Documentation

Module ID

The Module ID has two functions:

• It defines the logical connection between the Setup block and its I/O blocks

• It also informs the auto-search feature of the PCI Slot parameter. If only one I/O module of this type is installed, the Module ID must be set to 1. If n modules are installed, it must be in the range 1:n. Not all the I/O modules installed in the target machine need to be used. To see how each I/O module maps to a Module ID, use this Speedgoat API:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat")

PCI Slot (-1: auto-search)

There are two approaches for mapping this block to a specific I/O module installed in your target machine. All modules of the same type must be configured using the same method.

• Auto-Search: with the default value -1 the I/O module will be automatically located in the target machine. If you have multiple modules of the same kind, the Module ID defines which module is associated with this block. To see how each I/O module maps to a Module ID, use this Speedgoat API:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat")

• Explicit Addressing: to explicitly define the logical address of the I/O module in the target machine, you can provide the PCI bus and slot numbers as a vector: [bus, slot]. To determine these numbers, run the following command in the MATLAB command window:

  speedgoat.getIoInterfaces("TargetName", "mySpeedgoat", "Advanced", true)

  Note that the PCI address can change whenever an I/O module is added or removed – usually, auto-search is the best option.

Channel [1, 2]

Configures the respective channel (1 or 2) to communicate on CAN (HS) according to ISO 11898-2 or CAN-FD according to ISO 11898-1. You can also choose to disable the channel electrically.

Initialization Structures

Defines CAN messages sent during initialization of the Setup block. For more information, see: Initialization and Termination CAN Messages.

Termination Structures

Defines CAN messages sent during termination of the Setup block. For more information, see: Initialization and Termination CAN Messages.

The tab for a channel is visible only if the respective channel is not disabled on the Configuration tab.

Standard Baud Rate

Select the baud rate for CAN (HS) or the arbitration baud rate for CAN-FD. The User defined option should be used if you require a baud rate that is not configured by default or if a certain sample point is required. Selecting User defined enables the [BRP, SJW, TSEG1, TSEG2] parameter.

[BRP, SJW, TSEG1, TSEG2]

If the User defined option has been selected with the Standard Baud Rate parameter, this parameter is used to configure the bit timing. The [BRP, SJW, TSEG1, TSEG2] parameter is a vector with the following elements:

• Bit Rate Prescaler (BRP)

• Synchronization Jump Width (SJW)

• Time Segment 1 (TSEG1)

• Time Segment 2 (TSEG2)

80e6 / BRP / (1 + TSEG1 + TSEG2) equals the Baud Rate. The ratio between (1 + TSEG1) and (1 + TSEG1 + TSEG2) nominates the sample point. For additional information refer to can-wiki, info. Use the following settings with respect to the IO691 I/O Module.

• Table for: IFI CAN FD arbitration, in ISO mode

• Clock Rate: 80 MHz

• Sample point: 80.0

• SJW: 1

Fast Data Baud Rate

This parameter is only available if the CAN-FD option is chosen with the Channel parameter.

[BRP, SJW, TSEG1, TSEG2]

The principle is the same as for Standard Baud Rate. The BRP of Standard Baud Rate and Fast Baud Rate must be equal for one channel of the IO691. Failing this, you will get an error notification.