Digi PS2CSM XBee ZB SMT Module User Manual

Digi International Inc XBee ZB SMT Module

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User Manual

1. User manual
2. User Manual

User Manual

User GuideXBee/XBee-PRO ZigBee RF Module

XBee/XBee-PRO ZigBee RF Modules User Guide 3USAApplicable firmware and hardwareHardware: S2CFirmware: 401x, 402x, 403x, 404x, 405xHardware: S2DFirmware: 705x

XBee/XBee-PRO ZigBee RF Modules User Guide 4ContentsOverview of the XBee ZigBee RF ModuleWorldwide acceptance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10What’s new in 40xx/70xx firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 10Specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Hardware specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11Agency approvals . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13Serial communications specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13UART . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13SPI . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14GPIO specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14Hardware specifications for the programmable variant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Mechanical drawings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15Pin signals for the surface mount module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 17Pin signals for the through-hole module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19EM357 pin mappings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20Design notes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Power supply design . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Recommended pin connections . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Board layout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21Module operation for the programmable variant . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26XBee programmable bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Bootloader software specifics . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 29Bootloader menu commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33Firmware updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 34Output file configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 35Module operationSerial communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36UART data flow . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 36SPI communications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 37Serial buffers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 38UART flow control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 39Break control . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Serial interface protocols . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 40Modes of operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Idle Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Transmit Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42Receive Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Command Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 43Sleep Mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 45ZigBee networksIntroduction to ZigBee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46ZigBee stack layers . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 46ZigBee networking concepts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47Device types . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 47PAN ID . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 48

XBee/XBee-PRO ZigBee RF Modules User Guide 5Operating channel . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49ZigBee application layers: in depth . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Application Support Sublayer (APS) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 49Application profiles . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 50ZigBee Coordinator operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Forming a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Channel selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51PAN ID selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Security policy . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51Persistent data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52XBee ZigBee Coordinator startup . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52Permit joining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Resetting the Coordinator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Leaving a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 53Replacing a Coordinator (security disabled only) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 54Example: starting a Coordinator . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Example: replacing a Coordinator (security disabled) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55ZigBee Router operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Discovering ZigBee networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 55Joining a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Authentication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Persistent data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56ZB Router joining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 56Permit joining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 57Joining always enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Joining temporarily enabled . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Router network connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 58Leaving a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 59Network Locator option . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Resetting the Router . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Example: joining a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60End Device operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 60Discovering ZigBee networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Joining a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Parent child relationship . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61End Device capacity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 61Authentication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Persistent data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Orphan scans . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62ZigBee End Device joining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 62Parent Connectivity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 63Resetting the End Device . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Leaving a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64Example: joining a network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 64ZigBee channel scanning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Managing multiple ZigBee networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65PAN ID filtering . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Pre-configured security keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Permit joining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 65Application messaging . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 66Transmission, addressing, and routingAddressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67

XBee/XBee-PRO ZigBee RF Modules User Guide 664-bit device addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6716-bit device addresses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67Application layer addressing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 67Data transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Broadcast transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68Unicast transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 69Binding transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Multicast transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Fragmentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71Data transmission examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72RF packet routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74Link status transmission . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75AODV Mesh routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75Many-to-One routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 77High/Low RAM Concentrator mode . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78Source routing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78Encrypted transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 82Maximum RF payload size . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 83Throughput . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 84Latency timing specifications . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85ZDO transmissions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85ZDO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 85Sending a ZDO command . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86Receiving ZDO commands and responses . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 86Transmission timeouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Unicast timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Extended timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88Transmission examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 89ZigBee SecuritySecurity modes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92ZigBee security model . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Network layer security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 92Frame counter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Message integrity code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 93Network layer encryption and decryption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94Network key updates . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94APS layer security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94Message integrity code . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94APS link keys . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95APS layer encryption and decryption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Network and APS layer encryption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Trust center . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 95Forming and joining a secure network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Implementing security on the XBee . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Enabling security . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Setting the Network Security Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96Setting the APS Trust Center Link Key . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97Enabling APS encryption . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97Using a Trust Center . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 97XBee security examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Example 1: forming a network with security (pre-configured link keys) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 98Example 2: forming a network with security (obtaining keys during joining) . . . . . . . . . . . . . . . . . . . . . . . . . 98

XBee/XBee-PRO ZigBee RF Modules User Guide 7Network commissioning and diagnosticsDevice configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100Device placement . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100Link testing . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 100RSSI indicators . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Device discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101Network discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 101ZDO discovery . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Joining Announce . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Commissioning Pushbutton and Associate LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 102Commissioning Pushbutton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Associate LED . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 103Binding . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 104Group Table API . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107Managing End DevicesEnd Device operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116Parent operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117End Device poll timeouts . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 117Packet buffer usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118Non-Parent device operation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118XBee End Device configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118Pin sleep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 119Cyclic sleep . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121Recommended sleep current measurements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125Transmitting RF data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126Receiving RF data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 126I/O sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Waking end devices with the Commissioning Pushbutton . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Parent verification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127Rejoining . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 127XBee Router/Coordinator configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128RF packet buffering timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Child poll timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 128Transmission timeout . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Putting it all together . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Short sleep periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Extended sleep periods . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Sleep examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 129Analog and digital I/O linesXBee ZB through-hole RF module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133I/O configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133I/O sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 134Queried sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136Periodic I/O sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 136Change detection sampling . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137RSSI PWM . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137I/O examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 137PWM1 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 138

XBee/XBee-PRO ZigBee RF Modules User Guide 9Invoke the XBee Bootloader . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209Send a firmware image . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 209Writing custom firmware . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210Regulatory compliance . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210Enabling GPIO 1 and 2 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 210Detecting XBee versus XBee-PRO . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211Special instructions for using the JTAG interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 211Agency certificationsUnited States FCC . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212OEM Labeling Requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 212FCC notices . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213FCC-approved antennas (2.4 GHz) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 213RF exposure . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223Europe (ETSI) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223OEM labeling requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 223Restrictions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Declarations of Conformity . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Canada (IC) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224Labeling requirements . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224For XBee ZB surface mount: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 224For XBee-PRO ZB surface mount: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225For XBee ZB through hole: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225For XBee-PRO ZB through hole: . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225Transmitters for detachable antennas . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225Detachable antenna . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225Australia (RCM/C-Tick) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 225ANATEL (Brazil) certification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226Migrating from XBee through-hole to XBee surface mount modulesPin mapping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 228Mounting . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 229Manufacturing informationDefinitionsDefinitions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 234

XBee/XBee-PRO ZigBee RF Modules User Guide 10Overview of the XBee ZigBee RF ModuleThis manual describes the operation of the XBee/XBee-PRO ZB RF module, which consists of ZigBee firmware loaded onto XBee S2C and PRO S2C hardware. XBee® and XBee-PRO® ZB embedded RF modules provide wireless connectivity to end-point devices in ZigBee mesh networks. Utilizing the ZigBee PRO Feature Set, these modules are inter-operable with other ZigBee devices, including devices from other vendors. With the XBee, users can have their ZigBee network up-and-running in a matter of minutes without configuration or additional development.The XBee/XBee-PRO ZB modules are compatible with other devices that use XBee ZB technology. These include ConnectPortX gateways, XBee and XBee-PRO Adapters, Wall Routers, XBee Sensors, and other products with the ZB name.Worldwide acceptance•FCC Approval (USA): Refer to Agency certifications on page 212 for FCC Requirements. Systems that contain XBee/XBee-PRO ZB RF Modules inherit Digi Certifications•ISM (Industrial, Scientific & Medical) 2.4 GHz frequency band•Manufactured under ISO 9001:2000 registered standards•XBee/XBee-PRO ZB RF Modules are optimized for use in US, Canada, Australia, Europe (XBee only) and Japan (XBee only). Contact Digi for a complete list of agency approvalsWhat’s new in 40xx/70xx firmware•An alternative serial port is available using SPI slave mode operation.•Six software images (Coordinator AT, Coordinator API, Router AT, Router API, End Device AT, and End Device API) are combined into a single software.•Fragmentation is now available in both API mode and transparent mode.•P3 (DOUT), P4 (DIN), D8 (SleepRq), and D9 (On-Sleep) are now available for I/O sampling.•Both pull-up and pull-down resistors can now be applied to pins configured for inputs.•401D - ATVL command added for long version information.•401E - ATDO command added for configuring device options.•4020 - ATAS command added for Active Scan.•4021 - Self addressed Tx Status messages return a status code of 0x23.

SpecificationsXBee/XBee-PRO ZigBee RF Modules User Guide 11•ATDO has HIGH_RAM_CONCENTRATOR and NO_ACK_IO_SAMPLING options added.•4040 - Binding and Multicasting transmissions are supported.•AT&X command added to clear binding and group tables.•Added Tx options 0x04 (indirect addressing) and 0x08 (multicast addressing).•A 5 second break will reset the XBee. Then it will boot with default baud settings into command mode.•BD range increased from 0-7 to 0-0x0A, and nonstandard baud rates are permitted, but not guaranteed.•NI, DN, ND string parameters support upper and lower case.•TxOption 0x01 disables retries and route repair. RxOption 0x01 indicates the transmitter disabled retries.•4050 - FR returns 0x00 modem status code instead of 0x01.•S2C TH and S2C TH PRO supported.•DC10 - verbose joining mode option.•Self addressed fragmentable messages now return the self-addressed Tx Status code (0x23) instead of simply success (0x00). With 4x5A, 7x5A:•S2D SMT supported (HV=0x33).•Configuration changes will delay the start of network formation/joining for 5 seconds.•Verbose Join messages will be blocked while command mode is enabled.•The UART remains enabled if SPI is blocked.•DC80 enables a reset after 60 seconds of no joinable beacon responses received.Note WR your configuration settings before enabling this option. Verbose Join will show “Reset for DC80” just before the reset takes place. If API mode is enabled, a modem status message with a status code of 0x1F will be sent just before the reset takes place.•Under ZigBee, if all radios in a network have EE and EO set to 0x01, then the network key will be sent in the clear (unencrypted) at association time.SpecificationsHardware specificationsThe following table provides the specifications for the module.Specification XBee ZigBee S2C XBee-PRO ZigBee S2CPerformanceIndoor/Urban Range Up to 200 ft. (60 m) Up to 300 ft. (90 m)Outdoor RF line-of-sight Range Up to 4000 ft. (1200 m) Up to 2 miles (3200 m)Transmit Power Output (maximum)6.3mW (+8dBm), Boost mode3.1mW (+5dBm), Normal modeChannel 26 max power is +3dBm63mW (+18 dBm)RF Data Rate 250,000 b/s

SpecificationsXBee/XBee-PRO ZigBee RF Modules User Guide 12Receiver Sensitivity -102 dBm, Boost mode-100 dBm, Normal mode-101 dBmPower RequirementsAdjustable Power YesSupply Voltage 2.1 - 3.6 V2.2 - 3.6 V for Programmable Version2.7 - 3.6 VOperating Current (Transmit) 45mA (+8 dBm, Boost mode)33mA (+5 dBm, Normal mode)120mA @ +3.3 V, +18 dBmOperating Current (Receive) 31mA (Boost mode)28mA (Normal mode)31mAPower-down Current < 1 µA @ 25°CGeneralOperating Frequency Band ISM 2.4 - 2.5 GHzForm Factor Through-Hole, Surface MountDimensions Through-Hole: 0.960 x 1.087 in (2.438 x 2.761 cm)SMT: 0.866 x 1.33 x 0.120 in (2.199 x 3.4 x 0.305 cm)Through-Hole: 0.960 x 1.297 in (2.438 x 3.294 cm)SMT: 0.866 x 1.33 x 0.120 in (2.199 x 3.4 x 0.305 cm)Operating Temperature -40 to 85°C (industrial)Antenna Options Through-Hole: PCB antenna, U.FL connector, RPSMA connector, or integrated wireSMT: RF pad, PCB antenna, or U.FL connectorNetworking and SecuritySupported Network Topologies Point-to-point, Point-to-multipoint, Peer-to-peer, and MeshNumber of Channels 16 Direct Sequence Channels 15 Direct Sequence ChannelsInterface Immunity DSSS (Direct Sequence Spread Spectrum)Channels 11 to 26Addressing Options PAN ID and Addresses, Cluster IDs and Endpoints (optional)Interface OptionsUART 1 Mb/s maximum (burst)SPI 5 Mb/s maximum (burst)Specification XBee ZigBee S2C XBee-PRO ZigBee S2C

Serial communications specificationsXBee/XBee-PRO ZigBee RF Modules User Guide 13Agency approvalsThe following table provides the agency approvals for the module.Note Legacy XBee-PRO SMT (model: PRO S2C; hardware version 21xx) has different FCC and IC IDs; see Agency certifications on page 212.Serial communications specificationsXBee RF modules support both UART (Universal Asynchronous Receiver / Transmitter) and SPI (Serial Peripheral Interface) serial connections.UARTThe SC1 (Serial Communication Port 1) of the Ember 357 is connected to the UART port. The following table provides the UART pin assignments.More information on UART operation is found in the UART section in Module operation on page 36.ApprovalXBee (Surface Mount)XBee-PRO (Surface Mount)XBee (Through-hole)XBee-PRO (Through-hole)United States (FCC Part 15.247)FCC ID: MCQ-XBS2C FCC ID: MCQ-XBPS2C (revision K and earlier)FCC ID: MCQ-PS2CSM (revision L and later)FCC ID: MCQ-S2CTH FCC ID: MCQ-PS2CTHIndustry Canada (IC) IC: 1846A-XBS2C IC: 1846A-XBPS2C (revision K and earlier)IC: 1846A-PS2CSM (revision L and later)IC: 1846A-S2CTH IC: 1846A-PS2CTHFCC/IC Test Transmit Power Output range-26 to +8 dBm -0.7 to +19.4 dBm -26 to +8 dBm +1 to +19 dBmEurope (CE) ETSI ETSIAustralia C-Tick RCM RCM RCMJapan R201WW10215369 R210-105563Brazil (Res. 506) ANATEL: 0616-15-1209 ANATEL: 1533-15-1209RoHS Compliant ANATEL: 4077-15-1209Specifications Module Pin NumberUART Pins XBee (Surface Mount) XBee (Through-hole)DOUT 3 2DIN / CONFIG 43CTS / DIO7 25 12RTS / DIO6 29 16

GPIO specificationsXBee/XBee-PRO ZigBee RF Modules User Guide 14SPIThe SC2 (Serial Communication Port 2) of the Ember 357 is connected to the SPI port.For more information on SPI operation, see the SPI section in Module operation on page 36.GPIO specificationsXBee RF modules have 15 General Purpose Input / Output (GPIO) ports available. The exact list will depend on the module configuration, as some GPIO pads are used for purposes such as serial communication.See Enabling GPIO 1 and 2 on page 210 for more information on configuring and using GPIO ports.Specifications Module Pin NumberSPI Pins XBee (Surface Mount) XBee (Through-hole)SPI_SCLK 14 18SPI_SSEL 15 17SPI_MOSI 16 11SPI_MISO 17 4GPIO Electrical Specification ValueVoltage - Supply 2.1 - 3.6 VLow Schmitt switching threshold 0.42 - 0.5 x VCCHigh Schmitt switching threshold 0.62 - 0.8 x VCCInput current for logic 0 -0.5 AInput current for logic 1 0.5 AInput pull-up resistor value 29 kInput pull-down resistor value 29 kOutput voltage for logic 0 0.18 x VCC (maximum)Output voltage for logic 1 0.82 x VCC (minimum)Output source/sink current for pad numbers 3, 4, 5, 10, 12, 14, 15, 16, 17, 25, 26, 28, 29, 30, and 32 on the SMT modules 4 mAOutput source/sink current for pin numbers 2, 3, 4, 9, 12, 13, 15, 16, 17, and 19 on the TH modules 4 mAOutput source/sink current for pad numbers 7, 8, 24, 31, and 33 on the SMT modules 8 mAOutput source/sink current for pin numbers 6, 7, 11, 18, and 20 on the TH modules 8 mATotal output current (for GPIO pads) 40 mA

Hardware specifications for the programmable variantXBee/XBee-PRO ZigBee RF Modules User Guide 15Hardware specifications for the programmable variantIf the module has the programmable secondary processor, add the following table values to the specifications listed on page 8. For example, if the secondary processor is running at 20 MHz and the primary processor is in receive mode then the new current value will be Itotal = Ir2 + Irx = 14 mA + 9 mA = 23 mA, where Ir2 is the runtime current of the secondary processor and Irx is the receive current of the primary. Mechanical drawingsThe following mechanical drawings of the XBee/XBee-PRO ZB RF Modules show all dimensions in inches. The first drawing shows the SMT model (antenna options not shown). The drawings below show the XBee TH module.Optional Secondary Processor SpecificationThese numbers add to specifications(Add to RX, TX, and sleep currents depending on mode of operation)Runtime current for 32k running at 20MHz +14mARuntime current for 32k running at 1MHz +1mASleep current +0.5A typicalFor additional specifications see Freescale Datasheet and Manual MC9S08QE32Minimum Reset low pulse time for EM357 +26SVREF Range 1.8VDC to VCC 3,13,1120,1$/0$;,0807239,(:%277209,(:6,'(9,(: ,1&/8'(6/$%(/

Mechanical drawingsXBee/XBee-PRO ZigBee RF Modules User Guide 16l3,1 3,13,1 5360$8)/:,5(:+,33&%$17(11$

Pin signals for the surface mount moduleXBee/XBee-PRO ZigBee RF Modules User Guide 17The drawings below show the XBee-PRO TH model.Pin signals for the surface mount module3&%$17(11$:,5(:+,38)/5360$3,1 3,13,1Pin # Name Direction Default State Description1GND --Ground2VCC --Power Supply3DOUT / DIO13 BothOutputUART Data Out / GPIO4 DIN / CONFIG / DIO14 Both Input UART Data In / GPIO5DIO12 Both GPIO6RESET Input Module Reset7 RSSI PWM / DIO10 Both Output RX Signal Strength Indicator / GPIO8PWM1 / DIO11 BothDisabledPulse Width Modulator / GPIO9 [reserved] - Disabled Do Not Connect10 DTR / SLEEP_RQ / DIO8 Both Input Pin Sleep Control Line / GPIO11 GND - - Ground

Pin signals for the surface mount moduleXBee/XBee-PRO ZigBee RF Modules User Guide 1812 SPI_ATTN / BOOTMODE / DIO19 Output Output Serial Peripheral Interface AttentionDo not tie low on reset13 GND - - Ground14 SPI_CLK / DIO18 Input Input Serial Peripheral Interface Clock / GPIO15 SPI_SSEL / DIO 17 Input Input Serial Peripheral Interface not Select / GPIO16 SPI_MOSI / DIO16 Input Input Serial Peripheral Interface Data In / GPIO17 SPI_MISO / DIO15 Output Output Serial Peripheral Interface Data Out / GPIO18 [reserved]* - Disabled Do Not Connect19 [reserved]* - Disabled Do Not Connect20 [reserved]* - Disabled Do Not Connect21 [reserved]* - Disabled Do Not Connect22 GND - - Ground23 [reserved] - Disabled Do Not Connect24 DIO4 Both Disabled GPIO25 CTS / DIO7 Both Output Clear to Send Flow Control / GPIO26 ON / SLEEP / DIO9 Both Output Module Status Indicator / GPIO27 VREF Input -Not used for EM357. Used for programmable secondary processor. For compatibility with other XBee modules, we recommend connecting this pin to the voltage reference if Analog Sampling is desired. Otherwise, connect to GND.28 ASSOCIATE / DIO5 Both Output Associate Indicator / GPIO29 RTS / DIO6 Both Input Request to Send Flow Control / GPIO30 AD3 / DIO3 Both Disabled Analog Input / GPIO31 AD2 / DIO2 Both Disabled Analog Input / GPIO32 AD1 / DIO1 Both Disabled Analog Input / GPIO33 AD0 / DIO0 Both Input Analog Input / GPIO / Commissioning Button34 [reserved] - Disabled Do Not Connect35 GND - - Ground36 RF Both - RF IO for RF Pad VariantPin # Name Direction Default State Description

Pin signals for the through-hole moduleXBee/XBee-PRO ZigBee RF Modules User Guide 19Pin signals for the through-hole module37 [reserved] - Disabled Do Not ConnectSignal Direction is specified with respect to the moduleSee Design notes for SMT RF pad modules on page 25 for details on pin connections* Refer to the Writing Custom Firmware section for instructions on using these pins if JTAG functions are neededPin # Name Direction Default State DescriptionPin # Name Direction Default State Description1VCC -- Power Supply2 DOUT / DIO13 Both Output UART Data Out3 DIN / CONFIG / DIO14 Both Input UART Data In4 DIO12 / SPI_MISO Both Disabled GPIO/ SPI slave out5RESET Input Input Module Reset6 RSSI PWM / PWMO DIO10 Both Output RX signal strength indicator / GPIO7PWM1 / DIO11 BothDisabled GPIO8[reserved] -- Do Not Connect9DTR / SLEEP_RQ / DIO8 Both Input Pin Sleep Control Line / GPIO10 GND - - Ground11 SPI_MOSI / DIO4 Both Disabled GPIO/ SPI slave in 12 CTS / DIO7 Both Output Clear-to-Send Flow Control / GPIO13 ON_SLEEP / DIO9 Both Output Module Status Indicator / GPIO14 VREF - - Not connected15 ASSOCIATE / DIO5 Both Output Associate Indicator / GPIO16 RTS / DIO6 Both Input Request to Send Flow Control / GPIO17 AD3 / DIO3 / SPI_SSEL Both Disabled Analog Input / GPIO / SPI Slave Select18 AD2 / DIO2 / SPI_CLK Both Disabled Analog Input / GPIO / SPI Clock19 AD1 / DIO1 / SPI_ATTN Both Disabled Analog Input / GPIO / SPI Attention20 AD0 / DIO0 / CB Both Disabled Analog Input / GPIO / Commissioning Button

Pin signals for the through-hole moduleXBee/XBee-PRO ZigBee RF Modules User Guide 20EM357 pin mappingsThe following table shows how the EM357 pins are used on the XBee.Note Some lines may not go to the external XBee pins in the programmable secondary processor version.EM357 Pin # EM357 Pin NameXBee (SMT) Pad #XBee (TH) Pin # Other Usage12 RST 65Programming18 PA7 8719 PB3 29 16 Used for UART20 PB4 25 12 Used for UART21 PA0 / SC2MOSI 16 11 Used for SPI22 PA1 / SC2MISO 17 4 Used for SPI24 PA2 / SC2SCLK 14 18 Used for SPI25 PA3 / SC2SSEL 15 17 Used for SPI26 PA4 / PTI_EN 32 19 OTA packet tracing27 PA5 / PTI_DATA / BOOTMODE 12 NA OTA packet tracing, force embedded serial bootloader, and SPI attention line29 PA6 7630 PB1 / SC1TXD 32Used for UART31 PB2 / SC1RXD 43Used for UART33 PC2 / JTDO / SWO 26 13 JTAG (see Writing Custom Firmware section)34 PC3 / JTDI 28 15 JTAG (see Writing Custom Firmware section)35 PC4 / JTMS / SWDIO 54JTAG (see Writing Custom Firmware section)36 PB0 10 938 PC1 / ADC3 30 1741 PB7 / ADC2 31 1842 PB6 / ADC1 33 2043 PB5 / ADC0 Temperature sensor on PRO version

Design notesXBee/XBee-PRO ZigBee RF Modules User Guide 21Design notesThe XBee modules do not specifically require any external circuitry or specific connections for proper operation. However, there are some general design guidelines that are recommended for help in troubleshooting and building a robust design.Power supply designPoor power supply can lead to poor radio performance, especially if the supply voltage is not kept within tolerance or is excessively noisy. To help reduce noise, we recommend placing both a 1F and 8.2pF capacitor as near to (pad 2/SMT, pin 1/TH) on the PCB as possible. If using a switching regulator for your power supply, switching frequencies above 500kHz are preferred. Power supply ripple should be limited to a maximum 50mV peak to peak.Note For designs using the programmable modules, an additional 10F decoupling cap is recommended near (pad 2/SMT, pin 1/TH) of the module. The nearest proximity to (pad 2/SMT, pin 1/TH) of the three caps should be in the following order: 8.2pf, 1F followed by 10F.Recommended pin connectionsThe only required pin connections are VCC, GND, DOUT and DIN. To support serial firmware updates, VCC, GND, DOUT, DIN, RTS, and DTR should be connected.All unused pins should be left disconnected. All inputs on the radio can be pulled high or low with 30k internal pull-up or pull-down resistors using the PR and PD software commands. No specific treatment is needed for unused outputs.For applications that need to ensure the lowest sleep current, unconnected inputs should never be left floating. Use internal or external pull-up or pull-down resistors, or set the unused I/O lines to outputs.Other pins may be connected to external circuitry for convenience of operation, including the Associate LED pad (pad 28/SMT, pin 15/TH) and the Commissioning pad (pad 33/SMT, pin 20/TH). The Associate LED pad will flash differently depending on the state of the module to the network, and a pushbutton attached to pad 33 can enable various join functions without having to send serial port commands. See Commissioning Pushbutton and Associate LED on page 102 for more details. The source and sink capabilities are limited to 4mA for pad numbers 3, 4, 5, 10, 12, 14, 15, 16, 17, 25, 26, 28, 29, 30 and 32, and 8mA for pad numbers 7, 8, 24, 31 and 33 on the SMT module. The source and sink capabilities are limited to 4mA for pin numbers 2, 3, 4, 9, 12, 13, 15, 16, 17, and 19, and 8mA for pin numbers 6, 7, 11, 18, and 20 on the TH module.The VRef pad (pad 27) is only used on the programmable versions of the SMT modules. For the TH modules, a VRef pin (Pin #14) is used. For compatibility with other XBee modules, we recommend connecting this pin to a voltage reference if analog sampling is desired. Otherwise, connect to GND.Board layoutXBee modules are designed to be self sufficient and have minimal sensitivity to nearby processors, crystals or other PCB components. As with all PCB designs, Power and Ground traces should be thicker than signal traces and able to comfortably support the maximum current specifications. A recommended PCB footprint for the module can be found in Manufacturing information on page 231. No other special PCB design considerations are required for integrating XBee radios except in the antenna section. The choice of antenna and antenna location is very important for correct performance. With the exception of the RF Pad variant, XBees do not require additional ground planes on the host PCB. In general, antenna elements

Design notesXBee/XBee-PRO ZigBee RF Modules User Guide 22radiate perpendicular to the direction they point. Thus a vertical antenna emits across the horizon. Metal objects near the antenna cause reflections and may reduce the ability for an antenna to radiate efficiently. Metal objects between the transmitter and receiver can also block the radiation path or reduce the transmission distance, so external antennas should be positioned away from them as much as possible. Some objects that are often overlooked are metal poles, metal studs or beams in structures, concrete (it is usually reinforced with metal rods), metal enclosures, vehicles, elevators, ventilation ducts, refrigerators, microwave ovens, batteries, and tall electrolytic capacitors. Design notes for PCB antenna modulesPCB Antenna modules should not have any ground planes or metal objects above or below the antenna. For best results, the module should not be placed in a metal enclosure, which may greatly reduce the range. The module should be placed at the edge of the PCB on which it is mounted. The ground, power and signal planes should be vacant immediately below the antenna section. The drawings on the following pages illustrate important recommendations when designing with PCB antenna modules. It should be noted that for optimal performance, this module should not be mounted on the RF Pad footprint described in the next section because the footprint requires a ground plane within the PCB Antenna keep out area.

Design notesXBee/XBee-PRO ZigBee RF Modules User Guide 23SMT keepout area

Design notesXBee/XBee-PRO ZigBee RF Modules User Guide 24TH keepout area

Design notesXBee/XBee-PRO ZigBee RF Modules User Guide 25Design notes for SMT RF pad modulesThe RF Pad is a soldered antenna connection. The RF signal travels from pin 36 on the module to the antenna through an RF trace transmission line on the PCB. Note that any additional components between the module and antenna will violate modular certification. The RF trace should have a controlled impedance of 50 ohms. We recommend using a microstrip trace, although coplanar waveguide may also be used if more isolation is needed. Microstrip generally requires less area on the PCB than coplanar waveguide. Stripline is not recommended because sending the signal to different PCB layers can introduce matching and performance problems.It is essential to follow good design practices when implementing the RF trace on a PCB. The following figures show a layout example of a host PCB that connects an RF Pad module to a right angle, through hole RPSMA jack. The top two layers of the PCB have a controlled thickness dielectric material in between. The second layer has a ground plane which runs underneath the entire RF Pad area. This ground plane is a distance d, the thickness of the dielectric, below the top layer. The top layer has an RF trace running from pin 36 of the module to the RF pin of the RPSMA connector. The RF trace's width determines the impedance of the transmission line with relation to the ground plane. Many online tools can estimate this value, although the PCB manufacturer should be consulted for the exact width. Assuming d=0.025”, and that the dielectric has a relative permittivity of 4.4, the width in this example will be approximately 0.045" for a 50 ohm trace. This trace width is a good fit with the module footprint's 0.060" pad width. Using a trace wider than the pad width is not recommended, and using a very narrow trace (under 0.010") can cause unwanted RF loss. The length of the trace is minimized by placing the RPSMA jack close to the module. All of the grounds on the jack and the module are connected to the ground planes directly or through closely placed vias. Any ground fill on the top layer should be spaced at least twice the distance d (in this case, at least 0.050") from the microstrip to minimize their interaction.Implementing these design suggestions will help ensure that the RF Pad module performs to its specifications. The following illustration shows PCB layer 1 of an example RF layout.The following illustration shows PCB layer 2 of an example RF layout.

Module operation for the programmable variantXBee/XBee-PRO ZigBee RF Modules User Guide 26Module operation for the programmable variantThe modules with the programmable option have a secondary processor with 32k of flash and 2k of RAM. This allows module integrators to put custom code on the XBee module to fit their own unique needs. The DIN, DOUT, RTS, CTS, and RESET lines are intercepted by the secondary processor to allow it to be in control of the data transmitted and received. All other lines are in parallel and can be controlled by either the EM357 or the MC9SO8QE micro (see Block Diagram for details). The EM357 by default has control of certain lines. These lines can be released by the EM357 by sending the proper command(s) to disable the desired DIO line(s) (see XBee Command Reference Tables).In order for the secondary processor to sample with ADCs, the XBee VREF pin (27/SMT, 14/TH) must be connected to a reference voltage. Digi provides a bootloader that can take care of programming the processor over the air or through the serial interface. This means that over the air updates can be supported through an XMODEM protocol. The processor can also be programmed and debugged through a one wire interface BKGD (Pin 9/SMT, Pin 8/TH).

Module operation for the programmable variantXBee/XBee-PRO ZigBee RF Modules User Guide 27The following figure shows the programmable connections for the SMT.

Module operation for the programmable variantXBee/XBee-PRO ZigBee RF Modules User Guide 28The following illustration shows the programmable connections for the TH Module.

XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 29XBee programmable bootloaderOverviewThe XBee Programmable module is equipped with a Freescale MC9S08QE32 application processor. This application processor comes with a supplied bootloader. This section describes how to interface the customer's application code running on this processor to the XBee Programmable module's supplied bootloader. Bootloader software specificsMemory layoutThe illustration to the right shows the memory map for the MC9S08QE32 application processor.The supplied bootloader occupies the bottom pages of the flash from 0xF200 to 0xFFFF. Application code cannot write to this space. The application code can exist in Flash from address 0x8400 to 0xF1BC. 1k of Flash from 0x8000 to 0x83FF is reserved for Non Volatile Application Data that will not be erased by the bootloader during a flash update. A portion of RAM is accessible by both the application and the bootloader. Specifically, there is a shared data region used by both the application and the bootloader that is located at RAM address 0x200 to 0x215. Application code should not write anything to BLResetCause or AppResetCause unless informing the bootloader of the impending reset reason. The Application code should not clear BLResetCause unless it is handling the unexpected reset reason. To prevent a malfunctioning application from running forever, the Bootloader increments BLResetCause after each watchdog or illegal instruction reset. If this register reaches above 0x10 the bootloader will stop running the application for a few minutes to allow an OTA or Local update to occur. If no update is initiated within the time period, BLResetCause is cleared and the application is started again. To prevent unexpected halting of the application, the application shall clear or decrement BLResetCause just before a pending reset. To disable this feature, the application shall clear BLResetCause at the start of the application.

$XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 30Bootloader operationUpon reset of any kind, the execution control begins with the bootloader. If the reset cause is Power-On reset (POR), Pin reset (PIN), or Low Voltage Detect (LVD) reset (LVD) the bootloader will not jump to the application code if the override bits are set to RTS(D7)=1, DTR(D5)=0, and DIN(B0)=0. Otherwise, the bootloader writes the reset cause “NOTHING” to the shared data region, and jumps to the Application.Reset causes are defined in the file common. h in an enumeration with the following definitions:typedef enum { BL_CAUSE_NOTHING = 0x0000, //PIN, LVD, POR BL_CAUSE_NOTHING_COUNT = 0x0001,//BL_Reset_Cause counter// Bootloader increments cause every reset BL_CAUSE_BAD_APP = 0x0010,//Bootloader considers APP invalid} BL_RESET_CAUSES;typedef enum { APP_CAUSE_NOTHING = 0x0000, APP_CAUSE_USE001 = 0x0001,// 0x0000 to 0x00FF are considered valid for APP use. APP_CAUSE_USE255 = 0x00FF, APP_CAUSE_FIRMWARE_UPDATE = 0x5981, APP_CAUSE_BYPASS_MODE = 0x4682, APP_CAUSE_BOOTLOADER_MENU = 0x6A18,} APP_RESET_CAUSES;Otherwise, if the reset cause is a "watchdog" or other reset, the bootloader checks the shared memory region for the APP_RESET_CAUSE. If the reset cause is:1. “APP_CAUSE_NOTHING" or 0x0000 to 0x00FF, the bootloader increments the BL_RESET_CAUSES, verifies that it is still less than BL_CAUSE_BAD_APP, and jumps back to the application. If the Application does not clear the BL_RESET_CAUSE, it can prevent an infinite loop of running a bad application that continues to perform illegal instructions or watchdog resets.2. APP_CAUSE_FIRMWARE_UPDATE", the bootloader has been instructed to update the application “over-the-air” from a specific 64-bit address. In this case, the bootloader will attempt to initiate an Xmodem transfer from the 64-bit address located in shared RAM.3. APP_CAUSE_BYPASS_MODE”, the bootloader executes bypass mode. This mode passes the local UART data directly to the EM357 allowing for direct communication with the EM357. The only way to exit bypass mode is to reset or power cycle the module.If none of the above is true, the bootloader will enter “Command mode.” In this mode, users can initiate firmware downloads both wired and over-the-air, check application/bootloader version strings, and enter Bypass mode.Application version stringThe previous figure shows an “Application version string pointer” area in application flash which holds the pointer to where the application version string resides. The application's linker command file ultimately determines where this string is placed in application flash.It is preferable that the application version string be located at address 0x8400 for MC9S08QE32 parts. The application string can be any characters terminated by the NULL character (0x00). There is not a strict limit on the number of characters in the string, but for practical purposes should be kept under 100 bytes including the terminating NULL character. During an update the bootloader erases the entire application from 0x8400 on. The$

XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 31last page has the vector table specifically the redirected reset vector. The version string pointer and reset vector are used to determine if the application is valid.Application interrupt vector table and linker command fileSince the bootloader flash region is read-only, the interrupt vector table is redirected to the region 0xF1C0 to 0xF1FD so that application developers can use hardware interrupts. Note that in order for Application interrupts to function properly, the Application's linker command file (*.prm extension) must be modified appropriately to allow the linker to place the developers code in the correct place in memory. For example, the developer desires to use the serial communications port SCI1 receive interrupt. The developer would add the following line to the Codewarrior linker command file for the project:VECTOR ADDRESS 0x0000F1E0 vSci1RxThis will inform the linker that the interrupt function “vSci1Rx()” should be placed at address 0x0000F1E0. Next, the developer should add a file to their project “vector_table.c” that creates an array of function pointers to the ISR routines used by the application.

$XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 32extern void _Startup(void);/* _Startup located in Start08.c */extern void vSci1Rx(void);/* sci1 rx isr */ extern short iWriteToSci1(unsigned char *);void vDummyIsr(void);#pragma CONST_SEG VECTORSvoid (* const vector_table[])(void) = /* Relocated Interrupt vector table */{vDummyIsr,/* Int.no. 0 Vtpm3ovf (at F1C0)Unassigned */vDummyIsr, /* Int.no. 1 Vtpm3ch5 (at F1C2) Unassigned */vDummyIsr, /* Int.no. 2 Vtpm3ch4 (at F1C4) Unassigned */vDummyIsr, /* Int.no. 3 Vtpm3ch3 (at F1C6) Unassigned */vDummyIsr, /* Int.no. 4 Vtpm3ch2 (at F1C8) Unassigned */vDummyIsr, /* Int.no. 5 Vtpm3ch1 (at F1CA) Unassigned */vDummyIsr, /* Int.no. 6 Vtpm3ch0 (at F1CC) Unassigned */vDummyIsr, /* Int.no. 7 Vrtc (at F1CE) Unassigned */vDummyIsr, /* Int.no. 8 Vsci2tx (at F1D0) Unassigned */vDummyIsr, /* Int.no. 9 Vsci2rx (at F1D2) Unassigned */vDummyIsr, /* Int.no. 10 Vsci2err (at F1D4) Unassigned */vDummyIsr, /* Int.no. 11 Vacmpx (at F1D6) Unassigned */vDummyIsr, /* Int.no. 12 Vadc (at F1D8) Unassigned */vDummyIsr, /* Int.no. 13 Vkeyboard (at F1DA) Unassigned */vDummyIsr, /* Int.no. 14 Viic (at F1DC) Unassigned */vDummyIsr, /* Int.no. 15 Vsci1tx (at F1DE) Unassigned */vSci1Rx, /* Int.no. 16 Vsci1rx (at F1E0) SCI1RX */vDummyIsr, /* Int.no. 17 Vsci1err (at F1E2) Unassigned */vDummyIsr, /* Int.no. 18 Vspi (at F1E4) Unassigned */vDummyIsr, /* Int.no. 19 VReserved12 (at F1E6) Unassigned */vDummyIsr, /* Int.no. 20 Vtpm2ovf (at F1E8) Unassigned */vDummyIsr, /* Int.no. 21 Vtpm2ch2 (at F1EA) Unassigned */vDummyIsr, /* Int.no. 22 Vtpm2ch1 (at F1EC) Unassigned */vDummyIsr, /* Int.no. 23 Vtpm2ch0 (at F1EE) Unassigned */vDummyIsr, /* Int.no. 24 Vtpm1ovf (at F1F0) Unassigned */vDummyIsr, /* Int.no. 25 Vtpm1ch2 (at F1F2) Unassigned */vDummyIsr, /* Int.no. 26 Vtpm1ch1 (at F1F4) Unassigned */vDummyIsr, /* Int.no. 27 Vtpm1ch0 (at F1F6) Unassigned */vDummyIsr, /* Int.no. 28 Vlvd (at F1F8) Unassigned */vDummyIsr, /* Int.no. 29 Virq (at F1FA) Unassigned */vDummyIsr, /* Int.no. 30 Vswi (at F1FC) Unassigned */_Startup /* Int.no. 31 Vreset (at F1FE) Reset vector */};void vDummyIsr(void){ for(;;){ if(iWriteToSci1("STUCK IN UNASSIGNED ISR\n\r>")); } }The interrupt routines themselves can be defined in separate files. The "vDummyIsr" function is used in conjunction with “iWritetoSci1” for debugging purposes.$

XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 33Bootloader menu commandsThe bootloader accepts commands from both the local UART and OTA. All OTA commands sent must be Unicast with only 1 byte in the payload for each command. A response will be returned to the sender. All Broadcast and multiple byte OTA packets are dropped to help prevent general OTA traffic from being interpreted as a command to the bootloader while in the menu.Bypass mode - “B”The bootloader provides a “bypass” mode of operation that essentially connects the SCI1 serial communications peripheral of the Freescale mcu to the EM357's serial UART channel. This allows direct communication to the EM357 radio for the purpose of firmware and radio configuration changes. Once in bypass mode, the XCTU utility can change modem configuration and/or update EM357 firmware. Bypass mode automatically handles any baud rate up to 115.2kbps. Note that this command is unavailable when module is accessed remotely.Update firmware - “F”The “F” command initiates a firmware download for both wired and over-the-air configurations. Depending on the source of the command (received via Over the Air or local UART), the download will proceed via wired or over-the-air respectively.Adjust timeout for update firmware - “T”The “T” command changes the timeout before sending a NAK by Base-Time*2^(T). The Base-Time for the local UART is different than the Base-Time for Over the Air. During a firmware update, the bootloader will automatically increase the Timeout if repeat packets are received or multiple NAKs for the same packet without success occur.Application version string - “A”The “A” command provides the version of the currently loaded application. If no application is present, “Unknown” will be returned. Bootloader version string - “V”The “V” command provides the version of the currently loaded bootloader. The version will return a string in the format BLFFF-HHH-XYZ_DDD where FFF represents the Flash size in kilo bytes, HHH is the hardware, XYZ is the version, and DDD is the preferred XMODEM packet size for updates. Double the preferred packet size is also possible, but not guaranteed. For example “BL032-2B0-023_064” will take 64 byte CRC XMODEM payloads and may take 128 byte CRC XMODEM payloads also. In this case, both 64 and 128 payloads are handled, but the 64 byte payload is preferred for better Over the Air reliability. Bootloader Version BL032-2x0-025_064 only operates at 9600 baud on the local UART as well as communications to the EM357 Radio. A newer version of the Bootloader BL032-2x0-033_064 or newer BL032-2B0-XXX_064 has changed the baud rate to 115200 between the Programmable and the EM357 Radio. The EM357 is also set to 115200 as the default baud rate. The default rate of the programmable local UART is also set to 115200, however, the local UART has an auto baud feature added to detect if the UART is at the wrong baud rate. If a single character is sent, it will automatically switch to 115200 or 9600 baud.

XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 34Firmware updatesWired UpdatesA user can update their application using the bootloader in a wired configuration with the following steps:1. Plug XBee programmable module into a suitable serial port on a PC. 2. Open a hyperterminal (or similar dumb terminal application) session with 115200 baud, no parity, and 8 data bits with one stop bit. 3. Press Enter to display the bootloader menu. 4. Press the “F” key to initiate a wired firmware update. 5. A series of “C” characters Will be displayed within the hyperterminal window. At this point, select the “transfer->send file” menu item. Select the desired flat binary output file. 6. Select “Xmodem” as the protocol. 7. Click “Send” on the “Send File” dialog. The file will be downloaded to the XBee Programmable module. Upon a successful update, the bootloader will jump to the newly loaded application. Over-the-air updatesA user can update their application using the bootloader in an “over-the-air” configuration with the following steps. This procedure assumes that the bootloader is running and not the application. The EM357 baud rate of the programmable module must be set to 115200 baud. The bootloader only operates at 115200 baud between the Radio and programmable bootloader. The application must be programmed with some way to support returning to the bootloader in order to support Over the Air (OTA) updates without local intervention.) 1. The XBee module sending the file OTA (Host module) should be set up with a series 2 XBee module with transparent mode firmware. 2. The XBee Programmable module receiving the update (remote module) is configured with API firmware. 3. Open a hyperterminal session to the host module with no parity, no hardware-flow control, 8 data bits and 1 stop bit. (The host module does not have to operate at the same baud rate as the remote module.) For faster updates and less latency due to the UART, set the host module to a faster baud rate. (i.e. 115200) 4. Enter 3 pluses “+++” to place the EM357 in command mode. (or XCTU’s “Modem Configuration” tab can be used to set the correct parameters) 5. Set the Host Module destination address to the target module’s 64 bit address that the host module will update (ATDH aabbccdd, ATDL eeffgghh, ATCN, where aabbccddeeffgghh is the hexadecimal 64 bit address of the target module). 6. Press Enter and the bootloader command menu will be displayed from the remote module. Option 2 does not exist for OTA.7. Press the “F” key to cause the remote module to request the new firmware file over-the-air. 8. The host module will begin receiving “C” characters indicating that the remote module is requesting an Xmodem CRC transfer. Using XCTU or another terminal program, select “XMODEM” file transfer. Select the Binary file to upload/transfer. Click Send to start the transfer. At the con-conclusion of a successful transfer, the bootloader will jump to the newly loaded application.

XBee programmable bootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 35Output file configurationBKGD programmingP&E Micro provides a background debug tool that allows flashing applications on the MC9S08QE parts through their background debug mode port. By default, the Codewarrior tool produces an “ABS” output file for use in programming parts through the background debug interface. The programmable XBee from the factory has the BKGD debugging capability disabled. In order to debug, a bootloader with the debug interface enabled needs to be loaded on the secondary processor or a stand-alone app needs to be loaded.Bootloader updatesThe supplied bootloader requires files in a “flat binary” format which differs from the default ABS file produced. The Codewarrior tool also produces a S19 output file. In order to successfully flash new applications, the S19 file must be converted into the flat binary format. Utilities are available on the web that will convert S19 output to “BIN” outputs. Often times, the “BIN” file conversion will pad the addresses from 0x0000 to the code space with the same number. (Often 0x00 or 0xFF) These extra bytes before the APP code starts will need to be deleted from the bin file before the file can be transferred to the bootloader.

XBee/XBee-PRO ZigBee RF Modules User Guide 36Module operationSerial communicationsXBee RF Modules interface to a host device through a serial port. Through its serial port, the module can communicate with any logic and voltage compatible UART, through a level translator to any serial device (for example, through a RS-232 or USB interface board), or through a Serial Peripheral Interface, which is a synchronous interface to be described later.Two Wire serial Interface (TWI) is also available, but not supported by Digi. For information on the TWI, see the EM357 specification.UART data flowDevices that have a UART interface can connect directly to the pins of the RF module as shown in the figure below.System data flow diagram in a UART-interfaced environment(Low-asserted signals distinguished with horizontal line over signal name.)Serial dataData enters the module UART through the DIN (pin 4) as an asynchronous serial signal. The signal should idle high when no data is being transmitted.Each data byte consists of a start bit (low), 8 data bits (least significant bit first) and a stop bit (high). The following figure illustrates the serial bit pattern of data passing through the module.DIN (data in) DIN (data in)DOUT (data out) DOUT (data out)

Serial communicationsXBee/XBee-PRO ZigBee RF Modules User Guide 37UART data packet 0x1F (decimal number “31”) as transmitted through the RF moduleExample Data Format is 8-N-1 (bits - parity - # of stop bits)Serial communications depend on the two UARTs (the microcontroller's and the RF module's) to be configured with compatible settings (baud rate, parity, start bits, stop bits, data bits). The UART baud rate, parity, and stop bits settings on the XBee module can be configured with the BD, NB, and SB commands respectively. See Serial interfacing (I/O) commands on page 196 for details.SPI communicationsThe XBee modules support SPI communications in slave mode. Slave mode receives the clock signal and data from the master and returns data to the master. The SPI port uses the following signals on the XBee:•SPI_MOSI (Master Out, Slave In) - inputs serial data from the master•SPI_MISO (Master In, Slave Out) - outputs serial data to the master•SPI_SCLK (Serial Clock) - clocks data transfers on MOSI and MISO•SPI_SSEL (Slave Select) - enables serial communication with the slaveThe above four pins are standard for SPI. This module also supports an additional pin, which may be configured to alert the SPI master when it has data to send. This pin is called SPI_ATTN. If the master monitors this pin (through polling or interrupts), it can know when it needs to receive data from the module. SPI_ATTN asserts whenever it has data to send and it remains asserted until all available data has been shifted out to the SPI master.In this mode, the following apply:•Data/clock rates of up to 5 Mb/s are possible•Data is MSB first•Frame format mode 0 is used (see below)The following illustration shows the frame format for SPI communications.

Serial communicationsXBee/XBee-PRO ZigBee RF Modules User Guide 38SPI operationWhen the slave select (SPI_SSEL) signal is asserted by the master, SPI transmit data is driven to the output pin (SPI_MISO), and SPI data is received from the input pin SPI_MOSI. The SPI_SSEL pin has to be asserted to enable the transmit serializer to drive data to the output signal SPI_MISO. A rising edge on SPI_SSEL resets the SPI slave shift registers.If the SPI_SCLK is present, the SPI_MISO line is always driven whether with or without the SPI_SSEL line driven. This is a known issue with the Ember EM357 chip, and makes additional hardware necessary if multiple slaves are using the same bus as the XBee.If the input buffer is empty, the SPI serializer transmits a busy token (0xFF). Otherwise, all transactions on the SPI port use API operation. See API Operation on page 139 for more information.The SPI slave controller must guarantee that there is time to move new transmit data from the transmit buffer into the hardware serializer. To provide sufficient time, the SPI slave controller inserts a byte of padding at the start of every new string of transmit data. Whenever the transmit buffer is empty and data is placed into the transmit buffer, the SPI hardware inserts a byte of padding onto the front of the transmission as if this byte were placed there by software.Serial port selectionIn the default configuration the UART and SPI ports will both be configured for serial port operation. In this case, serial data will go out the UART until the SPI_SSEL signal is asserted. Thereafter all serial communications will operate only on the SPI interface until a reset occurs.If only the UART is enabled, then only the UART will be used, and SPI_SSEL will be ignored. If only the SPI is enabled, then only the SPI will be used, and UART communications will be ignored. If DOUT is held low during boot, then only the SPI will be used.Once SPI is in use, do not attempt to apply changes (AC) which change the UART or SPI settings. Instead, use 0x09 frames to reconfigure UART/SPI/other settings, use WR to save the settings, then FR to reset the XBee and use the new configuration settings.If neither serial port is enabled, then UART will remain enabled, only the UART will be used, and SPI_SSEL will be ignored.Serial buffersThe XBee modules maintain small buffers to collect received serial and RF data, which is illustrated in the figure below. The serial receive buffer collects incoming serial characters and holds them until they can be processed. The serial transmit buffer collects data that is received via the RF link that will be transmitted out the UART or SPI port. The following figure shows an internal data flow diagram.Serial Receiver BufferRF TXBuffer TransmitterRF SwitchAntenna PortReceiverSerial Transmit BufferRF RXBufferProcessorDINDOUTCTSRTS

Serial communicationsXBee/XBee-PRO ZigBee RF Modules User Guide 39Serial receive bufferWhen serial data enters the RF module through the serial port, the data is stored in the serial receive buffer until it can be processed. Under certain conditions, the module may receive data when the serial receive buffer is already full. In that case the data is discarded.The serial receive buffer becomes full when data is streaming into the serial port faster than it can be processed and sent over the air (OTA). While the speed of receiving the data on the serial port can be much faster than the speed of transmitting to data for a short period, sustained operation in that mode will cause data to be dropped due to running out of places in the module to put the data. Some things that may delay over the air transmissions are address discovery, route discovery, and retransmissions. Processing received RF data can also take away time and resources for processing incoming serial data.If the UART is the serial port and CTS flow control is enabled, the external data source is alerted when the receive buffer is almost full. Then the host holds off sending data to the module until the module asserts CTS again, allowing more data to come in.If the SPI is the serial port, no hardware flow control is available. It is the user's responsibility to ensure that receive buffer is not overflowed. One reliable strategy is to wait for a TX_STATUS response after each frame sent to ensure that the module has had time to process it.Serial transmit bufferWhen RF data is received, the data is moved into the serial transmit buffer and sent out the UART or SPI port. If the serial transmit buffer becomes full enough such that all data in a received RF packet won't fit in the serial transmit buffer, the entire RF data packet is dropped.Cases in which the serial transmit buffer may become full resulting in dropped RF packets: 1. If the RF data rate is set higher than the interface data rate of the module, the module could receive data faster than it can send the data to the host.2. If the host does not allow the module to transmit data out from the serial transmit buffer because of being held off by hardware flow control.UART flow controlThe RTS and CTS module pins can be used to provide RTS and/or CTS flow control. CTS flow control provides an indication to the host to stop sending serial data to the module. RTS flow control allows the host to signal the module to not send data in the serial transmit buffer out the UART. RTS and CTS flow control are enabled using the D6 and D7 commands. Note that serial port flow control is not possible when using the SPI port.CTS flow control If CTS flow control is enabled (D7 command), when the serial receive buffer is 17 bytes away from being full, the module de-asserts CTS (sets it high) to signal to the host device to stop sending serial data. CTS is re-asserted after the serial receive buffer has 34 bytes of space. RTS flow controlIf RTS flow control is enabled (D6 command), data in the serial transmit buffer will not be sent out the DOUT pin as long as RTS is de-asserted (set high). The host device should not de-assert RTS for long periods of time to avoid filling the serial transmit buffer. If an RF data packet is received, and the serial transmit buffer does not have enough space for all of the data bytes, the entire RF data packet will be discarded.

Serial communicationsXBee/XBee-PRO ZigBee RF Modules User Guide 40Note If the XBee is sending data out the UART when RTS is de-asserted (set high), the XBee could send up to 5 characters out the UART or SPI port after RTS is de-asserted.Break controlIf break is enabled for over five seconds, the XBee will reset. Then it will boot with default baud settings into command mode.This break function will be disabled if either P3 or P4 are not enabled.Serial interface protocolsThe XBee modules support both transparent and Application Programming Interface (API) serial interfaces.Transparent operationWhen operating in transparent mode, the modules act as a serial line replacement. All UART or SPI data received through the DIN or MOSI pin is queued up for RF transmission. When RF data is received, the data is sent out through the serial port. The module configuration parameters are configured using the AT command mode interface. Note that transparent operation is not provided when using the SPI.Data is buffered in the serial receive buffer until one of the following causes the data to be packetized and transmitted:•No serial characters are received for the amount of time determined by the RO (Packetization Timeout) parameter. If RO = 0, packetization begins when a character is received.•The Command Mode Sequence (GT + CC + GT) is received. Any character buffered in the serial receive buffer before the sequence is transmitted.•The maximum number of characters that will fit in an RF packet is received.API operationAPI operation is an alternative to transparent operation. The frame-based API extends the level to which a host application can interact with the networking capabilities of the module. When in API mode, all data entering and leaving the module is contained in frames that define operations or events within the module.Transmit Data Frames (received through the serial port) include:•RF Transmit Data Frame•Command Frame (equivalent to AT commands)Receive Data Frames (sent out the serial port) include:•RF-received data frame•Command response•Event notifications such as reset, associate, disassociate, etc.The API provides alternative means of configuring modules and routing data at the host application layer. A host application can send data frames to the module that contain address and payload information instead of using command mode to modify addresses. The module will send data frames to the application containing status packets; as well as source, and payload information from received data packets.The API operation option facilitates many operations such as the examples cited below:

Modes of operationXBee/XBee-PRO ZigBee RF Modules User Guide 42If the above conditions do not apply (e.g. a sensor node, router, or a simple application), then transparent operation might be suitable. It is acceptable to use a mixture of devices running API mode and transparent mode in a network.Modes of operationIdle ModeWhen not receiving or transmitting data, the RF module is in Idle Mode. The module shifts into the other modes of operation under the following conditions:•Transmit Mode (Serial data in the serial receive buffer is ready to be packetized)•Receive Mode (Valid RF data is received through the antenna)•Sleep Mode (End Devices only)•Command Mode (Command Mode Sequence is issued, not available with Smart Energy software or when using the SPI port)Transmit ModeWhen serial data is received and is ready for packetization, the RF module will exit Idle Mode and attempt to transmit the data. The destination address determines which node(s) will receive the data. Prior to transmitting the data, the module ensures that a 16-bit network address and route to the destination node have been established. If the destination 16-bit network address is not known, network address discovery will take place. If a route is not known, route discovery will take place for the purpose of establishing a route to the destination node. If a module with a matching network address is not discovered, the packet is discarded. The data will be transmitted once a route is established. If route discovery fails to establish a route, the packet will be discarded. The following figure shows the Transmit Mode sequence.

Modes of operationXBee/XBee-PRO ZigBee RF Modules User Guide 43When data is transmitted from one node to another, a network-level acknowledgment is transmitted back across the established route to the source node. This acknowledgment packet indicates to the source node that the data packet was received by the destination node. If a network acknowledgment is not received, the source node will re-transmit the data. It is possible in rare circumstances for the destination to receive a data packet, but for the source to not receive the network acknowledgment. In this case, the source will retransmit the data, which could cause the destination to receive the same data packet multiple times. The XBee modules do not filter out duplicate packets. The application should include provisions to address this potential issueSee Transmission, addressing, and routing on page 67 for more information. Receive ModeIf a valid RF packet is received, the data is transferred to the serial transmit buffer.Command ModeTo modify or read RF Module parameters, the module must first enter into Command Mode - a state in which incoming serial characters are interpreted as commands. Command Mode is only available over the UART when not using the Smart Energy firmware. API Operation on page 139 describes an alternate means for configuring modules which is available with the SPI and with Smart Energy, as well as over the UART with ZB code.AT Command ModeTo Enter AT Command Mode:Send the 3-character command sequence “+++” and observe guard times before and after the command characters. [Refer to the “Default AT Command Mode Sequence” below.]Default AT Command Mode Sequence (for transition to Command Mode):16-bit NetworkAddress DiscoveryData DiscardedSuccessfulTransmissionYesNoNewTransmission16-bit NetworkAddress Discovered?Route Known?Route Discovered?16-bit NetworkAddress Known?Route DiscoveryTransmit DataIdle ModeNoYesNo NoYes Yes

$Modes of operationXBee/XBee-PRO ZigBee RF Modules User Guide 44•No characters sent for one second [GT (Guard Times) parameter = 0x3E8]•Input three plus characters (“+++”) within one second [CC (Command Sequence Character) parameter = 0x2B.]•No characters sent for one second [GT (Guard Times) parameter = 0x3E8]Once the AT command mode sequence has been issued, the module sends an “OK\r” out the UART pad. The “OK\r” characters can be delayed if the module has not finished transmitting received serial data.When command mode has been entered, the command mode timer is started (CT command), and the module is able to receive AT commands on the UART port. All of the parameter values in the sequence can be modified to reflect user preferences.Note Failure to enter AT Command Mode is most commonly due to baud rate mismatch. By default, the BD (Baud Rate) parameter = 3 (9600 b/s).To send AT commands:Send AT commands and parameters using the syntax shown below.Note To read a parameter value stored in the RF module’s register, omit the parameter field.The preceding example would change the RF module Destination Address (Low) to “0x1F”. To store the new value to non-volatile (long term) memory, subsequently send the WR (Write) command.For modified parameter values to persist in the module’s registry after a reset, changes must be saved to non-volatile memory using the WR (Write) Command. Otherwise, parameters are restored to previously saved values after the module is reset.Command response When a command is sent to the module, the module will parse and execute the command. Upon successful execution of a command, the module returns an “OK” message. If execution of a command results in an error, the module returns an “ERROR” message.Applying command changes Any changes made to the configuration command registers through AT commands will not take effect until the changes are applied. For example, sending the BD command to change the baud rate will not change the actual baud rate until changes are applied. Changes can be applied in one of the following ways:•The AC (Apply Changes) command is issued.•AT command mode is exited.To exit AT Command Mode:1. Send the ATCN (Exit Command Mode) command (followed by a carriage return).Example: ATDL 1F<CR>“AT” PrexASCII CommandSpace(optional)Parameter(optional, HEX)Carriage Return$

Modes of operationXBee/XBee-PRO ZigBee RF Modules User Guide 45 [OR]2. If no valid AT Commands are received within the time specified by CT (Command Mode Timeout) Command, the RF module automatically returns to Idle Mode. Note For an example of programming the RF module using AT Commands and descriptions of each configurable parameter, see Command reference tables on page 188.Sleep ModeSleep modes allow the RF module to enter states of low power consumption when not in use. XBee RF modules support both pin sleep (sleep mode entered on pin transition) and cyclic sleep (module sleeps for a fixed time). XBee sleep modes are discussed in detail in Managing End Devices on page 116.

XBee/XBee-PRO ZigBee RF Modules User Guide 46ZigBee networksIntroduction to ZigBeeZigBee is an open global standard built on the IEEE 802.15.4 MAC/PHY. ZigBee defines a network layer above the 802.15.4 layers to support advanced mesh routing capabilities. The ZigBee specification is developed by a growing consortium of companies that make up the ZigBee Alliance. The Alliance is made up of over 300 members, including semiconductor, module, stack, and software developers. ZigBee stack layersThe ZigBee stack consists of several layers including the PHY, MAC, Network, Application Support Sublayer (APS), and ZigBee Device Objects (ZDO) layers. Technically, an Application Framework (AF) layer also exists, but will be grouped with the APS layer in remaining discussions. The ZigBee layers are shown in the figure below.

ZigBee networking conceptsXBee/XBee-PRO ZigBee RF Modules User Guide 47A description of each layer appears in the following table:ZigBee networking conceptsDevice typesZigBee defines three different device types: coordinator, router, and end device. Node Types / Sample of a Basic ZigBee Network Topology A coordinator has the following characteristics: It:•Selects a channel and PAN ID (both 64-bit and 16-bit) to start the network•Can allow routers and end devices to join the network•Can assist in routing data•Cannot sleep--should be mains powered•Can buffer RF data packets for sleeping end device childrenA router has the following characteristics: It: •Must join a ZigBee PAN before it can transmit, receive, or route data•After joining, can allow routers and end devices to join the network•After joining, can assist in routing data•Cannot sleep--should be mains powered•Can buffer RF data packets for sleeping end device childrenAn end device has the following characteristics: It:•Must join a ZigBee PAN before it can transmit or receive data•Cannot allow devices to join the network•Must always transmit and receive RF data through its parent, and cannot route data•Can enter low power modes to conserve power and can be battery-powered An example of such a network is shown below:ZigBee Layer Description PHY Defines the physical operation of the ZigBee device including receive sensitivity, channel rejection, output power, number of channels, chip modulation, and transmission rate specifications. Most ZigBee applications operate on the 2.4 GHz ISM band at a 250kb/s data rate. See the IEEE 802.15.4 specification for details.MAC Manages RF data transactions between neighboring devices (point to point). The MAC includes services such as transmission retry and acknowledgment management, and collision avoidance techniques (CSMA-CA).Network Adds routing capabilities that allows RF data packets to traverse multiple devices (multiple "hops") to route data from source to destination (peer to peer).APS (AF) Application layer that defines various addressing objects including profiles, clusters, and endpoints. ZDO Application layer that provides device and service discovery features and advanced network management capabilities.

ZigBee networking conceptsXBee/XBee-PRO ZigBee RF Modules User Guide 48In ZigBee networks, the coordinator must select a PAN ID (64-bit and 16-bit) and channel to start a network. After that, it behaves essentially like a router. The coordinator and routers can allow other devices to join the network and can route data.After an end device joins a router or coordinator, it must be able to transmit or receive RF data through that router or coordinator. The router or coordinator that allowed an end device to join becomes the “parent” of the end device. Since the end device can sleep, the parent must be able to buffer or retain incoming data packets destined for the end device until the end device is able to wake and receive the data.A module can only operate as one of the three device types. The device type is selected by configuration rather than by firmware image as was the case on earlier hardware platforms.By default, the module operates as a router in transparent mode. To select coordinator operation, set CE to 1. To select end device operation, set SM to a non-zero value. To select router operation, both CE and SM must be 0.One complication is that if a device is a coordinator and it needs to be changed into an end device, CE must be set back to 0 first. If not, the SM configuration will conflict with the CE configuration. Likewise, to change an end device into a coordinator, it must be changed into a router first.Another complication is that default parameters for a router build don't always work very well for a coordinator build. For example:DH/DL is 0 by default, which allows routers and end devices to send data to the coordinator when they first come up. If DH/DL is not changed from the default value when the device is changed to a coordinator, then the device will send data to itself, causing characters to be echoed back to the screen as they are typed. Since this is probably not the desired operation, DH/DL should be set to the broadcast address or some specific unicast address when the device is changed to a coordinator.Another example is EO for smart energy builds. This value should be 08 for routers and end devices and it should be 02 for the coordinator to designate it as the trust center. Therefore, if using authentication, which is the normal case for Smart Energy builds, EO should be changed from 02 to 08 when CE is set to 1.Another example is EO for ZigBee builds. By default the value is 0x00. But if it and EE are set to 0x01 on all radios in a network, then the network key will be sent in the clear (unencrypted) at association time. This may be a useful setting in development environments, but is discouraged for security reasons for product deployment.In general, when changing device types, it is the user's responsibility to ensure that parameters are set to be compatible with the new device type.PAN IDZigBee networks are called personal area networks or PANs. Each network is defined with a unique PAN identifier (PAN ID). This identifier is common among all devices of the same network. ZigBee devices are either preconfigured with a PAN ID to join, or they can discover nearby networks and select a PAN ID to join.

ZigBee Router operationXBee/XBee-PRO ZigBee RF Modules User Guide 55Note II is the initial 16-bit PAN ID. Under certain conditions, the ZigBee stack can change the 16-bit PAN ID of the network. For this reason, the II command cannot be saved using the WR command. Once II is set, the coordinator leaves the network and starts on the 16-bit PAN ID specified by II.Example: starting a Coordinator1. Set CE (Coordinator Enable) to 1, and use the WR command to save the changes.1. Set SC and ID to the desired scan channels and PAN ID values. (The defaults should suffice.)2. If SC or ID is changed from the default, issue the WR command to save the changes.3. If SC or ID is changed from the default, apply changes (make SC and ID changes take effect) either by sending the AC command or by exiting AT command mode.4. The Associate LED will start blinking once the coordinator has selected a channel and PAN ID.5. The API Modem Status frame (“Coordinator Started”) is sent out the serial port when using API mode.6. Reading the AI command (association status) will return a value of 0, indicating a successful startup.7. Reading the MY command (16-bit address) will return a value of 0, the ZigBee-defined 16-bit address of the coordinator.After startup, the coordinator will allow joining based on its NJ value.Example: replacing a Coordinator (security disabled)1. Read the OP, OI, CH, and ZS commands on the running coordinator.2. Set the CE, ID, SC, and ZS parameters on the new coordinator, followed by WR command to save these parameter values.3. Turn off the running coordinator. 4. Set the II parameter on the new coordinator to match the read OI value on the old coordinator.5. Wait for the new coordinator to start (AI=0).ZigBee Router operationRouters must discover and join a valid ZigBee network before they can participate in a ZigBee network. After a router has joined a network, it can allow new devices to join the network. It can also route data packets and communicate with other devices on the network. Discovering ZigBee networksTo discover nearby ZigBee networks, the router performs a PAN (or active) scan, just like the coordinator does when it starts a network. During the PAN scan, the router sends a beacon request (broadcast) transmission on the first channel in its scan channels list. All nearby coordinators and routers operating on that channel (that are already part of a ZigBee network) respond to the beacon request by sending a beacon back to the router. The beacon contains information about the PAN the nearby device is on, including the PAN identifier (PAN ID), and whether or not joining is allowed. The router evaluates each beacon received on the channel to determine if a valid PAN is found. A router considers a PAN to be valid if the PAN:•Has a valid 64-bit PAN ID (PAN ID matches ID if ID > 0)

ZigBee Router operationXBee/XBee-PRO ZigBee RF Modules User Guide 58Joining always enabledIf NJ=0xFF (default), joining is permanently enabled. This mode should be used carefully. Once a network has been deployed, the application should strongly consider disabling joining to prevent unwanted joins from occurring.Joining temporarily enabledIf NJ < 0xFF, joining will be enabled only for a number of seconds, based on the NJ parameter. The timer is started once the XBee joins a network. Joining will not be re-enabled if the module is power cycled or reset. The following mechanisms can restart the permit-joining timer:• Changing NJ to a different value (and applying changes with the AC or CN commands)• Pressing the commissioning button twice• Issuing the CB command with a parameter of 2 (software emulation of a 2 button press)• Causing the router to leave and rejoin the networkThe middle two cases enable joining for one minute if NJ is 0x0 or 0xFF. Otherwise, the commissioning button and the CB2 command enable joining for NJ seconds.Router network connectivityOnce a router joins a ZigBee network, it remains connected to the network on the same channel and PAN ID as long as it is not forced to leave (see Leaving a network on page 53 for details). If the scan channels (SC), PAN ID (ID) and security settings (EE, KY) do not change after a power cycle, the router will remain connected to the network after a power cycle.If a router may physically move out of range of the network it initially joined, the application should include provisions to detect if the router can still communicate with the original network. If communication with the original network is lost, the application may choose to force the router to leave the network (see Leaving a network on page 53 for details). The XBee firmware includes two provisions to automatically detect the presence of a network, and leave if the check fails.Power-On join verificationThe JV command (join verification) enables the power-on join verification check. If enabled, the XBee will attempt to discover the 64-bit address of the coordinator when it first joins a network. Once it has joined, it will also attempt to discover the 64-bit address of the coordinator after a power cycle event. If 3 discovery attempts fail, the router will leave the network and try to join a new network. Power-on join verification is disabled by default (JV defaults to 0).Network WatchdogThe NW command (network watchdog timeout) can be used for a powered router to periodically check for the presence of a coordinator to verify network connectivity. The NW command specifies a timeout in minutes where the router must receive communication from the coordinator or data collector. The following events restart the network watchdog timer:•RF data received from the coordinator•RF data sent to the coordinator and an acknowledgment was received•Many-to-one route request was received (from any device)•Changing the value of NW

ZigBee Router operationXBee/XBee-PRO ZigBee RF Modules User Guide 59If the watchdog timer expires (no valid data received for NW time), the router will attempt to discover the 64-bit address of the coordinator. If the address cannot be discovered, the router records one watchdog timeout. Once three consecutive network watchdog timeouts have expired (3 * NW) and the coordinator has not responded to the address discovery attempts, the router will leave the network and attempt to join a new network. Anytime a router receives valid data from the coordinator or data collector, it will clear the watchdog timeouts counter and restart the watchdog timer. The watchdog timer (NW command) is settable to several days. The network watchdog feature is disabled by default (NW defaults to 0).Leaving a networkThere are a couple of mechanisms that will cause the router to leave its current PAN and attempt to discover and join a new network based on its network joining parameter values. These include the following:• Change the ID command such that the current 64-bit PAN ID is invalid• Change the SC command such that the current channel (CH) is not included in the channel mask• Change the ZS or any of the security command values• Issue the NR0 command to cause the router to leave.• Issue the NR1 command to send a broadcast transmission, causing all devices in the network to leave and migrate to a different channelClear Network Watchdog Failure CountRestart Network Watchdog TimerReceived RF Communication from Coordinator or Data CollectorYesNetwork Watchdog Timer Expired?NoNoDiscover CoordinatorYesCoordinator Found?YesNetwork Watchdog Failure Count +=1NoNetwork Watchdog Failure Count =3 ?LeaveYesNoNetwork Watchdog Behavior

End Device operationXBee/XBee-PRO ZigBee RF Modules User Guide 62additional end devices to join. ZigBee networks should have sufficient routers to ensure adequate end device capacity.The initial release of software on this platform supports up to 20 end devices when configured as a coordinator or a router.In ZB firmware, the NC command (number of remaining end device children) can be used to determine how many additional end devices can join a router or coordinator. If NC returns 0, then the router or coordinator device has no more end device capacity (Its child table is full).Also of note, since routers cannot sleep, there is no equivalent need for routers or coordinators to track joined routers. Therefore, there is no limit to the number of routers that can join a given router or coordinator device. There is no “router capacity” metric.AuthenticationIn a network where security is enabled, the end device must then go through an authentication process; see ZigBee Security on page 92.Persistent dataThe end device can retain its PAN ID, operating channel, and security policy information through a power cycle. However, since end devices rely heavily on a parent, the end device does an orphan scan to try and contact its parent. If the end device does not receive an orphan scan response (called a coordinator realignment command), it will leave the network and try to discover and join a new network. When the end device leaves a network, the previous PAN ID and operating channel settings are lost. Orphan scansWhen an end device comes up from a power cycle, it performs an orphan scan to verify it still has a valid parent. The orphan scan is sent as a broadcast transmission and contains the 64-bit address of the end device. Nearby routers and coordinator devices that receive the broadcast check their child tables for an entry that contains the end device's 64-bit address. If an entry is found with a matching 64-bit address, the device sends a coordinator realignment command to the end device that includes the end device's 16-bit address, 16-bit PAN ID, operating channel, and the parent's 64-bit and 16-bit addresses.If the orphaned end device receives a coordinator realignment command, it is considered joined to the network. Otherwise, it will attempt to discover and join a valid network.ZigBee End Device joiningWhen an end device is powered on, if it is not joined to a valid ZigBee network, or if the orphan scan fails to find a parent, it immediately attempts to find and join a valid ZigBee network. Note The DJ command can be set to 1 to disable joining. The DJ parameter cannot be written with WR, so a power cycle always clears the DJ setting.Similar to a router, the following commands control the end device joining process.

ZigBee channel scanningXBee/XBee-PRO ZigBee RF Modules User Guide 65ZigBee channel scanningAs mentioned previously, routers and end devices must scan one or more channels to discover a valid network to join. When a join attempt begins, the XBee sends a beacon request transmission on the lowest channel specified in the SC (scan channels) command bitmask. If a valid PAN is found on the channel, the XBee will attempt to join the PAN on that channel. Otherwise, if a valid PAN is not found on the channel, it will attempt scanning on the next higher channel in the SC command bitmask. The XBee will continue to scan each channel (from lowest to highest) in the SC bitmask until a valid PAN is found or all channels have been scanned. Once all channels have been scanned, the next join attempt will start scanning on the lowest channel specified in the SC command bitmask.For example, if the SC command is set to 0x400F, the XBee would start scanning on channel 11 (0x0B) and scan until a valid beacon is found, or until channels 11, 12, 13, 14, and 25 have been scanned (in that order).Once an XBee router or end device joins a network on a given channel, if the XBee is told to leave (see Leaving a network on page 53), it will leave the channel it joined on and continue scanning on the next higher channel in the SC bitmask. For example, if the SC command is set to 0x400F, and the XBee joins a PAN on channel 12 (0x0C), if the XBee leaves the channel, it will start scanning on channel 13, followed by channels 14 and 25 if a valid network is not found. Once all channels have been scanned, the next join attempt will start scanning on the lowest channel specified in the SC command bitmask.Managing multiple ZigBee networksIn some applications, multiple ZigBee networks may exist in proximity of each other. The application may need provisions to ensure the XBee joins the desired network. There are a number of features in ZigBee to manage joining among multiple networks. These include the following:•PAN ID Filtering•Preconfigured Security Keys•Permit Joining•Application MessagingPAN ID filteringThe XBee can be configured with a fixed PAN ID by setting the ID command to a non-zero value. If the PAN ID is set to a non-zero value, the XBee will only join a network with the same PAN ID. Pre-configured security keysSimilar to PAN ID filtering, this method requires a known security key be installed on a router to ensure it will join a ZigBee network with the same security key. If the security key (KY command) is set to a non-zero value, and if security is enabled (EE command), an XBee router or end device will only join a network with the same security key.Permit joiningThe Permit Joining parameter can be disabled in a network to prevent unwanted devices from joining. When a new device must be added to a network, permit-joining can be enabled for a short time on the desired network. In the XBee firmware, joining is disabled by setting the NJ command to a value less than 0xFF on all routers and coordinator devices. Joining can be enabled for a short time using the commissioning push-button (see Network commissioning and diagnostics on page 100 for details) or the CB command.

ZigBee channel scanningXBee/XBee-PRO ZigBee RF Modules User Guide 66Application messagingIf the above mechanisms are not feasible, the application could build in a messaging framework between the coordinator and devices that join its network. For example, the application code in joining devices could send a transmission to the coordinator after joining a network, and wait to receive a defined reply message. If the application does not receive the expected response message after joining, the application could force the XBee to leave and continue scanning (see the NR parameter).

Data transmissionXBee/XBee-PRO ZigBee RF Modules User Guide 69For each broadcast transmission, the ZigBee stack must reserve buffer space for a copy of the data packet. This copy is used to retransmit the packet as needed. Large broadcast packets will require more buffer space. This information on buffer space is provided for general knowledge; the user does not and cannot change any buffer spacing. Buffer spacing is handled automatically by the XBee module.Since broadcast transmissions are retransmitted by each device in the network, broadcast messages should be used sparingly.Unicast transmissionsUnicast transmissions are sent from one source device to another destination device. The destination device could be an immediate neighbor of the source, or it could be several hops away. Unicast transmissions that are sent along a multiple hop path require some means of establishing a route to the destination device. See RF packet routing on page 74 for details.Address resolutionAs mentioned previously, each device in a ZigBee network has both a 16-bit (network) address and a 64-bit (extended) address. The 64-bit address is unique and assigned to the device during manufacturing, and the 16-bit address is obtained after joining a network. The 16-bit address can also change under certain conditions. When sending a unicast transmission, the ZigBee network layer uses the 16-bit address of the destination and each hop to route the data packet. If the 16-bit address of the destination is not known, the ZigBee stack includes a discovery provision to automatically discover the destination device's 16-bit address before routing the data. To discover a 16-bit address of a remote, the device initiating the discovery sends a broadcast address discovery transmission. The address discovery broadcast includes the 64-bit address of the remote device whose 16-bit address is being requested. All nodes that receive this transmission check the 64-bit address in the payload and compare it to their own 64-bit address. If the addresses match, the device sends a response packet back to the initiator. This response includes the remote's 16-bit address. When the discovery response is received, the initiator will then transmit the data.Frames may be addressed using either the extended or the network address. If the extended address form is used, then the network address field should be set to 0xFFFE (unknown). If the network address form is used, then the extended address field should be set to 0xFFFFFFFFFFFFFFFF (unknown).If an invalid 16-bit address is used as a destination address, and the 64-bit address is unknown (0xFFFFFFFFFFFFFFFF), the modem status message will show a delivery status code of 0x21 (network ack failure) and a discovery status of 0x00 (no discovery overhead). If a non-existent 64-bit address is used as a destination address, and the 16-bit address is unknown (0xFFFE), address discovery will be attempted and the modem status message will show a delivery status code of 0x24 (address not found) and a discovery status code of 0x01 (address discovery was attempted).

Data transmissionXBee/XBee-PRO ZigBee RF Modules User Guide 70Address tableEach ZigBee device maintains an address table that maps a 64-bit address to a 16-bit address. When a transmission is addressed to a 64-bit address, the ZigBee stack searches the address table for an entry with a matching 64-bit address, in hopes of determining the destination's 16-bit address. If a known 16-bit address is not found, the ZigBee stack will perform address discovery to discover the device's current 16-bit address.The XBee modules can store up to 10 address table entries. For applications where a single device (e.g. coordinator) may send unicast transmissions to more than 10 devices, the application should implement an address table to store the 16-bit and 64-bit addresses for each remote device. Any XBee that will send data to more than 10 remotes should also use API mode. The application can then send both the 16-bit and 64-bit addresses to the XBee in the API transmit frames which will significantly reduce the number of 16-bit address discoveries and greatly improve data throughput.If an application will support an address table, the size should ideally be larger than the maximum number of destination addresses the device will communicate with. Each entry in the address table should contain a 64-bit destination address and its last known 16-bit address.When sending a transmission to a destination 64-bit address, the application should search the address table for a matching 64-bit address. If a match is found, the 16-bit address should be populated into the 16-bit address field of the API frame. If a match is not found, the 16-bit address should be set to 0xFFFE (unknown) in the API transmit frame. The API provides indication of a remote device's 16-bit address in the following frames: • All receive data frames• Rx Data (0x90)• Rx Explicit Data (0x91)• I/O Sample Data (0x92)• Node Identification Indicator (0x95)• Route Record Indicator (0xA1) etc.• Transmit status frame (0x8B)Group tableEach router and the coordinator maintain a persistent group table. Each entry contains an endpoint value, a two byte group ID, and an optional name string of zero to 16 ASCII characters, and an index into the binding table. More than one endpoint may be associated with a group ID, and more than one group ID may be associated with a given endpoint. The capacity of the group table is 16 entries.The application should always update the 16-bit address in the address table when one of these frames is received to ensure the table has the most recently known 16-bit address. If a transmission failure occurs, the application should set the 16-bit address in the table to 0xFFFE (unknown).64-bit Address 16-bit Address0013 A200 4000 0001 0x44140013 A200 400A 3568 0x12340013 A200 4004 1122 0xC2000013 A200 4002 1123 0xFFFE (unknown)

Data transmissionXBee/XBee-PRO ZigBee RF Modules User Guide 71Binding transmissionsBinding transmissions use indirect addressing to send one or more messages to other destination devices. An Explicit Addressing ZigBee Command Frame (0x11) using the Indirect Tx Option (0x04) is treated as a binding transmission request.Address resolutionThe source endpoint and cluster ID values of a binding transmission are used as keys to lookup matching binding table entries. For each matching binding table entry, the type field of the entry indicates whether a unicast or a multicast message should be sent.In the case of a unicast entry, the transmission request is updated with the Destination Endpoint and MAC Address, and unicast to its destination. In the case of a multicast entry, the message is updated using the two least significant bytes of the Destination MAC Address as the groupID, and multicast to its destination(s).Binding tableEach router and the coordinator maintain a persistent binding table to map source endpoint and cluster ID values into 64 bit destination address and endpoint values. The capacity of the binding table is 16 entries.Multicast transmissionsMulticast transmissions are used to broadcast a message to destination devices which have active endpoints associated with a common group ID. An explicit transmit request frame (0x11) using the Multicast Tx Option (0x08) is treated as a multicast transmission request.Address resolutionThe 64 bit destination address value does not matter and it is recommended it be set to 0xFFFFFFFFFFFFFFFF. The 16 bit destination address value should be set to the destination groupID.FragmentationEach unicast transmission may support up to 84 bytes of RF payload. (Enabling security or using source routing can reduce this number. See the NP command for details.) However, the XBee ZB firmware supports a ZigBee feature called fragmentation that allows a single large data packet to be broken up into multiple RF transmissions and reassembled by the receiver before sending data out its serial port. This is shown in the image below.

$Data transmissionXBee/XBee-PRO ZigBee RF Modules User Guide 72The transmit frame can include up to 255 bytes of data, which will be broken up into multiple transmissions and reassembled on the receiving side. If one or more of the fragmented messages are not received by the receiving device, the receiver will drop the entire message, and the sender will indicate a transmission failure in the Tx Status API frame.Applications that do not wish to use fragmentation should avoid sending more than the maximum number of bytes in a single RF transmission. See Maximum RF payload size on page 83 for details.If RTS flow control is enabled on the receiving module (using the D6 command) and a fragmented message is received, then RTS flow control will be ignored.Note Broadcast transmissions do not support fragmentation. Maximum payload size = up to 84 bytes.Data transmission examplesAT firmwareTo send a data packet in transparent mode, the DH and DL commands must be set to match the 64-bit address of the destination device. DH must match the upper 4-bytes, and DL must match the lower 4 bytes. Since the coordinator always receives a 16-bit address of 0x0000, a 64-bit address of 0x0000000000000000 is defined as the coordinator's address (in ZB firmware). The default values of DH and DL are 0x00, which sends data to the coordinator.Example 1: send a transmission to the coordinator.(In this example, a '\r' refers to a carriage return character.)A router or end device can send data in two ways. First, set the destination address (DH and DL commands) to 0x00.1. Enter command mode ('+++')2. After receiving an OK\r, issue the following commands:3. ATDH0\ra. ATDL0\rb. ATCN\r4. Verify that each of the 3 commands returned an OK\r response.5. After setting these command values, all serial characters will be sent as a unicast transmission to the coordinator.Alternatively, if the coordinator's 64-bit address is known, DH and DL can be set to the coordinator's 64-bit address. Suppose the coordinator's address is 0x0013A200404A2244.1. Enter command mode ('+++')2. After receiving an OK\r, issue the following commands:3. ATDH13A200\ra. ATDL404A2244\b. ATCN\r4. Verify that each of the three commands returned an OK\r response.$

$Data transmissionXBee/XBee-PRO ZigBee RF Modules User Guide 735. After setting these command values, all serial characters will be sent as a unicast transmission to the coordinator.API firmwareUse the transmit request, or explicit transmit request frame (0x10 and 0x11 respectively) to send data to the coordinator. The 64-bit address can either be set to 0x0000000000000000, or to the 64-bit address of the coordinator. The 16-bit address should be set to 0xFFFE when using the 64-bit address of all 0x00s.To send an ASCII “1” to the coordinator's 0x00 address, the following API frame can be used:7E 00 0F 10 01 0000 0000 0000 0000 FFFE 00 00 31 C0If the explicit transmit frame is used, the cluster ID should be set to 0x0011, the profile ID to 0xC105, and the source and destination endpoints to 0xE8 (recommended defaults for data transmissions in the Digi profile.) The same transmission could be sent using the following explicit transmit frame:7E 00 15 11 01 0000 0000 0000 0000 FFFE E8 E8 0011 C105 00 00 31 18Notice the 16-bit address is set to 0xFFFE. This is required when sending to a 64-bit address of 0x00s.Now suppose the coordinator's 64-bit address is 0x0013A200404A2244. The following transmit request API frame (0x10) will send an ASCII “1” to the coordinator:7E 00 0F 10 01 0013 A200 404A 2244 0000 0000 31 18Example 2: send a broadcast transmission.(In this example, a '\r' refers to a carriage return character.)Perform the following steps to configure a broadcast transmission:1. Enter command mode ('+++')2. After receiving an OK\r, issue the following commands:a. ATDH0\rb. ATDLffff\rc. ATCN\r3. Verify that each of the three commands returned an OK\r response4. After setting these command values, all serial characters will be sent as a broadcast transmission.API firmwareThis example will use the transmit request API frame (0x10) to send an ASCII “1” in a broadcast transmission.To send an ASCII “1” as a broadcast transmission, the following API frame can be used:7E 00 0F 10 01 0000 0000 0000 FFFF FFFE 00 00 31 C2Notice the destination 16-bit address is set to 0xFFFE for broadcast transmissions.Example 3: send an indirect (binding) transmission.This example will use the explicit transmit request frame (0x11) to send a transmission using indirect addressing through the binding table. It assumes the binding table has already been set up to map a source endpoint of 0xE7 and cluster ID of 0x0011 to a destination endpoint and 64 bit destination address. The message data is a$

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 75Link status transmissionBefore discussing the various routing protocols, it is worth understanding the primary mechanism in ZigBee for establishing reliable bi-directional links. This mechanism is especially useful in networks that may have a mixture of devices with varying output power and/or receiver sensitivity levels.Each coordinator or router device periodically sends a link status message. This message is sent as a 1-hop broadcast transmission, received only by one-hop neighbors. The link status message contains a list of neighboring devices and incoming and outgoing link qualities for each neighbor. Using these messages, neighboring devices can determine the quality of a bi-directional link with each neighbor and use that information to select a route that works well in both directions.For example, consider a network of two neighboring devices that send periodic link status messages. Suppose that the output power of device A is +18dBm, and the output power of device B is +3dBm (considerably less than the output power of device A). The link status messages might indicate the following:This mechanism enables devices A and B to recognize that the link is not reliable in both directions and select a different neighbor when establishing routes. (Such links are called asymmetric links, meaning the link quality is not similar in both directions.)When a router or coordinator device powers on, it sends link status messages every couple seconds to attempt to discover link qualities with its neighbors quickly. After being powered on for some time, the link status messages are sent at a much slower rate (about every 3-4 times per minute).AODV Mesh routing ZigBee employs mesh routing to establish a route between the source device and the destination. Mesh routing allows data packets to traverse multiple nodes (hops) in a network to route data from a source to a destination. Routers and coordinators can participate in establishing routes between source and destination devices using a process called route discovery. The Route discovery process is based on the Ad-hoc On-demand Distance Vector routing (AODV) protocol.Sample transmission through a Mesh network:Device ADevice BNeighbor A:Outgoing cost: very poorIncoming cost: very goodNeighbor B:Outgoing cost: very goodIncoming cost: very poorLink status (A to B)Link status (B to A)+18 dBm TX power+3 dBm TX power

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 76AODV routing algorithmRouting under the AODV protocol is accomplished using tables in each node that store the next hop (intermediary node between source and destination nodes) for a destination node. If a next hop is not known, route discovery must take place in order to find a path. Since only a limited number of routes can be stored on a Router, route discovery will take place more often on a large network with communication between many different nodes.When a source node must discover a route to a destination node, it sends a broadcast route request command. The route request command contains the source network address, the destination network address and a path cost field (a metric for measuring route quality). As the route request command is propagated through the network (refer to the Broadcast Transmission), each node that re-broadcasts the message updates the path cost field and creates a temporary entry in its route discovery table. Sample route request (broadcast) transmission where R3 is trying to discover a route to R6: When the destination node receives a route request, it compares the ‘path cost’ field against previously received route request commands. If the path cost stored in the route request is better than any previously received, the Node Destination Address Next Hop AddressR3 Router 6 CoordinatorC Router 6 Router 5R5 Router 6 Router 6

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 77destination node will transmit a route reply packet to the node that originated the route request. Intermediate nodes receive and forward the route reply packet to the source node (the node that originated route request).Sample route reply (unicast) where R6 sends a route reply to R3:Note R6 could send multiple replies if it identifies a better route.Retries and acknowledgmentsZigBee includes acknowledgment packets at both the Mac and Application Support (APS) layers. When data is transmitted to a remote device, it may traverse multiple hops to reach the destination. As data is transmitted from one node to its neighbor, an acknowledgment packet (Ack) is transmitted in the opposite direction to indicate that the transmission was successfully received. If the Ack is not received, the transmitting device will retransmit the data, up to 4 times. This Ack is called the Mac layer acknowledgment.In addition, the device that originated the transmission expects to receive an acknowledgment packet (Ack) from the destination device. This Ack will traverse the same path that the data traversed, but in the opposite direction. If the originator fails to receive this Ack, it will retransmit the data, up to 2 times until an Ack is received. This Ack is called the ZigBee APS layer acknowledgment.Note Refer to the ZigBee specification for more details.Many-to-One routingIn networks where many devices must send data to a central collector or gateway device, AODV mesh routing requires significant overhead. If every device in the network had to discover a route before it could send data to the data collector, the network could easily become inundated with broadcast route discovery messages.Many-to-one routing is an optimization for these kinds of networks. Rather than require each device to do its own route discovery, a single many-to-one broadcast transmission is sent from the data collector to establish reverse routes on all devices. This is shown in the figure below. The left side shows the many broadcasts the devices can send when they create their own routes and the route replies generated by the data collector. The right side shows the benefits of many-to-one routing where a single broadcast creates reverse routes to the data collector on all routers. The many-to-one broadcast is a route request message with the target discovery address set to the address of the data collector. Devices that receive this route request create a reverse many-to-one routing table entry to create

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 78a path back to the data collector. The ZigBee stack on a device uses historical link quality information about each neighbor to select a reliable neighbor for the reverse route.When a device sends data to a data collector, and it finds a many-to-one route in its routing table, it will transmit the data without performing a route discovery. The many-to-one route request should be sent periodically to update and refresh the reverse routes in the network.Applications that require multiple data collectors can also use many-to-one routing. If more than one data collector device sends a many-to-one broadcast, devices will create one reverse routing table entry for each collector.In ZB firmware, the AR command is used to enable many-to-one broadcasting on a device. The AR command sets a time interval (measured in 10 second units) for sending the many to one broadcast transmission. (See the command table for details).High/Low RAM Concentrator modeWhen Many to One (MTO) requests are broadcast, DO40 (bit6) determines if the concentrator is operating in high or low RAM mode. High RAM mode indicates the concentrator has enough memory to store source routes for the whole network, and remote nodes may stop sending route records after the concentrator has successfully received one. Low RAM mode indicates the concentrator lacks RAM to store route records, and that route records should be sent to the concentrator to precede every inbound APS unicast message. By default the XBee uses low RAM mode.Source routingIn applications where a device must transmit data to many remotes, AODV routing would require performing one route discovery for each destination device to establish a route. If there are more destination devices than there are routing table entries, established AODV routes would be overwritten with new routes, causing route discoveries to occur more regularly. This could result in larger packet delays and poor network performance.ZigBee source routing helps solve these problems. In contrast to many-to-one routing that establishes routing paths from many devices to one data collector, source routing allows the collector to store and specify routes for many remotes.To use source routing, a device must use the API mode, and it must send periodic many-to-one route request broadcasts (AR command) to create a many-to-one route to it on all devices. When remote devices send RF data using a many-to-one route, they first send a route record transmission. The route record transmission is unicast along the many-to-one route until it reaches the data collector. As the route record traverses the many-to-one route, it appends the 16-bit address of each device in the route into the RF payload. When the route record reaches the data collector, it contains the address of the sender, and the 16-bit address of each hop in the route. The data collector can store the routing information and retrieve it later to send a source routed packet to the remote. This is shown in the images below.

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 79Acquiring source routesAcquiring source routes requires the remote devices to send a unicast to a data collector (device that sends many-to-one route request broadcasts). There are several ways to force remotes to send route record transmissions.1. If the application on remote devices periodically sends data to the data collector, each transmission will force a route record to occur.The data collector sends a many-to-one route request broadcast to create reverse routes on all devices.A remote device sends an RF data packet to the data collector. This is prefaced by a route record transmission to the data collector.After obtaining a source route, the data collector sends a source routed transmission to the remote device.Route request broadcastRoute reply unicastData collectorRouter

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 802. The data collector can issue a network discovery command (ND command) to force all XBee devices to send a network discovery response. Each network discovery response will be prefaced by a route record.3. Periodic IO sampling can be enabled on remotes to force them to send data at a regular rate. Each IO sample would be prefaced by a route record. See Analog and digital I/O lines on page 132 for details.4. If the NI string of the remote device is known, the DN command can be issued with the NI string of the remote in the payload. The remote device with a matching NI string would send a route record and a DN response.Storing source routesWhen a data collector receives a route record, it sends it out the serial port as a Route Record Indicator API frame (0xA1). To use source routing, the application should receive these frames and store the source route information.Sending a source routed transmissionTo send a source routed transmission, the application must send a Create Source Route API frame (0x21) to the XBee to create a source route in its internal source route table. After sending the Create Source Route API frame, the application can send data transmission or remote command request frames as needed to the same destination, or any destination in the source route. Once data must be sent to a new destination (a destination not included in the last source route), the application must first send a new Create Source Route API frame. Note If a Create Source Route API frame does not precede data frames, data loss may be encountered. The XBee can buffer one source route that includes up to 11 hops (excluding source and destination). For example, suppose a network exists with a coordinator and 5 routers (R1, R2, R3, R4, R5) with known source routes as shown below.To send a source-routed packet to R3, the application must send a Create Source Route API frame (0x21) to the XBee, with a destination of R3, and 2 hops (R1 and R2). If the 64- bit address of R3 is 0x0013A200 404a1234 and the 16-bit addresses of R1, R2, and R3 are:CoordinatorR1R2R3R4R5

RF packet routingXBee/XBee-PRO ZigBee RF Modules User Guide 81Then the Create Source Route API frame would be:7E 0012 21 00 0013A200 404A1234 EEFF 00 02 CCDD AABB 5CWhere:0x0012 - length0x21 - API ID (create source route)0x00 - frame ID (set to 0 always)0x0013A200 404A1234 - 64-bit address of R3 (destination)0xEEFF - 16-bit address of R3 (destination)0x00 - Route options (set to 0)0x02 - Number of intermediate devices in the source route0xCCDD - Address of furthest device (1-hop from target)0xAABB - Address of next-closer device0x5C - Checksum (0xFF - SUM (all bytes after length))Repairing source routesIt is possible in a network to have an existing source route fail (i.e. a device in the route moves or goes down, etc.). If a device goes down in a source routed network, all routes that used the device will be broken. As mentioned previously, source routing must be used with many-to-one routing. (A device that uses source routing must also send a periodic many-to-one broadcast in order to keep routes fresh). If a source route is broken, remote devices must send in new route record transmissions to the data collector to provide it with a new source route. This requires that remote devices periodically send data transmissions into the data collector. See Acquiring source routes on page 79 for details.Retries and acknowledgmentsZigBee includes acknowledgment packets at both the Mac and Application Support (APS) layers. When data is transmitted to a remote device, it may traverse multiple hops to reach the destination. As data is transmitted from one node to its neighbor, an acknowledgment packet (Ack) is transmitted in the opposite direction to indicate that the transmission was successfully received. If the Ack is not received, the transmitting device will retransmit the data, up to 4 times. This Ack is called the Mac layer acknowledgment.In addition, the device that originated the transmission expects to receive an acknowledgment packet (Ack) from the destination device. This Ack will traverse the same path that the data traversed, but in the opposite direction. If the originator fails to receive this Ack, it will retransmit the data, up to two times until an Ack is received. This Ack is called the ZigBee APS layer acknowledgment.Note Refer to the ZigBee specification for more details.Device 16-bit addressR1 0xAABBR2 0xCCDDR3 0xEEFF

Encrypted transmissionsXBee/XBee-PRO ZigBee RF Modules User Guide 82Disabling MTO routingTo disable MTO (many-to-one) routing in a network, first reconfigure the AR setting on the aggregator and then broadcast a network wide power reset (0x08 of the RE command) to rebuild the routing tables.1. Set AR on the aggregator to 0xFF. 2. Do an AC command to enact the change. 3. Do a WR command if the saved configuration setting value for AR is not 0xFF.This ends the periodic broadcast of aggregator messages if the previous setting was 0x01-0xFE, and prevents a single broadcast after a power reset if the previous setting was 0x00. Broadcast a FR remote command to the network and wait for the network to reform. This removes the aggregator's status as an aggregator from the network's routing tables so that no more route records will be sent to the aggregator.Disabling route recordsIf an aggregator has collected route records from the nodes of the network and no longer needs to have route records (which consume network throughput) sent:1. Set Bit 6 of DO to Enable High RAM Concentrator mode. High RAM mode means the aggregator has sufficient memory to hold route records for its potential destinations.2. Set AR to 0x00 for a one-time broadcast (which some nodes might miss), or a value in the range of 0x01 to 0xFE (in units of 10 seconds) to periodically send a broadcast to inform the network that the aggregator is operating in High RAM Concentrator mode and no longer needs to receive route records.3. Use Create Source Route (API frame type 0x21) to load the route record for a destination into the local XBee's source route table.4. Send a unicast to the destination. The route record will be embedded in the payload and determine the sequence of routers to use in transmitting the unicast to the destination. After receiving the unicast, the destination will no longer send route records to the aggregator, now that it has confirmed the High RAM Concentrator aggregator 'knows' its route record.Clearing the source route tableTo clear the source route table, change the AR setting from a non-0xFF setting to 0xFF and do an AC command. To re-establish periodic aggregator broadcasts, change the AR setting to a non-0xFF setting and do an AC command.Encrypted transmissionsEncrypted transmissions are routed similar to non-encrypted transmissions with one exception. As an encrypted packet propagates from one device to another, each device decrypts the packet using the network key, and authenticates the packet by verifying packet integrity. It then re-encrypts the packet with its own source address and frame counter values, and sends the message to the next hop. This process adds some overhead latency to unicast transmissions, but it helps prevent replay attacks. See ZigBee Security on page 92 for details.

Maximum RF payload sizeXBee/XBee-PRO ZigBee RF Modules User Guide 83Maximum RF payload sizeThe NP command returns the maximum payload size in bytes. The actual maximum payload is a function of:•message type (broadcast or unicast)•AP setting•APS encryption option•source-routing. Broadcasts, which are neither APS encryptable or fragmentable, have a maximum payload of 0x54 bytes. Unicasts where AP is 0 also have a maximum payload of 0x54 bytes. A non-zero AP means NP will be 0xFF or 255 bytes.For broadcast messages and unicast messages when AP==0, the maximum payload is 0x54 bytes.For unicast messages when AP is nonzero (API mode) the maximum payload is 0xFF (255 decimal) bytes. As needed, if the combination of payload and optional APS encryption overhead (EE1, TxOption 0x20) is too high, the message fragments into a maximum of five fragments. The firmware encrypts and transmits each fragment separately. The destination radio reassembles the fragments into a full message.For Smart Energy firmware revision 5x32 and earlier, NP==0x80. As of 5x56, NP==0xFF.The maximum payload is complicated to estimate for aggregator source-routing. To reduce the maximum payload, when an aggregator sends a source-routed message it embeds the route into the message as overhead, or into each fragment of the message if fragmentation is necessary. If you use APS encryption (EE1, Tx Option 0x20), it reduces the number further. The route overhead is 2 bytes plus 2 bytes per hop. The bytes are:•one byte is the number of hops•one byte is an index into the route list that increments in value at each hop•the other data is a list of the 16-bit network addresses of the routing radiosFirmware revisions before 4x58 support a maximum of 11 aggregator source-routed hops. Firmware revisions 4x58 and following support a maximum of 25 aggregator source-routed hops.Aggregator source-routed payload maximums do not apply to messages that are sourced by non-aggregator nodes, which send route records ahead of their messages to aggregators. Aggregators are either Coordinators or Routers which:•have source routing enabled or •have an AR setting which is not 0xFFThe following table shows the aggregator source-routed payload maximums as a function of hops and APS encryption:Hops Maximum encrypted payload Maximum unencrypted payload1 255 2552 255 2553 245 2554 235 2555 225 255

ThroughputXBee/XBee-PRO ZigBee RF Modules User Guide 84ThroughputThroughput in a ZigBee network can vary by a number of variables, including: number of hops, encryption enabled/disabled, sleeping end devices, failures/route discoveries. Our empirical testing showed the following throughput performance in a robust operating environment (low interference).Data throughput16 215 2557 205 2508 195 2409 185 23010 175 22011 165 21012 155 20013 145 19014 135 18015 125 17016 115 16017 105 15018 95 14019 85 13020 75 12021 65 11022 55 10023 45 9024 35 8025 25 70Hops Maximum encrypted payload Maximum unencrypted payloadConfiguration Data Throughput1 hop, RR, SD 58 kb/s1 hop, RR, SE 34 kb/s1 hop, RE, SD Not yet available1 hop, RE, SE Not yet available1 hop, ER, SD Not yet available1 hop, ER, SE Not yet available4 hops, RR, SD Not yet available4 hops, RR, SE Not yet available

Transmission timeoutsXBee/XBee-PRO ZigBee RF Modules User Guide 88Transmission timeoutsThe ZigBee stack includes two kinds of transmission timeouts, depending on the nature of the destination device. For destination devices such as routers whose receiver is always on, a unicast timeout is used. The unicast timeout estimates a timeout based on the number of unicast hops the packet should traverse to get data to the destination device. For transmissions destined for end devices, the ZigBee stack uses an extended timeout that includes the unicast timeout (to route data to the end device's parent), and it includes a timeout for the end device to finish sleeping, wake, and poll the parent for data.The ZigBee stack includes some provisions for a device to detect if the destination is an end device or not. The ZigBee stack uses the unicast timeout unless it knows the destination is an end device.The XBee API includes a transmit options bit that can be set to specify if the extended timeout should be used for a given transmission. If this bit is set, the extended timeout will be used when sending RF data to the specified destination. To improve routing reliability, applications should set the extended timeout bit when sending data to end devices if:•The application sends data to 10 or more remote devices, some of which are end devices, AND•The end devices may sleep longer than the unicast timeoutEquations for these timeouts are computed in the following sections.Note The timeouts in this section are worst-case timeouts and should be padded by a few hundred milliseconds. These worst-case timeouts apply when an existing route breaks down (e.g. intermediate hop or destination device moved). Unicast timeoutThe unicast timeout is settable with the NH command. The actual unicast timeout is computed as ((50 * NH) + 100). The default NH value is 30 which equates to a 1.6 second timeout.The unicast timeout includes 3 transmission attempts (1 attempt and 2 retries). The maximum total timeout is about:3 * ((50 * NH) + 100).For example, if NH=30 (0x1E), the unicast timeout is about3 * ((50 * 30) + 100), or3 * (1500 + 100), or3 * (1600), or4800 ms, or4.8 seconds.Extended timeoutThe worst-case transmission timeout when sending data to an end device is somewhat larger than when transmitting to a router or coordinator. As described Parent operation on page 117, RF data packets are actually sent to the parent of the end device, who buffers the packet until the end device wakes to receive it. The parent will buffer an RF data packet for up to (1.2 * SP) time. To ensure the end device has adequate time to wake and receive the data, the extended transmission timeout to an end device is:

Transmission timeoutsXBee/XBee-PRO ZigBee RF Modules User Guide 89(50 * NH) + (1.2 * SP)This timeout includes the packet buffering timeout (1.2 * SP) and time to account for routing through the mesh network (50 * NH).If an acknowledgment is not received within this time, the sender will resend the transmission up to two more times. With retries included, the longest transmission timeout when sending data to an end device is:3 * ((50 * NH) + (1.2 * SP))The SP value in both equations must be entered in millisecond units. (The SP command setting uses 10ms units and must be converted to milliseconds to be used in this equation.)For example, suppose a router is configured with NH=30 (0x1E) and SP=0x3E8 (10,000 ms), and that it is either trying to send data to one of its end device children, or to a remote end device. The total extended timeout to the end device is about:3 * ((50 * NH) + (1.2 * SP)), or3 * (1500 + 12000), or3 * (13500), or40500 ms, or40.5 seconds.Transmission examplesExample 1: send a unicast API data transmission to the coordinator using 64-bit address 0, with payload “TxData”.API frame7E 0014 10 01 00000000 00000000 FFFE 00 00 54 78 44 61 74 61 ABField composition0x0014 - length0x10 - API ID (TX data)0x01 - frame ID (set greater than 0 to enable the TX-status response)0x00000000 00000000 - 64-bit address of coordinator (ZB definition)0xFFFE - Required 16-bit address if sending data to 64-bit address of 0.0x00 - Broadcast radius (0 = max hops)0x00 - Tx options0x54 78 44 61 74 61 - ASCII representation of “TxData” string0xAB - Checksum (0xFF - SUM (all bytes after length))DescriptionThis transmission sends the string “TxData” to the coordinator, without knowing the coordinator device's 64-bit address. A 64-bit address of 0 is defined as the coordinator in ZB firmware. If the coordinator's 64-bit address was

XBee/XBee-PRO ZigBee RF Modules User Guide 92ZigBee SecurityZigBee supports various levels of security that can be configured depending on the needs of the application. Security provisions include:• 128-bit AES encryption• Two security keys that can be preconfigured or obtained during joining• Support for a trust center• Provisions to ensure message integrity, confidentiality, and authentication The first half of this section describes various security features defined in the ZigBee specification, while the last half illustrates how the XBee modules can be configured to support these featuresSecurity modesThe ZigBee standard supports three security modes – residential, standard, and high security. Residential security was first supported in the ZigBee 2006 standard. This level of security requires a network key be shared among devices. Standard security adds a number of optional security enhancements over residential security, including an APS layer link key. High security adds entity authentication, and a number of other features not widely supported.XBee ZB modules primarily support standard security, although end devices that support residential security can join and interoperate with standard security devices. The remainder of this section focuses on material that is relevant to standard security.ZigBee security modelZigBee security is applied to the Network and APS layers. Packets are encrypted with 128-bit AES encryption. A network key and optional link key can be used to encrypt data. Only devices with the same keys are able to communicate together in a network. Routers and end devices that will communicate on a secure network must obtain the correct security keys.Network layer securityThe network key is used to encrypt the APS layer and application data. In addition to encrypting application messages, network security is also applied to route request and reply messages, APS commands, and ZDO commands. Network encryption is not applied to MAC layer transmissions such as beacon transmissions, etc. If security is enabled in a network, all data packets will be encrypted with the network key.

ZigBee security modelXBee/XBee-PRO ZigBee RF Modules User Guide 93Packets are encrypted and authenticated using 128-bit AES. This is shown in the figure below.Frame counterThe network header of encrypted packets includes a 32-bit frame counter. Each device in the network maintains a 32-bit frame counter that is incremented for every transmission. In addition, devices track the last known 32-bit frame counter for each of its neighbors. If a device receives a packet from a neighbor with a smaller frame counter than it has previously seen, the packet is discarded. The frame counter is used to protect against replay attacks.If the frame counter reaches a maximum value of 0xFFFFFFFF, it does not wrap to 0 and no more transmissions can be sent. Due to the size of the frame counters, reaching the maximum value is a very unlikely event for most applications. The following table shows the required time under different conditions, for the frame counter to reach its maximum value.To clear the frame counters without compromising security, the network key can be changed in the network. When the network key is updated, the frame counters on all devices reset to 0. (See the Network Key Updates section for details.)Message integrity codeThe network header, APS header, and application data are all authenticated with 128-bit AES. A hash is performed on these fields and is appended as a 4-byte message integrity code (MIC) to the end of the packet. The MIC allows receiving devices to ensure the message has not been changed. The MIC provides message integrity in the ZigBee security model. If a device receives a packet and the MIC does not match the device’s own hash of the data, the packet is dropped.Average Transmission Rate Time until 32-bit frame counter expires1 / second 136 years10 / second 13.6 years

ZigBee security modelXBee/XBee-PRO ZigBee RF Modules User Guide 94Network layer encryption and decryptionPackets with network layer encryption are encrypted and decrypted by each hop in a route. When a device receives a packet with network encryption, it decrypts the packet and authenticates the packet. If the device is not the destination, it then encrypts and authenticates the packet, using its own frame counter and source address in the network header section. Since network encryption is performed at each hop, packet latency is slightly longer in an encrypted network than in a non-encrypted network. Also, security requires 18 bytes of overhead to include a 32-bit frame counter, an 8-byte source address, 4-byte MIC, and 2 other bytes. This reduces the number of payload bytes that can be sent in a data packet.Network key updatesZigBee supports a mechanism for changing the network key in a network. When the network key is changed, the frame counters in all devices reset to 0. APS layer securityAPS layer security can be used to encrypt application data using a key that is shared between source and destination devices. Where network layer security is applied to all data transmissions and is decrypted and re-encrypted on a hop-by-hop basis, APS security is optional and provides end-to-end security using an APS link key that only the source and destination device know. APS security can be applied on a packet-by-packet basis. APS security cannot be applied to broadcast transmissions.If APS security is enabled, packets are encrypted and authenticated using 128-bit AES. This is shown in the figure below:Message integrity codeIf APS security is enabled, the APS header and data payload are authenticated with 128-bit AES. A hash is performed on these fields and appended as a 4-byte message integrity code (MIC) to the end of the packet. This MIC is different than the MIC appended by the network layer. The MIC allows the destination device to ensure the message has not been changed. If the destination device receives a packet and the MIC does not match the destination device’s own hash of the data, the packet is dropped.

ZigBee security modelXBee/XBee-PRO ZigBee RF Modules User Guide 95APS link keysThere are two kinds of APS link keys – trust center link keys and application link keys. A trust center link key is established between a device and the trust center, where an application link key is established between a device and another device in the network where neither device is the trust center. APS layer encryption and decryptionPackets with APS layer encryption are encrypted at the source and only decrypted by the destination. Since APS encryption requires a 5-byte header and a 4-byte MIC, the maximum data payload is reduced by 9 bytes when APS encryption is used.Network and APS layer encryptionNetwork and APS layer encryption can both be applied to data. The following figure demonstrates the authentication and encryption performed on the final ZigBee packet when both are applied.Trust centerZigBee defines a trust center device that is responsible for authenticating devices that join the network. The trust center also manages link key distribution in the network.

Implementing security on the XBeeXBee/XBee-PRO ZigBee RF Modules User Guide 96Forming and joining a secure networkThe coordinator is responsible for selecting a network encryption key. This key can either be preconfigured or randomly selected. In addition, the coordinator generally operates as a trust center and must therefore select the trust center link key. The trust center link key can also be preconfigured or randomly selected.Devices that join the network must obtain the network key when they join. When a device joins a secure network, the network and link keys can be sent to the joining device. If the joining device has a pre-configured trust center link key, the network key will be sent to the joining device encrypted by the link key. Otherwise, if the joining device is not pre-configured with the link key, the device could only join the network if the network key is sent unencrypted (“in the clear”). The trust center must decide whether or not to send the network key unencrypted to joining devices that are not pre-configured with the link key. Sending the network key unencrypted is not recommended as it can open a security hole in the network. To maximize security, devices should be pre-configured with the correct link key.Implementing security on the XBeeIf security is enabled in the XBee ZB firmware, devices acquire the network key when they join a network. Data transmissions are always encrypted with the network key, and can optionally be end-to-end encrypted with the APS link key. The following sections discuss the security settings and options in the XBee ZB firmware.Enabling securityTo enable security on a device, the EE command must be set to 1. If the EE command value is changed and changes are applied (e.g. AC command), the XBee module will leave the network (PAN ID and channel) it was operating on, and attempt to form or join a new network.If EE is set to 1, all data transmissions will be encrypted with the network key. When security is enabled, the maximum number of bytes in a single RF transmission will be reduced. See the NP command for details.Note The EE command must be set the same on all devices in a network. Changes to the EE command should be written to non-volatile memory (to be preserved through power cycle or reset events) using the WR command.Setting the Network Security KeyThe coordinator must select the network security key for the network. The NK command (write-only) is used to set the network key. If NK=0 (default), a random network key will be selected. (This should suffice for most applications.) Otherwise, if NK is set to a non-zero value, the network security key will use the value specified by NK. NK is only supported on the coordinator.Routers and end devices with security enabled (ATEE=1) acquire the network key when they join a network. They receive the network key encrypted with the link key if they share a pre-configured link key with the coordinator. See the following section for details.Note In ZigBee, if EE and EO are set to 0x01, then the network key is sent in the clear (unencrypted) with the link key at association time. This may be a useful setting in development environments, but we discourage it for product deployment for security reasons.

Implementing security on the XBeeXBee/XBee-PRO ZigBee RF Modules User Guide 97Setting the APS Trust Center Link KeyThe coordinator must also select the trust center link key, using the KY command. If KY=0 (default), the coordinator will select a random trust center link key (not recommended). Otherwise, if KY is set greater than 0, this value will be used as the pre-configured trust center link key. KY is write-only and cannot be read.Note Application link keys (sent between two devices where neither device is the coordinator) are not supported in ZB firmware at this time.Random Trust Center Link keysIf the coordinator selects a random trust center link key (KY=0, default), then it will allow devices to join the network without having a pre-configured link key. However, this will cause the network key to be sent unencrypted over-the-air to joining devices and is not recommended.Pre-configured Trust Center Link keysIf the coordinator uses a pre-configured link key (KY > 0), then the coordinator will not send the network key unencrypted to joining devices. Only devices with the correct pre-configured link key will be able to join and communicate on the network.Enabling APS encryptionAPS encryption is an optional layer of security that uses the link key to encrypt the data payload. Unlike network encryption that is decrypted and encrypted on a hop-by-hop basis, APS encryption is only decrypted by the destination device. The XBee must be configured with security enabled (EE set to 1) to use APS encryption.APS encryption can be enabled in API mode on a per-packet basis. To enable APS encryption for a given transmission, the “enable APS encryption” transmit options bit should be set in the API transmit frame. Enabling APS encryption decreases the maximum payload size by 9 bytes.Using a Trust CenterThe EO command can be used to define the coordinator as a trust center. If the coordinator is a trust center, it will be alerted to all new join attempts in the network. The trust center also has the ability to update or change the network key on the network.In ZB firmware, a secure network can be established with or without a trust center. Network and APS layer encryption are supported if a trust center is used or not. Updating the Network Key with a Trust CenterIf the trust center has started a network and the NK value is changed, the coordinator will update the network key on all devices in the network. (Changes to NK will not force the device to leave the network.) The network will continue to operate on the same channel and PAN ID, but the devices in the network will update their network key, increment their network key sequence number, and restore their frame counters to 0. Updating the Network Key without a Trust CenterIf the coordinator is not running as a trust center, the network reset command (NR1) can be used to force all devices in the network to leave the current network and rejoin the network on another channel. When devices leave and reform then network, the frame counters are reset to 0. This approach will cause the coordinator to form a new network that the remaining devices should join. Resetting the network in this manner will bring the

XBee security examplesXBee/XBee-PRO ZigBee RF Modules User Guide 98coordinator and routers in the network down for about 10 seconds, and will likely cause the 16-bit PAN ID and 16-bit addresses of the devices to change.XBee security examplesThis section covers some sample XBee configurations to support different security modes. Several AT commands are listed with suggested parameter values. The notation in this section includes an '=' sign to indicate what each command register should be set to - for example, EE=1. This is not the correct notation for setting command values in the XBee. In AT command mode, each command is issued with a leading 'AT' and no '=' sign - for example ATEE1. In the API, the two byte command is used in the command field, and parameters are populated as binary values in the parameter field.Example 1: forming a network with security (pre-configured link keys)1. Start a coordinator with the following settings:2. ID=2234 (arbitrarily selected)d. EE=1e. NK=0f. KY=4455g. WR (save networking parameters to preserve them through power cycle)3. Configure one or more routers or end devices with the following settings:a. ID=2234b. EE=1c. KY=4455d. WR (save networking parameters to preserve them through power cycle)4. Read the AI setting on the coordinator and joining devices until they return 0 (formed or joined a network).In this example, EE, ID, and KY are set the same on all devices. After successfully joining the secure network, all application data transmissions will be encrypted by the network key. Since NK was set to 0 on the coordinator, a random network key was selected. And since the link key (KY) was configured the same on all devices, to a non-zero value, the network key was sent encrypted by the pre-configured link key (KY) when the devices joined.Example 2: forming a network with security (obtaining keys during joining)1. Start a coordinator with the following settings:a. ID=2235 b. EE=1c. NK=0d. KY=0e. WR (save networking parameters to preserve them through power cycle)2. Configure one or more routers or end devices with the following settings:a. ID=2235b. EE=1c. KY=0

XBee security examplesXBee/XBee-PRO ZigBee RF Modules User Guide 99d. WR (save networking parameters to preserve them through power cycle)3. Read the AI setting on the coordinator and joining devices until they return 0 (formed or joined a network).In this example, EE, ID, and KY are set the same on all devices. Since NK was set to 0 on the coordinator, a random network key was selected. And since KY was set to 0 on all devices, the network key was sent unencrypted (“in the clear”) when the devices joined. This approach introduces a security vulnerability into the network and is not recommended.

XBee/XBee-PRO ZigBee RF Modules User Guide 100Network commissioning and diagnosticsNetwork commissioning is the process whereby devices in a mesh network are discovered and configured for operation. The XBee modules include several features to support device discovery and configuration. In addition to configuring devices, a strategy must be developed to place devices to ensure reliable routes.To accommodate these requirements, the XBee modules include various features to aid in device placement, configuration, and network diagnostics. Device configuration XBee modules can be configured locally through serial commands (AT or API), or remotely through remote API commands. API devices can send configuration commands to set or read the configuration settings of any device in the network.Device placementFor a mesh network installation to be successful, the installer must be able to determine where to place individual XBee devices to establish reliable links throughout the mesh network. Link testingA good way to measure the performance of a mesh network is to send unicast data through the network from one device to another to determine the success rate of many transmissions. To simplify link testing, the modules support a loopback cluster ID (0x12) on the data endpoint (0xE8). Any data sent to this cluster ID on the data endpoint will be transmitted back to the sender. This is shown in the figure below:

Device discoveryXBee/XBee-PRO ZigBee RF Modules User Guide 101The configuration steps to send data to the loopback cluster ID depend on the serial port mode as determined by the AP command.Transparent ModeTo send data to the loopback cluster ID on the data endpoint of a remote device, set the CI command value to 0x12. The SE and DE commands should be set to 0xE8 (default value). The DH and DL commands should be set to the address of the remote (0 for the coordinator, or the 64-bit address of the remote). After exiting command mode, any received serial characters will be transmitted to the remote device, and returned to the sender.API ModeSend an Explicit Addressing ZigBee Command API frame (0x11) using 0x12 as the cluster ID and 0xE8 as the source and destination endpoint. Data packets received by the remote will be echoed back to the sender.RSSI indicatorsIt is possible to measure the received signal strength on a device using the DB command. DB returns the RSSI value (measured in –dBm) of the last received packet. However, this number can be misleading. The DB value only indicates the received signal strength of the last hop. If a transmission spans multiple hops, the DB value provides no indication of the overall transmission path, or the quality of the worst link – it only indicates the quality of the last link and should be used sparingly.The DB value can be determined in hardware using the RSSI/PWM module pin (pin 6). If the RSSI PWM functionality is enabled (P0 command), when the module receives data, the RSSI PWM is set to a value based on the RSSI of the received packet. (Again, this value only indicates the quality of the last hop.) This pin could potentially be connected to an LED to indicate if the link is stable or not.Device discoveryNetwork discoveryThe network discovery command can be used to discover all Digi modules that have joined a network. Issuing the ND command sends a broadcast node discovery command throughout the network. All devices that receive the command will send a response that includes the device’s addressing information, node identifier string (see NI

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 103Commissioning PushbuttonThe commissioning pushbutton definitions provide a variety of simple functions to aid in deploying devices in a network. The commissioning button functionality on pin 33 (SMT) or pin 20 (TH) is enabled by setting the D0 command to 1 (enabled by default).Button presses may be simulated in software using the ATCB command. ATCB should be issued with a parameter set to the number of button presses to execute. (e.g. sending ATCB1 will execute the action(s) associated with a single button press.)The node identification frame is similar to the node discovery response frame – it contains the device’s address, node identifier string (NI command), and other relevant data. All API devices that receive the node identification frame send it out their serial port as an API Node Identification Indicator frame (0x95). Associate LEDThe Associate pin (pin 28/SMT, pin 33/TH) can provide indication of the device’s network status and diagnostics information. To take advantage of these indications, an LED can be connected to the Associate pin as shown in the figure above. The Associate LED functionality is enabled by setting the D5 command to 1 (enabled by default). If enabled, the Associate pin is configured as an output and will behave as described in the following sections.Joined indicationThe Associate pin indicates the network status of a device. If the module is not joined to a network, the Associate pin is set high. Once the module successfully joins a network, the Associate pin blinks at a regular time interval. The following figure shows the joined status of a device Button Presses If module is joined to a network If module is not joined to a network1Wakes an end device for 30 secondsSends a node identification broadcast transmissionWakes an end device for 30 secondsBlinks a numeric error code on the Associate pin indicating the cause of join failure.2Sends a broadcast transmission to enable joining on the coordinator and all devices in the network for 1 minute. (If joining is permanently enabled on a device (NJ = 0xFF), this action has no effect on that device.)N/A4Causes the device to leave the PAN.Issues ATRE to restore module parameters to default values, including ID and SC.The device attempts to join a network based on its ID and SC settings.Issues ATRE to restore module parameters to default values, including ID and SC.The device attempts to join a network based on its ID and SC settings.∆tDevice Not JoinedDevice has joined a networkAssociateThe associate pin can indicate the joined status of a device . Once the device has joined a network, the associate pin toggles state at a regular interval (∆t). The time can be set by using the LT command.

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 104The LT command defines the blink time of the Associate pin. If set to 0, the device uses the default blink time (500ms for coordinator, 250ms for routers and end devices).Diagnostics supportThe Associate pin works with the commissioning pushbutton to provide additional diagnostics behaviors to aid in deploying and testing a network. If the commissioning push button is pressed once, and the device has not joined a network, the Associate pin blinks a numeric error code to indicate the cause of join failure. The number of blinks is equal to (AI value – 0x20). For example, if AI=0x22, 2 blinks occur.If the commissioning push button is pressed once, and the device has joined a network, the device transmits a broadcast node identification packet. If the Associate LED functionality is enabled (D5 command), a device that receives this transmission will blink its Associate pin rapidly for 1 second.The following figures demonstrate these behaviors. BindingThere are three binding request messages supported by the Digi XBee firmware: End Device Bind, Bind, and Unbind.End_Device_Bind_reqThe End Device Bind request (ZDO cluster 0x0020) is described in the ZigBee Specification.During a deployment, an installer may need to bind a switch to a light. He presses a commissioning button sequence on each device. This causes them to send End_Device_Bind_req messages to the Coordinator within a time window (60 s). The payload of each message is a simple descriptor which lists input and output clusterIDs. The Coordinator matches the requests by pairing complementary clusterIDs. After a match has been made, it Associate(D5 = 1 Device not joined)A single commissioning button press when the device has not joined a network that causes the associate pin to blink to indicate the AI Code where: AI = # blinks + 0x20. In this example, AI = 0x22.AD0/DIO0Associate Pin(D5 = 1) AD0/DIO0 Pin(Remote Device)A single button press on a remote device causes a broadcast node identification transmission to be sent. All devices that receive this transmission blink their associate pin rapidly for one second if the associate LED functionality is enabled. (D5 = 1)

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 105sends messages to bind the devices together. When the process is over, both devices will have entries in their binding tables which support indirect addressing of messages between their bound endpoints.R1->C End_Device_Bind_reqR2->C End_Device_Bind_reqR1, R2 send End_Device_Bind_req within 60 s of each other to CC matches the requests.C tests one to see if binding is already in place:R2<-C Unbind_reqR2->C Unbind-rsp (status code - NO_ENTRY)C proceeds to create binding table entries on the two devices.R1<-C Bind_reqR1->C Bind_rspR2<-C Bind_reqR2->C Bind_rspC sends responses to the original End_Device_Bind_req messages.R1-<C End_Device_Bind_rspR2-<C End_Device_Bind_rspEnd Device binding sequence (binding)This message has a toggle action. If the same two devices were to subsequently send End_Device_Bind_req messages to the Coordinator, the Coordinator would detect they were already bound, and then send Unbind_req messages to remove the binding.An installer can use this to remove a binding which was made incorrectly, say from a switch to the wrong lamp, simply by repeating the commissioning button sequence he used beforehand.R1->C End_Device_Bind_reqR2->C End_Device_Bind_reqR1, R2 send End_Device_Bind_req within 60 s of each other to CC matches the requests.C tests one to see if binding is already in place:R2<-C Unbind_reqR2->C Unbind-rsp (status code - SUCCESS)C proceeds to remove binding table entries from the two devices.R1<-C Unbind_reqR1->C Unbind_rspR2<-C Unbind_reqR2->C Unbind_rspC sends responses to the original End_Device_Bind_req messages.

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 106R1-<C End_Device_Bind_rspR2-<C End_Device_Bind_rspEnd Device binding sequence (removal)This example shows a correctly formatted End_Device_Bind_req (ZDO cluster 0x0020) using a Digi 0x11 Explicit API Frame:The frame as a bytelist:7e002811010000000000000000fffe000000200000000001f2995cb5474000a21300e605c101010001020046Same frame broken into labeled fields. Note the multibyte fields are represented in big-endian format.7e Frame Delimiter0028 Frame Length11 API Frame Type (Explicit Frame)01 Frame Identifier (for response matching)0000000000000000 Coordinator addressfffe Code for unknown network address00 Source Endpoint (need not be 0x00)00 Destination Endpoint (ZDO endpoint)0020 Cluster 0x0020 (End_Device_Bind_req)0000 ProfileID (ZDO)00 Radius (default, maximum hops)00 Transmit Options01f2995cb5474000a21300e605c1010100010200 RFData (ZDO payload)46 ChecksumHere is the RFData (the ZDO payload) broken into labeled fields. Note the multi-byte fields of a ZDO payload are represented in little-endian format.01 Transaction Sequence Numberf299 Binding Target (16 bit network address of sending device)5cb5474000a21300 (64 bit address of sending device)e6 Source Endpoint on sending device05c1 ProfileID (0xC105) - used when matching End_Device_Bind_requests01 Number of input clusters0100 Input cluster ID list (0x0100)01 Number of output clusters0200 Output cluster ID list (0x0200)Example of a End_Device_Bind_req

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 108ZCL_payload = “3412 04 41 42 43 44"The first two bytes is the group Id to add in little endian representation. The next byte is the string name length (00 if no string is wanted). The other bytes are the descriptive ASCII string name (“ABCD”) for the group table entry. Note the string is represented with its length in the first byte, and the other bytes containing the ASCII characters.The example packet in raw hex byte form:7e001e11010013a2004047b55cfffee6e70006c105000001ee0034120441424344c7The response in raw hex byte form, consisting of two packets:7e0018910013a2004047b55cfffee7e68006c1050009ee00003412387e00078b01fffe00000076The response in decoded form:ZigBee Explicit Rx IndicatorAPI 0x91 64DestAddr 0x0013A2004047B55C 16DestAddr 0xFFFE SrcEP 0xE7 DestEP 0xE6 ClusterID 0x8006 ProfileID 0xC105 Options 0x00RF_Data 0x09EE00003412The response in terms of Preamble, ZCL Header, and ZCL payload:Preamble = “910013a2004047b55cfffee7e68006c10500”The packet has its endpoint values reversed from the request, and the clusterID is 0x8006 indicating a Group cluster response.ZCL_header = “09 ee 00"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Server-> Client direction. The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Add Group” (0x00)[2].ZCL_payload = “00 3412"The first byte is a status byte (SUCCESS=0x00)[3][4]. The next two bytes hold the group ID (0x1234) in little endian form.And here is the decoded second message, which is a Tx Status for the original command request. If the FrameId value in the original command request had been zero, or if no space was available in the transmit UART buffer, then no Tx Status message would occur.ZigBee Tx StatusAPI 0x8B FrameID 0x01 16DestAddr 0xFFFE Transmit Retries 0x00 Delivery Status 0x00 Discovery Status 0x00 Success

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 109View GroupThe purpose of the View Group command is to get the name string which is associated with a particular endpoint and groupID.The intent of the example is to get the name string associated with the endpoint E7 and groupID 1234.The packet:Preamble = “11 01 “+LocalDevice64Addr+”FFFE E6 E7 0006 C105 00 00"The packet is addressed to the local node, using a source endpoint of 0xE6, clusterID of 0x0006, and profileID of 0xC105. The destination endpoint E7 is the endpoint parameter for the “View Group” command.ZCL_header = “01 ee 01"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Client->Server direction(0x00). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “View Group” (0x01) [5].ZCL_payload = “3412”The two byte value is the groupID in little-endian representation.The packet in raw hex byte form:7e001911010013a2004047b55cfffee6e70006c105000001ee013412d4The response in raw hex byte form, consisting of two packets:7e001d910013a2004047b55cfffee7e68006c1050009ee010034120441424344247e00078b01fffe00000076The command response in decoded form:ZigBee Explicit Rx IndicatorAPI 0x91 64DestAddr 0x0013A2004047B55C 16DestAddr 0xFFFE SrcEP 0xE7 DestEP 0xE6ClusterID 0x8006 ProfileID 0xC105 Options 0x00RF_Data 0x09EE010034120441424344The response in terms of Preamble, ZCL Header, and ZCL payload:Preamble = “910013a2004047b55cfffee7e68006c10500”The packet has its endpoint values reversed from the request, and the clusterID is 0x8006 indicating a Group cluster response.ZCL_header = “09 ee 01"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Server->Client direction (0x08). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “View Group” (0x01) [6].ZCL_payload = “00 3412 0441424344"The first byte is a status byte (SUCCESS=0x00)[6][4]. The next two bytes hold the groupID (0x1234) in little-endian form. The next byte is the name string length (0x04). The remaining bytes are the ASCII name string characters (“ABCD”).And here is the decoded second message, which is a Tx Status for the original command request. If the FrameId value in the original command request had been zero, or if no space was available in the transmit UART buffer, then no Tx Status message would occur.ZigBee Tx Status

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 110API 0x8B FrameID 0x01 16DestAddr 0xFFFE Transmit Retries 0x00 Delivery Status 0x00 Discovery Status 0x00 SuccessGet Group Membership (1 of 2)The purpose of this first form of the Get Group Membership command is to get all the groupIDs associated with a particular endpoint.The intent of the example is to get all the groupIDs associated with endpoint E7.The example packet is given in three parts, the preamble, ZCL Header, and ZCL payload:Preamble = “11 01 “+LocalDevice64Addr+”FFFE E6 E7 0006 C105 00 00"The packet is addressed to the local node, using a source endpoint of 0xE6, clusterID of 0x0006, and profileID of 0xC105. The destination endpoint E7 holds the endpoint parameter for the “Get Group Membership” command.ZCL_header = “01 ee 02"The first field (byte) is a frame control field which specifies a Cluster Specific command (0x02) using a Client->Server direction(0x00). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier for “Get Group Membership” (0x02) [7].ZCL_payload = “00”The first byte is the group count. If it is zero, then all groupIDs with an endpoint value which matches the given endpoint parameter will be returned in the response.The example packet in raw hex byte form:7e001811010013a2004047b55cfffee6e70006c105000001ee020019The response in raw hex byte form, consisting of two packets:7e0019910013a2004047b55cfffee7e68006c1050009ee02ff013412357e00078b01fffe00000076The response in decoded form:ZigBee Explicit Rx IndicatorAPI 0x91 64DestAddr 0x0013A2004047B55C 16DestAddr 0xFFFE SrcEP 0xE7 DestEP 0xE6 ClusterID 0x8006 ProfileID 0xC105 Options 0x00RF_Data 0x09EE02FF013412The response in terms of Preamble, ZCL Header, and ZCL Payload: Preamble = “910013a2004047b55cfffee7e68006c10500”The packet has the endpoints reversed from the request, and the clusterID is 0x8006 indicating a Group cluster response.ZCL_header = “09 ee 02"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Server->Client direction (0x08). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Get Group Membership” (0x02) [8].ZCL_payload = “FF 01 3412"The first byte is the remaining capacity of the group table. 0xFF means unknown. The XBee returns this value because the capacity of the group table is dependent on the remaining capacity of the binding table, thus the

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 111capacity of the group table is unknown. The second byte is the group count (0x01). The remaining bytes are the groupIDs in little-endian representation.And here is the decoded second message, which is a Tx Status for the original command request. If the FrameId value in the original command request had been zero, or if no space was available in the transmit UART buffer, then no Tx Status message would occur.ZigBee Tx StatusAPI 0x8B FrameID 0x01 16DestAddr 0xFFFE Transmit Retries 0x00 Delivery Status 0x00 Discovery Status 0x00 SuccessGet Group Membership (2 of 2)The purpose of this second form of the Get Group Membership command is to get the set of groupIDs associated with a particular endpoint which are a subset of a list of given groupIDs.The intent of the example is to get the groupIDs associated with endpoint E7 which are a subset of a given list of groupIDs (0x1234, 0x5678).The example packet is given in three parts, the preamble, ZCL Header, and ZCL payload:Preamble = “11 01 “+LocalDevice64Addr+”FFFE E6 E7 0006 C105 00 00"The packet is addressed to the local node, using a source endpoint of 0xE6, clusterID of 0x0006, and profileID of 0xC105. The destination endpoint E7 is the endpoint parameter for the “Get Group Membership” command.ZCL_header = “01 ee 02"The first field (byte) is a frame control field which specifies a Cluster Specific command (0x02) using a Client->Server direction(0x00). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier for “Get Group Membership” (0x02) [7].ZCL_payload = “02 34127856"The first byte is the group count. The remaining bytes are a groupIDs which use little-endian representation.The example packet in raw hex byte form:7e001c11010013a2004047b55cfffee6e70006c105000001ee02023412785603The response in raw hex byte form, consisting of two packets:7e0019910013a2004047b55cfffee7e68006c1050009ee02ff013412357e00078b01fffe00000076The response in decoded form:ZigBee Explicit Rx Indicator API 0x91 64DestAddr 0x0013A2004047B55C 16DestAddr 0xFFFE SrcEP 0xE7 DestEP 0xE6 ClusterID 0x8006 ProfileID 0xC105 Options 0x00 RF_Data 0x09EE02FF013412The response in terms of Preamble, ZCL Header, and ZCL Payload: Preamble = “910013a2004047b55cfffee7e68006c10500”The packet has the endpoints reversed from the request, the clusterID is 0x8006 indicating a Group cluster response.

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 112ZCL_header = “09 ee 02"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Server->Client direction (0x08). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Get Group Membership” (0x02) [8].ZCL_payload = “FF 01 3412"The first byte is the remaining capacity of the group table. 0xFF means unknown. The XBee returns this value because the capacity of the group table is dependent on the remaining capacity of the binding table, thus the capacity of the group table is unknown. The second byte is the group count (0x01). The remaining bytes are the groupIDs in little-endian representation.And here is the decoded second message, which is a Tx Status for the original command request. If the FrameId value in the original command request had been zero, or if no space was available in the transmit UART buffer, then no Tx Status message would occur.ZigBee Tx Status API 0x8B FrameID 0x01 16DestAddr 0xFFFE Transmit Retries 0x00 Delivery Status 0x00 Discovery Status 0x00 SuccessRemove GroupThe purpose of the Remote Group command is to remove a Group Table entry which associates a given endpoint with a given groupID.The intent of the example is to remove the association of groupID [TBD] with endpoint E7.The example packet is given in three parts, the preamble, ZCL Header, and ZCL payload:Preamble = “11 01 “+LocalDevice64Addr+”FFFE E6 E7 0006 C105 00 00"The packet is addressed to the local node, using a source endpoint of 0xE6, clusterID of 0x0006, and profileID of 0xC105. The destination endpoint E7 is the endpoint parameter for the “Remove Group” command.ZCL_header = “01 ee 03"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Client->Server direction(0x00). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Remove Group” (0x03) [9].ZCL_payload = “3412”The two bytes value is the groupID to be removed in little-endian representation.The packet in raw hex byte form:7e001911010013a2004047b55cfffee6e70006c105000001ee033412d2The response in raw hex byte form, consisting of two packets:7e0018910013a2004047b55cfffee7e68006c1050009ee03003412357e00078b01fffe00000076The command response in decoded form:ZigBee Explicit Rx Indicator API 0x91 64DestAddr 0x0013A2004047B55C 16DestAddr 0xFFFE SrcEP 0xE7 DestEP 0xE6 ClusterID 0x8006 ProfileID 0xC105 Options 0x00

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 113 RF_Data 0x09EE03003412The response in terms of Preamble, ZCL Header, and ZCL payload:Preamble = “910013a2004047b55cfffee7e68006c10500”The packet has its endpoint values reversed from the request, and the clusterID is 0x8006 indicating a Group cluster response.ZCL_header = “09 ee 03"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Server->Client direction (0x08). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Remove Group” (0x03) [10].ZCL_payload = “00 3412"The first byte is a status byte (SUCCESS=0x00)[10][4]. The next two bytes is the groupID (0x1234) value in little-endian form.And here is the decoded second message, which is a Tx Status for the original command request. If the FrameId value in the original command request had been zero, or if no space was available in the transmit UART buffer, then no Tx Status message would occur.ZigBee Tx Status API 0x8B FrameID 0x01 16DestAddr 0xFFFE Transmit Retries 0x00 Delivery Status 0x00 Discovery Status 0x00 SuccessRemove All GroupsThe purpose of the Remove All Groups command is to clear all entries from the group table which are associated with a target endpoint.The intent of the example is to remove all groups associated with endpoint E7.The packet:Preamble = “11 01 “+LocalDevice64Addr+”FFFE E6 E7 0006 C105 00 00"The packet is addressed to the local node, using a source endpoint of 0xE6, clusterId of 0x0006, and profileID of 0xC105. The destination endpoint E7 is the endpoint parameter for the “Remove All Groups” command.ZCL_header = “01 ee 04"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Client->Server direction(0x00). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Remove All Groups” (0x04) [11].ZCL_payload = “”No payload is needed for this command.The packet in raw hex byte form:7e001711010013a2004047b55cfffee6e70006c105000001ee0417The response in raw hex byte form, consisting of two packets:7e0016910013a2004047b55cfffee7e68006c1050009ee04007c7e00078b01fffe00000076The command response in decoded form:ZigBee Explicit Rx Indicator

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 114 API 0x91 64DestAddr 0x0013A2004047B55C 16DestAddr 0xFFFE SrcEP 0xE7 DestEP 0xE6 ClusterID 0x8006 ProfileID 0xC105 Options 0x00 RF_Data 0x09ee0400The response in terms of Preamble, ZCL Header, and ZCL payload. Preamble = “910013a2004047b55cfffee7e68006c10500”The packet has its endpoints values reversed from the request, and the clusterID is 0x8006 indicating a Group cluster response.ZCL_header = “09 ee 04"The first field is a frame control field which specifies a Cluster Specific command (0x01) using a Server->Client direction (0x08). The second field is a transaction sequence number which is used to associate the response with the command request. The third field is the command identifier “Remove All Groups” (0x04) [10].ZCL_payload = “00”The first byte is a status byte (SUCCESS=0x00)[4].And here is the decoded second message, which is a Tx Status for the original command request. If the FrameID value in the original command request had been zero, or if no space was available in the transmit UART buffer, then no Tx Status message would occur.ZigBee Tx Status API 0x8B FrameID 0x01 16DestAddr 0xFFFE Transmit Retries 0x00 Delivery Status 0x00 Discovery Status 0x00 SuccessDefault responsesMany errors are returned as a default response. For example, a RFData payload of a response containing 08010b788b would be decoded as:ZCL_header = “08 01 03" - general command/server-to-client, transseqnum=1, default_response_command(0x03)ZCL_payload = “78 8b” - original cmdID, status code (0x8b) EMBER_ZCL_STATUS_NOT_FOUNDCommon status codesThis section lists some of the more frequently occurring status codes.0x00 EMBER_ZCL_STATUS_SUCCESS: Command request was successful0x01 EMBER_ZCL_STATUS_FAILURE: Command request failed - for example, a call to remove an entry from the group table returned an error0x80 EMBER_ZCL_STATUS_MALFORMED_COMMAND: no RFData in the API frame; ZCL Payload appears truncated from what is expected0x81 EMBER_ZCL_STATUS_UNSUP_CLUSTER_COMMAND: unexpected direction in the Frame Control Field of the ZCL Header; unexpected command identifier code value in the ZCL header0x82 EMBER_ZCL_STATUS_UNSUP_GENERAL_COMMAND: unexpected frametype in the Frame Control Field of the ZCL Header0x84 EMBER_ZCL_STATUS_UNSUP_MANUF_GENERAL_COMMAND: unexpected manufacturer specific indication in the Frame Control Field of the ZCL Header

Commissioning Pushbutton and Associate LEDXBee/XBee-PRO ZigBee RF Modules User Guide 1150x8b EMBER_ZCL_STATUS_NOT_FOUND: An attempt at Get Group Membership or Remove Group could not find a matching entry in the group tableA full set of status codes appears in the documentation [4].Bibliography[1] ZigBee Cluster Library, document 075123r02, section 3.6.The following cross references all appear in the ZigBee Cluster Library document:[2] Add Group Command, section 3.6.2.2.3.[3] Add Group Response, section 3.6.2.3.1.[4] Status Enumerations, section 2.5.3.[5] View Group Command, section 3.6.2.2.4.[6] View Group Response, section 3.6.2.3.2.[7] Get Group Membership Command, section 3.6.2.2.5.[8] Get Group Membership Response, section 3.6.2.3.3.[9] Remove Group Command, section 3.6.2.2.6.[10] Remove Group Response, section 3.6.2.3.4.[11] Remove All Groups Command, section 3.6.2.2.7.

XBee/XBee-PRO ZigBee RF Modules User Guide 116Managing End DevicesZigBee end devices are intended to be battery-powered devices capable of sleeping for extended periods of time. Since end devices may not be awake to receive RF data at a given time, routers and coordinators are equipped with additional capabilities (including packet buffering and extended transmission timeouts) to ensure reliable data delivery to end devices.End Device operationWhen an end device joins a ZigBee network, it must find a router or coordinator device that is allowing end devices to join. Once the end device joins a network, a parent-child relationship is formed between the end device and the router or coordinator that allowed it to join. See ZigBee networks on page 46 for details.When the end device is awake, it sends poll request messages to its parent. When the parent receives a poll request, it checks a packet queue to see if it has any buffered messages for the end device. It then sends a MAC layer acknowledgment back to the end device that indicates if it has data to send to the end device or not. If the end device receives the acknowledgment and finds that the parent has no data for it, the end device can return to idle mode or sleep. Otherwise, it will remain awake to receive the data. This polling mechanism allows the end

Parent operationXBee/XBee-PRO ZigBee RF Modules User Guide 117device to enter idle mode and turn its receiver off when RF data is not expected in order to reduce current consumption and conserve battery life.The end device can only send data directly to its parent. If an end device must send a broadcast or a unicast transmission to other devices in the network, it sends the message directly to its parent and the parent performs any necessary route or address discoveries to route the packet to the final destination.Parent operationEach router or coordinator maintains a child table that contains the addresses of its end device children. A router or coordinator that has unused entries in its child table is said to have end device capacity, or the ability to allow new end devices to join. If the child table is completely filled (such that the number of its end device children matches the number of child table entries), the device cannot allow any more end devices to join to it.Since the end device children are not guaranteed to be awake at a given time, the parent is responsible for managing incoming data packets in behalf of its end device children. If a parent receives an RF data transmission destined for one of its end device children, and if the parent has enough unused buffer space, it will buffer the packet. The data packet will remain buffered until a timeout expires, or until the end device sends a poll request to retrieve the data.The parent can buffer one broadcast transmission for all of its end device children. When a broadcast transmission is received and buffered, the parent sets a flag in its child table when each child polls and retrieves the packet. Once all children have received the broadcast packet, the buffered broadcast packet is discarded. If all children have not received a buffered broadcast packet and a new broadcast is received, the old broadcast packet is discarded, the child table flags are cleared, and the new broadcast packet is buffered for the end device children. This is demonstrated in the figure below.When an end device sends data to its parent that is destined for a remote device in the network, the parent buffers the data packet until it can establish a route to the destination. The parent may perform a route or 16-bit address discovery in behalf of its end device children. Once a route is established, the parent sends the data transmission to the remote device.End Device poll timeoutsTo better support mobile end devices (end devices that can move around in a network), parent router and coordinator devices have a poll timeout for each end device child. If an end device does not send a poll request to its parent within the poll timeout, the parent will remove the end device from its child table. This allows the child table on a router or coordinator to better accommodate mobile end devices in the network.

Non-Parent device operationXBee/XBee-PRO ZigBee RF Modules User Guide 118Packet buffer usagePacket buffer usage on a router or coordinator varies depending on the application. The following activities can require use of packet buffers for up to several seconds:• Route and address discoveries• Application broadcast transmissions• Stack broadcasts (e.g. ZDO “Device Announce” messages when devices join a network) • Unicast transmissions (buffered until acknowledgment is received from destination or retries exhausted)• Unicast messages waiting for end device to wake.Applications that use regular broadcasting or that require regular address or route discoveries will use up a significant number of buffers, reducing the buffer availability for managing packets for end device children. Applications should reduce the number of required application broadcasts, and consider implementing an external address table or many-to-one and source routing if necessary to improve routing efficiency.Non-Parent device operationDevices in the ZigBee network treat data transmissions to end devices differently than transmissions to other routers and coordinators. Recall that when a unicast transmission is sent, if a network acknowledgment is not received within a timeout, the device resends the transmission. When transmitting data to remote coordinator or router devices, the transmission timeout is relatively short since these devices are powered and responsive. However, since end devices may sleep for some time, unicast transmissions to end devices use an extended timeout mechanism in order to allow enough time for the end device to wake and receive the data transmission from its parent.If a non-parent device does not know the destination is an end device, it will use the standard unicast timeout for the transmission. However, provisions exist in the Ember ZigBee stack for the parent to inform the message sender that the destination is an end device. Once the sender discovers the destination device is an end device, future transmissions will use the extended timeout. See XBee Router/Coordinator configuration on page 128 for details.XBee End Device configurationXBee end devices support three different sleep modes:• Pin Sleep• Cyclic Sleep• Cyclic Sleep with pin wake-upPin sleep allows an external microcontroller to determine when the XBee should sleep and when it should wake by controlling the Sleep_RQ pin. In contrast, cyclic sleep allows the sleep period and wake times to be configured through the use of AT commands. Cyclic sleep with pin wake-up is the same as cyclic sleep except that the module can be awakened before the sleep period expires by lowering the Sleep_Rq line. The sleep mode is configurable with the SM command.In both pin and cyclic sleep modes, XBee end devices poll their parent every 100ms while they are awake to retrieve buffered data. When a poll request has been sent, the end device enables the receiver until an acknowledgment is received from the parent. (It generally takes less than 10ms from the time the poll request is sent until the acknowledgment is received.) The acknowledgment indicates if the parent has buffered data for the end device child or not. If the acknowledgment indicates the parent has pending data, the end device will leave the receiver on to receive the data. Otherwise, the end device will turn off the receiver and enter idle mode (until the next poll request is sent) to reduce current consumption (and improve battery life).

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 119Once the module enters sleep mode, the On/Sleep pin (pin 26/SMT, pin13/TH) is de-asserted (low) to indicate the module is entering sleep mode. If CTS hardware flow control is enabled (D7 command), the CTS pin (pin 25/SMT, pin 12/TH) is de-asserted (high) when entering sleep to indicate that serial data should not be sent to the module. If the Associate LED pin is configured (D5 command), the associate pin will be driven low to avoid using power to light the LED. Finally, the Sleep_Rq pin will be configured as a pulled-down input so that an external device must drive it high to wake the module. All other pins will be left unmodified during sleep so that they can operate as previously configured by the user. The module will not respond to serial or RF data when it is sleeping. Applications that must communicate serially to sleeping end devices are encouraged to observe CTS flow control.When the XBee wakes from sleep, the On/Sleep pin is asserted (high), and if flow control is enabled, the CTS pin is also asserted (low). The associate LED and all other pins resume their former configured operation. If the module has not joined a network, it will scan all SC channels after waking to try and find a valid network to join.Pin sleepPin sleep allows the module to sleep and wake according to the state of the Sleep_RQ pin (pin 10/SMT, pin 9/TH). Pin sleep mode is enabled by setting the SM command to 1. When Sleep_RQ is asserted (high), the module will finish any transmit or receive operations and enter a low power state. For example, if the module has not joined a network and Sleep_RQ is asserted (high), the module will sleep once the current join attempt completes (i.e. when scanning for a valid network completes). The module will wake from pin sleep when the Sleep_RQ pin is de-asserted (low). The following figure shows the XBee SMT pin sleep pins.

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 120The following figure shows the XBee TH pin sleep pins.The following figure show the pin sleep waveforms.In the figure above, t1, t2, t3 and t4 represent the following events:• t1 - Time when Sleep_RQ is asserted (high)• t2 - Time when the XBee enters sleep (CTS state change only if hardware flow control is enabled)• t3 - Time when Sleep_RQ is de-asserted (low) and the module wakes• t4 - Time when the module sends a poll request to its parentThe time between t1 and t2 varies depending on the state of the module. In the worst case scenario, if the end device is trying to join a network, or if it is waiting for an acknowledgment from a data transmission, the delay could be up to a few seconds. the time between t3 and t4 is 1-2 ms for a regular module and about 6 ms for a PRO module.When the XBee is awake and is joined to a network, it sends a poll request to its parent to see if the parent has any buffered data for it. The end device will continue to send poll requests every 100ms while it is awake.

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 121Demonstration of pin sleepParent and remote devices must be configured to buffer data correctly and to use adequate transmission timeouts. See XBee Router/Coordinator configuration on page 128 for details.Cyclic sleepCyclic sleep allows the module to sleep for a specified time and wake for a short time to poll its parent for any buffered data messages before returning to sleep again. Cyclic sleep mode is enabled by setting the SM command to 4 or 5. SM5 is a slight variation of SM4 that allows the module to be woken prematurely by asserting the Sleep_RQ pin (pin 10/SMT, pin 9/TH). In SM5, the XBee can wake after the sleep period expires, or if a high-to-low transition occurs on the Sleep_RQ pin. Setting SM to 4 disables the pin wake option.In cyclic sleep, the module sleeps for a specified time, and then wakes and sends a poll request to its parent to discover if the parent has any pending data for the end device. If the parent has buffered data for the end device, or if serial data is received, the XBee will remain awake for a time. Otherwise, it will enter sleep mode immediately. The On/Sleep line is asserted (high) when the module wakes, and is de-asserted (low) when the module sleeps. If hardware flow control is enabled (D7 command), the CTS pin will assert (low) when the module wakes and can receive serial data, and de-assert (high) when the module sleeps.The following figure shows the XBee SMT cyclic sleep pins.

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 122The following figures shows the XBee S2C TH cyclic sleep pins.The following figure shows the cyclic sleep waveforms.In the figure above, t1, t2, and t3 represent the following events:•T1 - Time when the module wakes from cyclic sleep•T2 - Time when the module returns to sleep•T3 - Later time when the module wakes from cyclic sleepThe wake time and sleep time are configurable with software commands as described in the sections below.Wake time (until sleep)In cyclic sleep mode (SM=4 or 5), if serial or RF data is received, the module will start a sleep timer (time until sleep). Any data received serially or over the RF link will restart the timer. The sleep timer value is settable with the ST command. While the module is awake, it will send poll request transmissions every 100ms to check its parent for buffered data messages. The module returns to sleep when the sleep timer expires, or if the SI command is sent to it. The following image shows this behavior.

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 123Sleep periodThe sleep period is configured based on the SP, SN, and SO commands. The following table lists the behavior of these commands.The XBee module supports both a short cyclic sleep and an extended cyclic sleep that make use of these commands. These two modes allow the sleep period to be configured according to the application requirements. Short cyclic sleepIn short cyclic sleep mode, the sleep behavior of the module is defined by the SP and SN commands, and the SO command must be set to 0x00 (default) or 0x02. In short cyclic sleep mode, the SP command defines the sleep period and is settable up to 28 seconds. When the XBee enters short cyclic sleep, it remains in a low power state until the SP time has expired.After the sleep period expires, the XBee sends a poll request transmission to its parent to determine if its parent has any buffered data waiting for the end device. Since router and coordinator devices can buffer data for end device children up to 30 seconds, the SP range (up to 28 seconds) allows the end device to poll regularly enough to receive buffered data. If the parent has data for the end device, the end device will start its sleep timer (ST) and continue polling every 100ms to receive data. If the end device wakes and finds that its parent has no data for it, the end device can return to sleep immediately.The SN command can be used to control when the On/Sleep line is asserted (high). If SN is set to 1 (default), the On/Sleep line will be set high each time the XBee wakes from sleep. Otherwise, if SN is greater than 1, the On/Sleep line will only be set high if RF data is received, or after SN wake cycles occur. This allows an external device to remain powered off until RF data is received, or until a number of sleep periods have expired (SN sleep periods). This mechanism allows the XBee to wake at regular intervals to poll its parent for data without waking an external device for an extended time (SP * SN time). This following figure shows this.DINA cyclic sleep end device enters sleep mode when no serial or RF data is received for ST time . ST = Time AwakeOn/SleepLegendOn/SleepTransmitting Poll Request Command Range DescriptionSP 0x20 - 0xAF0 (x 10 ms)(320 - 28,000 ms)Configures the sleep period of the module.SN 1 - 0xFFFF Configures the number of sleep periods multiplier.SO 0 - 0xFFDefines options for sleep mode behavior.0x02 - Always wake for full ST time 0x04 - Enable extended sleep (sleep for full (SP * SN) time)

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 124Note SP controls the packet buffer time on routers and coordinators. SP should be set on all router and coordinator devices to match the longest end device SP time. See the XBee Router / Coordinator Configuration section for details.Extended cyclic sleepIn extended cyclic sleep operation, an end device can sleep for a multiple of SP time which can extend the sleep time up to several days. The sleep period is configured using the SP and SN commands. The total sleep period is equal to (SP * SN) where SP is measured in 10ms units. The SO command must be set correctly to enable extended sleep.Since routers and coordinators can only buffer incoming RF data for their end device children for up to 30 seconds, if an end device sleeps longer than 30 seconds, devices in the network need some indication when an end device is awake before they can send data to it. End devices that use extended cyclic sleep should send a transmission (such as an IO sample) when they wake to inform other devices that they are awake and can receive data. It is recommended that extended sleep end devices set SO to wake for the full ST time in order to provide other devices with enough time to send messages to the end device.Similar to short cyclic sleep, end devices running in this mode will return to sleep when the sleep timer expires, or when the SI command is received.On/Sleep∆t = SP∆t = SP * SN(SN = 1)Setting SN > 1 allows the XBee to silently poll for data without asserting On /Sleep. If RF data is received when polling, On/Sleep will immediately assert .Transmitting poll request to parent∆t = SPSleep_RQTransmitting Poll Request Legend∆t = SP * SNOn/Sleep(SN = 3)Transmitting poll request to parent

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 125Deep sleepThere are preconditions for maintaining low current draw during sleep:•You must maintain the supply voltage within a valid operating range (2.1 to 3.6 V for the XBee, 3.0 to 3.6 V for the XBee-PRO (S2), 2.7 to 3. V for the XBee-PRO S2B). •Each GPIO input line with a pullup resistor which is driven low draws about 100 uA current through the internal pullup resistor. •If circuitry external to the XBee drives such input lines low, then the current draw rises above expected deep sleep levels. •Each GPIO input line that has no pullup or pull-down resistor (is floating) has an indeterminate voltage which can change over time and temperature in an indeterminate manner.Recommended sleep current measurementsProperly measuring the sleep current helps to accurately estimate battery life requirements. To ensure that you take proper measurements without upsetting the normal operation of the unit under test, read the following steps.When you measure sleep currents, it can cause problems with the XBee modules because the equipment that measures very low currents accurately requires a large resistor in series with the power supply. This large resistor starves current from the XBee during a momentary wake cycle, forcing the voltage to drop to brownout levels rapidly. This voltage drop can place the XBee in a bad state, which may require a reset to resolve the problem.In order to achieve the lowest sleep current, you must disable brownout detectors during sleep modes. Even if the measurement equipment automatically changes current ranges, it is often too slow and cannot keep up with the necessary sudden short bursts. During long cyclic sleep periods, the XBees can wake every 10 to 30 seconds to reset timers and perform other necessary steps. These wake times are small and you may not notice them when measuring sleep currents.To compensate for the switching time of the equipment you must temporarily add an additional large cap when you need measurements to allow for short pulses of current draw; see the schematic below for details. 100 uF is enough to handle 1.5 milliseconds with 20 mA of current. You can increase or decrease the capacitor based on the switching time of the measurement circuitry and the momentary on time of the unit. Measure the leakage current of the additional cap to verify that it does not skew the low current reading. The capacitor averages the spike in current draw. The actual magnitude of the current spike is no longer visible, but you can account for the total energy consumed by integrating the current over time and multiplying by the voltage.Do not be surprised if the sleep current for an S2C is less than that of a S2D, because the S2D has more RAM to maintain during sleep (64K versus 12K RAM).

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 126Internal pin pull-ups can pull excess current and cause the sleep current readings to be higher than desired if you drive or float the pull-ups. Disable all pull-ups for input lines that have a low driven state during sleep. Enable pull-ups for floating lines or inputs that do not connect to other circuitry. If you use an analog-to-digital converter (ADC) to read the analog voltage of a pin, it may not be possible to stop all leakage current unless you can disconnect the voltage during sleep. Each floating input that is not at a valid high or low level can cause leakage depending on the temperature and charge buildup that you may not observe at room temperature.Transmitting RF dataAn end device may transmit data when it wakes from sleep and has joined a network. End devices transmit directly to their parent and then wait for an acknowledgment to be received. The parent will perform any required address and route discoveries to help ensure the packet reaches the intended destination before reporting the transmission status to the end device.Receiving RF dataAfter waking from sleep, an end device sends a poll request to its parent to determine if the parent has any buffered data for it. In pin sleep mode, the end device polls every 100ms while the Sleep_RQ pin is de-asserted (low). In cyclic sleep mode, the end device will only poll once before returning to sleep unless the sleep timer (ST)

XBee End Device configurationXBee/XBee-PRO ZigBee RF Modules User Guide 127is started (serial or RF data is received). If the sleep timer is started, the end device will continue to poll every 100 ms until the sleep timer expires.This firmware includes an adaptive polling enhancement where, if an end device receives RF data from its parent, it sends another poll after a very short delay to check for more data. The end device continues to poll at a faster rate as long as it receives data from its parent. This feature greatly improves data throughput to end devices. When the end device no longer receives data from its parent, it resumes polling every 100 ms.I/O samplingEnd devices can be configured to send one or more I/O samples when they wake from sleep. To enable I/O sampling on an end device, the IR command must be set to a non-zero value, and at least one analog or digital I/O pin must be enabled for sampling (D0 - D9, P0-P4 commands). If I/O sampling is enabled, an end device sends an I/O sample when it wakes and starts the ST timer. It will continue sampling at the IR rate until the sleep timer (ST) has expired. See Analog and digital I/O lines on page 132 for details.Waking end devices with the Commissioning PushbuttonIf the commissioning pushbutton functionality is enabled (D0 command), a high-to-low transition on the AD0/DIO0 pin (pin 33) will cause an end device to wake for 30 seconds. See Commissioning Pushbutton and Associate LED on page 102 for details.Parent verificationSince an end device relies on its parent to maintain connectivity with other devices in the network, XBee end devices include provisions to verify its connection with its parent. End devices monitor their link with their parent when sending poll messages and after a power cycle or reset event as described below.When an end device wakes from sleep, it sends a poll request to its parent. In cyclic sleep, if RF or serial data is not received and the sleep timer is not started, the end device polls one time and returns to sleep for another sleep period. Otherwise, the end device continues polling every 100ms. If the parent does not send an acknowledgment response to three consecutive poll request transmissions, the end device assumes the parent is out of range, and attempts to find a new parent.After a power-up or reset event, the end device does an orphan scan to locate its parent. If the parent does not send a response to the orphan scan, the end device attempts to find a new parent.RejoiningOnce all devices have joined a ZigBee network, the permit-joining attribute should be disabled such that new devices are no longer allowed to join the network. Permit-joining can be enabled later as needed for short times. This provides some protection in preventing other devices from joining a live network.If an end device cannot communicate with its parent, the end device must be able to join a new parent to maintain network connectivity. However, if permit-joining is disabled in the network, the end device will not find a device that is allowing new joins.To overcome this problem, ZigBee supports rejoining, where an end device can obtain a new parent in the same network even if joining is not enabled. When an end device joins using rejoining, it performs a PAN ID scan to discover nearby networks. If a network is discovered that has the same 64-bit PAN ID as the end device, it will join the network by sending a rejoin request to one of the discovered devices. The device that receives the rejoin request will send a rejoin response if it can allow the device to join the network (i.e. child table not full). The rejoin mechanism can be used to allow a device to join the same network even if permit-joining is disabled.

XBee Router/Coordinator configurationXBee/XBee-PRO ZigBee RF Modules User Guide 128To enable rejoining, NJ should be set less than 0xFF on the device that will join. If NJ < 0xFF, the device assumes the network is not allowing joining and first tries to join a network using rejoining. If multiple rejoining attempts fail, or if NJ=0xFF, the device will attempt to join using association.XBee Router/Coordinator configurationXBee routers and coordinators may require some configuration to ensure the following are set correctly:• RF packet buffering timeout• Child poll timeout• Transmission timeoutThe value of these timeouts depends on the sleep time used by the end devices. Each of these timeouts are discussed below.RF packet buffering timeoutWhen a router or coordinator receives an RF data packet intended for one of its end device children, it buffers the packet until the end device wakes and polls for the data, or until a packet buffering timeout occurs. This timeout is settable using the SP command. The actual timeout is (1.2 * SP), with a minimum timeout of 1.2 seconds and a maximum of 30 seconds. Since the packet buffering timeout is set slightly larger than the SP setting, SP should be set the same on routers and coordinators as it is on cyclic sleep end devices. For pin sleep devices, SP should be set as long as the pin sleep device can sleep, up to 30 seconds.Note In pin sleep and extended cyclic sleep, end devices can sleep longer than 30 seconds. If end devices sleep longer than 30 seconds, parent and non-parent devices must know when the end device is awake in order to reliably send data. For applications that require sleeping longer than 30 seconds, end devices should transmit an IO sample or other data when they wake to alert other devices that they can send data to the end device. Child poll timeoutRouter and coordinator devices maintain a timestamp for each end device child indicating when the end device sent its last poll request to check for buffered data packets. If an end device does not send a poll request to its parent for a certain period of time, the parent will assume the end device has moved out of range and will remove the end device from its child table. This allows routers and coordinators to be responsive to changing network conditions. The NC command can be issued at any time to read the number of remaining (unused) child table entries on a router or coordinator.The child poll timeout is settable with the SP and SN commands. SP and SN should be set such that SP * SN matches the longest expected sleep time of any end devices in the network. The actual timeout is calculated as (3 * SP * SN), with a minimum of 5 seconds. For networks consisting of pin sleep end devices, the SP and SN values on the coordinator and routers should be set such that SP * SN matches the longest expected sleep period of any pin sleep device. The 3 multiplier ensures the end device will not be removed unless 3 sleep cycles pass without receiving a poll request. The poll timeout is settable up to a couple of months.Adaptive pollingThe PO command determines the regular polling rate. However, if RF data has been recently received by an end device, it is likely that yet more RF data could be on the way. Therefore, the end device will poll at a faster rate, gradually decreasing its adaptive poll rate until polling resumes at the regular rate as defined by the PO command.

Putting it all togetherXBee/XBee-PRO ZigBee RF Modules User Guide 129Transmission timeoutAs mentioned in Transmission, addressing, and routing on page 67, when sending RF data to a remote router, since routers are always on, the timeout is based on the number of hops the transmission may traverse. This timeout it settable using the NH command; see Transmission, addressing, and routing on page 67 for details.Since end devices may sleep for lengthy periods of time, the transmission timeout to end devices also includes some allowance for the sleep period of the end device. When sending data to a remote end device, the transmission timeout is calculated using the SP and NH commands. If the timeout occurs and an acknowledgment has not been received, the source device will resend the transmission until an acknowledgment is received, up to two more times.The transmission timeout per attempt is:3 * ((unicast router timeout) + (end device sleep time)), or3 * ((50 * NH) + (1.2 * SP)), where SP is measured in 10ms units.Putting it all togetherShort sleep periodsPin and cyclic sleep devices that sleep less than 30 seconds can receive data transmissions at any time since their parent device(s) will be able to buffer data long enough for the end devices to wake and poll to receive the data. SP should be set the same on all devices in the network. If end devices in a network have more than one SP setting, SP on the routers and coordinators should be set to match the largest SP setting of any end device. This will ensure the RF packet buffering, poll timeout, and transmission timeouts are set correctly.Extended sleep periodsPin and cyclic sleep devices that might sleep longer than 30 seconds cannot receive data transmissions reliably unless certain design approaches are taken. Specifically, the end devices should use IO sampling or another mechanism to transmit data when they wake to inform the network they can receive data. SP and SN should be set on routers and coordinators such that (SP * SN) matches the longest expected sleep time. This configures the poll timeout so end devices are not expired from the child table unless a poll request is not received for 3 consecutive sleep periods.As a general rule of thumb, SP and SN should be set the same on all devices in almost all cases.Sleep examplesThis section covers some sample XBee configurations to support different sleep modes. Several AT commands are listed with suggested parameter values. The notation in this section includes an '=' sign to indicate what each command register should be set to - for example, SM=4. This is not the correct notation for setting command values in the XBee. In AT command mode, each command is issued with a leading 'AT' and no '=' sign - for example ATSM4. In the API, the two byte command is used in the command field, and parameters are populated as binary values in the parameter field.Example 1: configure a device to sleep for 20 seconds, but set SN such that the On/sleep line will remain de-asserted for up to 1 minute.The following settings should be configured on the end device.SM = 4 (cyclic sleep) or 5 (cyclic sleep, pin wake)

Sleep examplesXBee/XBee-PRO ZigBee RF Modules User Guide 130SP = 0x7D0 (2000 decimal). This causes the end device to sleep for 20 seconds since SP is measured in units of 10ms.SN = 3. (With this setting, the On/Sleep pin will assert once every 3 sleep cycles, or when RF data is received)SO = 0All router and coordinator devices on the network should set SP to match SP on the end device. This ensures that RF packet buffering times and transmission timeouts will be set correctly.Since the end device wakes after each sleep period (ATSP), the SN command can be set to 1 on all routers and the coordinator.Example 2: configure an end device to sleep for 20 seconds, send 4 IO samples in 2 seconds, and return to sleep.Since SP is measured in 10ms units, and ST and IR are measured in 1ms units, configure an end device with the following settings:SM = 4 (cyclic sleep) or 5 (cyclic sleep, pin wake)SP = 0x7D0 (2000 decimal). This causes the end device to sleep for 20 seconds.SN = 1SO = 0ST = 0x7D0 (2000 decimal). This sets the sleep timer to 2 seconds.IR = 0x258 (600 decimal). Set IR to a value greater than (2 seconds / 4) to get 4 samples in 2 seconds. The end device sends an IO sample at the IR rate until the sleep timer has expired.At least one analog or digital IO line must be enabled for IO sampling to work. To enable pin 32 (AD1/DIO1) as a digital input line, the following must be set:D1 = 3All router and coordinator devices on the network should set SP to match SP on the end device. This ensures that RF packet buffering times and transmission timeouts will be set correctly.Example 3: configure a device for extended sleep: to sleep for 4 minutes.SP and SN must be set such that SP * SN = 4 minutes. Since SP is measured in 10ms units, the following settings can be used to obtain 4 minute sleep.SM = 4 (cyclic sleep) or 5 (cyclic sleep, pin wake)SP = 0x7D0 (2000 decimal, or 20 seconds)SN = 0x0B (12 decimal)SO = 0x04 (enable extended sleep)With these settings, the module will sleep for SP * SN time, or (20 seconds * 12) = 240 seconds = 4 minutes.For best results, the end device should send a transmission when it wakes to inform the coordinator (or network) when it wakes. It should also remain awake for a short time to allow devices to send data to it. The following are recommended settings.ST = 0x7D0 (2 second wake time)SO = 0x06 (enable extended sleep and wake for ST time)

Sleep examplesXBee/XBee-PRO ZigBee RF Modules User Guide 131IR = 0x800 (send 1 IO sample after waking). At least one analog or digital IO sample should be enabled for IO sampling.With these settings, the end device will wake after 4 minutes and send 1 IO sample. It will then remain awake for 2 seconds before returning to sleep.SP and SN should be set to the same values on all routers and coordinators that could allow the end device to join. This will ensure the parent does not timeout the end device from its child table too quickly.The SI command can optionally be sent to the end device to cause it to sleep before the sleep timer expires.

XBee/XBee-PRO ZigBee RF Modules User Guide 132Analog and digital I/O linesXBee ZB firmware supports a number of analog and digital I/O pins that are configured through software commands. Analog and digital I/O lines can be set or queried. The following table lists the configurable I/O pins and the corresponding configuration commands. Module Pin Names Module Pin AT Command Command RangeDOUT/DIO13 3P30, 1, 3-5DIN/CONFIG/DIO14 4P40, 1, 3-5PWM RSSI/DIO10 7P00, 1, 3-5PWM1/DIO11 8P10, 1, 3-5DTR/Slp_Rq/DIO8 10 D8 0, 1, 3-5PTI_DATA/SPI_Attn/ADC5/DIO19 12 P9 0, 1, 6SPI_SClk/DIO18 14 P8 0, 1SPI_SSel/DIO17 15 P7 0, 1SPI_MOSI/DIO16 16 P6 0, 1SPI_MISO/DIO15 17 P5 0,1JTMS/SWDIO/DIO12/CD 21 P2 0, 3-5JTRst/DIO4 24 D4 0, 3-5CTS/DIO7 25 D7 0, 1, 3-7JTDO/On_SLP/DIO9 26 D9 0, 1, 3-5JTDI/Assoc/DIO5 28 D5 0, 1, 3-5RTS/DIO6/SClk2 29 D6 0, 1, 3-5AD3/DIO3 30 D3 0, 2-5

I/O configurationXBee/XBee-PRO ZigBee RF Modules User Guide 133XBee ZB through-hole RF moduleI/O configurationTo enable an analog or digital I/O function on one or more XBee module pin(s), the appropriate configuration command must be issued with the correct parameter. After issuing the configuration command, changes must be applied on the module for the I/O settings to take effect.AD2/DIO2 31 D2 0, 2-5PTI_En/AD1/DIO1 32 D1 0, 2-6AD0/DIO0/Comm 33 D0 0-5Module Pin Names Module Pin AT Command Command RangeDIO13/DOUT 2P30, 1, 3-5DIO14/DIN/nCONFIG 3P40, 1, 3-5 DIO12/PWM2/SWDIO/SPI_MISO 4P20, 1, 3-5DIO10/PWM RSSI/DAC0 6P00, 1, 3-5DIO11/PWM1/DAC1 7P1 0, 1, 3-5DIO8/nDTR/SLP_RQ 9D80, 1, 3-5 DIO4/SPI_MOSI 11 D4 0, 1, 3-5DIO7/nCTS 12 D7 0, 1, 3-7DIO9/On/nSLEEP/SWO 13 D9 0, 1, 3-5DIO5/ASSOC/JTDI 15 D5 0, 1, 3-5DIO6/nRTS 16 D6 0, 1, 3-5DIO3/AD3/SPI_nSSEL 17 D3 0-5DIO2/AD2/SPI_SCLK 18 D2 0-5DIO1/AD1/SPI_nATTN 19 D1 0-6DIO0/AD0/CommBtn 20 D0 0-5Pin Command Parameter Description0Disabled. (See below)1 Peripheral control2AnalogModule Pin Names Module Pin AT Command Command Range

I/O samplingXBee/XBee-PRO ZigBee RF Modules User Guide 134When the pin command parameter is a 0 or a 3, it operates the same on this platform, except that the pin will not be monitored by I/O sampling if the parameter is 0.Inputs have three variations:• floating• pulled-up• pulled-downA floating input is appropriate if the pin is attached to an output that always drives the line. In this case, a pull-up or pull-down resistor would cause more current to be drawn.A pulled-up input is useful where there might not always be an external source to drive the pin and it is desirable to have the line read high in the absence of an external driver.Likewise, a pulled-down input is useful when there is not always an external source to drive the pin and it is desirable to have the line read low in the absence of an external driver.Two commands are available to configure the input type:• PR determines whether or not an input is pulled. If the corresponding bit in PR is set, then the signal will be pulled. If it is clear, then the signal will be floating• PD determines the pull direction. It only applies when the corresponding bit in PR is set. The bit in PD should be set to enable an internal pull-up resistor. It should be cleared to enable an internal pull-down resistorI/O sampling The XBee ZB modules have the ability to monitor and sample the analog and digital I/O lines. I/O samples can be read locally or transmitted to a remote device to provide indication of the current I/O line states. API mode must be enabled on the receiving device in order to send I/O samples out the serial port. If this mode is not enabled, then remote I/O samples will be discardedThere are three ways to obtain I/O samples, either locally or remotely:• Queried Sampling• Periodic Sampling• Change Detection SamplingIO sample data is formatted as shown in the table below3Data in monitored. (See below)4 Data out default low5 Data out default high6 RS485 enable low / packet trace interface7 RS485 enable high>7 UnsupportedPin Command Parameter Description

I/O samplingXBee/XBee-PRO ZigBee RF Modules User Guide 135 Bytes Name Description1 Sample Sets Number of sample sets in the packet. (Always set to 1.)2 Digital Channel MaskIndicates which digital IO lines have sampling enabled. Each bit corresponds to one digital IO line on the module. bit 0 = AD0/DIO0 bit 1 = AD1/DIO1 bit 2 = AD2/DIO2 bit 3 = AD3/DIO3 bit 4 = DIO4 bit 5 = ASSOC/DIO5bit 6 = RTS/DIO6bit 7 = CTS/GPIO7bit 8 = Slp_Rq/DIO8bit 9 = On_Slp/DIO9bit 10 = RSSI/DIO10bit 11 = PWM/DIO11bit 12 = CD/DIO12bit 13 = DOUT/DIO13bit 14 = DIN/DIO14For example, a digital channel mask of 0x002F means DIO0,1,2,3, and 5 are enabled as digital I/O.1 Analog Channel MaskIndicates which lines have analog inputs enabled for sampling. Each bit in the analog channel mask corresponds to one analog input channel. bit 0 = AD0/DIO0 bit 1 = AD1/DIO1 bit 2 = AD2/DIO2 bit 3 = AD3/DIO3 bit 7 = Supply VoltageVariable Sampled Data Set A sample set consisting of 1 sample for each enabled ADC and/or DIO channel, which has voltage inputs of 1143.75 and 342.1875mV. If any digital I/O lines are enabled, the first two bytes of the data set indicate the state of all enabled digital I/O. Only digital channels that are enabled in the Digital Channel Mask bytes have any meaning in the sample set. If no digital I/O are enabled on the device, these 2 bytes will be omitted.Following the digital I/O data (if any), each enabled analog channel will return 2 bytes. The data starts with AIN0 and continues sequentially for each enabled analog input channel up to AIN3, and the supply voltage (if enabled) at the end.

I/O samplingXBee/XBee-PRO ZigBee RF Modules User Guide 136The sampled data set will include 2 bytes of digital I/O data only if one or more I/O lines on the device are configured as digital I/O. If no pins are configured as digital IO, these 2 bytes will be omitted. Pins are configured as digital I/O by setting them to a value of 3, 4, or 5.The digital I/O data is only relevant if the same bit is enabled in the digital I/O mask. Analog samples are returned as 10-bit values. The analog reading is scaled such that 0x0000 represents 0 V, and 0x3FF = 1.2 V. (The analog inputs on the module cannot read more than 1.2 V.) Analog samples are returned in order starting with AIN0 and finishing with AIN3, and the supply voltage. Only enabled analog input channels return data as shown in the figure below.To convert the A/D reading to mV, do the following:AD(mV) = (A/D reading * 1200mV) / 1023The reading in the sample frame represents voltage inputs of 1143.75 and 342.1875 mV for AD0 and AD1 respectively.Queried samplingThe IS command can be sent to a device locally, or to a remote device using the API remote command frame (see API Operation on page 139 for details). When the IS command is sent, the receiving device samples all enabled digital IO and analog input channels and returns an IO sample. If IS is sent locally, the IO sample is sent out the serial port. If the IS command was received as a remote command, the IO sample is sent over-the-air to the device that sent the IS command.If the IS command is issued in command mode, the module returns a carriage return-delimited list containing the above-listed fields. If the IS command is issued in API mode, an API command response contains the same information.The following table shows an example of the fields in an IS response.Periodic I/O samplingPeriodic sampling allows an XBee module to take an I/O sample and transmit it to a remote device at a periodic rate. The periodic sample rate is set by the IR command. If IR is set to 0, periodic sampling is disabled. For all other values of IR, data will be sampled after IR milliseconds have elapsed and transmitted to a remote device. The DH and DL commands determine the destination address of the I/O samples. DH and DL can be set to 0 to transmit to the coordinator, or to the 64-bit address of the remote device (SH and SL). Only devices running in API mode can send I/O data samples out their serial port. Devices running in transparent mode will discard received I/O data samples.Example Sample AT Response0x01 [1 sample set]0x0C0C [Digital Inputs: DIO 2, 3, 10, 11 low]0x03 [Analog Inputs: A/D 0, 1]0x0408 [Digital input states: DIO 3, 10 high, DIO 2, 11 low]0x03D0 [Analog input ADIO 0= 0x3D0]0x0124 [Analog input ADIO 1=0x120]

RSSI PWMXBee/XBee-PRO ZigBee RF Modules User Guide 137A sleeping end device will transmit periodic IO samples at the IR rate until the ST timer expires and the device can resume sleeping.Change detection samplingModules can be configured to transmit a data sample immediately whenever a monitored digital I/O pin changes state. The IC command is a bitmask that can be used to set which digital I/O lines should be monitored for a state change. If one or more bits in IC is set, an I/O sample will be transmitted as soon as a state change is observed in one of the monitored digital IO lines. Change detection samples are transmitted to the 64-bit address specified by DH and DL. RSSI PWMThe XBee module features an RSSI/PWM pin (pin 7/SMT, pin 6/TH) that, if enabled, will adjust the PWM output to indicate the signal strength of the last received packet. The P0 (P-zero) command is used to enable the RSSI pulse width modulation (PWM) output on the pin. If P0 is set to 1 (and P1 is not set to 1), the RSSI/PWM pin will output a pulse width modulated signal where the frequency is adjusted based on the received signal strength of the last packet. Otherwise, for all other P0 settings, the pin can be used for general purpose IO.When a data packet is received, if P0 is set to enable the RSSI/PWM feature, the RSSI PWM output is adjusted based on the RSSI of the last packet. The RSSI/PWM output will be enabled for a time based on the RP command. Each time an RF packet is received, the RSSI/PWM output is adjusted based on the RSSI of the new packet, and the RSSI timer is reset. If the RSSI timer expires, the RSSI/PWM pin is driven low. RP is measured in 100ms units and defaults to a value of 40 (4 seconds).The RSSI PWM runs at 12MHz and has 2400 total counts (200us period).RSSI (in dBm) is converted to PWM counts using the following equation:PWM counts = (41 * RSSI_Unsigned) - 5928I/O examplesExample 1: configure the following I/O settings on the XBeeConfigure AD1/DIO1 as a digital input with pullup resistor enabledConfigure AD2/DIO2 as an analog inputConfigure DIO4 as a digital output, driving high.To configure AD1/DIO1 as an input, issue the ATD1 command with a parameter of 3 (“ATD13”). To enable pull-up resistors on the same pin, the PR command should be issued with bit 3 set (e.g. ATPR8, ATPR1FFF, etc.).The ATD2 command should be issued with a parameter of 2 to enable the analog input (“ATD22”). Finally, DIO4 can be set as an output, driving high by issuing the ATD4 command with a parameter value of 5 (“ATD45”).After issuing these commands, changes must be applied before the module IO pins will be updated to the new states. The AC or CN commands can be issued to apply changes (e.g. ATAC).Example 2: calculate the PWM counts for a packet received with an RSSI of -84dBmRSSI = -84 = 0xAC = 172 decimal (unsigned)PWM counts = (41 * 172) - 5928PWM counts = 1124

PWM1XBee/XBee-PRO ZigBee RF Modules User Guide 138With a total of 2400 counts, this yields an ON time of (1124 / 2400) = 46.8%Example 3: configure the RSSI/PWM pin to operate for 2 seconds after each received RF packetFirst, ensure the RSSI/PWM functionality is enabled by reading the P0 (P-zero) command. It should be set to 1 (default).To configure the duration of the RSSI/PWM output, set the RP command. To achieve a 2 second PWM output, set RP to 0x14 (20 decimal, or 2 seconds) and apply changes (AC command).After applying changes, all received RF data packets should set the RSSI timer for 2 seconds.PWM1When P1 is configured for peripheral operation by setting the value to 1, it outputs a 50% duty cycle PWM with a clock rate of 32,787 Hz, which is a period of 30.5 s. The main purpose of the PWM output is to provide a clock for the PLUS processor, although it may also be used for other purposes. *When this feature is enabled, the RSSI PWM output is automatically disabled, even if it is configured.

XBee/XBee-PRO ZigBee RF Modules User Guide 139API OperationAs an alternative to Transparent Operation, Application Programming Interface (API) Operations are available. API operation requires that communication with the module be done through a structured interface (data is communicated in frames in a defined order). The API specifies how commands, command responses and module status messages are sent and received from the module using a serial port Data Frame. Note that Digi may add new API frames to future versions of firmware, so build into your software interface the ability to filter out additional API frames with unknown Frame Types.API frame specificationsTwo API modes are supported and both can be enabled using the AP (API Enable) command. Use the following AP parameter values to configure the module to operate in a particular mode:•AP = 1: API Operation•AP = 2: API Operation (with escaped characters)API operation (AP parameter = 1)When this API mode is enabled (AP = 1), the serial port data frame structure is defined as shown in the following figure.Note MSB = Most Significant Byte, LSB = Least Significant ByteAny data received prior to the start delimiter is silently discarded. If the frame is not received correctly or if the checksum fails, the module will reply with a module status frame indicating the nature of the failure.Length(Bytes 2-3)Checksum(Byte n + 1)MSB LSB 1 ByteStart Delimiter (Byte 1)0x7EFrame Data(Bytes 4-n) API-specific Structure

API frame specificationsXBee/XBee-PRO ZigBee RF Modules User Guide 140API Operation - with Escape Characters (AP parameter = 2)This mode is only available on the UART, not on the SPI serial port. When this API mode is enabled (AP = 2), the UART data frame structure is defined as the following figure shows. The figure illustrates the UART data frame structure with escape control characters.Note MSB = Most Significant Byte, LSB = Least Significant ByteEscape characters. When sending or receiving a UART data frame, specific data values must be escaped (flagged) so they do not interfere with the data frame sequencing. To escape an interfering data byte, insert 0x7D and follow it with the byte to be escaped XOR’d with 0x20. Note that, if not escaped, 0x11 and 0x13 is sent as is. Data bytes that need to be escaped:•0x7E – Frame Delimiter•0x7D – Escape•0x11 – XON•0x13 – XOFFExample - Raw UART Data Frame (before escaping interfering bytes): 0x7E 0x00 0x02 0x23 0x11 0xCB0x11 needs to be escaped which results in the following frame: 0x7E 0x00 0x02 0x23 0x7D 0x31 0xCBNote In the above example, the length of the raw data (excluding the checksum) is 0x0002 and the checksum of the non-escaped data (excluding frame delimiter and length) is calculated as:0xFF - (0x23 + 0x11) = (0xFF - 0x34) = 0xCB. LengthThe length field has a two-byte value that specifies the number of bytes that will be contained in the frame data field. It does not include the checksum field. Frame dataThe following figure shows the serial port data frame and API-specific structure:Start Delimiter(Byte 1)Length(Bytes 2-3)Frame Data(Bytes 4-n)Checksum(Byte n + 1)0x7E MSB LSB API-specific Structure 1 ByteCharacters Escaped If NeededLength(Bytes 2-3)Checksum(Byte n + 1)MSB LSB 1 ByteStart Delimiter (Byte 1)0x7EFrame Data(Bytes 4-n) API-specific StructureIdentifier-specific DatacmdDataAPI IdentifiercmdID

API frame specificationsXBee/XBee-PRO ZigBee RF Modules User Guide 141The cmdID frame (API-identifier) indicates which API messages will be contained in the cmdData frame (Identifier-specific data). Note that multi-byte values are sent big endian.The XBee modules support the following API frames:ChecksumTo test data integrity, a checksum is calculated and verified on non-escaped data.To calculate: Not including frame delimiters and length, add all bytes keeping only the lowest 8 bits of the result and subtract the result from 0xFF.To verify: Add all bytes (include checksum, but not the delimiter and length). If the checksum is correct, the sum will equal 0xFF.API Frame Names API IDAT Command 0x08AT Command - Queue Parameter Value 0x09ZigBee Transmit Request 0x10Explicit Addressing ZigBee Command Frame 0x11Remote Command Request 0x17Create Source Route 0x21AT Command Response 0x88Modem Status 0x8AZigBee Transmit Status 0x8BZigBee Receive Packet (AO=0) 0x90ZigBee Explicit Rx Indicator (AO=1) 0x91ZigBee IO Data Sample Rx Indicator 0x92XBee Sensor Read Indicator (AO=0) 0x94Node Identification Indicator (AO=0) 0x95Remote Command Response 0x97Extended Modem Status 0x98Over-the-Air Firmware Update Status 0xA0Route Record Indicator 0xA1Many-to-One Route Request Indicator 0xA3

API frame specificationsXBee/XBee-PRO ZigBee RF Modules User Guide 142API examplesExample: create an API AT command frame to configure an XBee to allow joining (set NJ to 0xFF). The frame should look like: 0x7E 0x00 0x05 0x08 0x01 0x4E 0x4A 0xFF 5FWhere 0x0005 = length 0x08 = AT Command API frame type 0x01 = Frame ID (set to non-zero value) 0x4E4A = AT Command ('NJ') 0xFF = value to set command to 0x5F = ChecksumThe checksum is calculated as [0xFF - (0x08 + 0x01 + 0x4E + 0x4A + 0xFF)]Example: send an ND command to discover the devices in the PAN. The frame should look like:0x7E 0x00 0x04 0x08 0x01 0x4E 0x44 0x64Where 0x0004 = length 0x08 = AT Command API frame type 0x01 = Frame ID (set to non-zero value) 0x4E44 = AT command ('ND') 0x64 = ChecksumThe checksum is calculated as [0xFF - (0x08 + 0x01 + 0x4E + 0x44)]Example: send a remote command to the coordinator to set AD1/DIO1 as a digital input (D1=3) and apply changes to force the IO update. The API remote command frame should look like:0x7E 0x00 0x10 0x17 0x01 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0x00 0xFF 0xFE 0x02 0x44 0x31 0x03 0x70Where 0x10 = length (16 bytes excluding checksum)0x17 = Remote Command API frame type0x01 = Frame ID0x0000000000000000 = Coordinator's address (can be replaced with coordinator's actual 64-bit address if known)0xFFFE = 16- bit Destination Address0x02 = Apply Changes (Remote Command Options)0x4431 = AT command ('D1')

API serial port exchangesXBee/XBee-PRO ZigBee RF Modules User Guide 1430x03 = Command Parameter (the parameter could also be sent as 0x0003 or 0x00000003)0x70 = ChecksumAPI serial port exchangesAT commandsThe following image shows the API frame exchange that takes place at the serial port when sending an AT command request to read or set a module parameter. The response can be disabled by setting the frame ID to 0 in the request.Transmitting and receiving RF dataThe following image shows the API exchanges that take place at the serial port when sending RF data to another device. The transmit status frame is always sent at the end of a data transmission unless the frame ID is set to 0 in the transmit request. If the packet cannot be delivered to the destination, the transmit status frame will indicate the cause of failure. The received data frame (0x90 or 0x91) is set by the AP command.Remote AT commandsThe following image shows the API frame exchanges that take place at the serial port when sending a remote AT command. A remote command response frame is not sent out the serial port if the remote device does not receive the remote command.

Supporting the APIXBee/XBee-PRO ZigBee RF Modules User Guide 144Source routingThe following image shows the API frame exchanges that take place at the serial port when sending a source routed transmission.Supporting the APIApplications that support the API should make provisions to deal with new API frames that may be introduced in future releases. For example, a section of code on a host microprocessor that handles received serial API frames (sent out the module's DOUT pin) might look like this:

$API framesXBee/XBee-PRO ZigBee RF Modules User Guide 145API framesThe following sections illustrate the types of frames encountered while using the API.AT commandFrame Type: 0x08Used to query or set module parameters on the local device. This API command applies changes after executing the command. (Changes made to module parameters take effect once changes are applied.) The API example below illustrates an API frame when modifying the NJ parameter value of the module void XBee_HandleRxAPIFrame(_apiFrameUnion *papiFrame){ switch(papiFrame->api_id){ case RX_RF_DATA_FRAME: //process received RF data frame break; case RX_IO_SAMPLE_FRAME: //process IO sample frame break; case NODE_IDENTIFICATION_FRAME: //process node identification frame break; default: //Discard any other API frame types that are not being used break; } }Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x04Frame-specific Data Frame Type 3 0x08Frame ID 4 0x52 (R) Identifies the serial port data frame for the host to correlate with a subsequent ACK (acknowledgment). If set to 0, no response is sent.AT Command 5 0x4E (N) Command Name - Two ASCII characters that identify the AT Command.60x4A (J)$

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 146The above example illustrates an AT command when querying an NJ value. AT command - Queue Parameter ValueFrame Type: 0x09This API type allows module parameters to be queried or set. In contrast to the “AT Command” API type, new parameter values are queued and not applied until either the “AT Command” (0x08) API type or the AC (Apply Changes) command is issued. Register queries (reading parameter values) are returned immediately.Send a command to change the baud rate (BD) to 115200 baud, but don't apply changes yet. (Module will continue to operate at the previous baud rate until changes are applied.)Note In this example, the parameter could have been sent as a zero-padded 2-byte or 4-byte value. Parameter Value(optional)If present, indicates the requested parameter value to set the given register.If no characters present, register is queried.Checksum 7 0x0D 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example DescriptionFrame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x05Frame-specific Data Frame Type 3 0x09Frame ID 4 0x01 Identifies the serial port data frame for the host to correlate with a subsequent ACK (acknowledgment). If set to 0, no response is sent.AT Command 5 0x42 (B) Command Name - Two ASCII characters that identify the AT Command.60x44 (D)Parameter Value(ATBD7 = 115200 baud)7 0x07 If present, indicates the requested parameter value to set the given register.If no characters present, register is queried.Checksum 8 0x68 0xFF - the 8 bit sum of bytes from offset 3 to this byte.

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 147ZigBee Transmit RequestFrame Type: 0x10 A Transmit Request API frame causes the module to send data as an RF packet to the specified destination. The 64-bit destination address should be set to 0x000000000000FFFF for a broadcast transmission (to all devices). The coordinator can be addressed by either setting the 64-bit address to all 0x00s and the 16-bit address to 0xFFFE, OR by setting the 64-bit address to the coordinator's 64-bit address and the 16-bit address to 0x0000. For all other transmissions, setting the 16-bit address to the correct 16-bit address can help improve performance when transmitting to multiple destinations. If a 16-bit address is not known, this field should be set to 0xFFFE (unknown). The Transmit Status frame (0x8B) will indicate the discovered 16-bit address, if successful.The broadcast radius can be set from 0 up to NH. If set to 0, the value of NH specifies the broadcast radius (recommended). This parameter is only used for broadcast transmissions.The maximum number of payload bytes can be read with the NP command. Note If source routing is used, the RF payload will be reduced by two bytes per intermediate hop in the source route. This example shows if escaping is disabled (AP=1).Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x16Frame-specific Data Frame Type 3 0x10

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 148Frame ID 4 0x01 Identifies the serial port data frame for the host to correlate with a subsequent ACK (acknowledgment). If set to 0, no response is sent.64-bit DestinationAddressMSB 5 0x00 Set to the 64-bit address of the destination device. The following addresses are also supported:0x0000000000000000 - Reserved 64-bit address for the coordinator0x000000000000FFFF - Broadcast address60x1370xA280x0090x4010 0x0A11 0x01LSB 12 0x27 16-bit DestinationNetwork AddressMSB 13 0xFF Set to the 16-bit address of the destination device, if known. Set to 0xFFFE if the address is unknown, or if sending a broadcast.LSB 14 0xFE Broadcast Radius15 0x00 Sets maximum number of hops a broadcast transmission can occur.If set to 0, the broadcast radius will be set to the maximum hops value.Options 16 0x00 Bitfield of supported transmission options. Supported values include the following: 0x01 - Disable retries0x20 - Enable APS encryption (if EE=1) 0x40 - Use the extended transmission timeout for this destinationEnabling APS encryption decreases the maximum number of RF payload bytes by 4 (below the value reported by NP). Setting the extended timeout bit causes the stack to set the extended transmission timeout for the destination address. See Transmission, addressing, and routing on page 67.All unused and unsupported bits must be set to 0. RF Data 17 0x54 Data that is sent to the destination device18 0x7819 0x4420 0x6121 0x7422 0x6123 0x3024 0x41Checksum 25 0x13 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 152Remote AT Command RequestFrame Type: 0x17 Used to query or set module parameters on a remote device. For parameter changes on the remote device to take effect, changes must be applied, either by setting the apply changes options bit, or by sending an AC command to the remote.Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x10Frame-specific Data Frame Type 3 0x17Frame ID 4 0x01 Identifies the serial port data frame for the host to correlate with a subsequent ACK (acknowledgment). If set to 0, no response is sent.64-bit DestinationAddressMSB 5 0x00 Set to the 64-bit address of the destination device. The following addresses are also supported:0x0000000000000000 - Reserved 64-bit address for the coordinator0x000000000000FFFF - Broadcast address60x1370xA280x0090x4010 0x4011 0x11LSB 12 0x2216-bit DestinationNetwork AddressMSB 13 0xFF Set to the 16-bit address of the destination device, if known. Set to 0xFFFE if the address is unknown, or if sending a broadcast.LSB 14 0xFERemote Command Options15 0x02 (apply changes)Bitfield to enable various remote command options. Supported values include:0x01 - Disable ACK0x02 - Apply changes on remote. (If not set, AC command must be sent before changes will take effect.)0x40 - Use the extended transmission timeout for this destination.Setting the extended timeout bit causes the stack to set the extended transmission timeout for the destination address. See Transmission, addressing, and routing on page 67.All unused and unsupported bits must be set to 0.

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 153Example: Send a remote command to change the broadcast hops register on a remote device to 1 (broadcasts go to 1-hop neighbors only), and apply changes so the new configuration value immediately takes effect. In this example, the 64-bit address of the remote is 0x0013A200 40401122, and the destination 16-bit address is unknown.Create Source RouteFrame Type: 0x21This frame creates a source route in the module. A source route specifies the complete route a packet should traverse to get from source to destination. Source routing should be used with many-to-one routing for best results.Note Both the 64-bit and 16-bit destination addresses are required when creating a source route. These are obtained when a Route Record Indicator (0xA1) frame is received. Frame-specific dataAT Command 16 0x42 (B) Name of the command17 0x48 (H)Command Parameter18 0x01 If present, indicates the requested parameter value to set the given register. If no characters present, the register is queried.Checksum 19 0xF5 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example DescriptionFrame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x14Frame-specific Data Frame Type 3 0x21Frame ID 4 0x00 The Frame ID should always be set to 0.64-bit DestinationAddressMSB 5 0x00 Set to the 64-bit address of the destination device. The following addresses are also supported:0x0000000000000000 - Reserved 64-bit address for the coordinator0x000000000000FFFF - Broadcast address60x1370xA280x0090x4010 0x4011 0x11LSB 12 0x22

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 154Example: Intermediate hop addresses must be ordered starting with the neighbor of the destination, and working closer to the source. For example, suppose a route is found between A and E as shown below. A ' B ' C ' D ' EIf device E has the 64-bit and 16-bit addresses of 0x0013A200 40401122 and 0x3344, and if devices B, C, and D have the following 16-bit addresses:B = 0xAABBC = 0xCCDDD = 0xEEFFThe example above shows how to send the Create Source Route frame to establish a source route between A and E.Frame-specific Data16-bit DestinationNetwork AddressMSB 13 0x33 Set to the 16-bit address of the destination device, if known. Set to 0xFFFE if the address is unknown, or if sending a broadcast.LSB 14 0x44Route Command Options15 0x00 Set to 0.Number of Addresses16 0x03 The number of addresses in the source route (excluding source and destination). If this number is 0 or greater than the source route table size (40), this API frame will be silently discarded. However, there is no use in including more than 11 intermediate hops because a frame with more hops than that will be discarded.Address 1 17 0xEE (neighbor of destination)18 0xFFAddress 2 (closer hop19 0xCC Address of intermediate hop20 0xDDAddress 3 21 0xAA (neighbor of source)22 0xBBChecksum 23 0x01 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 155AT Command ResponseFrame Type: 0x88In response to an AT Command message, the module will send an AT Command Response message. Some commands will send back multiple frames (for example, the ND (Node Discover) command). Suppose the BD parameter is changed on the local device with a frame ID of 0x01. If successful (parameter was valid), the above response would be received.Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumFrame-specific Data LSB 2 0x05Frame Type 3 0x88Frame ID 4 0x01 Identifies the serial port data frame being reported. Note: If Frame ID = 0 in AT Command Mode, no AT Command Response will be given.AT Command 5 ‘B’ = 0x42 Command Name - Two ASCII characters that identify the AT Command.6 ‘D’ = 0x44Command Status70x000 = OK1 = ERROR2 = Invalid Command3 = Invalid Parameter4 = Tx FailureCommand Data Register data in binary format. If the register was set, then this field is not returned, as in this example.Checksum 8 0xF0 0xFF - the 8 bit sum of bytes from offset 3 to this byte.

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 156Modem StatusFrame Type: (0x8A)RF module status messages are sent from the module in response to specific conditions.The following API frame is returned when an API coordinator forms a network.Note New modem status codes may be added in future firmware releases.Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x02Frame-specific Data Frame Type 3 0x8AStatus 4 0x06 0 = Hardware reset1 = Watchdog timer reset2 =Joined network (routers and end devices)3 =Disassociated6 =Coordinator started7 = Network security key was updated0x0D = Voltage supply limit exceeded (PRO only)0x11 = Modem configuration changed while join in progress0x80+ = Ember ZigBee stack errorChecksum 5 0x6F 0xFF - the 8 bit sum of bytes from offset 3 to this byte.

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 157ZigBee Transmit StatusFrame Type: 0x8BWhen a TX Request is completed, the module sends a TX Status message. This message will indicate if the packet was transmitted successfully or if there was a failure.Suppose a unicast data transmission was sent to a destination device with a 16-bit address of 0x7D84. (The transmission could have been sent with the 16-bit address set to 0x7D84 or 0xFFFE.) Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumFrame-specific DataLSB 2 0x07Frame Type 3 0x8BFrame ID 4 0x01 Identifies the serial port data frame being reported. If Frame ID = 0 in AT Command Mode, no AT Command Response will be given.16-bit address of destination5 0x7D 16-bit Network Address the packet was delivered to (if successful). If not successful, this address will be 0xFFFD: Destination Address Unknown.60x84Transmit Retry Count7 0x00 The number of application transmission retries that took place.Delivery Status 8 0x00 0x00 = Success0x01 = MAC ACK Failure0x02 = CCA Failure0x15 = Invalid destination endpoint0x21 = Network ACK Failure0x22 = Not Joined to Network0x23 = Self-addressed0x24 = Address Not Found0x25 = Route Not Found0x26 = Broadcast source failed to hear a neighbor relay the message 0x2B = Invalid binding table index0x2C = Resource error lack of free buffers, timers, etc.0x2D = Attempted broadcast with APS transmission0x2E = Attempted unicast with APS transmission, but EE=00x32 = Resource error lack of free buffers, timers, etc.0x74 = Data payload too large0x75 = Indirect message unrequestedDiscovery Status9 0x01 0x00 = No Discovery Overhead0x01 = Address Discovery0x02 = Route Discovery0x03 = Address and Route0x40 = Extended Timeout DiscoveryChecksum 10 0x71 0xFF - the 8 bit sum of bytes from offset 3 to this byte.

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 158ZigBee Receive PacketFrame Type: (0x90)When the module receives an RF packet, it is sent out the serial port using this message type.Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumFrame-specific Data LSB 2 0x11Frame Type 3 0x9064-bit Source AddressMSB 4 0x005 0x13 64-bit address of sender. Set to 0xFFFFFFFFFFFFFFFF (unknown 64-bit address) if the sender's 64-bit address is unknown.60xA270x0080x4090x5210 0x2BLSB 11 0xAA16-bit SourceNetwork AddressMSB 12 0x7D 16-bit address of senderLSB 13 0x84Receive Options 14 0x01 0x01 - Packet Acknowledged0x02 - Packet was a broadcast packet0x20 - Packet encrypted with APS encryptionNote: Option values can be combined. For example, a 0x20 and a 0x01 will show as a 0x21. Other possible values 0x00, 0x21, 0x22, 0x60, 0x61, 0x62.Frame-specific Data Received Data 15 0x52 Received RF data16 0x7817 0x4418 0x6119 0x7420 0x61Checksum 21 0x0D 0xFF - the 8 bit sum of bytes from offset 3 to this byte.

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 159Suppose a device with a 64-bit address of 0x0013A200 40522BAA, and 16-bit address 0x7D84 sends a unicast data transmission to a remote device with payload “RxData”. If AO=0 on the receiving device, it would send the above example frame out its serial port.ZigBee Explicit Rx IndicatorFrame Type:0x91 When the modem receives a ZigBee RF packet it is sent out the serial port using this message type (when AO=1).Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x18Frame-specific Data Frame Type 3 0x9164-bit SourceAddressMSB 4 0x00 64-bit address of sender. Set to 0xFFFFFFFFFFFFFFFF (unknown 64-bit address) if the sender's 64-bit address is unknown.50x1360xA270x0080x4090x5210 0x2BLSB 11 0xAA16-bit Source Network AddressMSB 12 0x7D 16-bit address of sender.LSB 13 0x84

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 161ZigBee IO Data Sample Rx IndicatorFrame Type: 0x92When the module receives an I/O sample frame from a remote device, it sends the sample out the serial port using this frame type (when AO=0). Only modules running in API mode will send I/O samples out the serial port. Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumFrame-specific Data LSB 2 0x14Frame Type 3 0x9264-bit Source AddressMSB 4 0x00 64-bit address of sender50x1360xA270x0080x4090x5210 0x2BLSB 11 0xAA16-bit Source Network AddressMSB 12 0x7D 16-bit address of sender.LSB 13 0x84Receive Options 14 0x01 0x01 - Packet Acknowledged0x02 - Packet was a broadcast packetNumber of Samples15 0x01 Number of sample sets included in the payload. (Always set to 1)Digital Channel Mask*16 0x00 Bitmask field that indicates which digital IO lines on the remote have sampling enabled (if any).17 0x1CAnalog Channel Mask**18 0x02 Bitmask field that indicates which analog IO lines on the remote have sampling enabled (if any).Digital Samples (if included)19 0x00 If the sample set includes any digital IO lines (Digital Channel Mask > 0), these two bytes contain samples for all enabled digital IO lines. DIO lines that do not have sampling enabled return 0. Bits in these 2 bytes map the same as they do in the Digital Channels Mask field.20 0x14

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 162Suppose an IO sample is received with analog and digital IO, from a remote with a 64-bit address of 0x0013A200 40522BAA and a 16-bit address of 0x7D84. If pin AD1/DIO1 is enabled as an analog input, AD2/DIO2 and DIO4 are enabled as a digital inputs (currently high), and AD3/DIO3 is enabled as a digital output (low) the IO sample is shown in the API example in the table above. Frame-specific Data Analog Sample 21 0x02 If the sample set includes any analog input lines (Analog Channel Mask > 0), each enabled analog input returns a 2-byte value indicating the A/D measurement of that input. Analog samples are ordered sequentially from AD0/DIO0 to AD3/DIO3, to the supply voltage.22 0x25Checksum 23 0xF5 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example DescriptionN/A N/A N/A CD/DIO12PWM/DIO11RSSI/DIO10N/A N/ACTS/DIO7RTS/DIO6ASSOC/DIO5DIO4 AD3/DIO3AD2/DIO2AD1/DIO1AD0/DIO0Supply VoltageN/A N/A N/A AD3 AD2 AD1 AD0***

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 163XBee Sensor Read IndicatorFrame Type: 0x94When the module receives a sensor sample (from a Digi 1-wire sensor adapter), it is sent out the serial port using this message type (when AO=0).Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumFrame-specific Data LSB 2 0x17Frame Type 3 0x9464-bit SourceAddressMSB 4 0x00 64-bit address of sender50x1360xA270x0080x4090x5210 0x2BLSB 11 0xAA16-bit SourceNetwork AddressMSB 12 0xDD 16-bit address of sender.LSB 13 0x6CReceive Options 14 0x01 0x01 - Packet Acknowledged0x02 - Packet was a broadcast packet1-Wire Sensors 15 0x03 0x01 = A/D Sensor Read0x02 = Temperature Sensor Read0x60 = Water present (module CD pin low)

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 164Suppose a 1-wire sensor sample is received from a device with a 64-bit address of 0x0013A200 40522BAA and a 16-bit address of 0xDD6C. If the sensor sample was taken from a 1-wire humidity sensor, the API frame could look like this (if AO=0):For convenience, let's label the A/D and temperature readings as AD0, AD1, AD2, AD3, and T. Using the data in this example:AD0 = 0x0002AD1 = 0x00CE AD2 = 0x00EAAD3 = 0x0052 T = 0x016ATo convert these to temperature and humidity values, the following equations should be used.Temperature (°C) = (T / 16), for T < 2048 = - (T & 0x7FF) / 16, for T >= 2048Vsupply = (AD2 * 5.1) / 255Voutput = (AD3 * 5.1) / 255Relative Humidity = ((Voutput / Vsupply) - 0.16) / (0.0062)True Humidity = Relative Humidity / (1.0546 - (0.00216 * Temperature (°C)))Looking at the sample data, we have:Vsupply = (234 * 5.1 / 255) = 4.68Voutput = (82 * 5.1 / 255) = 1.64Temperature = (362 / 16) = 22.625°CFrame-specific Data A/D Values 16 0x00 Indicates a two-byte value for each of four A/D sensors(A, B, C, D) Set to 0xFFFFFFFFFFFFFFFF if no A/Ds are found.17 0x0218 0x0019 0xCE20 0x0021 0xEA22 0x0023 0x52TemperatureRead24 0x01 Indicates the two-byte value read from a digital thermometer if present. Set to 0xFFFF if not found.25 0x6AChecksum 26 0x8B 0xFF - the 0x8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 165Relative H = (161.2903 * ((1.64/4.68) - 0.16)) = 161.2903 * (0.19043) = 30.71%True H = (30.71 / (1.0546 - (0.00216 * 22.625))) = (30.71 / 1.00573) = 30.54%Node Identification IndicatorFrame Type: 0x95This frame is received when a module transmits a node identification message to identify itself (when AO=0). The data portion of this frame is similar to a network discovery response frame (see ND command).Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumFrame-specific Data LSB 2 0x20Frame Type 3 0x9564-bit SourceAddressMSB 4 0x00 64-bit address of sender50x1360xA270x0080x4090x5210 0x2BLSB 11 0xAA16-bit SourceNetwork AddressMSB 12 0x7D 16-bit address of sender.LSB 13 0x84Receive Options 14 0x02 0x01 - Packet Acknowledged0x02 - Packet was a broadcast packetSource 16-bitaddress15 0x7D Set to the 16-bit network address of the remote. Set to 0xFFFE if unknown.16 0x84

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 167Remote Command ResponseFrame Type: 0x97If a module receives a remote command response RF data frame in response to a Remote AT Command Request, the module will send a Remote AT Command Response message out the serial port. Some commands may send back multiple frames--for example, Node Discover (ND) command. Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x13Frame-specific Data Frame Type 3 0x97Frame ID 4 0x55 This is the same value passed in to the request..64-bit Source(remote) AddressMSB 5 0x00 The address of the remote radio returning this response.60x1370xA280x0090x4010 0x5211 0x2BLSB 12 0xAA16-bit Source(remote) AddressMSB 13 0x7D Set to the 16-bit networkaddress of the remote.Set to 0xFFFE ifunknown.LSB 14 0x84AT Commands 15 0x53 Name of the command16 0x4CCommand Status17 0x00 0 = OK1 = ERROR2 = Invalid Command3 = Invalid Parameter4 = Remote Command Transmission Failed

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 168If a remote command is sent to a remote device with 64-bit address 0x0013A200 40522BAA and 16-bit address 0x7D84 to query the SL command, and if the frame ID=0x55, the response is shown in the example API frame in the table above.Extended Modem StatusFrame Type: 0x98If the Verbose Join option (DC10) is enabled, trace messages will be serially transmitted to describe what is happening inside the radio during association.Warning: This option is provided for diagnostic purposes. With 4x5A/7x5A or later, Verbose Join messages will be disabled while the radio is operating in AT Command mode. Prior to that revision, Verbose Join messages will be interspersed with serial communications.Frame-specific Data Command Data 18 0x40 Register data in binary format. If the register was set, then this field is not returned.19 0x5220 0x2B21 0xAAChecksum 22 0xF0 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example DescriptionFrame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 1 0x03Frame-specific Data Frame Type 3 0x98Status Code 4 0x0B See below for status code descriptions.Status Data 5 0x03 The length of this field varies with the Status Code.Checksum 6 0x5C

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 169Status code descriptionsThe following table describes the various Verbose Join trace messages in the order of their Status Code. The AT Mode String column shows the string which will appear if Verbose Join is run in AT Command Mode. The Description column gives a fuller explanation of what a particular message means. When a message is accompanied with Status Data, the Status Data column shows how to parse the hexadecimal string into fields. The number of bytes per field appears in parentheses “()”.Status CodeAT Mode String DescriptionStatus DataData Description0x00 Rejoin A join attempt is being started.rejoinState(1) The rejoinState is a count of join attempts.0x01 Stack Status Shows status and state. EmberStatus(1), 0x00 - no network; 0x01 - joining; 0x02 - joined; 00x03 - joined (no parent); 0x04 - leavingemberNetworkState(1)0x90 - Network is up and ready to receive/transmit.0x91 - Network is down and cannot receive/transmit.0x94 - Join attempt failed.0x96 - A node's attempt to re-establish contact with the network after moving failed.0x98 - A join attempt as a router failed due to a ZigBee 2006 versus ZigBee PRO 2007 incompatibility. Try to join as an end device.0x99 - The network ID has changed.0x9A - The PAN ID has changed.0x9B - The channel has changed.0xAB - No beacons were received in response to a beacon request.0x02 Joining An association request is being made.radioChannel(1) channel number ranging from 11 to 26 (0x0B to 0x1A)radioTxPower(1) low level signed byte value for transmit power, values range from 0xC9 to 0x05 inclusivepanid(2) 16 bit 4med' a network, or a Router/End Device has 'joined' a network.extendedPanId(8) 64 bit PAN Identifier for network

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 1700x03 Joined Joined - Coordinator “Formed:”, Router/End Device “Joined”0x04 Beacon ResponseData received from a neighboring node in response to a beacon requestZS[stackProfile](1) See ZS in Command reference tables on page 188.extendedPanId(8) 64 bit PAN Identifier for networkallowingJoin(1) 0x00 - not permitting joins to its network0x01 - permitting joins to its networkradioChannel(1) channel number ranging from 11 to 26 (0x0B to 0x1A)panid(2) 16 bit PAN Identifier for networkrssi(1) maximum relative signal strength indicator value measured in units of dBmlqi link quality indicator0x05 Reject ZS Not an association candidate because ZS does not match that given in the beacon response.0x06 Reject ID Not an association candidate because configured pan ID does not match that given in the beacon response.0x07 Reject NJ Not an association candidate because it is not allowing joins.0x08 panID Match JV/NW with search option (DO80) has found a matching networkpanId(2) 16 bit PAN Identifier for network0x09 Reject LQIRSSI JV/NW with search option (DO80) candidate rejected because this beacon response is weaker than an earlier beacon response.Status CodeAT Mode String DescriptionStatus DataData Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 1710x0A Beacon Saved This beacon response is a suitable candidate for an association request.radioChannel(1) channel number ranging from 11 to 26 (0x0B to 0x1A)radioTxPower(1) low level signed byte value for transmit power, values range from 0xC9 to 0x05 inclusivepanid(2) 16 bit PAN Identifier for networkextendedPanId(8) 64 bit PAN Identifier for network0x0B AI AI value has changed. AIStatusCode(1) See Command reference tables on page 188for a description of the AI command.0x0C Permit Join NJ setting (Permit Join Duration) has changedvalue(1) See Command reference tables on page 188 for a description of the NJ command.0x0D Scanning Active scanning has begun. ChannelMask(4) A 32 bit value driven by the SC setting where bit positions 11 through 26 show which channels are enabled for the upcoming Active Scan. See Command reference tables on page 188 for a description of the SC command.0x0E Scan Error An error occurred during active scan.StatusCode(1)0x0F Join Request High level request for a form/join.0x10 Reject LQI Reject because LQI is worse than an already saved beacon response.lqi(1) link quality indicator0x11 Reject RSSI Rejected because RSSI is worse than an already saved beacon response.rssi(1) relative signal strength indicator0x12 Rejected(cmdLast)Rejected because it matches the last associated network.0x13 Rejected(cmdSave)Rejected because it matches an already saved beacon response.0x14 Reject strength During first/best phase, response is weaker than an already saved beacon response.Status CodeAT Mode String DescriptionStatus DataData Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 172The following is an example of a successful association where Verbose Join was enabled in AT Command Mode.Note that comments are interspersed with the trace messages to explain the content, and are preceded by an ellipsis “...”.+++OKatid3151OK...configured pan identifier has been changedatdc10OK...and verbose join enabledatacOK0x16 Reset for DC80 With DC80 enabled, reset if no joinable beacon responses are received within 60s of joining.0x18 ScanCh Scanning on Channel radioChannel(1) channel number ranging from 11 to 26 (0x0B to 0x1A)0x19 Scan Mode Shows phase of Ordered Association.mo d e ( 1 ) 0: f i r s t / b e s t c a n d i d a t e 1: ordered association by extpanid, then by channel0x1A Scan Init Starting a scan channel(1) TxPower(1)channel being scannedlow level radio transmit power setting0x1D Energy Scan - channel maskStarting energy scan SC mask(4) Scan channel mask0x1E Energy Scan - energiesChannel Energies observedEnergies(16) Energy Levels per channel in SC0x1F PanIdScan - radio channelPan Id Scan starting on channelchannel(1) Radio Channel0x20 FormNetwork - parametersForming a network radioChannel(1) channel number ranging form 11 to 26radioTxPower(1) low level radio transmit power settingpanid(2) 16 bit PAN identifier for networkextendedpanid(8) 64 bit PAN identifier for networkSmart Energy only0x21 Discovering KE EndpointLooking for Key Establishment Endpoint0x22 KE Endpoint Found Key Establishment EndpointEndpoint(1) Endpoint numberStatus CodeAT Mode String DescriptionStatus DataData Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 173...applying changes to the configurationV AI - Searching for Parent:FF...search has startedV AI - Searching for Parent:FF...and started againV Scanning:03FFF800...Channels 11 through 25 are enabled by the SC setting for the Active Search.V Beacon Rsp:0000000000000042A6010B949AC8FF...ZS(0), extendedPanId(00000000000042A6), allowingJoin(1), radiochannel(0x0B), panid(949A), rssi(C8), lqi(FF)V Reject ID...beacon response's extendedPanId does not match this radio's ID setting of 3151V Beacon Rsp:0200000000000002AB010C55D2B2DB...ZS(2), extendedPanId(00000000000002AB), allowingJoin(1), radiochannel(0x0C), panid(55D2), rssi(B2), lqi(DB)V Reject ZS...beacon response's ZS does not match this radio's ZS setting of 0x00V Beacon Rsp:000000000000003151010EE29FDFFFV Beacon Saved:0E05E29F0000000000003151...this beacon response is acceptable as a candidate for associationV Joining:0E05E29F0000000000003151...sending association requestV Stack Status: joined, network up 0290...we are joined, the network is up, we can send and transmitV Joined:V AI - Association Succeeded:00Over-the-Air firmware update statusFrame Type: 0xA0The Over-the-Air Firmware Update Status frame provides a status indication of a firmware update transmission attempt. If a query command (0x01 0x51) is sent to a target with a 64-bit address of 0x0013A200 40522BAA through an updater with 64-bit address 0x0013A200403E0750 and 16-bit address 0x0000, the following is the expected response.Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x16

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 174If a query request returns a 0x15 (NACK) status, the target is likely waiting for a firmware update image. If no messages are sent to it for about 75 seconds, the target will timeout and accept new query messages.Frame-specific Data Frame Type 3 0xA064-bit Source(remote) AddressMSB 4 0x00 The address of the remote radio returning this response.50x1360xA270x0080x4090x3E10 0x07LSB 11 0x5016-bit Destination Address 12 0x00 16-bit address of the updater device 13 0x00Receive Options 14 0x01 0x01 - Packet Acknowledged. 0x02 - Packet was a broadcast.Bootloader Message Type15 0x52 0x06 - ACK0x15 - NACK0x40 - No Mac ACK 0x51 - Query (received if the bootloader is not active on the target)0x52 - Query ResponseBlock Number 16 0x00 Block number used in the update request. Set to 0 if not applicable.64-bit Target Address17 0x00 64-bit Address of remote device that is being updated (target).18 0x1319 0xA220 0x0021 0x4022 0x5223 0x2B24 0xAAChecksum 25 0x66 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example Description

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 175If a query returns a 0x51 (QUERY) status, then the target's bootloader is not active and will not respond to query messages.Route Record IndicatorFrame Type: 0xA1The route record indicator is received whenever a device sends a ZigBee route record command. This is used with many-to-one routing to create source routes for devices in a network. Frame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x13Frame-specific Data Frame Type 3 0xA164-bit Source AddressMSB 4 0x00 64-bit address of the device that initiated the route record.50x1360xA270x0080x4090x4010 0x11LSB 11 0x22Source (updater)16-bit Address12 0x33 16-bit address of the device that initiated the route record.13 0x44Receive Options 14 0x01 0x01 - Packet Acknowledged.0x02 - Packet was a broadcast.Number of Addresses15 0x03 The number of addresses in the source route (excluding source and destination).Address 1 16 0xEE (neighbor ofdestination)17 0xFFAddress 2 (closer hop18 0xCC Address of intermediate hop19 0xDD

API framesXBee/XBee-PRO ZigBee RF Modules User Guide 176Suppose device E sends a route record that traverses multiple hops en route to data collector device A as shown below. A B C D EIf device E has the 64-bit and 16-bit addresses of 0x0013A200 40401122 and 0x3344, and if devices B, C, and D have the following 16-bit addresses:B = 0xAABBC = 0xCCDDD = 0xEEFFThe data collector will send the above API frame out its serial port.Many-to-One Route Request IndicatorFrame Type: 0xA3The many-to-one route request indicator frame is sent out the serial port whenever a many-to-one route request is receivedFrame-specific DataAddress n (neighbor of source)20 0xAA Two bytes per 16-bit address.21 0xBBChecksum 22 0x80 0xFF - the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example DescriptionFrame Fields Offset Example DescriptionStart Delimiter 0 0x7ELength MSB 1 0x00 Number of bytes between the length and the checksumLSB 2 0x0C

Sending ZigBee Device Objects (ZDO) commands with the APIXBee/XBee-PRO ZigBee RF Modules User Guide 178The Explicit Transmit API frame (0x11) is used to send ZigBee Device Objects commands to devices in the network. Sending ZDO commands with the Explicit Transmit API frame requires some formatting of the data payload field.When sending a ZDO command with the API, all multiple byte values in the ZDO command (API payload) (e.g. u16, u32, 64-bit addresses) must be sent in little endian byte order for the command to be executed correctly on a remote device.For an API XBee to receive ZDO responses, the AO command must be set to 1 to enable the explicit receive API frame.The following table shows how the Explicit API frame can be used to send an “Active Endpoints” request to discover the active endpoints on a device with a 16-bit address of 0x1234. Match Descriptor Request 0x0006Mgmt LQI Request 0x0031Mgmt Routing Request 0x0032Mgmt Leave Request 0x0034Mgmt Permit Joining Request 0x0036Mgmt Network Update Request 0x0038ZDO Command Cluster ID

Sending ZigBee Cluster Library (ZCL) commands with the APIXBee/XBee-PRO ZigBee RF Modules User Guide 183In the previous example, the Frame Control field (offset 23) was constructed as follows:See the ZigBee Cluster Library specification for details.Frame-specific Data Broadcast Radius21 0x00 Sets the maximum number of hops a broadcast transmission can traverse. If set to 0, the transmission radius will be set to the network maximum hops value.Transmit Options22 0x00 All bits must be set to 0.Data PayloadZCL Frame HeaderFrame Control23 0x00 Bitfield that defines the command type and other relevant information in the ZCL command. See the ZCL specification for details.Transaction Sequence Number24 0x01 A sequence number used to correlate a ZCL command with a ZCL response. (The hardware version response will include this byte as a sequence number in the response.) The value 0x01 was arbitrarily selected.Command ID25 0x00 Since the frame control “frame type” bits are 00, this byte specifies a general command. Command ID 0x00 is a Read Attributes command.ZCL PayloadAttribute ID26 0x03 The payload for a “Read Attributes” command is a list of Attribute Identifiers that are being read. Note the 16-bit Attribute ID (0x0003) is sent in little endian byte order (0x0300). All multi-byte ZCL header and payload values must be sent in little endian byte order.27 0x00Checksum 28 0xFA 0xFF minus the 8 bit sum of bytes from offset 3 to this byte.Frame Fields Offset Example DescriptionName Bits Example Value DescriptionFrame Type 0-1 00 - Command acts across the entire profileManufacturer Specific 2 0 - The manufacturer code field is omitted from the ZCL Frame Header.Direction 3 0 - The command is being sent from the client side to the server side.Disable Default Response 4 0 - Default response not disabledReserved 5-7 Set to 0.

XBee/XBee-PRO ZigBee RF Modules User Guide 188 Command reference tablesAddressing commandsATCommand Name and Description Parameter Range DefaultDH Destination Address High.Set/Get the upper 32 bits of the 64-bit destination address. When combined with DL, it defines the 64-bit destination address for data transmission. Special definitions for DH and DL include 0x000000000000FFFF (broadcast) and 0x0000000000000000 (coordinator).0 - 0xFFFFFFFF 0DL Destination Address Low. Set/Get the lower 32 bits of the 64-bit destination address. When combined with DH, it defines the 64-bit destination address for data transmissions. Special definitions for DH and DL include 0x000000000000FFFF (broadcast) and 0x0000000000000000 (coordinator).0 - 0xFFFFFFFF 0xFFFF(Coordinator)0 (Router/End Device)MY 16-bit Network Address. Read the 16-bit network address of the module. A value of 0xFFFE means the module has not joined a ZigBee network0 - 0xFFFE[read-only]0xFFFEMP 16-bit Parent Network Address. Read the 16-bit network address of the module's parent. A value of 0xFFFE means the module does not have a parent.0 - 0xFFFE[read-only]0xFFFENC Number of Remaining Children. Read the number of end device children that can join the device. If NC returns 0, then the device cannot allow any more end device children to join. 0 - MAX_CHILDREN(maximum varies)read-only SH Serial Number High. Read the high 32 bits of the module's unique 64-bit address.0 - 0xFFFFFFFF [read-only]factory-setSL Serial Number Low. Read the low 32 bits of the module's unique 64-bit address.0 - 0xFFFFFFFF[read-only]factory-set

Addressing commandsXBee/XBee-PRO ZigBee RF Modules User Guide 189NI Node Identifier. Stores a string identifier. The register only accepts printable ASCII data. In AT Command Mode, a string can not start with a space. A carriage return ends the command. Command will automatically end when maximum bytes for the string have been entered. This string is returned as part of the ND (Node Discover) command. This identifier is also used with the DN (Destination Node) command. In AT command mode, an ASCII comma (0x2C) cannot be used in the NI string20-Byte printable ASCII stringASCII space character (0x20)SE Source Endpoint. Set/read the ZigBee application layer source endpoint value. This value will be used as the source endpoint for all data transmissions. SE is only used in transparent mode.The default value 0xE8 (Data endpoint) is the Digi data endpoint 0 - 0xFF 0xE8DE Destination Endpoint. Set/read ZigBee application layer destination ID value. This value will be used as the destination endpoint all data transmissions. DE is only used in transparent mode.The default value (0xE8) is the Digi data endpoint. 0 - 0xFF 0xE8CI Cluster Identifier. Set/read ZigBee application layer cluster ID value. This value will be used as the cluster ID for all data transmissions. CI is only used in transparent mode.The default value0x11 (Transparent data cluster ID).0 - 0xFFFF 0x11TO Transmit Options. Set/read ZigBee application layer source transmit options value. This value will be used as the transmit options for all data transmissions in transparent mode.0 - 0xFFUnused bits must be set to 0. These bits may be logically ORed together: 0x01 - Disable retries and route repair.0x20 - Enable APS Encryption (if EE=1).Note that this decreases the maximum RF payload by 4 bytes below the value reported by NP.0x40 - Use the extended timeout for this destination.0x00ATCommand Name and Description Parameter Range Default

Networking commandsXBee/XBee-PRO ZigBee RF Modules User Guide 190Networking commandsNP Maximum RF Payload Bytes. This value returns the maximum number of RF payload bytes that can be sent in a unicast transmission. If APS encryption is used (API transmit option bit enabled), the maximum payload size is reduced by 9 bytes. If source routing is used (AR < 0xFF), the maximum payload size is reduced further.Note: NP returns a hexadecimal value. (e.g. if NP returns 0x54, this is equivalent to 84 bytes)0 - 0xFFFF [read-only]DD Device Type Identifier. Stores a device type value. This value can be used to differentiate different XBee-based devices. Digi reserves the range 0 - 0xFFFFFF.For the XBee ZB SMT module, the device type is 0xA0000.0 - 0xFFFFFFFF 0xA0000CR Conflict Report. The number of PAN id conflict reports that must be received by the network manager within one minute to trigger a PAN ID change. A corrupt beacon can cause a report of a false PAN id conflict. A higher value reduces the chance of a spurious PAN ID change. Starting with revision 4050, setting CR to 0 will instead set the threshold value to the default configuration value (3).1-0x3F 3ATCommand Name and Description Parameter Range DefaultATCommand Name and Description Parameter Range DefaultCH Operating Channel. Read the channel number used for transmitting and receiving between RF modules. Uses 802.15.4 channel numbers. A value of 0 means the device has not joined a PAN and is not operating on any channel.XBee0, 0x0B - 0x1A XBee-PRO0, 0x0B - 0x19(Channels 11-25)[read-only]CE Coordinator Enable. Set/read whether module is a coordinator. 0 - Not a coordinator1 - Coordinator(SM must be 0 in order to set CE to 1.)0ID Extended PAN ID. Set/read the 64-bit extended PAN ID. If set to 0, the coordinator will select a random extended PAN ID, and the router / end device will join any extended PAN ID. Changes to ID should be written to non-volatile memory using the WR command to preserve the ID setting if a power cycle occurs.0 - 0xFFFFFFFFFFFFFFFF0OP Operating Extended PAN ID. Read the 64-bit extended PAN ID. The OP value reflects the operating extended PAN ID that the module is running on. If ID > 0, OP will equal ID.0x01 - 0xFFFFFFFFFFFFFFFF[read-only]

Networking commandsXBee/XBee-PRO ZigBee RF Modules User Guide 191NH Maximum Unicast Hops. Set / read the maximum hops limit. This limit sets the maximum broadcast hops value (BH) and determines the unicast timeout. The timeout is computed as (50 * NH) + 100 ms. The default unicast timeout of 1.6 seconds (NH=0x1E) is enough time for data and the acknowledgment to traverse about 8 hops.0 - 0xFF 0x1EBH Broadcast Hops. Set/Read the maximum number of hops for each broadcast data transmission. Setting this to 0 will use the maximum number of hops.0 - 0x1E 0OI Operating 16-bit PAN ID. Read the 16-bit PAN ID. The OI value reflects the actual 16-bit PAN ID the module is running on.0 - 0xFFFF [read-only]ND Node Discovery. Broadcast a ND command to the network. If an optional node identifier string parameter is given, then only those devices with a matching NI string should respond without a random offset delay. If no node identifier string parameter is given, then all devices should respond with a random offset delay. The NT setting determines the range of the random offset delay. The NO setting sets options for the Node Discovery. Warning: if the NT setting is small relative to the number of devices in the network, responses may be lost due to channel congestion. Regardless of the NT setting, because the random offset only mitigates against transmission collisions, getting responses from all devices in the network is not guaranteed.20-byte printable ASCII stringASCII space character (0x20)NT Node Discovery Timeout. Set/Read the node discovery timeout. When the network discovery (ND) command is issued, the NT value is included in the transmission to provide all remote devices with a response timeout. Remote devices wait a random time, less than NT, before sending their response.0x20 - 0xFF [x 100 msec]0x3C (60d)NO Network Discovery options. Set/Read the options value for the network discovery command. The options bitfield value can change the behavior of the ND (network discovery) command and/or change what optional values are returned in any received ND responses or API node identification frames. Options include:0x01 = Append DD value (to ND responses or API node identification frames)002 = Local device sends ND response frame when ND is issued.0 - 0x03 [bitfield] 0ATCommand Name and Description Parameter Range Default

Networking commandsXBee/XBee-PRO ZigBee RF Modules User Guide 192SC Scan Channels. Set/Read the list of channels to scan.Coordinator - Bit field list of channels to choose from prior to starting network.Router/End Device - Bit field list of channels that will be scanned to find a Coordinator/Router to join.Changes to SC should be written using WR command to preserve the SC setting if a power cycle occurs. Bit (Channel): 0 (0x0B) 4 (0x0F) 8 (0x13)12 (0x17)1 (0x0C) 5 (0x10) 9 (0x14) 13 (0x18)2 (0x0D) 6 (0x11) 10 (0x15)14 (0x19)3 (0x0E) 7 (0x12)11 (0x16)15 (0x1A)Note: Note the following when setting SC to 0xFFFF. On the XBee modules, Channel 26 is not allowed to transmit at more than 3 dBm. If Channel 26 is present in the search mask (SC), then active search (beaconing) for network formation by a Coordinator will be limited to no more than 3 dBm on all channels. Other communication by a Coordinator/Router/EndDevice, or active search for network joining (association) by Routers and End Devices will be limited to no more than 3 dBm on Channel 26 - the transmit power on other channels will be controlled by PL and PM configuration settings.For the XBee-PRO SMT module, Channel 26 is not allowed to transmit at more than 6 dBm. For the XBee-PRO TH module, Channel 26 is not allowed to transmit at more than 2 dBm.1 - 0xFFFF [bitfield] 7FFFATCommand Name and Description Parameter Range Default

Security commandsXBee/XBee-PRO ZigBee RF Modules User Guide 194Security commandsNW Network Watchdog Timeout. Set/read the network watchdog timeout value. If NW is set > 0, the router will monitor communication from the coordinator (or data collector) and leave the network if it cannot communicate with the coordinator for 3 NW periods. The timer is reset each time data is received from or sent to a coordinator, or if a many-to-one broadcast is received.0 - 0x64FF [x 1 minute](up to over 17 days)0 (disabled)JN Join Notification. Set / read the join notification setting. If enabled, the module will transmit a broadcast node identification packet on power up and when joining. This action blinks the Associate LED rapidly on all devices that receive the transmission, and sends an API frame out the serial port of API devices. This feature should be disabled for large networks to prevent excessive broadcasts.0 - 1 0AR Aggregate Routing Notification. Set/read the periodic time for broadcasting aggregate route messages. If used, these messages enable many-to-one routing to the broadcasting device. Set AR to 0x00 to send only one broadcast, to 0xFF to disable broadcasts, or to other values for periodic broadcasts in 10 second units.0 - 0xFF (x10 sec) 0xFF (disabled)ATCommand Name and Description Parameter Range DefaultATCommand Name and Description Parameter Range DefaultEE Encryption Enable. Set/Read the encryption enable setting. 0 - Encryption disabled1 - Encryption enabled0EO Encryption Options. Configure options for encryption when EE=1. Unused option bits should be set to 0. Options include:0x01 - (ZigBee) Send the network key in the clear (unencrypted) over-the-air during a join0x02 - (Smart Energy) Enable as a trust center (Coordinator only)0x08 - (Smart Energy) Authenticate during joining (End Device and Router only)0 - 0xFFNK Network Encryption Key. Set the 128-bit AES network encryption key. This command is write-only; NK cannot be read. If set to 0 (default), the module will select a random network key. 128-bit value 0KY Link Key. Set the 128-bit AES link key. This command is write only; KY cannot be read. Setting KY to 0 will cause the coordinator to transmit the network key in the clear to joining devices, and will cause joining devices to acquire the network key in the clear when joining.128-bit value 0

RF interfacing commandsXBee/XBee-PRO ZigBee RF Modules User Guide 195RF interfacing commands ATCommand Name and Description Parameter Range DefaultPL Power Level. Select/Read the power level at which the RF module transmits conducted power. For XBee-PRO (S2B) Power Level 4 is calibrated and the other power levels are approximate. Calibration occurs every 15 seconds based on radio characteristics determined at manufacturing time, the ambient temperature, and how far off the voltage is from the typical 3.3 V. If the input voltage is too high, the module will reset.For the regular XBee, when operating on channel 26, no PL/PM selection will allow greater than +3 dBm output.XBee(boost mode disabled)0 = -5 dBm1 = -1 dBm2 = +1 dBm3 = +3 dBm4 = +5 dBmXBee-PRO(Boost mode enabled)4 =+18 dBM3 = +16 dBm (approx.)2 = +14 dBm (approx.)1 = +12 dBm (approx.)0 = 0 dBm (approx.)4PM Power Mode (XBee only). Set/read the power mode of the device. Enabling boost mode will improve the receive sensitivity by 2dB and increase the transmit power by 3dBNote: This command is disabled on the XBee-PRO. It is forced on by the software to provide the extra sensitivity. Boost mode imposes a slight increase in current draw. See section 1.2 for details.0-1, 0= -Boost mode disabled, 1= Boost mode enabled.1DB Received Signal Strength. This command reports the received signal strength of the last received RF data packet or APS acknowledgment. The DB command only indicates the signal strength of the last hop. It does not provide an accurate quality measurement for a multihop link. DB can be set to 0 to clear it. The DB command value is measured in -dBm. For example if DB returns 0x50, then the RSSI of the last packet received was -80dBm.0 - 0xFFObserved range for XBee-PRO:0x1A - 0x58For XBee:0x 1A - 0x5CPP Peak Power. Read the dBm output when maximum power is selected (PL4).0x0-0x12 [read only]

Serial interfacing (I/O) commandsXBee/XBee-PRO ZigBee RF Modules User Guide 196Serial interfacing (I/O) commandsATCommand Name and Description Parameter Range DefaultAP API Enable. Enable API Mode. This command is ignored when using SPI. API mode 1 is always used.0 = API-disabled (operate in transparent mode)1 = API-enabled2 = API-enabled (w/escaped control characters)1AO API Options. Configure options for API. Current options select the type of receive API frame to send out the UART for received RF data packets. 0 - Default receive API indicators enabled1 - Explicit Rx data indicator API frame enabled (0x91)3 - enable ZDO passthrough of ZDO requests to the serial port which are not supported by the stack, as well as Simple_Desc_req, Active_EP_req, and Match_Desc_req.0BD Interface Data Rate. Set/Read the serial interface data rate for communication between the module serial port and host.Any value above 0x0A will be interpreted as an actual baud rate. The modules support standard baud rates from 1200 to 115200 baud.Non-standard baud rates are permitted but their performance is not guaranteed.0 - 0x0A0 = 1200 b/s1 = 24002 = 48003 = 96004 = 192005 = 384006 = 576007 = 1152008 = 2304009 = 460800A = 9216003NB Serial Parity. Set/Read the serial parity setting on the UART. 0 = No parity1 = Even parity2 = Odd parity3 = Mark parity0SB Stop Bits. Set/read the number of stop bits for the UART. (Two stop bits are not supported if mark parity is enabled.)0 = 1 stop bit1 = 2 stop bits0RO Packetization Timeout. Set/Read number of character times of inter-character silence required before packetization. Set (RO=0) to transmit characters as they arrive instead of buffering them into one RF packet The RO command is only supported when operating in transparent mode.0 - 0xFF [x character times]3

I/O commandsXBee/XBee-PRO ZigBee RF Modules User Guide 197I/O commandsD7 DIO7 Configuration. Select/Read options for the DIO7 line of the RF module.0 = Unmonitored digital input1 = CTS Flow Control3 = Digital input4 = Digital output, low5 = Digital output, high6 = RS-485 transmit enable (low enable)7 = RS-485 transmit enable (high enable)1D6 DIO6 Configuration. Configure options for the DIO6 line of the RF module.0 = Unmonitored digital input1 = RTS flow control3 = Digital input4 = Digital output, low5 = Digital output, high0ATCommand Name and Description Parameter Range DefaultATCommand Name and Description Parameter Range DefaultIR I/O Sample Rate. Set/Read the I/O sample rate to enable periodic sampling. For periodic sampling to be enabled, IR must be set to a non-zero value, and at least one module pin must have analog or digital I/O functionality enabled (see D0-D9, P0-P4 commands). The sample rate is measured in milliseconds.0, 0x32:0xFFFF (ms) 0IC I/O Digital Change Detection. Set/Read the digital I/O pins to monitor for changes in the I/O state. IC works with the individual pin configuration commands (D0-D9, P0-P4). If a pin is enabled as a digital input/output, the IC command can be used to force an immediate I/O sample transmission when the DIO state changes. IC is a bitmask that can be used to enable or disable edge detection on individual channels. Unused bits should be set to 0.Bit (IO pin): 0 (DIO0) 4 (DIO4) 8 (DIO8)1 (DIO1) 5 (DIO5) 9 (DIO9)2 (DIO2) 6 (DIO6) 10 (DIO10)3 (DIO3) 7 (DIO7) 11 (DIO11): 0 - 0xFFFF 0P0 PWM0 Configuration. Select/Read function for PWM0. 0 = Unmonitored digital input1 = RSSI PWM3 - Digital input, monitored4 - Digital output, default low5 - Digital output, default high1

I/O commandsXBee/XBee-PRO ZigBee RF Modules User Guide 198P1 PWM1 / DIO11 Configuration. Configure options for the DIO11 line of the RF module.0 - Unmonitored digital input1 - Output 50% duty cycle clock at 32.787 kHz3- Digital input, monitored4- Digital output, default low5- Digital output, default high0P2 DIO12 Configuration. Configure options for the DIO12 line of the RF module.0 - Unmonitored digital input1 - SPI_MISO*3- Digital input, monitored4- Digital output, default low5- Digital output, default high0P3 DIO13 / DOUT Configuration. Set/Read function for DIO13. Configure options for the DIO13 line of the RF module.0 – Unmonitored digital input1 – Data out for UART3 – Monitored digital input4 – Digital output low5 – Digital output high1P4 DIO14 / DIN. Set/read function for DIO14. 0 – Unmonitored digital input1 – Data in for UART3 – Digital input4 – Digital output low5 – Digital output high1P5** DIO15 / SPI_MISO. Set/read function for DIO15. 0 – Unmonitored digital input1 – Output from SPI port1P6** DIO16 / SPI_MOSI. Set/read function for DIO16. 0 – Unmonitored digital input1 – Input to SPI port1P7** DIO17 / SPI_SSEL. Set/read function for DIO17. 0 – Unmonitored digital input1 – Input to select the SPI port1P8** DIO18 / SPI_SClk. Set/read function for DIO18. 0 – Unmonitored digital input1 – SPI clock input1P9** DIO19 / SPI_Attn / PTI_DATA. Set/read function for DIO19. 0 – Unmonitored digital input1 - SPI data available indicator6 – Packet trace interface data output. Must be set along with D1=6 to output traces for OTA sniffing.1ATCommand Name and Description Parameter Range Default

I/O commandsXBee/XBee-PRO ZigBee RF Modules User Guide 199D0 AD0/DIO0 Configuration. Select/Read function for AD0/DIO0.0 - Unmonitored digital input1 - Commissioning button enabled2 - Analog input, single ended3 - Digital input4 - Digital output, low5 - Digital output, high1D1 AD1/DIO1 / PTI_En Configuration. Select/Read function for AD1/DIO1.0 – Unmonitored digital input1 – SPI_nATTN* – Analog input, single ended3 – Digital input4 – Digital output, low5 – Digital output, high6 - Packet trace interface enable. Must be set along with P9=6 to output traces for OTA sniffing.0D2 AD2/DIO2 Configuration. Select/Read function for AD2/DIO2.0 – Unmonitored digital input1 – SPI_SCLK*2 – Analog input, single ended3 – Digital input4 – Digital output, low5 – Digital output, high0D3 AD3/DIO3 Configuration. Select/Read function for AD3/DIO3.0 – Unmonitored digital input1 – SPI_nSSEL*2 – Analog input, single ended3 – Digital input4 – Digital output, low5 – Digital output, high0D4 DIO4 Configuration. Select/Read function for DIO4. 0 – Unmonitored digital input1 – SPI_MOSI*3 – Digital input4 – Digital output, low5 – Digital output, high0ATCommand Name and Description Parameter Range Default

I/O commandsXBee/XBee-PRO ZigBee RF Modules User Guide 200D5 DIO5 / Associate Configuration. Configure options for the DIO5 line of the RF module. 0 - Unmonitored digital input1 - Associated indication LED3 - Digital input4 - Digital output, default low5 - Digital output, default high1D8 DIO8 / DTR / Slp_Rq. Set/Read function for DIO8. 0 – Unmonitored digital input1 – Input to sleep and wake module3 – Digital input4 – Digital output, low5 – Digital output, highLT Assoc LED Blink Time. Set/Read the Associate LED blink time. If the Associate LED functionality is enabled (D5 command), this value determines the on and off blink times for the LED when the module has joined a network. If LT=0, the default blink rate will be used (500ms coordinator, 250ms router/end device). For all other LT values, LT is measured in 10ms.0, 0x0A - 0xFF (100 - 2550 ms) 0PR Pull-up/down Resistor. Set/read the bit field that configures the internal pull-up/down resistor status for the I/O line “1” specifies the pull-up/down resistor is enabled “0” specifies no internal resistors are used. The input will be floating.Bits:0 - DIO4 (Pin 24/SMT, Pin 11/TH)1 - AD3 / DIO3 (Pin 30/SMT, Pin 17/TH)2 - AD2 / DIO2 (Pin 31/SMT, Pin 18/TH)3 - AD1 / DIO1 (Pin 32/SMT, Pin 19/TH)4 - AD0 / DIO0 (Pin 33/SMT, Pin 20/TH)5 - RTS / DIO6 (Pin 29/SMT, Pin 16/TH)6 - DTR / Sleep Request / DIO8 (Pin 10/SMT, Pin 9/TH)7 - DIN / Config (Pin 4/SMT, Pin 3/TH)8 - Associate / DIO5 (Pin 28/SMT, Pin 15/TH)9 - On/Sleep / DIO9 (Pin 26/SMT, Pin 13/TH)10 - DIO12 (Pin 5/SMT, Pin 4/TH)11 - PWM0 / RSSI / DIO10 (Pin 7/SMT, Pin 6/TH)12 - PWM1 / DIO11 (Pin 8/SMT, Pin 7/TH)13 - CTS / DIO7 (Pin 25/SMT, Pin 12/TH)14 - DOUT / DIO13 (Pin 3/SMT, Pin 2/TH)0 - 0x7FFF 0x1FFFATCommand Name and Description Parameter Range Default

I/O commandsXBee/XBee-PRO ZigBee RF Modules User Guide 201PD Pull-up / down direction. Set/read an internal pull-up or pull-down resistor for the corresponding bits in the PR command. If the bit is set, an internal pull-up resistor is used. If it is clear, an internal pull-down resistor is used. See the PR command for the bit order.0 - 0x7FFF 0x1FBFRP RSSI PWM Timer. Time the RSSI signal will be output on the PWM after the last RF data reception or APS acknowledgment. When RP = 0xFF, output will always be on.0 - 0xFF [x 100 ms] 0x28 (40d)DC Device Controls.Bit settings enable or disable certain behaviors.Bit 0 - Joiner Global Link Key. Indicates whether a joiner node uses a global link key or a unique link key.Bit 1 - Network Leave Request Not Allowed. Indicates if a router node should discard or accept network leave commands.Bit 2 - reserved.Bit 3 - reserved.Bit 4 - Verbose Joining Mode. See XBee ZigBee API Operation frame type 0x98, Extended Modem Status for a full description.0-0xFFFF 0x00DO Device Options. Bit0 - Reserved. Bit1 - Reserved for Smart Energy devices. Bit2 - 0/1 = First or Best Join. First join means the device will join the network through the first acceptable Beacon response it receives. Best join means the device will join the network through the strongest Beacon response it receives after searching all search mask channels. Bit3 - Disable NULL Transport Key (Coordinator Only). Bit4 - Disable Tx Packet Extended Timeout. Bit5 - Disable ACK for End Device I/O Sampling. Bit6 - Enable High Ram Concentrator. Bit7 - Enable ATNW to find new network before leaving the network. 0x00-0xFF 0x00%V Supply Voltage. Reads the voltage on the Vcc pin in mV. -0x-0xFFFF [read only] -ATCommand Name and Description Parameter Range Default

Diagnostics commandsXBee/XBee-PRO ZigBee RF Modules User Guide 202* indicates that the option is available on the TH module, but not the SMT module.** indicates that the command is available on the SMT module, but not the TH module.Diagnostics commandsV+ Voltage Supply Monitoring. The voltage supply threshold is set with the V+ command. If the measured supply voltage falls below or equal to this threshold, the supply voltage will be appended to the IO sample set, and bit 7 of the Analog Channel Mask will be set. V+ is set to 0 by default (do not include the supply voltage).The units of this command are mV. For example, to include a measurement of the supply voltage when it exceeds 3.3 V, set V+ to 3300 = 0xCE4.0-0xFFFF 0TP Reads the module temperature in Degrees Celsius. Accuracy +/- 7 degrees. 1° C = 0x0001 and -1° C = 0xFFFF. Command is only available on PRO module.0x0-0xFFFF -ATCommand Name and Description Parameter Range DefaultATCommand Name and DescriptionParameter Range DefaultVR Firmware Version. Read firmware version of the module as a 4-digit hex number. 0 - 0xFFFF [read-only]Factory-setVL Version Long. Shows detailed version information, module type, a time stamp for the build, Ember stack version, and bootloader version.N/A N/A

AT command optionsXBee/XBee-PRO ZigBee RF Modules User Guide 203AT command optionsHV Hardware Version. Read the hardware version of the module.version of the module. This command can be used to distinguish among different hardware platforms. The upper byte returns a value that is unique to each module type. The lower byte indicates the hardware revision.The regular XBee returns a value of 0x22xx for this command. the XBee-PRO returns a value of 0x21xx.0 - 0xFFFF [read-only]Factory-setAI Association Indication. Read information regarding last node join request:0x00 - Successfully formed or joined a network. (Coordinators form a network, routers and end devices join a network.)0x21 - Scan found no PANs0x22 - Scan found no valid PANs based on current SC and ID settings0x23 - Valid Coordinator or Routers found, but they are not allowing joining (NJ expired)0x24 - No joinable beacons were found0x25 - Unexpected state, node should not be attempting to join at this time0x27 - Node Joining attempt failed (typically due to incompatible security settings)0x2A - Coordinator Start attempt failed‘0x2B - Checking for an existing coordinator0x2C - Attempt to leave the network failed0xAB - Attempted to join a device that did not respond.0xAC - Secure join error - network security key received unsecured0xAD - Secure join error - network security key not received0xAF - Secure join error - joining device does not have the right preconfigured link key0xFF - Scanning for a ZigBee network (routers and end devices)Note New non-zero AI values may be added in later firmware versions. Applications should read AI until it returns 0x00, indicating a successful startup (coordinator) or join (routers and end devices)0 - 0xFF[read-only]--ATCommand Name and DescriptionParameter Range DefaultATCommand Name and Description Parameter Range DefaultCT Command Mode Timeout. Set/Read the period of inactivity (no valid commands received) after which the RF module automatically exits AT Command Mode and returns to Idle Mode.2 - 0x028F [x 100 ms] 0x64 (100d)CN Exit Command Mode. Explicitly exit the module from AT Command Mode.-- --

Sleep commandsXBee/XBee-PRO ZigBee RF Modules User Guide 204Sleep commandsGT Guard Times. Set required period of silence before and after the Command Sequence Characters of the AT Command Mode Sequence (GT + CC + GT). The period of silence is used to prevent inadvertent entrance into AT Command Mode.1 - 0x0CE4 [x 1 ms](max of 3.3 decimal sec)0x3E8(1000d)CC Command Sequence Character. Set/Read the ASCII character value to be used between Guard Times of the AT Command Mode Sequence (GT + CC + GT). The AT Command Mode Sequence enters the RF module into AT Command Mode. 0 - 0xFF 0x2B (‘+’ ASCII)ATCommand Name and Description Parameter Range DefaultATCommand Name and Description Parameter Range DefaultSM Sleep Mode Sets the sleep mode on the RF module. When SM>0, the module operates as an end device. However, CE must be 0 before SM can be set to a value greater than 0 to turn the module into an end device. Changing a device from a router to an end device (or vice versa) forces the device to leave the network and attempt to join as the new device type when changes are applied.0-Sleep disabled (router)1-Pin sleep enabled4-Cyclic sleep enabled5 - Cyclic sleep, pin wake0 - Router4 - End DeviceSN Number of Sleep Periods. Sets the number of sleep periods to not assert the On/Sleep pin on wakeup if no RF data is waiting for the end device. This command allows a host application to sleep for an extended time if no RF data is present1 - 0xFFFF 1SP Sleep Period. This value determines how long the end device will sleep at a time, up to 28 seconds. (The sleep time can effectively be extended past 28 seconds using the SN command.) On the parent, this value determines how long the parent will buffer a message for the sleeping end device. It should be set at least equal to the longest SP time of any child end device.0x20 - 0xAF0 x 10ms (Quarter second resolution)0x20ST Time Before Sleep Sets the time before sleep timer on an end device.The timer is reset each time serial or RF data is received. Once the timer expires, an end device may enter low power operation. Applicable for cyclic sleep end devices only. 1 - 0xFFFE (x 1ms) 0x1388 (5 seconds)SO CommandSleep Options. Configure options for sleep. Unused option bits should be set to 0. Sleep options include:0x02 - Always wake for ST time0x04 - Sleep entire SN * SP timeSleep options should not be used for most applications. See Managing End Devices on page 116.0 - 0xFF 0

$Execution commandsXBee/XBee-PRO ZigBee RF Modules User Guide 205Execution commandsWhere most AT commands set or query register values, execution commands cause an action to be executed on the module. Execution commands are executed immediately and do not require changes to be applied.WH Wake Host. Set/Read the wake host timer value. If the wake host timer is set to a non-zero value, this timer specifies a time (in millisecond units) that the device should allow after waking from sleep before sending data out the serial port or transmitting an I/O sample. If serial characters are received, the WH timer is stopped immediately.0 - 0xFFFF (x 1ms) 0SI Sleep Immediately. See Execution Commands table below.PO Polling Rate. Set/Read the end device poll rate. Setting this to 0 (default) enables polling at 100 ms (default rate), advancing in 10 msec increments. Adaptive polling may allow the end device to poll more rapidly for a short time when receiving RF data.0 - 0x3E8 0x00 (100 msec)ATCommand Name and Description Parameter Range DefaultATCommand Name and DescriptionParameter Range DefaultAC Apply Changes. Applies changes to all command registers causing queued command register values to be applied. For example, changing the serial interface rate with the BD command will not change the UART interface rate until changes are applied with the AC command. The CN command and 0x08 API command frame also apply changes.-AS Active Scan. Scans the neighborhood for beacon responses. The ATAS command is only valid as a local command. Response frames are structured as:AS_type – unsigned byte = 2 - ZB firmware uses a different format than Wi-Fi XBee, which is type 1Channel – unsigned bytePAN – unsigned word in big endian formatExtended PAN – eight unsigned bytes in bit endian formatAllow Join – unsigned byte – 1 indicates join is enabled, 0 that it is disabledStack Profile – unsigned byteLQI – unsigned byte, higher values are betterRSSI – signed byte, lower values are betterWR Write. Write parameter values to non-volatile memory so that parameter modifications persist through subsequent resets. Note: Once WR is issued, no additional characters should be sent to the module until after the “OK\r” response is received. The WR command should be used sparingly. The EM357 supports a limited number of write cycles.-- --RE Restore Defaults. While preserving KY and AI settings, restore the configuration to factory defaults.-- --$

Execution commandsXBee/XBee-PRO ZigBee RF Modules User Guide 206FR Software Reset. Resets module. Responds immediately with an OK status, and then performs a software reset. As of revision 4050, there is no longer a 2 second delay between command and reset, and the modem status code for this reset changes from 0x01 to 0x00 for consistency with other XBee platforms.-- --NR Network Reset. Reset network layer parameters on one or more modules within a PAN. Responds immediately with an “OK” then causes a network restart. All network configuration and routing information is consequently lost.If NR = 0: Resets network layer parameters on the node issuing the command. If NR = 1: Sends broadcast transmission to reset network layer parameters on all nodes in the PAN.0 - 1 --SI Sleep Immediately. Cause a cyclic sleep module to sleep immediately rather than wait for the ST timer to expire.Note: This command only has effect in API mode (sleeps immediately whether given as a 0x08 or 0x09 API frame), and no effect in AT command mode. AT command mode is exited only by the CN command or by timeout.--CB Commissioning Pushbutton. This command is used to simulate commissioningbutton presses in software. There are three kinds of button presses defined:1 - Start Joining. Wakes a sleeping end device for 30 seconds, regardless of the ST/SN setting. Also sends node identification broadcast if joined to a network. A ZigBee device will blink its ASSOC led for (AI-32) times.A SE router or SE end device which is associated but not authenticated to a network will leave its network; then attempt to join.2 - Enable Joining. Broadcast a Mgmt_Permit_Joining_req (ZDO ClusterID 0x0036) with TC_Significance set to 0x00. If NJ is 0x00 or 0xFF, PermitDuration will be set to one minute, otherwise PermitDuration will be set to NJ.4 - Restore configuration to default values and leave the network.1,2,4 --&X Clear Binding and Group Tables. This command resets the binding and group tables.ATCommand Name and DescriptionParameter Range Default

Execution commandsXBee/XBee-PRO ZigBee RF Modules User Guide 207ND Node Discover. Discovers and reports all RF modules found. The following information is reported for each module discovered.MY<CR>SH<CR>SL<CR>NI<CR> (Variable length)PARENT_NETWORK ADDRESS (2 Bytes)<CR>DEVICE_TYPE<CR> (1 Byte: 0=Coord, 1=Router, 2=End Device)STATUS<CR> (1 Byte: Reserved)PROFILE_ID<CR> (2 Bytes)MANUFACTURER_ID<CR> (2 Bytes)<CR>After (NT * 100) milliseconds, the command ends by returning a <CR>. ND also accepts a Node Identifier (NI) as a parameter (optional). In this case, the first module with a matching NI identifier to respond will be returned. If no module matches, then “ERROR” will be returned.If ND is sent through the API, each response is returned as a separate AT_CMD_Response packet. The data consists of the above listed bytes without the carriage return delimiters. The NI string will end in a “0x00” null character. The radius of the ND command is set by the BH command.Refer to the description of the NO command for options which affect the behavior of the ND command.optional 20-Byte NI or MY value--DN Destination Node. Resolves an NI (Node Identifier) string to a physical address (case-sensitive). The following events occur after the destination node is discovered:<AT Firmware>1. DL & DH are set to the extended (64-bit) address of the module with the matching NI (Node Identifier) string.2. OK (or Error is returned. 3. Command Mode is exited to allow immediate communication<API Firmware>1. The 16-bit network and 64-bit extended addresses are returned in an API Command Response frame.If there is no response from a module within (NT * 100) milliseconds or a parameter is not specified (left blank), the command is terminated and an “ERROR” message is returned. In the case of an ERROR, Command Mode is not exited. The radius of the DN command is set by the BH command.up to 20-Byte printable ASCII string--IS Force Sample. Forces a read of all enabled digital and analog input lines. -- --ATCommand Name and DescriptionParameter Range Default

XBee/XBee-PRO ZigBee RF Modules User Guide 208Module supportThis section provides customization information for the XBee. In addition to providing an extremely flexible and powerful API, XBee modules are a robust development platform that have passed FCC and ETSI testing. Developers can customize default parameters, or even write or load custom firmware for Ember's EM357 chip.XCTU configuration toolDigi provides a Windows XCTU configuration tool for configuring module parameters and updating firmware. The XCTU has the capability to do the following:•Discover all XBee devices in the network•Update firmware on a local module (requires USB or serial connection)•Read or write module configuration parameters on a local or remote device•Save and load configuration profiles containing customized settingsYou can download XCTU here.Customizing XBee ZB firmwareOnce module parameters are tested in an application and finalized, Digi can manufacture modules with specific, customer-defined configurations for a nominal fee. These custom configurations can lock in a firmware version or set command values when the modules are manufactured, eliminating the need for customers to adjust module parameters on arrival. Alternatively, Digi can program custom firmware, including Ember's EZSP UART image, into the modules during manufacturing. Contact Digi to create a custom configuration. Design considerations for Digi drop-in networkingXBee RF modules contain a variety of features that allow for interoperability with Digi's full line of Drop-in Networking products. Interoperability with other “DIN” products can offer these advantages:•Add IP-connectivity to your network via Cellular, Ethernet or Wi-Fi with a ConnectPort X Gateway•Extend the range of your network with the XBee Wall Router•Make deployment easy by enabling the Commissioning Pushbutton (pin 20) and AssociateLED (pin 15) to operate with the Network Commissioning Tool software•Interface with standard RS-232, USB, Analog and Digital I/O, RS-485, and other industrial devices using XBee Adapters

XBee BootloaderXBee/XBee-PRO ZigBee RF Modules User Guide 209•Monitor and manage your network securely from remote locations with Device Cloud•We encourage you to contact our technical representatives for consideration, implementation, or design review of your product for interoperability with Digi's Drop-in Networking solutionsXBee Bootloader XBee modules use a modified version of Ember’s bootloader. This bootloader version supports a custom entry mechanism that uses module pins DIN (pin 4/SMT, pin 3/TH), DTR / SLEEP_RQ (pin 10/SMT, pin9/TH), and RTS (pin 29/SMT, pin16/TH). To invoke the bootloader, do the following:1. Set DTR / SLEEP_RQ low (TTL 0V) and RTS high.2. Send a serial break to the DIN pin and power cycle or reset the module.3. When the module powers up, DTR / SLEEP_RQ and DIN should be low (TTL 0V) and RTS should be high.4. Terminate the serial break and send a carriage return at 115200b/s to the module.5. If successful, the module will send the Ember bootloader menu out the DOUT pin at 115200b/s.6. Commands can be sent to the bootloader at 115200b/s.Note Hardware flow control should be disabled when entering and communicating with the Ember 357 bootloader. Programming XBee ModulesFirmware on the XBee modules can be updated serially. Serial firmware updatesSerial firmware updates make use of the XBee custom bootloader which ships in all units. This modified bootloader is based on Ember's standalone bootloader, but with a modified entry mechanism. The modified entry mechanism uses module pins 4, 10, and 29 (DIN, DTR, and RTS respectively) on the SMT, and pins 3, 9, 16 on the TH. The XCTU program can update firmware serially on the XBee. Contact Digi support for details.If an application requires custom firmware to update the XBee firmware serially, the following steps are required.Invoke the XBee BootloaderSee XBee Bootloader on page 209 for steps to invoke the bootloader using RS-232 signals. The bootloader may also be invoked by issuing a command via XCTU. Then the application makes an explicit call to the bootloader, which does not return.If there is no valid application, the bootloader will always run.Send a firmware imageAfter invoking the bootloader, the Ember bootloader will send the bootloader menu characters out the serial port, which may be the UART at 115200 b/s or the SPI, where the attached SPI master provides the clock rate. The application should do the following to upload a firmware image.1. Look for the bootloader prompt "BL >" to ensure the bootloader is active

Writing custom firmwareXBee/XBee-PRO ZigBee RF Modules User Guide 2102. Send an ASCII “1” character to initiate a firmware update3. After sending a “1”, the EM357 waits for an XModem CRC upload of an.ebl image over the serial line at 115200 b/s. The .ebl file must be sent to the EM357 in order. If the firmware image is successfully loaded, the bootloader will output a “complete” string. Then the newly loaded firmware can be invoked by sending a ‘2’ to the module.If the firmware image is not successfully loaded, the bootloader will output an “aborted” string. Then it will return to the main bootloader menu. Some causes for failure are:•Over 1 minute passes after the command to send the firmware image and the first block of the image has not yet been sent•A power cycle or reset event occurs during the firmware load•A file error or a flash error occurs during the firmware loadWriting custom firmwareThe XBee module can be used as a hardware development platform for the EM357. Custom firmware images can be developed around the EmberZNet 4.2.xx mesh stacks (for the EM357) and uploaded to the XBee.CAUTION! If programming firmware through the JTAG interface, be aware that doing so can potentially erase the XBee bootloader. If this occurs, serial firmware updates will not work.Regulatory complianceXBee modules are FCC and ETSI certified for operation on all 16 channels. The EM357 output power can be configured up to 8 dBm with boost mode enabled on channels 11 through 25. On channel 26 you must reduce the power to 3 dBm.XBee-PRO modules are FCC certified for operation on all 16 channels. The XBee-PRO contains a power compensation method to adjust the output power near 18 dBm on channels 11 through 25. You must configure the EM357 with an output power such that the module outputs 18 dBm or less on channels 11 through 25. On channel 26, you must reduce the power to no more than 0 dBm. The end product is responsible to adhere to these requirements. Enabling GPIO 1 and 2Most of the remaining sections in this section describe how to configure GPIOs to function correctly in custom applications that run on the XBee modules. In order for GPIO pins to be configurable, the application must set the GPIO_PxCFG registers to enable the appropriate GPIO. The following table lists values for configuring the GPIO pins. Other functionality is affected by these settings. See the EM357 datasheet from Ember for a complete listing of functionality.GPIO Mode GPIO_PxCFGH/L DescriptionAnalog 0x0 Analog input or output. When in analog mode, the digital input (GPIO_PxIN) always reads 1.Input (floating) 0x4 Digital input without an internal pull-up or pull-down. Output is disabled.Input (pull-up or pull-down) 0x8 Digital input with an internal pull-up or pull-down. A set bit in GPIO_PxOUT selects pull-up and a cleared bit selects pull-down. Output is disabledOutput (push-pull) 0x1 Push-pull output. GPIO_PxOUT controls the output.

$Writing custom firmwareXBee/XBee-PRO ZigBee RF Modules User Guide 211For more information on configuring and setting GPIOs, consult the EM357 specification.Detecting XBee versus XBee-PROFor some applications, it may be necessary to determine if the code is running on an XBee or an XBee-PRO device. The PC7 pin on the EM357 is used to identify the module type (see Overview of the XBee ZigBee RF Module on page 10). PC7 is connected to ground on the XBee module. The following code could be used to determine if a module is an XBee or an XBee-PRO:GPIO_PCSET = 0x80; // Enable pullup resistorGPIO_PCCFGH &= 0x0fff; // Clear PC7 configGPIO_PCCFGH |= 0x8000;// Set PC7 as input with pullup/pulldownif (GPIO_PCIN & 0x80) { ModuleIsXBeePro = true;} else { ModuleIsXBeePro = false;}Special instructions for using the JTAG interfaceThere are four JTAG programming pins on the XBee through which firmware can be loaded onto the EM357 processor. Three of these pins are also connected to a second pin on the XBee and are used for separate functions. The following table indicates the JTAG signal name, the primary connection pin on the XBee, the secondary connection pin, and the secondary signal name. It is important that the secondary pins specifically are not loaded with circuitry that might interfere with JTAG programming (for example, an LED tied directly to the ASSOCIATE / DIO5 line). Any loading circuitry should be buffered to avoid conflicts (for example, connecting ASSOCIATE / DIO5 to the gate of a MOSFET which drives the LED).Output (open-drain) 0x5 Open-drain output. GPIO_PxOUT controls the output. If a pull-up is required, it must be external.Alternate Output (push-pull) 0x9 Push-pull output. An on-board peripheral controls the output.Alternate Output (open-drain) 0xD Open-drain output. An on-board peripheral controls the output. If a pull-up is required, it must be external.GPIO Mode GPIO_PxCFGH/L DescriptionJTAG pin name Primary XBee pin Secondary XBee pin Secondary pin nameJTCK 18 N/A N/AJTDO 19 26 ON / SLEEP / DIO9JTDI 20 28 ASSOCIATE / DIO5JTMS 21 5 DIO12$

Digi PS2CSM XBee ZB SMT Module User Manual

Digi International Inc XBee ZB SMT Module

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