) in the
PLUS+1 CAN I/O Module Communications Technical Information document (Sauer-Danfoss
part 520L1029). If no default values have been defined, the shown timeout value will be
used. If no default output value is defined, the I/O slaves will use a zero as a default value.
This message will be interpreted from the slave in packed and unpacked data transmission
mode. Commands for non-existing outputs will be ignored. OUTPUT is interpreted based
on the pin configuration. Please see the corresponding device API for more details of
proper values. If configured as a digital output is interpreted as False for a value of zero
and True for all other values.
CMD
CAN B 0
0x92 Output 3*
*
Requested output for channel 3.
†
Requested output for channel 4.
‡
Requested output for channel 5.
Data 0
CAN B 1
(LSB)
Data 1
CAN B 2
Output 3*
(MSB)
Data 2
CAN B 3
Output 4†
(LSB)
Data 3
CAN B 4
Output 1†
(MSB)
Data 3
CAN B 4
Output 4†
(MSB)
Data 4
CAN B 5
Output 2‡
(LSB)
Data 4
CAN B 5
Output 5‡
(LSB)
Data 5
CAN B 6
Output 2‡
(MSB)
Data 5
CAN B 6
Output 5‡
(MSB)
Data 6
CAN B 7 Timeout Name
—— 100 ms MF_OUT_REQ_OPTI
Data 6
CAN B 7 Timeout Name
—— 100 ms MF_OUT_REQ_OPTII
11005130 · Rev AA · December 2010
19
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Identifier
Multifunction Out Opt III (CMD 147)
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. OUTPUT is
interpreted based on the pin configuration. Please see the corresponding device API for
more details of proper values. If configured as a digital output is interpreted as False for a
value of zero and True for all other values.
CMD
CAN B 0
0x93 Output 6*
*
Requested output for channel 6.
†
Requested output for channel 7.
‡
Requested output for channel 8.
Data 0
CAN B 1
(LSB)
Data 1
CAN B 2
Output 6*
(MSB)
Data 2
CAN B 3
Output 7†
(LSB)
Multifunction Out Opt IV (CMD 148)
This frame is transmitted to the I/O device continuously with a default cycle time. If the
message does not arrive in the predefined cycle time, the slave will set the output to a
default value. The default value and the timeout time can be defined. For more
information see Configure Timing (SUBCMD 12) and Configure Output Default (SUBCMD 13)
in the PLUS+1 CAN I/O Module Communications Technical Information document (SauerDanfoss part 520L1029). If no default values have been defined, the shown timeout value
will be used. If no default output value is defined, the I/O slaves will use a zero as a default
value. This message will be interpreted from the slave in packed and unpacked data
transmission mode. Commands for non-existing outputs will be ignored. OUTPUT is
interpreted based on the pin configuration. Please see the corresponding device API for
more details of proper values. If configured as a digital output is interpreted as False for a
value of zero and True for all other values.
Data 3
CAN B 4
Output 7†
(MSB)
Data 4
CAN B 5
Output 8‡
(LSB)
Data 5
CAN B 6
Output 8‡
(MSB)
Data 6
CAN B 7 Timeout Name
—— 100 ms MF_OUT_REQ_OPTIII
CMD
CAN B 0
0x94 Output 9*
*
Requested output for channel 9.
†
Requested output for channel 10.
‡
Requested output for channel 11.
20
Data 0
CAN B 1
(LSB)
Data 1
CAN B 2
Output 9*
(MSB)
Data 2
CAN B 3
Output 10†
(LSB)
11005130 · Rev AA · December 2010
Data 3
CAN B 4
Output 10†
(MSB)
Data 4
CAN B 5
Output 11‡
(LSB)
Data 5
CAN B 6
Output 11‡
(MSB)
Data 6
CAN B 7 Timeout Name
—— 100 ms MF_OUT_REQ_OPTIV
Ack (SUBCMD 0)
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Command
Time uncritical messages are mapped to the subcommand messages. This area is entered
by using 0xFF for the main CMD page. This means that 0xFF will be in the first data byte of
the CAN-Message.
This frame is transmitted from the I/O device after
It can be used for further diagnostics.
Unit ID (high, low) number that describes the type of IO hardware
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7 Timeout Name
Configure DIG Input (SUBCMD 3)
This frame configures the digital inputs of an input device. All inputs are by default
configured as no pull up/no pull down. The I/O device responds with the ACK message.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Command
Configure Analogue Input (SUBCMD 4)
This frame configures the analogue inputs of an input device. All inputs are by default
configured as analogue inputs. The I/O device responds with the ACK message.
Requested configuration as specified in the corresponding Application Interface.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7 Timeout Name
Configure Multifunction Input Dig/Ana (SUBCMD 5)
This frame configures the digital/analogue inputs of an input device. All inputs are by
default configured as no pull up/no pull down and with the 5.250 V range. The I/O device
responds with the ACK message.
Requested configuration as specified in the corresponding Application Interface for the biasing.
‡
Requested configuration as specified in the corresponding Application Interface for the voltage range.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7
Timeout Name
Configure Multifunction Input Dig/Ana Switch Point (SUBCMD 6)
This frame configures the digital input switch point. Default for the low value is 2000.
Default for the high value is 3000. The I/O device responds with the ACK message.
This frame configures the digital/analogue inputs of an input device. All inputs are by
default configured as no pull up/ no pull down and with the 5.250 V range. The I/O device
responds with the ACK message.
Requested configuration as specified in the corresponding Application Interface for the biasing.
‡
Requested configuration as specified in the corresponding Application Interface for the voltage range.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7
Timeout Name
Configure Multifunction Input Dig/Ana/Freq Switch Point (SUBCMD 8)
This frame configures the digital input switch point. The default for low value is 2000. The
default for the high value is 3000. The I/O device responds with the ACK message.
Requested output frequency; if it is out of range, the device will select the nearest possible.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7 Timeout Name
Freeze N1 (SUBCMD 11)
On reception of this frame the I/O device will rescan the analogue input and will calculate
N1 and save this parameter. The I/O device will also change to predefined CAN-identifier
mode with fixed N1. The I/O device responds with the ACK message.
CMD
CAN B 0
0xFF 0x0B —— —— —— —— —— —— None CMD_FREEZE_N1
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7
Timeout Name
Configure Timing (SUBCMD 12)
This frame can be used to configure the timing of the cyclic transmit messages of the I/O
slave. It can also be used to set new values for the cyclic receive messages of the I/O slave.
The I/O device responds with the ACK message. A value of 0x0000 for time totally disables
a message transmitted from the I/O slave. Otherwise, the time value is entered in
milliseconds.
If the message being enabled or disabled has a “channel” value associated with it, please enter the value here.
*
Identifies the communication message gets a new timing value.
‡
New timing value, which can be the new cycle or the new timeout value, depending on the message.
24
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
11005130 · Rev AA · December 2010
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7 Timeout Name
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Command
Configure Output Default (SUBCMD 13)
This frame can be used to configure the default output values of the output slaves. After
start up these values are set to zero. These default values will be used if a timeout occurs
on the cyclic CMD messages. The I/O device responds with the ACK message.
Optional value; if not existing or if zero, then the CRC value is over parameters from protocol version 2.00 and the parameter CRC Param has no
effect.
‡
If CRC Mode = 1 this value describes over which range the CRC is calculated. 0 = Parameters from version 2.00; 1 = All parameters as defined by
version 2.01 including earlier versions.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7
Timeout Name
26
11005130 · Rev AA · December 2010
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Command
Temporary IO Configuration (SUBCMD 19)
This frame can be used to configure the configuration of IOs. This configuration is lost after
power cycle. After start up these values are set to the default values. The I/O device
responds with the ACK message.
CMD
CAN B 0
0xFF 0x13 IO_Type* Channel† Value 0‡ Value 1§ —— —— None CMD_CONF_TEMP
The channel on which the new configuration value has to be set.
‡
The new configuration value 0.
§
The new configuration value 1.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7
Timeout Name
Configure Current Change Limit (SUBCMD 20)
This frame configures the current change limit of a multifunction output of an output
device. The default value is 111. The I/O device responds with the ACK message.
Requested current change limit as specified in the corresponding Application Interface.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7
Timeout Name
11005130 · Rev AA · December 2010
27
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Command
Configure Recover Times (SUBCMD 21)
This frame configures the bus off and can driver recover time. The default value for both
parameters is 10000, which means in case of a recovery situation the device will try to
recover every 10 seconds.
Requested time value for CAN driver recover in ms.
SUBCMD
CAN B 1
Data 0
CAN B 2
Data 1
CAN B 3
Data 2
CAN B 4
Data 3
CAN B 5
Data 4
CAN B 6
Data 5
CAN B 7 Timeout Name
Non-Volatile Memory Storage (SUBCMD 22)
This frame allows access to the data storage provided by the expansion module. Data can
be written to 16 individual 32-bit memory segments. Each 32-bit segment allows the
storage of an 8-bit checksum in addition to the 32-bit data, this allows validity checks. The
8-bit checksum will be handled by the master device, not the expansion module. This
allows the master to implement it’s own checksum algorithm.
Data loss will occur if a power failure occurs during a write to a 32-bit memory segment.
Maximum number of writes: 10,000
The I/O device responds with the ACK message.
CMD
CAN B 0
0xFF 0x16 8-bit
*
The lower 4-bits of DATA 0 are used to select which 32-bit segment will be written (0-15).
†
8-bit field to allow the master to write a checksum for data validation.
‡
32-bit data segment for storage.
SUBCMD
CAN B 1
Data 0
CAN B 2
segment address
Data 1
CAN B 3
8-bit
*
checksum†
Data 2
CAN B 4
32-bit
data‡
Data 3
CAN B 5
32-bit
data‡
Data 4
CAN B 6
32-bit
data‡
Data 5
CAN B 7 Timeout Name
32-bit
data‡
None CMD_DATA_STORAGE
28
11005130 · Rev AA · December 2010
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Messages Based on the Sub-Command
Request Configuration (SUBCMD 255)
This frame can be used to request the configuration state of a certain input or output. In
addition, the configuration of the messages can be requested with this frame. The I/O
device responds with the corresponding configuration message in a positive case else
with an ACK message containing the error.
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Parameters Stored in Non-Volatile Memory
Several parameters of the system have to be stored in the non-volatile memory so that the
parameters are available after a power cycle. These parameters can always be accessed
and modified with the diagnostic tool. Besides communication parameters some
predefined start up values for the outputs and the configuration values for the outputs
and the inputs are stored in the non volatile memory.
Parameter Overview
ParameterData TypeDefault ValueRangeProtocol Version
PwrUpBaud U32 250 000 1 000 000
500 000
250 000
125 000
100 000
AddrMode U16 0 0 = Variable ID
1= Predefined ID fixed N1
2 = Fixed ID
Tx U32 0x400 0x00–0x1FFFFFFF 2.00
Rx U32 0x500 0x00–0x1FFFFFFF 2.00
Frame U16 0 0 = 11 bid ID
1= 29 bit ID
N1 U16 0 0–15 2.00
Mask U16 0 0–7 2.00
Net U16 0 0–255 2.00
Out Default [NMBChannel] U16 0 0xFFFF 2.00
Out Default Config [NMBChannel] U16 0 0xFFFF 2.00
DigOut Default [NMBChannel] U16 0 0xFFFF 2.00
PVE Default [NMBChannel] U16 0 0xFFFF 2.00
Digital Default Config [NMBChannel] U16 0 0xFFFF 2.00
In Default Config 0 [NMBChannel] U16 0 0xFFFF 2.00
In Default Config 1 [NMBChannel] U16 0 0xFFFF 2.00
Digital Anin Default Config 0 [NMBChannel] U16 0 0xFFFF 2.00
Digital Anin Default Config 1 [NMBChannel] U16 0 0xFFFF 2.00
Bus Off Error Rcvr Time [NMBChannel] U16 0x2710 0xFFFF 2.01
CAN Drv Error Rcvr Time [NMBChannel] U16 0x2710 0xFFFF 2.01
2.00
2.00
2.00
11005130 · Rev AA · December 2010
30
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Parameters Stored in Non-Volatile Memory
Power-Up Baud Rate (PwrUpBaud) Parameter
This parameter defines the power up baud rate of the device. The I/O device will initialize
the CAN-Bus with the baud rate given by this parameter after power up. Changing this
parameter will take affect only after the next power cycle.
Addressing Mode (AddrMode) Parameter
The addressing mode select
• Variable CAN-Identifiers based on the CAN-Shield input
• Predefined CAN-Identifiers with fixed N1
• Fixed identifiers
For more information, refer to CAN-Identifier Usage in the PLUS+1 CAN I/O Module
Communications Technical Information document (Sauer-Danfoss part 520L1029).
s one of the following:
Fixed Tx ID (Tx) Parameter
This parameter is only used in the case of fixed identifi
the ID for the Tx message of the device.
For more information, refer to Fixed Identifier Usage in the PLUS+1 CAN I/O Module
Communications Technical Information document (Sauer-Danfoss part 520L1029).
Fixed Rx ID (Rx) Parameter
This parameter is only used in the case of fixed identifi
the ID for the Rx message of the device.
For more information, refer to Fixed Identifier Usage in the PLUS+1 CAN I/O Module
Communications Technical Information document (Sauer-Danfoss part 520L1029).
Fixed ID Frame Format (Frame) Parameter
This parameter is only used in the case of fixed identifi
the message frame format (11-bit or 29 bit identifier.)
For more information, refer to Fixed Identifier Usage in the PLUS+1 CAN I/O Module
Communications Technical Information document (Sauer-Danfoss part 520L1029).
N1 (N1) Parameter
This parameter is only used in the case of pred
contains the value for N1.
er addressing mode and describes
er addressing mode and describes
er addressing mode and describes
efined CAN-Identifier addressing mode and
Mask (Mask) Parameter
This parameter contains the
mask for the CAN-Messages being received. It is used to set
the mask of the receiving CAN-Mailbox. This parameter applies to all addressing modes.
A value of 1 means don’t care for the corresponding bit position.
11005130 · Rev AA · December 2010
31
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Parameters Stored in Non-Volatile Memory
KWP2000 Net Number (Net) Parameter
This parameter contains the power up KWP2000 net number.
Default Output Value (Out Default) Parameter
This parameter contains the
as many default values as the unit has outputs. This default value will be used, if the
corresponding CAN-Frame has a timeout.
This parameter contains the
values as the unit has outputs. This default value will be used at start up of the unit.
Default DigOut Value (DigOut Default) Parameter
This parameter contains the
default values as the unit does have these outputs. This default value will be used if the
corresponding CAN-Frame has a timeout.
default output value for the multifunction outputs. There are
default output configuration value. There are as many default
default output value for the digital outputs. There are as many
Default PVE Value (PVE Default) Parameter
This parameter contains the
default output value for the PVE power outputs. There are as
many default values as the unit has outputs. This default value will be used if the
corresponding CAN-Frame has a timeout.
Digital Input Configuration (DigitalDefault Config) Parameter
This parameter contains the default configuration value for the biasing of the digital
inputs. T
here are as many default values as the unit has inputs. This default value will be
used at start up of the unit.
Input Configuration 0 (In Default Config 0) Parameter
This parameter contains the
default configuration value for the biasing of the
multifunction inputs. There are as many default values as the unit has inputs. This default
value will be used at start up of the unit.
Input Configuration 1 (In Default Config 1) Parameter
This parameter contains the default con
multifunction inputs. There are as many default values as the unit has inputs. This default
value will be used at start up of the unit.
Digital Analogue Input Configuration 0 (Digital AnIn Default
This parameter contains the default configuration value for the biasing of the
digital/analogue inputs. There are as many default values as the unit has inputs. This
default value will be used at start up of the unit.
figuration value for the voltage divider of the
Config 0) Parameter
32
11005130 · Rev AA · December 2010
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
This parameter contains the default configuration value for the voltage divider of the
digital/analogue inputs. There are as many default values as the unit has inputs. This
default value will be used at start up of the unit.
This parameter contains the
analogue and rheostat measurement for the rheostat inputs. There are as many default
values as the unit has inputs. This default value will be used at start up of the unit.
Bus OFF Recover Time (Bus Off Rcvr Rate) Parameter
This parameter contains the
The unit will try to recover from the Bus off condition until it succeeds. The time between
two attempts is given by this value. There are as many recover times as the unit has CAN
channels.
default configuration value for mode switching between
default time value for the CAN Bus OFF recover time in ms.
CAN Driver Error Recover time (CAN Drv Error Rcvr Time) Parameter
This parameter contains the
default time value for the CAN driver error recover time in ms.
The unit will try to recover from the CAN driver error condition until it succeeds. The time
between two attempts is given by this value. There are as many recover times as the unit
has CAN channels.
11005130 · Rev AA · December 2010
33
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Index
T Adobe Reader links entries in this index. To follow a link, click an entry page number.
Parameter, 32
Default Output Value (Out Default) Parameter, 32
Default PVE Value (PVE Default) Parameter, 32
Dig and Ana/Temp/Rheo Opt I (CMD 33), 9
Dig and Ana/Temp/Rheo Opt II (CMD 34), 9
Dig/Ana (CMD 48), 9
Dig/Ana Opt I (CMD 49), 10
Dig/Ana Opt II (CMD 50), 10
Dig/Ana/Freq (CMD 64), 10
Dig/Ana/Freq Opt I (CMD 65), 11
Dig/Ana/Freq Opt II (CMD 66), 11
Dig/Ana/Freq Opt III (CMD 67), 11
Dig/Ana/Freq Opt IV (CMD 68), 12
Dig/Ana/Freq Opt IX(CMD 73), 13
Dig/Ana/Freq Opt V(CMD 69), 12
Dig/Ana/Freq Opt VI (CMD 70), 12
34
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Index
Dig/Ana/Freq Opt VII (CMD 71), 13
Dig/Ana/Freq Opt VIII (CMD 72), 13
Dig/Ana/Freq Opt X(CMD 74), 14
Dig_In (CMD 16), 8
Digital Analogue Input Configuration 0 (Digital AnIn
Default Config 0) Parameter, 32
Digital Analogue Input Configuration 1 (Digital AnIn
Default Config 1) Parameter, 33
Digital Input Configuration (DigitalDefault Config)
Parameter, 32
Digital Out (CMD 128), 17
Digital Out Status (CMD 80), 14
Digital/PVG Out (CMD 129), 17
Digital/PVG Out Opt I (CMD 130), 18
Digital/PVG Out Status (CMD 81), 14
Digital/PVG Out Status Opt I (CMD 82), 15
F
Fixed ID Frame Format (Frame) Parameter, 31
Fixed Rx ID (Rx) Parameter, 31
Fixed Tx ID (Tx) Parameter, 31
Freeze N1 (SUBCMD 11), 24
I
Input Configuration 0 (In Default Config 0) Parameter,
32
Input Configuration 1 (In Default Config 1) Parameter,
32
K
KWP2000 Net Number (Net) Parameter, 32
M
Mask (Mask) Parameter, 31
Messages Based on the Sub-identifier, 8
Multifunction Out (CMD 144), 18
Multifunction Out Opt I (CMD 145), 19
Multifunction Out Opt II (CMD 146), 19
Multifunction Out Opt III (CMD 147), 20
Multifunction Out Opt IV (CMD 148), 20
Multifunction Out Status Opt I (CMD 97), 15
Multifunction Out Status Opt II (CMD 98), 16
11005130· Rev AA · December 2010
Multifunction Out Status Opt IV (CMD 100), 16
Multifunction Out Status Opt OPT III (CMD 99), 16
Config), 32
Parameter—Fixed ID Frame Format (Frame), 31
Parameter—Fixed Rx ID (Rx), 31
Parameter—Fixed Tx ID (Tx), 31
Parameter—Input Configuration 0 (In Default Config 0),
32
Parameter—Input Configuration 1 (In Default Config 1),
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
Index
Parameter, 33
S
Set AddrMode (SUBCMD 14), 25
Set Fixed Rx ID (SUBCMD 16), 26
Set Fixed Tx ID (SUBCMD 15), 25
Set KWP2000 Net (SUBCMD 17), 26
SUBCMD 0—Ack, 21
SUBCMD 10—Configure Multifunction Output
PLUS+1 CAN I/O Module Communications Protocol
Technical Information
(This page is intentionally blank.)
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