Discontinuation of Support for the IO602 and IO691 Legacy CAN Driver
Blocks
Discontinuation of Support for the IO602 and IO691 Legacy CAN Driver
Blocks — Not supported on MATLAB R2026a and
later
Introduction
Legacy CAN driver blocks for the IO602 and IO691 I/O modules are no longer
supported as of MATLAB R2026a and have been replaced by the latest CAN driver
blocks.
In MATLAB R2025b and earlier, these legacy blocks are not automatically replaced
and will continue to function up to and including R2025b.
There are some differences between the legacy and the latest CAN driver blocks
that require your attention. These differences are outlined below.
CAN Setup: CAN FD Baud Rate Parameter
CAN FD baud rate combinations for legacy CAN Setup blocks can be replaced
using fallback settings or a corresponding custom setting for the Nominal Baud Rate and Data Baud
Rate parameters. The final baud rate configuration should be
checked carefully.
CAN Write: RAW Option for the Message Type Parameter
The RAW option for the Message Type parameter in legacy CAN Write blocks has been
replaced by CAN (HS) and CAN FD. Affected input ports must be rerouted manually. You can
manually create a CAN (HS) or CAN FD message bus using a subsystem containing
Out Bus Element blocks. For more information, refer to the CAN FD Loopback product example.
CAN Read: RAW and CAN + RAW Options for the Message Type Parameter
The RAW and CAN +
RAW options for the Message Type
parameter have been replaced by CAN
(HS) and CAN FD. Affected output
ports must be rerouted manually. You can individually extract CAN message bus
elements using a Bus
Selector block. For more information, refer to the CAN FD Loopback product example.
CAN Status: Output as Array Checkbox
The Output as Array checkbox in the legacy
CAN Status blocks is no longer available. Certain status information items have
also been removed or remapped, which may require existing downstream wiring to
be modified. Select the Enable Expert Mode
checkbox to enable all available status information items.
The Auto option for the Bus Off Recover parameter has also been removed. To recover the
bus off state, toggle the new, optional Disable CAN Channel input port.