Instructions

Message Types
11 (26)
4.3.1 Initializing the CAN Controller
Make sure, the CAN controller is not in running state before initialization.
With the initialization the CAN controller loses its filter settings and all messages are
rejected. Configure the filter after initialization.
CAN INIT
Initializes the CAN controller with the baud rate value.
The following baud rates are possible (in kBd):
• CAN: 5, 10, 20, 50, 100, 125, 250, 500, 800, 1 000
• CAN FD arbitration phase: 5, 10, 20, 50, 100, 125, 250, 500, 800, 1 000
• CAN FD data phase: 500, 1 000, 2 000, 4 000, 5 000, 6 667, 8 000, 10 000
CAN <port> INIT <mode> <baudA> <baudD> <iso>
Parameter
Parameter
Description
port
CAN port number (NT 200: 1...2, NT 420: 1...4)
mode Operational mode
STD = Standard
LISTEN = Listen only
baudA Classic CAN: Baud rate value in KBaud like 125
CAN FD: Baud rate value in KBaud for arbitration phase
baudD Baud rate in KBaud for data phase (only with CAN FD)
iso
ISO or nonISO (only with CAN FD)
Example
CAN 1 INIT STD 125
CAN 2 INIT LISTEN 250
CAN 3 INIT STD 500 2000
CAN 4 INIT STD 500 2000 nonISO
Return Value
Return value
Description
R ok
Function succeeded
R ERR <error-number> <error-description>
See List of Error Codes, p. 24
Remark
When the controller is initialized, configure a filter with CAN FILTER ADD and start the controller.
CAN@net NT 200/420 Software Design Guide
4.02.0332.20000 1.5 en-US