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The easiest way to get started with the CAN interface is through MT Manager. With an MTi connected, open the Device Settings menu, see figure below. Check the ‘Enable’ checkbox and select the desired Baudrate to enable the CAN output.
With the Xsens Avior and Xsens Sirius, CAN and CAN-FD functionality is enabled via a dropdown menu. Next to that, there is the possibility to set the data bit rate for CAN-FD. The Sirius allows for selecting whether to use the internal 120 Ohm termination resistor.
With the Xsens Avior and Xsens Sirius, CAN Input is available and can be enabled through MT Manager by checking the 'CAN Input' checkbox.
Enabling CAN output in Device Settings
Following this, you can select which data messages you would like to output (see the image below and CAN Output Messages) and their output frequencies. Note that with many outputs at a high frequency, the CANbus can be saturated easily. The maximum amount of different output messages that can be configured is 16.
After pressing ‘Apply’, the CAN output configuration is sent to the MTi and the configured output is available on the CANbus (see MTi 600-series Hardware Integration Manual or the Sirius Hardware Integration Manual for more details on the pin out).
When configuring the CAN outputs using the Device Settings screen (see the image below), the ID’s are in hexadecimal format. At the top right of the CAN output configuration screen, the CAN frame Format can be set, (11-bit or 29-bit).
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Configuring CAN output in MT Manager