CAN Communication¶
You can find the command set at Command Set.
Addresses¶
The base address to receive messages is set to 0x100 by default.
The addresses used by the IOBoard are calculated from the base address by adding the following offsets.
| Offset to base address | Message |
|---|---|
+0 |
Receive commands |
+1 |
Answer to CMD_IOBOARD_CONNECT |
+2 |
Answer to CMD_IOBOARD_GETDIGIN |
+3 |
Answer to CMD_IOBOARD_GETANALOGIN |
Commands¶
In the following, the CAN IDs are given as an offset to the base address,
so +3 means base address plus 3.
CMD_IOBOARD_CONNECT¶
Use this command to test the connection to the IOBoard.
- Command
ID:
+0CMD_CONNECT0 0 0 0 0 0 0 - Answer
ID:
+1CMD_CONNECT1 2 3 4 5 6 7
CMD_IOBOARD_GETDIGIN¶
The command requests data from all digital inputs.
- Command
ID:
+0CMD_IOBOARD_GETDIGIN0 0 0 0 0 0 0 - Answer
ID:
+2CMD_IOBOARD_GETDIGINBits 8-15 Bits 0-7 0 0 0 0 0
Note that for electrical reasons the digital inputs are flipped:
A value of 1 means that the respective input is low, a value
of 0 means it is high.
CMD_IOBOARD_SETDIGOUT¶
The command sets all digital outputs. The outputs are organized as follows:
| Port D | 8 x optocoupler outputs |
| Port G | 4 x optocoupler outputs |
| Port B | 4 x relay outputs |
- Command
ID:
+0CMD_IOBOARD_SETDIGOUT0 Port D Port G (Bits 4-7), Port B (Bits 0-3) 0 0 0 0 - Answer
- No answer.
CMD_IOBOARD_GETANALOGIN¶
The command requests data from analogue inputs.
- Command
ID:
+0CMD_IOBOARD_GETANALOGIN0 0 0 0 0 0 0 - Answer
ID:
+3CMD_IOBOARD_GETANALOGINlow bits 1 low bits 2 low bits 3 low bits 4 high bits 0 0 The high bits byte contains the high two bits for each channel, in ascending order (Bits 0-1 for channel 1 and so on).
CMD_IOBOARD_GETALLDATA¶
The command requests data from both the digital and the analog inputs. It has the same effect as requesting the digital and analog inputs separately.
- Command
ID:
+0CMD_IOBOARD_GETALLDATA0 0 0 0 0 0 0 - Answer
- The answer consists of two CAN frames that are identical to the answer frames to
the commands
CMD_IOBOARD_GETDIGINandCMD_IOBOARD_GETANALOGIN.