Instructions

Message Types
7 (26)
4 Message Types
4.1 Message
Used to exchange CAN messages between the device and the Ethernet TCP/IP host and to
exchange information in both directions, to and from the device.
When a device receives a message on the CAN bus:
• CAN message is packed into an ASCII protocol message of type Message and transmitted
over Ethernet TCP/IP.
When device receives an ASCII-Protocol message of type Message from Ethernet TCP/IP:
• Message is unpacked and translated into a CAN message.
• CAN message is transmitted to the CAN bus.
Make sure, that the CAN controller is in running state before a message is transmitted (see CAN
Commands, p. 10). Otherwise the message is discarded. If the device is in running state and no messages
can be transmitted (e. g. invalid bus connection) the device discards one message every 10 ms to prevent
a data jam.
M <port> <format> <identifier> [<data-byte>] | dlc=<dlc>]
Parameter
Parameter
Description
port
CAN port number (NT 200: 1...2, NT 420: 1...4)
format Message format according to CFT:
• C – Controller type (C – CAN, F — CAN FD)
• F – Frame Format (S – Standard, E – Extended)
• T – Frame Type (D – Data, R – RTR)
Remote frames (RTR) are only supported by Classic CAN.
identifier Message identifier (in HEX)
data-byte Only in data messages.
Classic CAN: up to 8 (blank separated) data bytes (in HEX)
CAN FD: up to 64 (blank separated) data bytes (in HEX)
dlc Only in remote frames (RTR) in Classic CAN mode, valid values 0–8
Example
Classic CAN data message:
M 1 CSD 100 55 AA 55 AA
CAN FD data message:
M 2 FED 18FE0201 01 02 03 04 05 06 07 08
Classic CAN remote frame:
M 1 CSR 101 dlc=05
Return Value
None
CAN@net NT 200/420 Software Design Guide
4.02.0332.20000 1.5 en-US