WAVESHARE WS-TTL-CAN Mini Module Can Conversion Protocol User Manual
- June 2, 2024
- WAVESHARE
Table of Contents
- WS-TTL-CAN Mini Module Can Conversion Protocol
- Product Specifications
- Product Usage Instructions
- 1. Quick Start
- 2. Function Introduction
- 3. Module Hardware Interface
- 4. Module Parameter Setting
- 5. UART Parameter Setting
- 6. CAN Parameter Setting
- Q: Can I upgrade the device firmware using the TTL
- Q: How do I convert serial frames to CAN frames?
WS-TTL-CAN Mini Module Can Conversion Protocol
“`html
Product Specifications
- Model: WS-TTL-CAN
- Supports bidirectional transmission between TTL and CAN
- CAN parameters (baud rate) and UART parameters are configurable
via software
Product Usage Instructions
1. Quick Start
To quickly test transparent transmission:
- Connect the WS-TTL-CAN device
- Follow the instructions in the user manual for transparent
transmission test
2. Function Introduction
-
Hardware Features: Describe hardware features
here. -
Device Features: Explain device features in
detail.
3. Module Hardware Interface
-
Module Dimensions: Provide module
dimensions. -
Module Pin Definition: Detail the pin
definitions for proper connection.
4. Module Parameter Setting
Configure module settings using the provided Serial Server
Configure Software.
5. UART Parameter Setting
Adjust UART parameters as needed for your setup.
6. CAN Parameter Setting
Set CAN parameters, including baud rate, for proper
communication.
Frequently Asked Questions (FAQ)
Q: Can I upgrade the device firmware using the TTL
connection?
A: Yes, the device supports firmware upgrades via TTL for
convenient updates.
Q: How do I convert serial frames to CAN frames?
A: Refer to section 9.1.1 in the user manual for instructions on
serial frame to CAN conversion.
“`
WS-TTL-CAN
User Manual
WS-TTL-CAN User Manual
www.waveshare.com/wiki
WS-TTL-CAN
User Manual
Contents
1. OVERVIEW …………………………………………………………………………………………………………………….1 1.1 Features
…………………………………………………………………………………………………………………1
2. QUICK START ………………………………………………………………………………………………………………. 2 2.1 Transparent
Transmission Test …………………………………………………………………………… 2
3. FUNCTION INTRODUCTION ……………………………………………………………………………………….. 4 3.1 Hardware
Features ………………………………………………………………………………………………..4 3.2 Device Features
…………………………………………………………………………………………………….4
4. Module HARDWARE INTERFACE ……………………………………………………………………………….. 6 4.1 Module
Dimensions ……………………………………………………………………………………………….6 4.1 Module Pin Definition
…………………………………………………………………………………………… 7
5. MODULE PARAMETER SETTING ……………………………………………………………………………….. 8 5.1 Serial
Server Configure Software …………………………………………………………………………8
6. CONVERSION PARAMETERS …………………………………………………………………………………… 10 6.1 Conversion
Mode …………………………………………………………………………………………………10 6.2 Conversion Direction
………………………………………………………………………………………….. 11 6.3 CAN Identifier in UART
………………………………………………………………………………………. 11 6.4 Whether CAN is Transmitted in UART
………………………………………………………………. 12 6.5 Whether CAN Frame ID is Transmitted in UART
……………………………………………….12
7. UART PARAMETER SETTING …………………………………………………………………………………… 13 8. CAN
PARAMETER SETTING ………………………………………………………………………………………14
8.1 CAN Baud Rate Setting ……………………………………………………………………………………… 14 8.2 CAN Filter
Setting ………………………………………………………………………………………………. 15 9. CONVERSION EXAMPLE
…………………………………………………………………………………………… 17 9.1 Transparent Conversion
…………………………………………………………………………………….. 17
9.1.1 Serial Frame To CAN ……………………………………………………………………………………….17 9.1.2 CAN Frame
To UART ……………………………………………………………………………………… 19
WS-TTL-CAN
User Manual
9.2 Transparent Conversion with ID ………………………………………………………………………… 20 9.2.1 UART
Frame To CAN ……………………………………………………………………………………… 20 9.2.2 CAN Frame To UART
……………………………………………………………………………………… 22
9.3 Format Conversion ………………………………………………………………………………………………23 9.4 Modbus
Protocol Conversion ………………………………………………………………………………24
1. OVERVIEW
WS-TTL-CAN
User Manual
WS-TTL-CAN is the device that supports the bidirectional transmission between TTL and CAN. The device’s CAN parameters (such as baud rate) and UART parameters are configurable via the software.
1.1 FEATURES
Support CAN to TTL bidirectional communication. Supports device firmware
upgrade via TTL, more convenient for firmware update and function
customization Onboard interface with ESD isolated protection and anti-surge
protection, and better EMC
performance. 14 sets of configurable filter 4 working modes: transparent
conversion, transparent with identifiers conversion, format
conversion, and Modbus RTU protocol conversion With offline detection and
self-restore function Compliant with CAN 2.0B standard, compatible with CAN
2.0A, and compliant with ISO
11898-1/2/3 CAN communication baudrate: 10kbps~1000kbps, configurable CAN
buffer of up to 1000 frames ensures no data loss Supports high-speed
conversion, the CAN transmission speed can reach up to 1270 extended
frames per second with the UART at 115200bps and CAN at 250kbps (close to the
theoretical max value of 1309), and can exceed 5000 extended frames per second
with the UART at 460800bps and CAN at 1000kbps
1
2. QUICK START
WS-TTL-CAN
User Manual
WS-TTL-CAN is the device that supports the bidirectional transmission between
TTL and CAN. The device’s CAN parameters (such as baud rate) and UART
parameters are configurable via the software.
The related software: WS-CAN-TOOL.
2.1 TRANSPARENT TRANSMISSION TEST
First, you can test it with the default parameters of the product, as shown below:
Item
TTL CAN Operation Mode
CAN Baud Rate CAN Sending Frame Type
CAN Sending Frame ID CAN Filter
Parameters
115200, 8, N, 1 Transparent Transmission, Bidirectional
250kbps Extended Frames
0 x 12345678 Disabled (Receive all CAN frames)
TTL and CAN transparent transmission test: Use the serial cable to connect the
computer and the TTL port of the device, and connect the
USB to CAN debugger (the first time you use it, you need to install the
software and driver, please consult the relevant manufacturers of the USB to
CAN debugger for the detailed use), and then the 3.3V@40mA power adapter to
power on the device.
2
WS-TTL-CAN
User Manual
Figure 1.2.2: RS232 TO CAN Data Transparent Transmission
Open the SSCOM, select the COM port to be used, and set the UART parameters as
shown in Figure 1.2.2. After setting, you can enter the serial port, open USB
to CAN debugging software, and set the baud rate as 250kbps.
After following the above steps, the CAN and RS232 can send data to each
other.
3
3. FUNCTION INTRODUCTION
WS-TTL-CAN
User Manual
WS-TTL-CAN has onboard 1-channel TTL interface and 1-channel CAN interface.
The baud rate of the serial port supports 1200~460800bps; the baud rate of CAN
supports 10kbps~1000kbps, and the firmware upgrade of the device can be
realized through the TTL interface, which is very convenient to use.
Users can easily complete the interconnection of serial devices and CAN
devices. 3.1 HARDWARE FEATURES
No.
Item
1
Model
2
Power
3
CPU
4
CAN Interface
5
TTL Interface
6 Communication Indicator
7
Reset/Restore Factory Setting
8
Operation Temperature
9
Storage Temperature
Parameters
WS-TTL-CAN 3.3V@40mA 32-bit High-performance Processor ESD Protection, Anti-
surge Protection, Excellent EMC Performance The baud rate supports 1200~460800
RUN, COM, CAN indicator, easy to use Comes with the setting signal for Reset/
Restore Factory
Setting Industrial Grade: -40~85
-65~165
3.2 DEVICE FEATURES
Support the bidirectional data communication between CAN and TTL. The device
parameters are configurable through TTL. ESD Protection, Anti-surge
Protection, Excellent EMC Performance. 14 set configurable filters. Four
operation modes: transparent conversion, transparent conversion with
identifiers, format
conversion, and Modbus RTU protocol conversion. Offline detection and
automatic recovery functionality. Compliance with CAN 2.0B specifications,
compatible with CAN 2.0A; complies with ISO
4
WS-TTL-CAN
User Manual
11898-1/2/3 standards. Baud rate range: 10kbps ~ 1000kbps. CAN buffer capacity
of 1000 frames to prevent data loss. High-speed conversion: At a serial port
baud rate of 115200 and CAN rate of 250kbps, the CAN
sending speed can reach up to 1270 extended frames per second (close to the
theoretical maximum of 1309). At a serial port baud rate of 460800 and CAN
rate of 1000kbps, the CAN sending speed can exceed 5000 extended frames per
second.
5
4. Module HARDWARE INTERFACE
4.1 MODULE DIMENSIONS
WS-TTL-CAN
User Manual
6
4.1 MODULE PIN DEFINITION
WS-TTL-CAN
User Manual
Label 1
2
3
4 5 6 7 8 9 10 11 12
Description UART_LED
CAN_LED
RUN_LED
NC CAN_H CAN_L 3.3V GND CFG DIR RXD TXD
Note TTL communication indicator signal pin, high level for no data, low level
for
data transmission CAN communication indicator signal pin, high level for no
data, low level for
data transmission System running indicator signal pin, toggles between high
and low levels (approx. 1Hz) when system is working normally; Outputting high
level when
CAN bus is abnormal Reserved pin, not connected CAN differential positive,
built-in 120 resistor CAN differential negative, built-in 120 resistor
Power input, 3.3V@40mA Ground
Reset/restore to factory setting, pull low within 5s for resetting or more
than 5s for restoring factory setting RS485 direction control TTL RX TTL TX
7
5. MODULE PARAMETER SETTING
WS-TTL-CAN
User Manual
This module can be configured by ” WS-CAN-TOOL” through the TTL interface. If
you fail to connect the device due to your careless setting, you can press the
“CFG” key to restore the factory setting, (Press and hold the CFG key for 5s,
and release it after the three green indicators blink at the same time).
5.1 SERIAL SERVER CONFIGURE SOFTWARE
Select the connected “Serial Port”. Click on “Open Serial”. Click on “Read
Device Parameters”.
8
WS-TTL-CAN
User Manual
After reading the device parameters, you can modify them. You can click on
“Save Device Parameters” to save your modification. Then you need to reboot
the device.
The following content is for explaining the parameters in the configured
software.
9
6. CONVERSION PARAMETERS
WS-TTL-CAN
User Manual
This section specifies the device’s conversion mode, conversion direction, the
position of CAN identifiers in the serial sequence, whether CAN information is
transformed to UART, and whether CAN frame IDs are transformed to UART.
6.1 CONVERSION MODE
Three conversion modes: transparent conversion, transparent conversion with
identifiers, and format conversion.
Transparent conversion It involves converting bus data from one format to
another without adding or modifying data. This
method facilitates an exchange of data formats without modifying the data
content, making the converter transparent to both ends of the bus. It doesn’t
add communication overhead for users and allows real-time, unaltered data
conversion, capable of handling high-volume data transmission.
Transparent conversion with identifiers This is a special application of
transparent conversion, also without adding a protocol. This
conversion method is based on the common characteristics of typical serial
frames and CAN messages, allowing these two different types of buses to
seamlessly form a single communication network. This method can map the
“address” from the serial frame to the identifier field of the CAN message.
The “address” in the serial frame can be configured in terms of its starting
position and length, enabling the converter to adapt to user-defined protocols
to the maximum extent in this mode.
Format conversion Additionally, the format conversion is the simplest usage
mode, where the data format is defined
as 13 bytes, encompassing all information from the CAN frame.
10
6.2 CONVERSION DIRECTION
WS-TTL-CAN
User Manual
Three conversion directions: bidirectional, only UART to CAN, and only CAN to
UART. Bidirectional
The converter converts data from the serial bus to the CAN bus and also from
the CAN bus to the serial bus. Only UART to CAN
It only translates data from the serial bus to the CAN bus and doesn’t convert
data from the CAN bus to the serial bus. This method effectively filters out
interference on the CAN bus. Only CAN to UART
It exclusively translates data from the CAN bus to the serial bus and doesn’t
convert data from the serial bus to the CAN bus.
6.3 CAN IDENTIFIER IN UART
This parameter only be effective when it is in “Transparent conversion with identifiers” mode:
When converting serial data to CAN messages, the offset address of the frame
ID’s starting byte in the serial frame and the length of the frame ID are
specified.
The frame ID length can range from 1 to 2 bytes for standard frames,
corresponding to ID1 and
11
WS-TTL-CAN
User Manual
ID2 in the CAN message. For extended frames, the ID length can range from 1 to
4 bytes, covering ID1, ID2, ID3, and ID4. In standard frames, the ID consists
of 11 bits, while in extended frames, the ID consists of 29 bits. 6.4 WHETHER
CAN IS TRANSMITTED IN UART
This parameter is only used in “Transparent Conversion” mode. When selected,
the converter will include the frame information of the CAN message in the
first byte of the serial frame. When deselected, the frame information of the
CAN won’t be converted into the serial frame. 6.5 WHETHER CAN FRAME ID IS
TRANSMITTED IN UART
This parameter is exclusively used in “Transparent Conversion” mode. When
selected, the converter will include the frame ID of the CAN message before
the frame data in the serial frame, following the frame information (if frame
information conversion is allowed). When deselected, the CAN frame ID won’t be
converted.
12
7. UART PARAMETER SETTING
Baud rate: 1200~406800 (bps) UART parity method: no parity, even, odd Data
bit: 8 and 9 Stop bit: 1, 1.5 and 2
WS-TTL-CAN
User Manual
13
8. CAN PARAMETER SETTING
WS-TTL-CAN
User Manual
This part introduces how the converter CAN set the baud rate, CAN send ID,
frame type and CAN filter of the converter. CAN baud rate supports
10kbps~1000kbps and also supports user’s definition. Frame types support
extended frames and standard frames. The frame ID of CAN is in hexadecimal
format, which is valid in “transparent conversion” mode and “transparent
conversion with ID” mode, and sends data to the CAN bus with this ID; This
parameter is not valid in Format Conversion mode.
There are 14 groups of CAN receiving filters, and each group consists of
“filter type”, “filter acceptance code” and “filter mask code”.
8.1 CAN BAUD RATE SETTING
Most common baud rates have been reserved in the list: this device does not
support customization.
14
8.2 CAN FILTER SETTING
WS-TTL-CAN
User Manual
14 groups of CAN receiving filters are disabled by default, which means the data of the CAN bus are not filtered. If users need to use filters, you can add them in the configured software, 14 groups can be added.
Filter mode: optional “Standard Frame” and “Extended Frame”. Filter acceptance
code: used to compare the frame ID received by CAN to determine whether the
frame is received in hexadecimal format. Filter mask code: used to mask some
bits in the acceptance code to determine whether some bits of the acceptance
code participate in the comparison ((bit is 0 for non-participation, 1 for
participation), in hexadecimal format. Example 1: Filter type selected:
“Standard Frame”; “Filter Acceptance Code” filled with 00 00 00 01; “Filter
Mask Code” filled with 00 00 0F FF. Explanation: As the standard frame ID
consists of only 11 bits, the last 11 bits of both the acceptance code and the
mask code are significant. With the mask code’s final 11 bits all set to 1, it
means that all the corresponding bits in the acceptance code will be
considered for comparison. Therefore, the mentioned configuration allows the
standard frame with an ID of 0001 to pass through. Example 2: Filter type
selected: “Standard Frame”; “Filter Acceptance Code” filled with 00 00 00 01;
“Filter Mask Code” filled with 00 00 0F F0. Explanation: Similar to example 1,
where the standard frame has only 11 valid bits, the last 4 bits of the mask
code are 0, indicating that the last 4 bits of the acceptance code will not be
considered
15
WS-TTL-CAN
User Manual
for comparison. Hence, this configuration allows a group of standard frames
ranging from 00 00 to 000F in ID to pass through.
Example 3: Filter type selected: “Extended Frame”; “Filter Acceptance Code”
filled with 00 03 04 01; “Filter Mask Code” filled with 1F FF FF FF.
Explanation: Extended frames have 29 bits, and with the mask code’s last 29
bits set to 1, it means that all the last 29 bits of the acceptance code will
be involved in comparison. Therefore, this setting enables the passage of the
extended frame with an ID of “00 03 04 01”.
Example 4: Filter type selected: “Extended Frame”; “Filter Acceptance Code”
filled with 00 03 04 01; “Filter Mask Code” filled with 1F FC FF FF.
Explanation: Based on the provided settings, a group of extended frames
ranging from “00 00 04 01” to “00 0F 04 01” in ID can pass through.
16
9. CONVERSION EXAMPLE
WS-TTL-CAN
User Manual
9.1 TRANSPARENT CONVERSION
In transparent conversion mode, the converter promptly converts and sends the
data received from one bus to the other bus without delay.
9.1.1 SERIAL FRAME TO CAN
The entire data of the serial frame is sequentially populated into the data
field of the CAN message frame. Once the converter receives a frame of data
from the serial bus, it immediately transfers it to the CAN bus. The
information of the converted CAN message frame (the frame type section) and
the frame ID are pre-configured by the user, and throughout the conversion
process, the frame type and frame ID remain unchanged.
The data conversion follows the following format: If the length of the received serial frame is less than or equal to 8 bytes, characters 1 through n (where n is the length of the serial frame) are sequentially placed into positions 1 through n of the CAN message’s data field (with n being 7 in the illustration). If the number of bytes in the serial frame is more than 8 bits, the processor starts from the first character of the serial frame, takes the first 8 characters, and fills them sequentially into the data field of the CAN message. Once this data is sent to the CAN bus, the remaining serial frame data is converted and filled into the data field of the CAN message until all the data has been converted.
17
WS-TTL-CAN
User Manual
For example, the CAN parameter setting selects “Standard Frame”, and the CAN
ID is 00000060, note that only the last 11 bits of the standard frame are
valid.
18
WS-TTL-CAN
User Manual
9.1.2 CAN FRAME TO UART On the CAN bus message, it promptly forwards one frame
upon receiving one frame. The data
format corresponds as shown in the diagram. During conversion, all the data
present in the data field of the CAN message is sequentially
converted into the serial frame. If, during configuration, the setting
“Whether CAN information is to be converted into serial” is
enabled, the converter will directly fill the “Frame Information” byte of the
CAN message into the serial frame.
Similarly, if the setting “Whether CAN Frame ID is to be converted into
serial” is enabled, all the bytes of the CAN message’s “Frame ID” will be
filled into the serial frame.
For example, if “Convert CAN Message to Serial” is enabled but “Convert CAN
Frame ID to Serial” is disabled, the conversion of a CAN frame to a serial
format would be as depicted in the
19
following diagram:
Serial Frame Format
07 01 02 03 04 05 06 07
WS-TTL-CAN
User Manual
CAN message (Standard frame)
Frame
07
Information
00 Frame ID
00
01
02
03
Data
04
Division
05
06
07
9.2 TRANSPARENT CONVERSION WITH ID
Transparent conversion with ID is a specialized use of transparent conversion
that facilitates users in constructing their networks more conveniently and
employing custom application protocols.
This method automatically converts the address information from a serial frame
into the frame ID of the CAN bus. By informing the converter about the
starting address and length of this address in the serial frame during
configuration, the converter extracts this frame ID and converts it into the
frame ID field of the CAN message. This serves as the ID of the CAN message
when forwarding this serial frame. When converting a CAN message into a serial
frame, the ID of the CAN message is also translated into the respective
position within the serial frame. It’s important to note that, in this
conversion mode, the “CAN ID” setting in the “CAN Parameter Settings” of the
configuration software is invalid. This is because, in this scenario, the
transmitted identifier (frame ID) is populated from the data within the
aforementioned serial frame.
9.2.1 UART FRAME TO CAN
Upon receiving a complete serial data frame, the converter promptly forwards
it to the CAN bus.
20
WS-TTL-CAN
User Manual
The CAN ID carried within the serial frame can be set within the
configuration, specifying its starting address and length within the serial
frame. The range for the starting address is from 0 to 7, while the length
ranges from 1 to 2 for standard frames and 1 to 4 for extended frames.
During conversion, based on the pre-configured settings, all CAN frame IDs
within the serial frame are entirely translated into the frame ID field of the
CAN message. If the number of frame IDs within the serial frame is fewer than
the number of frame IDs within the CAN message, the remaining IDs within the
CAN message are filled in the order of ID1 to ID4, with the remaining one
filled with “0”. The rest of the data undergoes sequential conversion as shown
in the diagram.
If a single CAN message frame does not complete the conversion of the serial
frame data, the same ID continues to be used as the frame ID for the CAN
message until the entire serial frame has been completely converted.
Serial Frame Format
Address CAN
0
frame ID
Address 1 Data 1
Address 2
Data 2
Address 3
Data 3
Address 4
Data 5
Address 5
Data 6
Address 6
Data 7
Address 7
Data 8
……
……
Address (n-1)
Data n
CAN message 1 CAN message … CAN message x
Frame Information Frame ID 1
Frame ID 2
User configuration
00 Data 4
(CAN frame ID 1)
User configuration
00 Data 4
(CAN frame ID 1)
User configuration
00 Data 4
(CAN frame ID 1)
Data 1
Data …
Data n-4
Data 2
Data …
Data n-3
Data Division
Data 3 Data 5
Data … Data …
Data n-2 Data n-1
Data 6
Data 7 Data 8 Data 9
Data …
Data … Data … Data …
Data n
For example, the initial address of the CAN ID in the serial frame is 0, the
length is 3 (in the extended
21
WS-TTL-CAN
User Manual frame), the serial frame and the CAN message are as shown below.
Note that the two frames of CAN messages are converted in the same ID.
Serial Frame Format
Data 1 Address 0 (CAN frame ID 1)
Data 2 Address 1 (CAN frame ID 2)
Address 2
Data 3
(CAN frame ID 3)
Address 3
Data 1
Address 4
Address 5 Address 6 Address 7 Address 8 Address 9 Address 10 Address 11
Address 12 Address 13 Address 14
Data 2
Data 3 Data 4 Data 5 Data 6 Data 7 Data 8 Data 9 Data 10 Data 11 Data 12
CAN message 1 CAN message 2
Frame
88
85
Information
Frame ID 1
00
00
Frame ID 2 Frame ID 3 Frame ID 4
Data Division
Data 1
(CAN frame ID 1)
Data 2
(CAN frame ID 2)
Data 3
(CAN frame ID 3)
Data 1 Data 2 Data 3 Data 5 Data 6 Data 7 Data 8
Data 1
(CAN frame ID 1)
Data 2
(CAN frame ID 2)
Data 3
(CAN frame ID 3)
Data 9 Data 10 Data 11 Data 12
9.2.2 CAN FRAME TO UART
If the initial address of the configured CAN ID is 0 in the serial frame and a
length of 3 (in the case of extended frames), the CAN message and the result
of converting it to a serial frame is shown below:
22
WS-TTL-CAN
User Manual
Serial Frame Format
20
30 40 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
CAN message
Frame Information
Frame ID
Data Division
87
10 20 30 40 Data 1 Data 2 Data 3 Data 4 Data 5 Data 6 Data 7
9.3 FORMAT CONVERSION
Data conversion format as shown below. Each CAN frame includes 13 bytes, and they include CAN information + ID +data.
23
WS-TTL-CAN
User Manual
9.4 MODBUS PROTOCOL CONVERSION Convert the standard Modbus RTU serial data
protocol to the specified CAN data format, and
this conversion generally requires the editable CAN bus device message. The
serial data must be compliant with the standard Modbus RTU protocol, otherwise
it can not
be converted. Please note that CRC parity can not be converted to CAN. The CAN
formulates a simple and efficient segment communication format to realize
Modbus
RTU communication, which does not differentiate between host and slave, and
users only need to communicate according to the standard Modbus RTU protocol.
The CAN does not require CRC checksum, and after the converter receives the
last CAN frame, the CRC will be added automatically. Then, a standard Modbus
RTU data packet is formed and sent
24
WS-TTL-CAN
User Manual
to the serial port. In this mode, the [CAN ID] of the [CAN Parameter Setting]
of the configuration software is
invalid, because the identifier (frame ID) sent at this time is filled by the
address field (node ID) in the Modbus RTU serial frame.
(1) Serial frame format (Modbus RTU) Serial parameters: baud rate, data bits,
stop bits and parity bits can be set via configuration software. The data
protocol needs to conform to the standard Modbus RTU protocol. (2) CAN The CAN
side designs a set of segment protocol formats, which defines designed a
segmentation protocol format that defines a method for segmenting and
reorganizing a message that is greater than 8 bytes in length, as shown below.
Note that when the CAN frame is a single frame, the segmentation flag bit is
0x00.
Bit No.
7
6
5
4
3
2
1
0
Frame
FF
FTR X
X
DLC (data length)
Frame ID1
X
X
X
ID.28-ID.24
Frame ID2
ID.23-ID.16
Frame ID3
ID.15-ID.8
Frame ID4
ID.7-ID.0 (Modbus RTU address)
Data 1
segmentation segmentation
flag
type
segmentation counter
Data 2
Character 1
Data 3
Character 2
Data 4
Character 3
Data 5
Character 4
Data 6 Data 7 Data 8
Character 5 Character 6 Character 7
The CAN frame message can be set by the configuration software (remote or data
frame; standard or extended frame).
The transmitted Modbus protocol starts from “Data 2” byte, if the protocol
content is more than 7 bits, and the rest of the protocol content is converted
in this segmented format until the conversion is
25
WS-TTL-CAN
User Manual
complete. Data 1 is segmentation control message (1 byte, 8bit), and the
meaning as shown below:
Segmentation Flag The segmentation mark occupies one bit (Bit7), and indicates
whether the message is a
segmented message or not. “0” indicates a separate message, and “1” indicates
a frame in a segmented message.
Segmentation Type The segmentation type occupies 2 Bits (Bit6, Bit5), and
indicates the types of the report in this
segment report.
Bit Value (Bit6, Bit5)
00
01 10
Description The first segmentation
The middle segmentation The last segmentation
Note
If the segmentation counter includes the value=0, and then this is the first
segmentation.
Indicates this is the middle segmentation, and there are multiple segmentation
or there are no middle segmentation. Indicates the last segmentation
Segmentation Counter Occupies 5 bits (Bit4-Bit0), used to distinguish the
serial number of segments in the same frame
Modbus message, enough to verify whether the segments of the same frame are
complete. (3) Conversion Example: The serial port side Modbus RTU protocol (in
hex). 01 03 14 00 0A 00 00 00 00 00 14 00 00 00 00 00 17 00 2C 00 37 00 C8 4E
35 The first byte 01 is the Modbus RTU address code, converted to CAN
ID.7-ID.0; The last 2 bytes (4E 35) are Modbus RTU CRC checksums, which are
discarded and not
converted. The final conversion to CAN data message is as follows: Frame 1 CAN
message: 81 03 14 00 0A 00 00 00 00
26
WS-TTL-CAN
User Manual
Frame 2 CAN message: a2 00 00 14 00 00 00 00 00 Frame 3 CAN message: a3 00 17
00 2C 00 37 00 CAN message frame 4: c4 c8 The frame type (standard or extended
frame) of the CAN telegrams is set via the configuration software; The first
data of each CAN message is filled with segmented information (81, a2, a3 and
c4), which is not converted into Modbus RTU frames, but only serves as
acknowledgment control information for the message.
27
WS-TTL-CAN
User Manual
The conversion principle of data from CAN side to ModBus RTU is the same as
the above, after the CAN side receives the above four messages, the converter
will combine the received CAN messages into a frame of RTU data according to
the CAN segmentation mechanism mentioned above, and add CRC checksum at the
end.
28
References
Read User Manual Online (PDF format)
Read User Manual Online (PDF format) >>