Overview

CAN FD TO ETH

ETH / CAN FD

Introduction

The CAN FD TO ETH is a DIN-rail mountable CAN FD to Ethernet device, featuring high-speed low-latency performance, stable operation, ease of use, and cost-effectiveness. It supports five data conversion modes: Transparent, Transparent with ID, Standard Protocol, Modbus, and Custom Frame Header/Footer. It enables interconnection between CAN and Ethernet devices and is compatible with CAN FD and CAN 2.0A/2.0B protocols.
The product adopts an industrial-grade design, operating stably from -40°C to 85°C. It supports a wide power supply voltage of 9V to 36V, with an arbitration phase bit rate from 5 Kbps to 1 Mbps and a data phase bit rate from 100 Kbps to 5 Mbps.
The device can be configured via PC software and comes with a built-in 120Ω bus termination resistor (quickly accessible via DIP switch). It supports DIN-rail mounting, offering easy configuration and efficient installation.

Specifications

Classification	Parameter	Value
Basic parameters	Working voltage	DC 9V ~ 36V
	Size	110 × 27 × 76.1 (mm)
	Installation	DIN-rail installation
	Reload button	Long press to restore factory settings
	Indicator light	POWER, WORK, NET and CAN
Interface parameters	CAN port specification	1-ch CAN port, supports CAN FD, compatible with CAN 2.0A/2.0B
	CAN port baud rate	Arbitration domain baud rate: 5Kbps ~ 1Mbps Data domain baud rate: 100Kbps ~ 5Mbps
	Terminal resistor	Built-in 2 × 120Ω terminal resistors Switching either DIP switch to ON connects one 120 Ω resistor in parallel Switching both to ON connects two 120Ω resistors in parallel
	Network port specification	RJ45, 10/100Mbps, cross-connection adaptive
Working Environment	Working temperature	-40℃ ~ 85℃
	Storage temperature	-40℃ ~ 105℃
	Working humidity	5% ～ 95% RH (no condensation)
	Storage humidity	5% ～ 95% RH (no condensation)
Software function	Networking protocol	TCP server, TCP client, UDP server, and UDP client
	Modbus gateway	CAN FD to Modbus TCP (Master/Slave)
	Send message	Supports up to 64 transmit messages
	Receive message	Supports up to 64 receiving messages
	Protocol conversion	Transparent conversion, transparent conversion with ID, standard protocol conversion, Modbus protocol conversion, and custom protocol conversion
	CAN ID	Supports standard frame and extended frame
	Frame ID filtering	Supports only standard frames, only extended frames, and custom input frame ID (up to 32 groups)
	Pack frame time	Supports customizing the number of frames and the time of frame packing
	Change direction	Supports bidirectional conversion, only Network port to CAN, and only CAN to Network port
	Firmware upgrade	Supports the host computer for firmware upgrade
	Parameter configuration	AT command and host computer software configuration
	Other features	Supports heartbeat packets; register packets; normal, loopback, and only listen modes
Protection parameters	ESD protection	Air discharge: 8 KV, Contact discharge: 6 KV
	EFT/Burst	Power circuit: 2KV; Network port & CAN port circuit: 1KV
	Surge immunity test	Power circuit: 1kV differential mode, 2kV common mode; CAN port circuit: 2kV common mode; Network port circuit: 2kV

Hardware Description

Indicator Light Description

Indicator	Color	Function description
POWER light	Red	Always on when powered on, turns off when powered off
STA light	Green	Flickering: Device operating normally, frequency 1s; Strobe: Enters the CAN bus passive error state; Always on: CAN bus running abnormally
NET light	Green/Red	Green flickering: Indicates that the network port is receiving data Red flickering: Indicates that data is being sent from the network port
CAN light	Green/Red	Green flickering: Indicates that the CAN port is receiving data Red flickering: Indicates that data is being sent from the CAN port

Software Operation

Note: Take the transmission mode as an example

CAN FD Converter Basic Parameter Configuration

Open WS-CAN-FD-Converter and select CAN FD TO ETH. (The software defaults to English and can be modified to Chinese)

Click on Net Search, target device, and Query Params in order.

If there is an error prompt in the message bar on the right, click "Query Params" again until no error occurs before proceeding to the next step

Click Interface Set, set CANFD mode, enable CANFD Accelerate, Arbitration domain baud rate as 1000k, Data domain baud rate as 5000k, and then click Network Set

Select TCP Server in network working mode, change the local port to 502, and finally click Set and Save to end the device configuration. The command on the right has an error and needs to be saved or reconfigured

Example Demonstration

Connection Description

CAN
1. The CAN-H of CAN FD TO ETH is connected to the CAN1-H of USB-CAN-FD
2. The CAN-L of CAN FD TO ETH is connected to the CAN1-L of USB-CAN-FD

Network cable
The network port of CAN FD TO ETH is connected to the network port of the computer

USB_CANFD TOOL Communication Software Configuration

Open the test software "USB_CANFD TOOL.exe" and click "Device Operations"

Click "Open Device" next to the Index, then click "Start" next to USBCANFD- 200U

Select "Normal" for working mode, "CANFD ISO" for CANFD standard, "1Mbps" for arbitration domain baud rate, "5Mbps" for data domain baud rate, and finally click "Confirm"

SSCOM Software Settings

Select TCPClient mode in the network settings area, enter the remote IP address as 192.168.0.7, which is the module's default IP address, select the local IP address as 192.168.0.200 (choose according to the specific situation), server port 502, which is the module's TCP port, and click to establish a TCP connection.

Interface Transmission and Reception Communication Test

USB_CANFD TOOL: Click to send message, send data 55 55 66 66 77 77 88 88. SSCOM software: Check HEX hexadecimal to receive data 55 55 66 66 77 77 88 88.
SSCOM software: Click to send message, send data 11 11 22 22 33 33 44 44. USB_CANFD TOOL: Check HEX hexadecimal to receive data 11 11 22 22 33 33 44 44.

More Features

Conversion Mode Switching

Click "Net Search", target device, and "Query Params" in sequence.
After the parameters are fully loaded, click "Conversion Set" to see the switching options for conversion mode, select the target mode, and finally click "Set and Save" to complete the configuration.

Instructions for Conversion Modes

Transparent Conversion

In the transparent conversion mode, the data received from one bus is immediately converted and sent to the other bus, without attaching data or making any modifications to the data. This not only realizes the exchange of data formats without changing the data content, and the converter is transparent to the buses at both ends.
The CAN message frame information (frame type part) and frame ID are pre-configured by the user and remain unchanged during the conversion process. The user can choose whether to convert the frame information and frame ID.
This method does not increase the communication burden on users, but can convert data in real-time and handle the transmission of large amounts of data.

Ethernet to CAN(FD)

Ethernet frame to CAN message: All data from Ethernet frames is sequentially filled into the data field of CAN message frame. As soon as the converter detects data on the Ethernet, it immediately receives and converts it. The frame information (frame type section) and frame ID need to be pre-configured.
- CAN mode: Maximum 8 bytes per frame of data.
- CANFD mode: Maximum 64 bytes per frame of data. Note: When the data length exceeds 8 bytes, it must be encoded according to the length of CANFD's DLC to ensure accurate conversion, i.e., the length is 12, 16, 20, 24, 32, 48, 64, otherwise the converter will automatically split the CANFD messages into several CANFD messages of appropriate length.
- ETH to CAN

- ETH to CAN FD

CAN (FD) to Ethernet

Similarly, for CAN bus messages, one received CAN(FD) message will be immediately forwarded.
If the configuration enables frame information, the converter will add the frame information of the CAN (FD) message to the first byte of the Ethernet frame during operation. Frame information for CAN(FD) is not converted when unchecked.
If the configuration enables the frame ID, the converter will add the frame ID of the CAN (FD) message before the frame data of the Ethernet frame and after the frame information (such as enabling the frame information) during operation

CAN to Ethernet data (without enabling frame information/ID)
CANFD to Ethernet data (with enabling frame information/ID)

- CAN to ETH (without enabling frame information/ID)

- CAN FD to ETH (with enabling frame information/ID)

Conversion Examples

Network port:

Transparent with ID

Transparent conversion with ID is a special use of transparent conversion and does not add any protocol. This method can convert the "Address" in Ethernet data into the ID field of CAN (FD) messages, where the starting position and length of the frame ID in Ethernet data can be configured. The converter will extract this frame ID during conversion and fill it in the frame ID field of the CAN (FD) message as the ID of the CAN (FD) message when forwarding Ethernet data. Similarly, when CAN messages are converted to Ethernet data, the CAN(FD) message ID is also converted to the corresponding position in the Ethernet data.
In this way, the converter adapts to the user's custom protocol to the maximum.

Note: In this conversion mode, the "CAN ID" setting option of the configuration software is invalid because the identifier (frame ID) sent at this time is filled with data from the above Ethernet data.

Ethernet to CAN(FD)

Configure the starting address and length of the "Frame ID" for CAN (FD) frame types and all CAN (FD) messages carried in Ethernet data. The range of the starting address is 0~7; the length range is standard frame: 1~2, and the extended frame: 1~4.
The "Frame ID" of the CAN(FD) messages in the Ethernet data will be converted according to the pre-configured settings and mapped to the Frame ID field of the CAN(FD). If the length of the configured transparent conversion with ID is less than the frame ID length of the frame type in the CAN(FD) message, the high byte of the frame ID in the CAN(FD) message is padded with 0.

For CAN (FD) messages, one frame is immediately forwarded upon receipt. During each forwarding, the ID in the received CAN (FD) message is converted based on the pre configured position and length of the CAN (FD) frame ID in the Ethernet data. Other data is forwarded in sequence.
Note: If the CAN(FD) frame ID length is greater than the set transparent conversion with ID length, only the low bytes are taken and converted to the corresponding position in the Ethernet frame. For example: If the CAN frame ID is 01020304 and the transparent conversion with ID length is set to 2, then only 0304 is converted to the corresponding position in the Ethernet frame.
- ETH to CAN

- ETH to CAN FD

CAN (FD) to Ethernet

For CAN (FD) messages, one frame is immediately forwarded upon receipt. During each forwarding, the ID in the received CAN (FD) message is converted based on the pre configured position and length of the CAN (FD) frame ID in the Ethernet data. Other data is forwarded in sequence.

Note: If the CAN(FD) frame ID length is greater than the set transparent conversion with ID length, only the low bytes are taken and converted to the corresponding position in the Ethernet frame. For example: If the CAN frame ID is 01020304 and the transparent conversion with ID length is set to 2, then only 0304 is converted to the corresponding position in the Ethernet frame.

- CAN to ETH

- CAN FD to ETH

Conversion Examples

Network port:

Standard Protocol Conversion

Standard CAN frame format, each CAN frame contains 13 bytes, including CAN frame information (1 byte) + frame ID (4 bytes) + data frame (8 bytes).
Standard CANFD frame format, each CANFD frame contains 69 bytes, including CANFD frame information (1 byte) + frame ID (4 bytes) + data frame (64 bytes).
By correctly configuring the frame information (the first byte of data), it is possible to flexibly transmit standard, extended and even remote frames. Details of standard frames, extended frames, or remote frames can be obtained by correctly parsing Ethernet frames.
Note:
(1) In this conversion mode, the "CAN ID" and "Frame Type" configured in the software are invalid because the frame ID sent at this time is populated by the frame ID data in the Ethernet frame above, and the frame type is determined by the frame information in the Ethernet frame.
(2) In this mode, the standard Ethernet data format must be strictly followed to successfully convert. It is necessary to ensure that the frame information is correct and that the reserved bits are zero. CAN frames have a fixed length of 13 bytes, CANFD frames have a fixed length of 69 bytes. If the length is not sufficient, it must be padded with 0s, otherwise it cannot be transmitted.

Standard CAN Frame Format

Frame information: 1 byte in length, used to identify frame information: frame type, frame length.

FF:  The identification bit for standard frame and extended frame, 1 for extended frame, 0 for standard frame. 

RTR: The identification bit for remote frame and data frame, 1 for remote frame, 0 for data frame, and can only be 0 in CANFD mode. 

EDL: CAN and CANFD identification, 0 for CAN, 1 for CANFD. 

BRS: Baud rate switches enable identification, 0 for no rate conversion, 1 for variable rate conversion, valid only when CANFD. This bit should be 0 when CAN. 

DLC3~DLC0: Data length bit, identifying the data length of the CAN(FD) frame.

Frame ID: 4 bytes long; high byte first, low byte last. The standard frame has 11 valid bits, and the extended frame has 29 valid bits.

Frame data: In CAN mode, the length is 8 bytes, and in CANFD mode, the length is 64 bytes; if insufficient, it must be padded with 00.

Conversion Examples

Network port:

Modbus Protocol Conversion

The Modbus protocol conversion can convert the standard Modbus data protocol into a specific CAN(FD) data format. This conversion generally requires the CAN(FD) bus device messages to be editable.
On the CAN side, a simple and user-friendly segmented communication format has been developed to implement Modbus communication. The role of the converter remains protocol validation and forwarding. It supports the transmission of Modbus protocol, instead of the host or slave of Modbus, and the user can communicate according to the Modbus protocol.
Note:
(1) In this conversion mode, the "CAN ID" of the "CAN Parameter" item of the configuration software is invalid because the frame ID sent at this time is populated by the address field in the Modbus TCP Ethernet frame.

Frame Format

Modbus frame format:
Network port: Modbus TCP protocol, user frames must comply with this protocol.
CAN frame:
A segmentation protocol format is designed on the CAN side, which defines a segmentation and reorganization method, as shown below. Among them, the CAN frame information (remote frame or data frame; standard frame or extended frame) is set through configuration software.
In CAN mode, the transmitted Modbus protocol content can start from the "Data 2" byte. If the protocol content is greater than 7 bytes, then the remaining protocol content will continue to be converted according to this segmented format until the conversion is completed.

In CANFD mode, the transmitted Modbus protocol content can start from the "Data 2" byte. If the protocol content is greater than 63 bytes, then the remaining protocol content will continue to be converted according to this segmented format until the conversion is completed.

Data 1 is the segment control information (1 byte, 8 bits), which means the following:

Segment mark: Occupies 1 bit (Bit7), indicating whether this message is a segmented message. This bit is 0 to indicate a standalone message, and 1 to indicate a frame belonging to a segmented message.
Segment type: Occupies 2 bits (Bit6, Bit5), used to indicate the type of this message in segmented messages:
Segment counter: Occupies 5 bits (Bit4~Bit0), indicating the sequence number of the segment in the entire message. If it is the nth segment, then the value of the counter is n. This allows you to verify that any segments are missing at the time of receipt.

Modbus TCP to CAN(FD)

The address field of the Modbus protocol is converted into the ID4 (extended frame) or ID2 (standard frame) of the frame ID in the CAN message, and the identifier remains unchanged during the conversion of this frame.
The MBAP header is not converted into a CAN message, and CAN messages do not have to have an MBAP header.
The conversion involves the Modbus protocol content—function code and data field—where they are sequentially converted into the data field of a CAN message frame (starting from the second data byte, with the first data byte used for segmented protocol). Since the length of Modbus frame varies depending on the function code, while a CAN message frame can only transmit 7 data, and a CANFD message frame can only transmit 63 data. Therefore, the converter will convert the longer Modbus frame segments into CAN messages and send them using the CAN fragmentation protocol described above. Users can process the function code and data field when receiving them on the CAN node.

CAN(FD) to Modbus TCP

For Modbus protocol data on the CAN bus, there is no need to perform cyclic redundancy check (CRC16). The converter receives it according to the segmentation protocol and automatically adds cyclic redundancy check (CRC16) after parsing one frame, then convert it into a Modbus frame and send it to the Ethernet bus.
Note: If the received data does not comply with the segmentation protocol, discard this group of data without conversion.
CAN:

CAN FD:

Conversion Examples

Network port:

Custom Header/Footer Conversion

To make it convenient for users to use CAN-bus, the Ethernet frame format is aligned with the CAN frame format. In the Ethernet frame, the start and end of a frame are specified, namely the "frame header" and "frame footer", which can be configured by the user.

Ethernet to CAN(FD)

The Ethernet frame format must comply with the specified frame format, otherwise it cannot be transmitted correctly. An Ethernet frame must contain: header, data length, data field, and frame footer. The frame header and footer are customized by the user and consist of 1 byte.
Data length refers to the byte length of a data field. The data length and frame end data must match to be transmitted correctly, otherwise they are discarded. For example, the frame header is configured as AA and the frame footer is configured as FF. For Ethernet frame AA03010204FF, it can be transmitted normally. If the Ethernet frame AA0301020304FF is to be sent, and the data field 010203 is followed by 04 instead of the frame footer FF, the frame is discarded and cannot be transmitted.
As with transparent conversion, the CANID and CAN types need to be configured by yourself in custom protocol conversion. The frame header, frame footer, and data length are not converted into CAN frames.
CAN:

CAN FD:

Ethernet to CAN(FD)

The CAN(FD) bus message forwards one frame for every frame received. The module will sequentially convert the data in the CAN message data field, while automatically adding frame header, frame length, frame information, and other data to the Ethernet frame. This is essentially the reverse form of converting an Ethernet frame to a CAN message.
CAN:

CAN FD:

Conversion Examples

Network port:

AT Commands

Overview of Network AT Commands

Network AT Commands are a set of commands that allow users to interact with the module via an Ethernet port in command mode. The detailed command set is entirely consistent with the serial port AT command set.

Command Mode Requirement: To use Network AT Commands, you must ensure that the module and the computer are on the same network segment. Only then can you configure the module's parameters using these commands.
Method to Enter Command Mode: Send a fixed character string (default value: `www.waveshare.com`, customizable) via a network debugging tool using UDP broadcast. If the module and the computer are on the same network segment, the computer will receive a reply from the module. This indicates the module has successfully entered Network AT Command mode, and you can then issue AT commands for parameter configuration.
Timeout Exit Mechanism: After the module enters Network AT Command mode, it will automatically exit this mode if no command is received within 30 seconds.

AT Command Set

Classification	No.	Command	Description
Basic Commands	1	AT	Test
	2	AT+E	Query/Set Echo Enable
	3	AT+Z	Restart Module
	4	AT+ENTM	Exit Configuration Mode
	5	AT+VER	Query Firmware Version
	6	AT+CFGTF	Save Current Parameters as User Parameters
	7	AT+RELD	Restore Module to Factory Settings
	8	AT+CLEAR	Restore Factory Defaults and Reboot
	9	AT+MID	Query/Set Device Name
	10	AT+SN	Query SN Code
	11	AT+S	Enable Configuration
CAN Communication Commands	1	AT+CAN	Query/Set Basic CAN Parameters
	2	AT+CANFD	Query/Set Basic CAN FD Mode Parameters
	3	AT+CANBAUD	Query/Set Phase Buffer Segments and Prescaler for Custom Baud Rate
	4	AT+CANFDBAUD	Query/Set Phase Buffer Segments and Prescaler for CAN FD Data Field Custom Baud Rate
	5	AT+CANLT	Query/Set CAN Filter Mode
	6	AT+ADDLIST	Query/Set Filter Frame ID Whitelist
	7	AT+DELLIST	Delete Corresponding Frame ID from Filter Whitelist
	8	AT+TRDIR	Query/Set CAN Conversion Transmission Direction
	9	AT+TMODE	Query/Set CAN Protocol Conversion Mode
	10	AT+MSG	Query/Set Enable Frame ID and Enable Frame Information
	11	AT+MARK	Query/Set Position and Length of Transparent ID Tag Parameter
	12	AT+UDMHT	Query/Set Frame Header and Footer in Custom Conversion Mode
	13	AT+CANMODE	Query/Set CAN Operating Mode
	14	AT+CANPACK	Query/Set CAN Packing Time and Frame Count
Ethernet Port Commands	1	AT+WANN	Query/Set Device Local IP and Acquisition Method
	2	AT+SOCKAEN/SOCKBEN	Query/Set Whether Port's socketN is Enabled
	3	AT+SOCKA/SOCKB	Query/Set Port's socketN Parameters
	4	AT+SOCKPORT/SOCKBPORT	Query/Set Port's socketN Local Port Number
	5	AT+SOCKLK/SOCKBKLK	Query Port socketN Connection Status
	6	AT+SOCKSL/SOCKBBSL	Query/Set Port socketN Short Connection Function
	7	AT+SHORTO/SHORBTO	Query/Set Port socketN Short Connection Timeout
	8	AT+UDPAFLT/UDPBFLT	Query/Set Port socketN UDP IP Port Filtering Function
	9	AT+DNS	Query/Set DNS Address Configuration
	10	AT+DNSMODE	Query/Set DNS Acquisition Method
	11	AT+TCPCSE	Query/Set Whether TCPS Kicks Off Old Connections
	12	AT+MAXSK	Query/Set TCPS Maximum Connection Count
	13	AT+TCPREIP/TCPBREIP	Query/Set Port socketN Target IP Address/Domain Name
	14	AT+RCTIM	Query/Set TCPC No-data Reconnection Time
	15	AT+UDPFLT	Query/Set UDP IP Port Filtering Function
	16	AT+HEARTEN	Query/Set Heartbeat Packet Enable
	17	AT+HEARTDT	Query/Set Custom Heartbeat Packet Content
	18	AT+HEARTDTHEX	Query/Set HEX Format Custom Heartbeat Packet Content
	19	AT+CANHEART	Query/Set CAN Heartbeat Packet Content
	20	AT+HEARTTTM	Query/Set Heartbeat Packet Interval
	21	AT+HEARTSND	Query/Set Heartbeat Packet Send Direction
	22	AT+REGDT	Query/Set Registration Packet Custom Data
	23	AT+REGDTHEX	Query/Set HEX Format Registration Packet Custom Data
	24	AT+REGEN	Query/Set Registration Packet Type
	25	AT+REGSND	Query/Set Registration Packet Send Method
	26	AT+PING	Query/Set PING Command
	27	AT+DHCPEN	Query/Set DHCP Switch
	28	AT+SEARCH	Query/Set Network AT Command Port Number and Keyword
	29	AT+RSTIM	Query/Set No-data Restart Time
Modbus Commands	1	AT+MDBSEN	Query/Set Modbus Gateway Function Enable
	2	AT+MDBSMOD	Query/Set Modbus Working Mode
	3	AT+RDSDLIST	Query Send Message List
	4	AT+ADDSDLIST	Add Send Message
	5	AT+DELSDLIST	Delete Send Message
	6	AT+RDSDPOINT	Query Send Data (Mapped Variables)
	7	AT+ADDSDPOINT	Add Send Data (Mapped Variables)
	8	AT+DELSDP0INT	Delete Send Data (Mapped Variables)
	9	AT+RDRVLIST	Query Receive Message List
	10	AT+DELRVLIST	Delete Receive Message
	11	AT+RDRVPOINT	Query Receive Data (Mapped Variables)
	12	AT+ADDRVPOINT	Add Receive Data (Mapped Variables)
	13	AT+DELRVPOINT	Delete Receive Data (Mapped Variables)

AT Error Indicators

Error Code	Description
EER1	Invalid Command Format
EER2	Invalid Command
EER3	Invalid Operator
EER4	Invalid Parameter

Resources

Software

FAQ

Question: What should I do if the device does not respond after clicking "Query Params"?

Answer:

Click "Net Search" again to make the device enter AT command mode.

Question: Why does a timeout error occur?

Answer:

Command timeout usually occurs due to the following two reasons:
1. The IP network segment of the module and the computer do not match.
Solution: Set the computer's IP network segment to be the same as the module's.
2. Performing the "Query Params" operation without clicking "Net Search" again and selecting the device.
Solution: First click "Net Search", select the corresponding device, and then query the parameters.

Support

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