Xbee-Pro PKG-R™ Rs-232 RF Modem: Product Manual

XBee-PRO PKG-R™ RS-232 RF Modem
XBee-PRO RS-232 RF Modem

Interfacing Protocol
RF Modem Operation
RF Modem Configuration
Appendices
Product Manual v1.x82

For XBee-PRO RF Modem Part Numbers: XBP24-PKI-...-R...
IEEE® 802.15.4 Stand-alone RF Modems by MaxStream, Inc.
355 South 520 West, Suite 180

Lindon, UT 84042
Phone: (801) 765-9885
Fax: (801) 765-9895
rf-xperts@maxstream.net M100280
www.MaxStream.net (live chat suport) 2006.04.24
XBee‐PRO PKG‐R™ RS‐232 RF Modem – 802.15.4 ‐ Product Manual v1.x82 [2006.04.24]
© 2006 MaxStream, Inc. All rights reserved

No part of the contents of this manual may be transmitted or reproduced in any
form or by any means without the written permission of MaxStream, Inc.
XBee‐PRO PKG‐R™ is a trademark of MaxStream, Inc.
Technical Support: Phone: (801) 765‐9885
Live Chat: www.maxstream.net
E‐mail: rf‐xperts@maxstream.net
© 2006 MaxStream, Inc., Confidential & Proprietary ‐ All Rights Reserved ii
XBee™/XBee‐PRO™ RS‐232 RF Modems ‐ 802.15.4 ‐ Product Manual v1.x82 [2006.04.24]
Contents
1. XBee-PRO RS-232 RF Modem 4 Appendix A: Agency Certifications 48
1.1. Features Overview 4 FCC Certification 48

1.1.1. Worldwide Acceptance 4 OEM Labeling Requirements 48
1.2. Specifications 5 FCC Notices 48
1.3. External Interface 6 FCC-Approved Antennas (2.4 GHz) 49
2. Interfacing Protocol 7 European Certification 50
OEM Labeling Requirements 50
2.1. RS-232 Operation 7
Restrictions 50
2.1.1. Pin Signals 7
Declarations of Conformity 50
2.1.2. Wiring Diagrams 8
Approved Antennas 51
3. RF Modem Operation 9
IC (Industry Canada) Certification 51
3.1. Serial Communications 9 Labeling Requirements 51
3.1.1. RS-232 Data Flow 9 Appendix B: Additional Information 52
3.1.2. Host and RF Modem Settings 9
1-Year Warranty 52
3.1.3. Flow Control 10
Ordering Information 52
3.1.4. Transparent Operation 11
Contact MaxStream 53
3.1.5. API Operation 11
3.2. IEEE 802.15.4 Networks 12
3.2.1. NonBeacon 12
3.2.2. NonBeacon (w/ Coordinator) 12
3.2.3. Association 13
3.3. Modes of Operation 16
3.3.1. Idle Mode 16
3.3.2. Transmit / Receive Modes 16
3.3.3. Sleep Mode 18
3.3.4. Command Mode 20
3.4. Addressing 21
3.4.1. Unicast Mode 21
3.4.2. Broadcast Mode 21
4. RF Modem Configuration 22
4.1. Programming the RF Modem 22

4.1.1. Programming Examples 22
4.2. Command Reference Tables 23
4.3. Command Descriptions 29
4.4. API Operation 43
4.4.1. API Frame Specifications 43
4.4.2. API Types 44
© 2006 MaxStream, Inc., Confidential & Proprietary ‐ All Rights Reserved iii
1. XBee‐PRO RS‐232 RF Modem
The XBee-PRO RS-232 RF Modem is an IEEE 802.15.4 compliant solution
that features an RS-232 interface. Out-of-box, the modem is equipped to
sustain outstanding range (2-3x the range of typical 802.15.4 solutions) and
requires no additional configuration for immediate RF communications. Sim-
ply feed data into one modem, then the data is sent out the other end of the
wireless link.
The modem transfers a standard asynchronous serial data stream between
two or more devices. Its built-in RS-232 interface allows for rapid integration
into existing data systems.
1.1. Features Overview

Long Range Data Integrity Low Power
Range Power Currents

• Indoor/Urban: up to 300’ (100m) • Receive Current: 80 mA (@9V)
• Outdoor line-of-sight: up to 1 mile (1.6km) • Transmit Current: 300 mA
Transmit Power: 60 mW (18 dBm), • Power-down Current: < 6 mA
100 mW (20 dBm) EIRP
Easy-to-Use
Receiver Sensitivity: -100 dBm
No configuration necessary for out-of box
RF Data Rate: 250,000 bps RF communications
Advanced Networking & Security Free X-CTU Software
(Testing and configuration software)
Retries and Acknowledgements
Built-in RS-232 interfacing
DSSS (Direct Sequence Spread Spectrum)
Small form factor
Each direct sequence channels has over
65,000 unique network addresses available Network compatible with other
802.15.4 devices
Source/Destination Addressing
AT and API Command Modes for
Unicast & Broadcast Communications
configuring modem parameters
Point-to-point, point-to-multipoint
Free & Unlimited Technical Support
and peer-to-peer topologies supported
Coordinator/End Device networking
128-bit Encryption (downloadable firmware
version coming soon)
1.1.1. Worldwide Acceptance
FCC Approved (USA) Refer to Appendix A [p48] for FCC Requirements.

Systems that include XBee-PRO RF Modems inherit MaxStream Certifications.
Operates within the ISM (Industrial, Scientific & Medical) 2.4 GHz frequency band
Manufactured under ISO 9001:2000 registered standards
XBee-PRO RF Modems are optimized for use in US, Canada, Australia, Israel and
Europe (contact MaxStream for complete list of approvals).
© 2006 MaxStream, Inc., Confidential & Proprietary ‐ All Rights Reserved 4
1.2. Specifications
Table 1‐01. Specifications of the XBee‐PRO PKG‐R RS‐232 RF Modem
Specification XBee-PRO RS-232 RF Modem
Performance
Indoor/Urban Range (w/ 2.1 dB dipole antenna) up to 300’ (100 m)
Outdoor/Urban Range (w/ 2.1 dB dipole antenna) up to 4000’ (1200 m)
Transmit Power Output 60 mW, 100 mw (20 dBm) EIRP*
Receiver Sensitivity -100 dBm (1% packet error rate)
Interface Data Rate 1200 - 115200 bps (non-standard baud rates also supported)
RF Data Rate 250,000 bps
Networking & Security
Frequency ISM 2.4 GHz
DSSS (Direct Sequence Spread Spectrum),
Modulation
OQPSK (Offset Quadrature Phase Shift Keying)
Supported Network Topologies Point-to-point, Point-to-Multipoint, Peer-to-Peer & Mesh (coming soon)
Number of Channels (software selectable) 12 Direct Sequence Channels
Addressing Layers PAN ID, Channel & Source/Destination Addresses
Antenna
Connector RPSMA (reverse polarity SMA)
Impedance 50 ohms unbalanced
Power Requirements
Power Supply 5 - 14 V
Receive Current 80 mA (@ 9 Volts)
300 mA
Transmit Current
(Average current when streaming data (@9600bps) = 86 mA)
Power-down Current <6 mA
Physical Properties
Size 4.500” x 2.750” x 1.125” (11.4cm x 7.0cm x 2.9cm)
Weight 5.25 oz. (150 g)
Data Connection Female DB-9
Operating Temperature -40 - 85º C (Industrial)
Certifications (partial list)
United States (FCC Part 15.247) OUR-XBEEPRO
Industry Canada (IC) 4214A XBEEPRO
Europe (CE) ETSI (Max. 10 mW transmit power output)*
* When operating in Europe: XBee‐PRO RF Modems must be configured to operate at a maximum transmit
power output level of 10 dBm. Set the PL parameter to “0” (10 dBm) in order to adhere to European regulations.
1.3. External Interface
1-01a. Reset Switch
Figure 1‐01. Front View The Reset Switch is used to reset (re-boot) the XBee-PRO RS-232 RF
Modem. This switch only applies when using the configuration tabs of
MaxStream’s X-CTU Software.
1-01b. I/O & Power LEDs
LEDs indicate RF modem activity as follows:
Yellow (top LED) = Serial Data Out (to host)

Green (middle) = Serial Data In (from host)
Red (bottom) = Power/TX Indicator (LED is on when RF
1-01c. Serial Port modem is powered)
1-01d. RSSI LEDs
1-01b. I/O & Power LEDs
1-01e. Power Connector

1-01c. Serial Port
1-01a. Reset Switch
Standard female DB-9 (RS-232) connector.
1-01d. RSSI LEDs
RSSI LEDs indicate the amount of fade margin present in an active

wireless link. Fade margin is defined as the difference between the
incoming signal strength and the modem's receiver sensitivity.
3 LEDs ON = Very Strong Signal (> 30 dB fade margin)

2 LEDs ON = Strong Signal (> 20 dB fade margin)
1 LED ON = Moderate Signal (> 10 dB fade margin)
0 LED ON = Weak Signal (< 10 dB fade margin)
1-01e. Power Connector
5-14 VDC power connector
1-02a. DIP Switch
Figure 1‐02. Back View DIP Switch functions are not supported in this release. Future down-
loadable firmware versions will support DIP Switch configurations.
1-02b. Antenna Port
Port is a 50Ω RF signal connector for connecting to an external

antenna. The connector type is RPSMA (Reverse Polarity SMA)
female. The connector has threads on the outside of a barrel and a
male center conductor.
1-02b. Antenna Port

1-02a. DIP Switch
2. Interfacing Protocol
2.1. RS-232 Operation
2.1.1. Pin Signals
Figure 2‐01. Pins used on the female RS‐232 (DB‐9) Serial Connector
Table 2‐01. Pin Assignments and Implementations
DB-9 Pin RS-232 Name Description Implementation*

1 DCD Data-Carrier-Detect Connected to DSR (pin6)
Serial data exiting the RF modem
2 RXD Received Data
(to host)
Serial data entering into the RF modem
3 TXD Transmitted Data
(from host)
4 DTR Data-Terminal-Ready Can enable Power-down on the RF modem
5 GND Ground Signal Ground
6 DSR Data-Set-Ready Connected to DCD (pin1)
Request-to-Send / Provides RTS flow control or
7 RTS / CMD
Command Mode enables "Command Mode" on the RF modem
8 CTS Clear-to-Send Provides CTS flow control
Optional power input that is connected internally to
9 RI Ring Indicator
the positive lead of the front power connector
* Functions listed in the implementation column may not be available at the time of release.
2.1.2. Wiring Diagrams
DTE RS-232 Device to a DCE RF Modem
Figure 2‐02. RS‐232 Device (DTE ‐ male connector) wired to an XBee‐PRO RF Modem (DCE ‐ female)
DCE RF Modem to an DCE RS-232 Device
Figure 2‐03. XBee‐PRO RF Modem (DCE ‐ female connector) wired to an RS‐232 device (DCE)
Sample Wireless Connection: DTE <--> DCE DCE <--> DCE
Figure 2‐04. Typical wireless link between DTE and DCE devices
3. RF Modem Operation
3.1. Serial Communications
3.1.1. RS-232 Data Flow
The XBee-PRO RS-232 RF Modem interfaces to a host device through a standard RS-232 (DB-9)
connector. Devices that have a standard RS-232 serial port can connect directly through the pins
of the RF modem as shown in the figure below.
Figure 3‐01. System data flow in an RS‐232 environment
3.1.2. Host and RF Modem Settings
Serial communications between a host and an XBee-PRO RF Modem are dependent upon having
matching baud rate, parity, stop bit & number of data bits settings. Refer to the table below to
ensure host serial port settings match those of the XBee-PRO RF Modem.
Table 3‐01. Parameter values critical to serial communications between the RF modem and host
Parameter Setting Default Parameter Value

Baud (Serial Data Rate) 9600 bps (BD parameter = 3)
Number of Data Bits 8
Parity None
Number of Stop Bits 1
Both the XBee-PRO RF Modem and host (PC) settings can be viewed and adjusted using Max-
Stream's proprietary X-CTU Software. Use the "PC Settings" tab to configure host settings. Use the
"Terminal" or "RF Modem Configuration" tabs to configure the RF modem settings.
NOTE: Failure to enter AT Command Mode is most commonly due to baud rate mismatch. Ensure
the ‘Baud’ setting on the “PC Settings” tab matches the BD (Interface Data Rate) setting of the RF
modem (by default, BD parameter = 3, which is associated to 9600 baud).
3.1.3. Flow Control
Figure 3‐02. Internal Data Flow Diagram
DI (Data In) Buffer
When serial data enters the RF modem through the DI (Data In) pin, the data is stored in the DI
Buffer until it can be processed.
Hardware Flow Control (CTS). When the DI buffer is 17 bytes away from being full; by default,
the modem de-asserts CTS (high) to signal to the host device to stop sending data [refer to D7
(DIO7 Configuration) parameter]. CTS is re-asserted after the DI Buffer has 34 bytes of memory
available.
How to eliminate the need for flow control:
1. Send messages that are smaller than the DI buffer size.

2. Interface at a lower baud rate [BD (Interface Data Rate) parameter] than the throughput
data rate.
Case in which the DI Buffer may become full and possibly overflow:
If the modem is receiving a continuous stream of RF data, any serial data that arrives on the DI
pin is placed in the DI Buffer. The data in the DI buffer will be transmitted over-the-air when the
modem is no longer receiving RF data in the network.
Refer to the BD (Interface Data Rate) [p31] and RO (Packetization Timeout) [p39] command descrip-
tions for more information.
DO (Data Out) Buffer
When RF data is received, the data enters the DO buffer and is sent out the serial port to a host
device. Once the DO Buffer reaches capacity, any additional incoming RF data is lost.
Hardware Flow Control (RTS). If RTS is enabled for flow control (D6 (DIO6 Configuration)
Parameter = 1), data will not be sent out the DO Buffer as long as RTS (DIO6) is de-asserted.
Two cases in which the DO Buffer may become full and possibly overflow:
1. If the RF data rate is set higher than the interface data rate of the modem, the modem will
receive data from the transmitting modem faster than it can send the data to the host.
2. If the host does not allow the modem to transmit data out from the DO buffer because of
being held off by hardware or software flow control.
3.1.4. Transparent Operation
By default, XBee-PRO RF Modems operate in Transparent Mode. When operating in this mode, the
modems act as a serial line replacement - all UART data received through the DI pin is queued up
for RF transmission. When RF data is received, the data is sent out the DO pin.
When the RO (Packetization Timeout) parameter threshold is satisfied [refer to RO command
description], the modem attempts to initialize an RF transmission. If the modem cannot immedi-
ately transmit (for instance, if it is already receiving RF data), the serial data continues to be
stored in the DI Buffer. Data is packetized and sent at any RO timeout or when 100 bytes (maxi-
mum packet size) are received.
The modem operates as described above unless the Command Mode Sequence is detected. The
Command Mode Sequence consists of three copies of the command sequence character [CC
parameter] surrounded by before and after guard times [GT parameter].
If the DI buffer becomes full, hardware or software flow control must be implemented in order to
prevent overflow (loss of data between the host and modem).
3.1.5. API Operation
API (Application Programming Interface) Operation is an alternative to the default Transparent

Operation. The frame-based API extends the level to which a host application can interact with the
networking capabilities of the modem.
When in API mode, all data entering and leaving the modem is contained in frames that define
operations or events within the modem.
Transmit Data Frames (received through the DI (Data In) pin) include:
• RF Transmit Data Frame
• Command Frame (equivalent to AT commands)
Receive Data Frames (sent out the Data Out) include:
• Showing a received RF packet
• A response to a command
• Showing events such as reset, associate, disassociate, etc.
The API provides alternative means of configuring modems and routing data at the host applica-
tion layer. A host application can send data frames to the modem that contain address and payload
information instead of using command mode to modify addresses. The modem will send data
frames to the application containing status packets; as well as source, RSSI and payload informa-
tion from received data packets.
The API operation option facilitates many operations such as the examples cited below:
-> Change destination addresses without having to enter command mode

-> Receive success/failure status of each RF packet
-> Identify the source address of each received packet
To implement API operations, refer to API sections [p43].
3.2. IEEE 802.15.4 Networks
The following IEEE 802.15.4 network types are available to the RF modem:
• NonBeacon
• NonBeacon (w/ Coordinator)
The following terms will be used to explicate the network system types:
Table 3‐02. Terms and definitions (Applicable networking network types are designated within <brackets>.)
Term Definition
<NonBeacon (w/ Coordinator) systems only>
Association
The establishment of membership between End Devices and a Coordinator.
<NonBeacon (w/ Coordinator) systems only>
Coordinator A central RF modem that is configured to provide synchronization services through the
transmission of beacons.
When in the same network as a Coordinator - RF modems that rely on a Coordinator for
End Device
synchronization and can be put into states of sleep for low-power applications.
Personal Area Network - A data communication network that includes one or more End
PAN
Devices and optionally a Coordinator.
3.2.1. NonBeacon
By default, XBee-PRO RF Modems are configured to support NonBeacon communications (no Coor-
dinator). NonBeacon systems operate within a Peer-to-Peer network topology and are not depen-
dent upon Master/Slave relationships. This means that modems remain synchronized without use
of master/server configurations and each modem in the network shares both roles of master and
slave. MaxStream's peer-to-peer architecture features fast synchronization times and fast cold
start times. This default configuration accommodates a wide range of RF data applications.
Figure 3‐03. NonBeacon Peer‐to‐Peer Architecture
A peer-to-peer network can be established by

configuring each modem to operate as an End Device (CE = 0), disabling End Device Association
on all modems (A1 = 0) and setting ID and CH parameters to be identical across the network.
3.2.2. NonBeacon (w/ Coordinator)
A device is configured as a Coordinator by setting the CE (Coordinator Enable) parameter to “1”.

Coordinator power-up is governed by the A2 (Coordinator Association) command.
In a NonBeacon (w/ Coordinator) system, the Coordinator can be configured to use direct or indi-
rect transmissions. If the SP (Cyclic Sleep Period) parameter is set to “0”, the Coordinator will send
data immediately. Otherwise, the SP parameter determines the length of time the Coordinator will
retain the data before discarding it. Generally, SP (Cyclic Sleep Period) and ST (Time before Sleep)
parameters should be set to match the SP and ST settings of the End Devices.
Association plays a critical role in the implementation of a NonBeacon (w/ Coordinator) system. Refer
to the Association section [next page] for more information.
3.2.3. Association
Association is the establishment of membership between End Devices and a Coordinator. Associa-
tion is only applicable in NonBeacon (w/ Coordinator) systems. The establishment of membership
is useful in scenarios that require a central unit (Coordinator) to relay messages to or gather mes-
sages from several remote units (End Devices), assign channels or assign PAN IDs.
An RF data network that consists of one Coordinator and one or more End Devices forms a PAN
(Personal Area Network). Each device in a PAN has a PAN Identifier [ID (PAN ID) parameter]. PAN
IDs must be unique to prevent miscommunication between PANs. The Coordinator PAN ID is set
using the ID (PAN ID) and A2 (Coordinator Association) commands.
An End Device can associate to a Coordinator without knowing the address, PAN ID or channel of
the Coordinator. The A1 (End Device Association) parameter bit fields determine the flexibility of
an End Device during association. The A1 parameter can be used for an End Device to dynamically
set its destination address, PAN ID and/or channel.
For example: If the PAN ID of a Coordinator is known, but the operating channel is not; the A1
command on the End Device should be set to enable the ‘Auto_Associate’ and
‘Reassign_Channel’ bits. Additionally, the ID parameter should be set to match the PAN ID of
the associated Coordinator.
Coordinator / End Device Setup and Operation
To configure a modem to operate as a Coordinator, set the CE (Coordinator Enable) parameter to

‘1’. Set the CE parameter of End Devices to ‘0’ (default). Coordinator and End Devices should con-
tain matching firmware versions.
NonBeacon (w/ Coordinator) Systems

In a NonBeacon (w/ Coordinator) system, the Coordinator can be configured to use direct or indi-
rect transmissions. If the SP (Cyclic Sleep Period) parameter is set to ‘0’, the Coordinator will send
data immediately. Otherwise, the SP parameter determines the length of time the Coordinator will
retain the data before discarding it. Generally, SP (Cyclic Sleep Period) and ST (Time before Sleep)
parameters should be set to match the SP and ST settings of the End Devices.
Coordinator Power-up
Coordinator power-up is governed by the A2 (Coordinator Association) command. On power up,

the Coordinator undergoes the following sequence of events:
1. Check A2 parameter- Reassign_PANID Flag

Set (bit 0 = 1) - The Coordinator issues an Active Scan. The Active Scan selects one channel
and transmits a BeaconRequest command to the broadcast address (0xFFFF) and broadcast
PAN ID (0xFFFF). It then listens on that channel for beacons from any Coordinator operating on
that channel. The listen time on each channel is determined by the SD (Scan Duration) param-
eter value.
Once the time expires on that channel, the Active Scan selects another channel and again
transmits the BeaconRequest as before. This process continues until all channels have been
scanned, or until 5 PANs have been discovered. When the Active Scan is complete, the results
include a list of PAN IDs and Channels that are being used by other PANs. This list is used to
assign an unique PAN ID to the new Coordinator. The ID parameter will be retained if it is not
found in the Active Scan results. Otherwise, the ID (PAN ID) parameter setting will be updated
to a PAN ID that was not detected.
Not Set (bit 0 = 0) - The Coordinator retains its ID setting. No Active Scan is performed.
2. Check A2 parameter - Reassign_Channel Flag (bit 1)

Set (bit 1 = 1) - The Coordinator issues an Energy Scan. The Energy Scan selects one channel
and scans for energy on that channel. The duration of the scan is specified by the SD (Scan
Duration) parameter. Once the scan is completed on a channel, the Energy Scan selects the
next channel and begins a new scan on that channel. This process continues until all channels
have been scanned.
When the Energy Scan is complete, the results include the maximal energy values detected on
each channel. This list is used to determine a channel where the least energy was detected. If
an Active Scan was performed (Reassign_PANID Flag set), the channels used by the detected
PANs are eliminated as possible channels. Thus, the results of the Energy Scan and the Active
Scan (if performed) are used to find the best channel (channel with the least energy that is not
used by any detected PAN). Once the best channel has been selected, the CH (Channel) param-
eter value is updated to that channel.
Not Set (bit 1 = 0) - The Coordinator retains its CH setting. An Energy Scan is not performed.
3. Start Coordinator
The Coordinator starts on the specified channel (CH parameter) and PAN ID (ID parameter).
Note, these may be selected in steps 1 and/or 2 above. The Coordinator will only allow End
Devices to associate to it if the A2 parameter “Allow_Association” flag is set. Once the Coordina-
tor has successfully started, the Associate LED will blink 1 time per second. (The LED is solid if
the Coordinator has not started.)
4. Coordinator Changes
Once a Coordinator has started, changing A2 (Reassign_Channel or Reassign_PANID bits), ID,
CH, or MY will cause the Coordinator to restart. Changing the A2 Allow_Association bit will not
restart the Coordinator. In a non-beaconing system, any End Devices that associated to the
Coordinator prior to a Restart will not be alerted to the Coordinator restart. Thus, if the Coordi-
nator were to change its ID, CH or MY settings, the End Devices would no longer be able to
communicate with the non-beacon Coordinator. Once a Coordinator has started, the ID, CH, MY
or A2 (Reassign_Channel or Reassign_PANID bits) should not be changed.
End Device Power-up
End Device power-up is governed by the A1 (End Device Association) command. On power up, the
End Device undergoes the following sequence of events:
1. Check A1 parameter - AutoAssociate Bit

Set (bit 2 = 1) - End Device will attempt to associate to a Coordinator. (refer to steps 2-3).
Not Set (bit 2 = 0) - End Device will not attempt to associate to a Coordinator. The End Device
will operate as specified by its ID, CH and MY parameters. Association is considered complete
and the Associate LED will blink quickly (5 times per second). When the AutoAssociate bit is not
set, the remaining steps (2-3) do not apply.
2. Discover Coordinator (if Auto-Associate Bit Set)

The End Device issues an Active Scan. The Active Scan selects one channel and transmits a
BeaconRequest command to the broadcast address (0xFFFF) and broadcast PAN ID (0xFFFF). It
then listens on that channel for beacons from any Coordinator operating on that channel. The
listen time on each channel is determined by the SD parameter.
Once the time expires on that channel, the Active Scan selects another channel and again
transmits the BeaconRequest command as before. This process continues until all channels
have been scanned, or until 5 PANs have been discovered. When the Active Scan is complete,
the results include a list of PAN IDs and Channels that are being used by detected PANs.
The End Device selects a Coordinator to associate with according to the A1 parameter
“Reassign_PANID” and “Reassign_Channel” flags:
Reassign_PANID Bit Set (bit 0 = 1)- End Device can associate with a PAN with any ID value.
Reassign_PANID Bit Not Set (bit 0 = 0) - End Device will only associate with a PAN whose
ID setting matches the ID setting of the End Device.
Reassign_Channel Bit Set (bit 1 = 1) - End Device can associate with a PAN with any CH
value.
Reassign_Channel Bit Not Set (bit 1 = 0)- End Device will only associate with a PAN whose
CH setting matches the CH setting of the End Device.
After applying these filters to the discovered Coordinators, if multiple candidate PANs exist, the
End Device will select the PAN whose transmission link quality is the strongest. If no valid Coor-
dinator is found, the End Device will either go to sleep (as dictated by its SM (Sleep Mode)
parameter) or retry Association.
Note - An End Device will also disqualify Coordinators if they are not allowing association (A2 -
AllowAssociation bit); or, if the Coordinator is not using the same NonBeacon scheme as the
End Device. (They must both be programmed with NonBeacon code.)
3. Associate to Valid Coordinator

Once a valid Coordinator is found (step 2), the End Device sends an AssociationRequest mes-
sage to the Coordinator. It then waits for an AssociationConfirmation to be sent from the Coor-
dinator. Once the Confirmation is received, the End Device is Associated and the Associate LED
will blink rapidly (2 times per second). The LED is solid if the End Device has not associated.
4. End Device Changes once an End Device has associated
Changing A1, ID or CH parameters will cause the End Device to disassociate and restart the
Association procedure.
If the End Device fails to associate, the AI command can give some indication of the failure.
3.3. Modes of Operation
XBee-PRO RF Modems operate in five modes.

Figure 3‐04. XBee‐PRO RF Modem
Modes of Operation
3.3.1. Idle Mode
When not receiving or transmitting data, the RF modem is in Idle Mode. The modem shifts into the
other modes of operation under the following conditions:
• Transmit Mode (Serial data is received in the DI Buffer)
• Receive Mode (Valid RF data is received through the antenna)
• Sleep Mode (Sleep Mode condition is met)
• Command Mode (Command Mode Sequence is issued)
3.3.2. Transmit / Receive Modes
RF Data Packets
Each transmitted data packet contains a <Source Address> and <Destination Address> field. The
<Source Address> matches the address of the transmitting modem as specified by the MY (Source
Address) parameter (if MY >= 0xFFFE), the SH (Serial Number High) or the SL (Serial Number
Low) parameters. The <Destination Address> field is created from the DH and DL parameter val-
ues. The <Source Address> and/or <Destination Address> fields will either contain a short 16-bit
or long 64-bit address.
The RF data packet structure follows the 802.15.4 specification.
[Refer to the Addressing section [p21] for more information]
Direct and Indirect Transmission
There are two methods to transmit data. The first method, Direct Transmission, transmits data
immediately to the <Destination Address>. The second method, Indirect Transmission, retains a
packet for a period of time and transmits the data only after the destination modem (<RF Modem
Source Address> = <Data Destination Address>) requests the data. Indirect Transmissions can
only occur on a Coordinator. Thus, if all devices in a network are End Devices, only Direct Trans-
missions will occur. Indirect Transmissions are useful to ensure packet delivery to a sleeping
device. The Coordinator currently is able to retain up to 2 indirect messages.
Direct Transmission
A NonBeaconing Coordinator can be configured to only use Direct Transmission by setting the SP
(Cyclic Sleep Period) parameter to “0”. Also, a NonBeaconing Coordinator using indirect transmis-
sions will revert to direct transmission if it knows the destination modem is awake.
To enable this behavior, the ST (Time before Sleep) value of the Coordinator must be set to match
the ST value of the End Device. Once the End Device either transmits data to the Coordinator or
polls the Coordinator for data, the Coordinator will use direct transmission for all subsequent data
transmissions to that modem address until ST time (or number of beacons) occurs with no activity
(at which point it will revert to using indirect transmissions for that modem address). “No activity”
means no transmission or reception of messages with a specific address. Global messages will not
reset the ST timer.
Indirect Transmission
To configure Indirect Transmissions in a PAN (Personal Area Network), the SP (Cyclic Sleep Period)
parameter value on the Coordinator must be set to match the longest sleep value of any End
Device. The SP parameter represents time in NonBeacon systems and beacons in Beacon-enabled
systems. The sleep period value on the Coordinator determines how long (time or number of bea-
cons) the Coordinator will retain an indirect message before discarding it.
In NonBeacon networks, an End Device must poll the Coordinator once it wakes from Sleep to
determine if the Coordinator has an indirect message for it. For Cyclic Sleep Modes, this is done
automatically every time the modem wakes (after SP time). For Pin Sleep Modes, the A1 (End
Device Association) parameter value must be set to enable Coordinator polling on pin wake-up.
Alternatively, an End Device can use the FP (Force Poll) command to poll the Coordinator as
needed.
Transmission Algorithm
Prior to transmitting a packet, a CCA (Clear Channel Assessment) is performed on the channel to
determine if the channel is available for transmission. The detected energy on the channel is com-
pared with the CA (Clear Channel Assessment) parameter value. If the detected energy exceeds
the CA parameter value, the packet is not transmitted.
Also, a delay is inserted before a transmission takes place. This delay is settable using the RN
(Backoff Exponent) parameter. If RN is set to “0”, then there is no delay before the first CCA is per-
formed. The RN parameter value is the equivalent of the “minBE” parameter in the 802.15.4 spec-
ification. The transmit sequence follows the 802.15.4 specification.
Acknowledgement
If the transmission is not a broadcast message, the modem will expect to receive an acknowledge-
ment from the destination device. If an acknowledgement is not received, the packet will be resent
up to 3 more times. If the acknowledgement is not received after all transmissions, an ACK failure
is recorded.
3.3.3. Sleep Mode
Sleep Modes enable the RF modem to enter states of low-power consumption when not in use. In
order to enter Sleep Mode, one of the following conditions must be met (in addition to the modem
having a non-zero SM parameter value):
• DTR (Data Terminal Ready) is de-asserted.
• The modem is idle (no data transmission or reception) for the amount of time defined by the
ST (Time before Sleep) parameter. [NOTE: ST is only active when SM = 4-6]
Table 3‐03. Sleep Mode Configurations
Sleep Mode Transition into Transition out of Related Power

Characteristics
Setting Sleep Mode Sleep Mode (wake) Commands Consumption
Pin Hibernate De-assert DTR
Assert DTR Pin/Host-controlled (SM) < 6 mA
(SM = 1) (Data Terminal Ready)
Pin Doze De-assert DTR
Assert DTR Pin/Host-controlled (SM) < 6 mA
(SM = 2) (Data Terminal Ready)
Automatic transition to Transition occurs after the
RF modem wakes in
Sleep Mode as defined by cyclic sleep time interval
Cyclic Sleep pre-determined time < 25 mA
the SM (Sleep Mode) and elapses. The time interval (SM), SP, ST
(SM = 4 - 6) intervals to detect if when sleeping
ST (Time before Sleep) is defined by the SP (Cyclic
RF data is present.
parameters. Sleep Period) parameter.
The SM command is central to setting Sleep Mode configurations. By default, Sleep Modes are dis-
abled (SM = 0) and the modem remains in Idle/Receive Mode. When in this state, the modem is
constantly ready to respond to serial or RF activity.
Pin/Host-controlled Sleep Modes
Pin Hibernate (SM = 1)

• Pin/Host-controlled
• Typical power-down current: < 6 mA
• Wake-up time: 13.2 msec
Pin Hibernate Mode minimizes quiescent power (power consumed when in a state of rest or inac-
tivity). This mode is voltage level-activated; when DTR is de-asserted, the modem will finish any
transmit or receive activities, enter Idle Mode and then enter a state of sleep. The modem will not
respond to either serial or RF activity while in pin sleep.
To wake a sleeping modem operating in Pin Hibernate Mode, assert DTR (Data Terminal Ready).
The modem will wake when DTR is asserted and is ready to transmit or receive when the CTS line
is low. When waking the modem, the pin must be asserted at least two 'byte times' after CTS goes
low. This assures that there is time for the data to enter the DI buffer.
Pin Doze (SM = 2)
• Pin/Host-controlled
• Typical power-down current: < 6 mA
• Wake-up time: 2 msec
Pin Doze Mode functions as does Pin Hibernate Mode; however, Pin Doze features faster wake-up
time and higher power consumption. This mode is voltage level-activated; when DTR is de-
asserted, the modem will finish any transmit or receive activities, enter Idle Mode and then enter
a state of sleep. The modem will not respond to either serial or RF activity while in pin sleep.
To wake a sleeping modem operating in Pin Doze Mode, assert DTR (Data Terminal Ready). The
modem will wake when DTR is asserted and is ready to transmit or receive when the CTS line is
low. When waking the modem, the pin must be asserted at least two 'byte times' after CTS goes
low. This assures that there is time for the data to enter the DI buffer.
Cyclic Sleep Modes
Cyclic Sleep Remote (SM = 4)

• Typical Power-down Current: < 25 mA (when asleep)
• Wake-up time: 2 msec
The Cyclic Sleep Modes allow modems to periodically check for RF data. When the SM parameter is
set to ‘4’, the modem is configured to sleep, then wakes once a cycle to check for data from a
modem configured as a Cyclic Sleep Coordinator (SM = 6). The Cyclic Sleep Remote sends a poll
request to the Coordinator at a specific interval set by the SP (Cyclic Sleep Period) parameter. The
Coordinator will transmit any queued data addressed to that specific remote upon receiving the
poll request.
If no data is queued for the remote, the Coordinator will not transmit and the remote will return to
sleep for another cycle. If queued data is transmitted back to the remote, it will stay awake to
allow for back and forth communication until the ST (Time before Sleep) timer expires.
Also note that CTS will go low each time the remote wakes, allowing for communication initiated
by the remote host if desired.
Cyclic Sleep Remote with Pin Wake-up (SM = 5)

Use this mode to wake a sleeping remote modem through either the RF interface or by the asser-
tion of DTR for event-driven communications. The cyclic sleep mode works as described above
(Cyclic Sleep Remote) with the addition of a pin-controlled wake-up at the remote modem. The
DTR pin is edge-triggered, not level-triggered. The modem will wake when a low is detected then
set CTS low as soon as it is ready to transmit or receive.
Any activity will reset the ST (Time before Sleep) timer so the modem will go back to sleep only
after there is no activity for the duration of the timer. Once the modem wakes (pin-controlled),
further pin activity is ignored. The modem transitions back into sleep according to the ST time
regardless of the state of the pin.
<Cyclic Sleep Coordinator (SM = 6)>

• Typical current = Receive current
• Always awake
This parameter value (SM=6) exists solely for backwards compatibility with firmware version 1.x60. If
backwards compatibility with the older firmware version is not required, always use the CE (Coordina-
tor Enable) command to enable a Coordinator.
Use this mode to configure a modem to wake cyclic sleeping remotes through the RF interface.
The cyclic sleep Coordinator will accept a message addressed to a specific remote 16 or 64-bit
address and hold it in a buffer until the remote wakes and sends a poll to request the message.
Messages not sent directly (buffered and requested) are called "Indirect messages". The Coordina-
tor will only queue one indirect message at a time. The Coordinator will hold the indirect message
for a period 2.5 times the sleeping period indicated by the SP (Cyclic Sleep Period) parameter. The
Coordinator's SP parameter should be set to match the value used by the remotes.
The ST parameters of the Coordinator and remotes should be set to the same value because the
Coordinator will track the 'awake' period of the recent 10 remotes to wake. If the Coordinator
receives additional messages addressed to a remote that should be awake, the Coordinator will
send a direct message to that remote instead of queuing it. The Coordinator is always awake so
that any remote unit can transmit either a poll request or a data message at any time.
3.3.4. Command Mode
To modify or read RF Modem parameters, the modem must first enter into Command Mode - a
state in which incoming characters are interpreted as commands. Two command mode types are
supported: AT Command Mode and API Command Mode [p43].
AT Command Mode
To 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):

• 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]
All of the parameter values in the sequence can be modified to reflect user preferences.
To Send AT Commands:
Send AT commands and parameters using the syntax shown below.
Figure 3‐05. Syntax for sending AT Commands
To read a parameter value stored in the RF modem’s register, leave the parameter field blank.
The preceding example would change the RF modem Destination Address (Low) to “0x1F”. To
store the new value to non-volatile (long term) memory, subsequently send the WR (Write) com-
mand.
For modified parameter values to persist in the modem’s registry, changes must be saved to non-
volatile memory using the WR (Write) Command. Otherwise, parameters are restored to previ-
ously saved values after the modem is powered off and then on again (or re-booted).
System Response. When a command is sent to the RF modem, the modem will parse and exe-
cute the command. Upon successful execution of a command, the modem returns an “OK” mes-
sage. If execution of a command results in an error, the modem returns an “ERROR” message.
To Exit AT Command Mode:
1. Send ATCN (Exit Command Mode) Command.
[OR]
2. If no valid AT Commands are received within the time specified by CT (Command Mode
Timeout) Command, the RF modem automatically returns to Idle Mode.
For an example that illustrates programming the RF modem using AT Commands, refer to the "RF
Modem Configuration" chapter [p22].
3.4. Addressing
Every RF data packet sent over-the-air contains a Source Address and Destination Address field in
its header. The RF modem conforms to the 802.15.4 specification and supports both short 16-bit
addresses and long 64-bit addresses. A unique 64-bit IEEE source address is assigned at the fac-
tory and can be read with the SL (Serial Number Low) and SH (Serial Number High) commands.
Short addressing must be configured manually. A modem will use its unique 64-bit address as its
Source Address if its MY (16-bit Source Address) value is “0xFFFF” or “0xFFFE”.
To send a packet to a specific modem using 64-bit addressing: Set Destination Address (DL + DH)
to match the Source Address (SL + SH) of the intended destination modem.
To send a packet to a specific modem using 16-bit addressing: Set DL (Destination Address Low)
parameter to equal the MY parameter and set the DH (Destination Address High) parameter to ‘0’.
3.4.1. Unicast Mode
By default, the RF modem operates in Unicast Mode. Unicast Mode is the only mode that supports
retries. While in this mode, receiving modems send an ACK (acknowledgement) of RF packet
reception to the transmitter. If the transmitting modem does not receive the ACK, it will re-send
the packet up to three times or until the ACK is received.
Short 16-bit addresses. The modem can be configured to use short 16-bit addresses as the
Source Address by setting (MY < 0xFFFE). Setting the DH parameter (DH = 0) will configure the
Destination Address to be a short 16-bit address (if DL < 0xFFFE). For two modems to communi-
cate using short addressing, the Destination Address of the transmitter modem must match the
MY parameter of the receiver.
The following table shows a sample network configuration that would enable Unicast Mode com-
munications using short 16-bit addresses.
Table 3‐04. Sample Unicast Network Configuration (using 16‐bit addressing)
Parameter RF Modem 1 RF Modem 2
MY (Source Address) 0x01 0x02
DH (Destination Address High) 0 0
DL (Destination Address Low) 0x02 0x01
Long 64-bit addresses. The RF modem’s serial number (SL parameter concatenated to the SH
parameter) can be used as a 64-bit source address when the MY (16-bit Source Address) parame-
ter is disabled. When the MY parameter is disabled (set MY = 0xFFFF or 0xFFFE), the modem’s
source address is set to the 64-bit IEEE address stored in the SH and SL parameters.
When an End Device associates to a Coordinator, its MY parameter is set to 0xFFFE to enable 64-
bit addressing. The 64-bit address of the modem is stored as SH and SL parameters. To send a
packet to a specific modem, the Destination Address (DL + DH) on one modem must match the
Source Address (SL + SH) of the other.
3.4.2. Broadcast Mode
Any RF modem within range will accept a packet that contains a broadcast address. When config-
ured to operate in Broadcast Mode, receiving modems do not send ACKs (Acknowledgements) and
transmitting modems do not automatically re-send packets as is the case in Unicast Mode.
To send a broadcast packet to all modems regardless of 16-bit or 64-bit addressing, set the desti-
nation addresses of all the modems as shown below.
Sample Network Configuration (All modems in the network):
• DL (Destination Low Address) = 0x0000FFFF
• DH (Destination High Address) = 0x00000000 (default value)
NOTE: When programming the modem, parameters are entered in hexadecimal notation (without the
“0x” prefix). Leading zeros may be omitted.
4. RF Modem Configuration
4.1. Programming the RF Modem
Refer to the “Command Mode” section [p20] for more information about entering Command Mode,
sending AT commands and exiting Command Mode. For information regarding modem program-
ming using API Mode, refer to the “API Operation” sections [p43].
4.1.1. Programming Examples
Setup
The programming examples in this section require the installation of MaxStream's X-CTU Soft-
ware and a RS-232 connection to a PC.
1. Install MaxStream's X-CTU Software to a PC by double-clicking the "setup_X-CTU.exe" file.
(The file is located on the MaxStream CD and under the 'Software' section of the following
web page: www.maxstream.net/helpdesk/download.php)
2. Connect the RF modem to a PC.
3. Launch the X-CTU Software and select the 'PC Settings' tab. Verify the baud and parity set-
tings of the Com Port match those of the RF modem.
NOTE: Failure to enter AT Command Mode is most commonly due to baud rate mismatch.
Ensure the ‘Baud’ setting on the ‘PC Settings’ tab matches the interface data rate of the RF
modem (by default, BD parameter = 3 (which corresponds to 9600 bps)).
Sample Configuration: Modify RF Modem Destination Address
Example: Utilize the 'Terminal' tab of the X-CTU Software to change the RF modem's DL (Desti-
nation Address Low) parameter and save the new address to non-volatile memory.
After establishing a serial connection between the RF modem and a PC [refer to the 'Setup' sec-
tion above], select the ‘Terminal’ tab of the X-CTU Software and enter the following command
lines (‘CR’ stands for carriage return):
Method 1 (One line per command))

Send AT Command System Response
+++ OK <CR> (Enter into Command Mode)
ATDL <Enter> {current value} <CR> (Read Destination Address Low)
ATDL1A0D <Enter> OK <CR> (Modify Destination Address Low)
ATWR <Enter> OK <CR> (Write to non-volatile memory)
ATCN <Enter> OK <CR> (Exit Command Mode)
Method 2 (Multiple commands on one line)

Send AT Command System Response
+++ OK <CR> (Enter into Command Mode)
ATDL <Enter> {current value} <CR> (Read Destination Address Low)
ATDL1A0D,WR,CN <Enter> OK <CR> (Execute commands)
Sample Configuration: Restore RF Modem Defaults

Example: Utilize the 'Modem Configuration' tab of the X-CTU Software to restore default param-
eter values of the RF modem.
After establishing a connection between the RF modem and a PC [refer to the 'Setup' section
above], select the 'Modem Configuration' tab of the X-CTU Software.
1. Select the 'Read' button.
2. Select the 'Restore' button.
4.2. Command Reference Tables
XBee-PRO RF Modems expect numerical values in hexadecimal. Hexadecimal values are desig-
nated by a “0x” prefix. Decimal equivalents are designated by a “d” suffix. Table rows are sorted
by command category, then by logic of most commonly used.
All modems operating within the same network should contain the same firmware version.
Special Commands
Table 4‐01. XBee‐PRO Commands ‐ Special
AT Command
Name and Description Parameter Range Default
Command Category
Software Reset. Responds immediately with an OK then performs a hard reset
FR Special - -
~100ms later.
RE Special Restore Defaults. Restore modem parameters to factory defaults. - -
Write. Write parameter values to non-volatile memory so that parameter modifications
persist through subsequent power-up or reset.
WR Special - -
Note: Once WR is issued, no additional characters should be sent to the modem until
after the response "OK\r" is received.
Networking Commands
Table 4‐02. XBee‐PRO Commands ‐ Networking (Sub‐categories designated within {brackets})
AT Command
Command Category
Networking Channel. Set/Read the channel number used for transmitting and receiving between
CH 0x0C - 0x17 0x0C (12d)
{Addressing} RF modems. Uses 802.15.4 protocol channel numbers.
Networking PAN ID. Set/Read the PAN (Personal Area Network) ID. 0x3332
ID 0xFFFF
{Addressing} Use 0xFFFF to send messages to all PANs. (13106d)
Destination Address High. Set/Read the upper 32 bits of the 64-bit destination
Networking address. When combined with DL, it defines the destination address used for
DH 0 - 0xFFFFFFFF 0
{Addressing} transmission. To transmit using a 16-bit address, set DH parameter to zero and DL less
than 0xFFFF. 0x000000000000FFFF is the broadcast address for the PAN.
Destination Address Low. Set/Read the lower 32 bits of the 64-bit destination
Networking address. When combined with DH, DL defines the destination address used for
DL 0 - 0xFFFFFFFF 0
{Addressing} transmission. To transmit using a 16-bit address, set DH parameter to zero and DL less
than 0xFFFF. 0x000000000000FFFF is the broadcast address for the PAN.
16-bit Source Address. Set/Read the RF modem 16-bit source address. Set MY =
Networking
MY 0xFFFF to disable reception of packets with 16-bit addresses. 64-bit source address 0 - 0xFFFF 0
{Addressing}
(serial number) and broadcast address (0x000000000000FFFF) is always enabled.
Networking Serial Number High. Read high 32 bits of the RF modem's unique IEEE 64-bit
SH 0 - 0xFFFFFFFF [read-only] Factory-set
{Addressing} address. 64-bit source address is always enabled.
Networking Serial Number Low. Read low 32 bits of the RF modem's unique IEEE 64-bit address.
SL 0 - 0xFFFFFFFF [read-only] Factory-set
{Addressing} 64-bit source address is always enabled.
Random Delay Slots. Set/Read the minimum value of the back-off exponent in the
Networking
RN CSMA-CA algorithm that is used for collision avoidance. If RN = 0, collision avoidance 0 - 3 [exponent] 0
{Addressing}
is disabled during the first iteration of the algorithm (802.15.4 - macMinBE).
MAC Mode. Set/Read MAC Mode value. MAC Mode enables/disables the use of a
Networking MaxStream header in the 802.15.4 RF packet. When Mode 0 is enabled (MM=0),
MM 0-2 0
{Addressing} duplicate packet detection is enabled as well as certain AT commands. Modes 1 and 2
are strict 802.15.4 modes.
Node Identifier. Stores a string identifier. The register only accepts printable ASCII
data. A string can not start with a space. Carriage return ends command. Command will
Networking
NI automatically end when maximum bytes for the string have been entered. This string is 20 byte ACII string -
{Identification}
returned as part of the ND (Node Discover) command. This identifier is also used with
the DN (Destination Node) command.
Node Discover. Discovers and reports all RF modems found. The following information
is reported for each modem discovered (refer to long command description regarding
differences between Transparent and API operation).
MY<CR>
SH<CR>
Networking SL<CR>
ND optional 20 Byte NI value
{Identification} DB<CR>
NI<CR><CR>
After 2.5 seconds, the command ends by returning a <CR> (carriage return).
ND also accepts a Modem Identifier as a parameter. In this case, only a modem
matching the supplied identifier will respond.
AT Command
Command Category
Destination Node. Resolves a Modem Identifier string to a physical address. The
following events occur upon successful command execution:
1. DL and DH are set to the address of the modem with the matching Modem Identifier.
Networking 2. “OK” is returned.
DN 20 byte ACII string
{Identification}
3. RF modem automatically exits AT Command Mode
If there is no response from a modem within 200 msec or a parameter is not specified
(left blank), the command is terminated and an “ERROR” message is returned.
0-1
Networking
CE Coordinator Enable. Set/Read the coordinator setting. 0 = End Device 0
{Association}
1 = Coordinator
Scan Channel. Set/Read list of channels to scan for all Active and Energy Scans as bit
field. This affects scans initiated in command mode (AS, ED) and during End Device 0x3FFE
Association and Coordinator startup: 0 - 0xFFFF (bit field)
Networking (all XBee-
SC bit 0 - 0x0B bit 4 - 0x0F bit 8 - 0x13 bit 12 - 0x17 (bits 0, 14, 15 not allowed for
{Association} PRO
bit 1 - 0x0C bit 5 - 0x10 bit 9 - 0x14 bit 13 - 0x18 XBee-PRO
bit 2 - 0x0D bit 6 - 0x11 bit 10 - 0x15 bit 14 - 0x19 Channels)
bit 3 - 0x0E bit 7 - 0x12 bit 11 - 0x16 bit 15 - 0x1A
Scan Duration. Set/Read the scan duration exponent.
End Device - Duration of Active Scan during Association. On beacon system, set SD =
BE of coordinator. SD must be set at least to the highest BE parameter of any
Beaconing Coordinator with which an End Device or Coordinator wish to discover.
Coordinator - If ‘ReassignPANID’ option is set on Coordinator [refer to A2 parameter],
SD determines the length of time the Coordinator will scan channels to locate existing
PANs. If ‘ReassignChannel’ option is set, SD determines how long the Coordinator will
Networking perform an Energy Scan to determine which channel it will operate on.
SD 0-0x0F [exponent] 4
{Association} ‘Scan Time’ is measured as (# of channels to scan] * (2 ^ SD) * 15.36ms). The number
of channels to scan is set by the SC command. The XBee can scan up to 16 channels
(SC = 0xFFFF). The XBee PRO can scan up to 12 channels (SC = 0x1FFE).
Example: The values below show results for a 12-channel scan:
If SD = 0, time = 0.18 sec SD = 8, time = 47.19 sec
SD = 2, time = 0.74 sec SD = 10, time = 3.15 min
End Device Association. Set/Read End Device association options.
bit 0 - ReassignPanID
0 - Will only associate with Coordinator operating on PAN ID that matches modem ID
1 - May associate with Coordinator operating on any PAN ID
bit 1 - ReassignChannel
0 - Will only associate with Coordinator operating on Channel that matches CH setting
1 - May associate with Coordinator operating on any Channel
Networking bit 2 - AutoAssociate
A1 0 - 0x0F [bit field] 0
{Association} 0 - Device will not attempt Association
1 - Device attempts Association until success
Note: This bit is used only for Non-Beacon systems. End Devices in Beacon-enabled
system must always associate to a Coordinator
bit 3 - PollCoordOnPinWake
0 - Pin Wake will not poll the Coordinator for indirect (pending) data
1 - Pin Wake will send Poll Request to Coordinator to extract any pending data
bits 4 - 7 are reserved
Coordinator Association. Set/Read Coordinator association options.
bit 0 - ReassignPanID
0 - Coordinator will not perform Active Scan to locate available PAN ID. It will operate
on ID (PAN ID).
1 - Coordinator will perform Active Scan to determine an available ID (PAN ID). If a
PAN ID conflict is found, the ID parameter will change.
bit 1 - ReassignChannel -
Networking 0 - Coordinator will not perform Energy Scan to determine free channel. It will operate 0 - 7 [bit field]
A2 6
{Association} on the channel determined by the CH parameter.
1 - Coordinator will perform Energy Scan to find a free channel, then operate on that
channel.
bit 2 - AllowAssociation -
0 - Coordinator will not allow any devices to associate to it.
1 - Coordinator will allow devices to associate to it.
bits 3 - 7 are reserved
AT Command
Command Category
Association Indication. Read errors with the last association request:
0x00 - Successful Completion - Coordinator successfully started or End Device
association complete
0x01 - Active Scan Timeout
0x02 - Active Scan found no PANs
0x03 - Active Scan found PAN, but the CoordinatorAllowAssociation bit is not set
0x04 - Active Scan found PAN, but Coordinator and End Device are not
configured to support beacons
0x05 - Active Scan found PAN, but the Coordinator ID parameter does not match
the ID parameter of the End Device
0x06 - Active Scan found PAN, but the Coordinator CH parameter does not match the
CH parameter of the End Device
Networking 0x07 - Energy Scan Timeout
AI 0x08 - Coordinator start request failed 0 - 0x13 [read-only] -
{Association}
0x09 - Coordinator could not start due to invalid parameter
0x0A - Coordinator Realignment is in progress
0x0B - Association Request not sent
0x0C - Association Request timed out - no reply was received
0x0D - Association Request had an Invalid Parameter
0x0E - Association Request Channel Access Failure. Request was not transmitted -
CCA failure
0x0F - Remote Coordinator did not send an ACK after Association Request was sent
0x10 - Remote Coordinator did not reply to the Association Request, but an ACK was
received after sending the request
0x11 - [reserved]
0x12 - Sync-Loss - Lost synchronization with a Beaconing Coordinator
0x13 - Disassociated - No longer associated to Coordinator
Networking Force Disassociation. End Device will immediately disassociate from a Coordinator (if
DA - -
{Association} associated) and reattempt to associate.
Networking
FP Force Poll. Request indirect messages being held by a coordinator. - -
{Association}
Active Scan. Sends Beacon Request to Broadcast Address (0xFFFF) and Broadcast
PAN (0xFFFF) on every channel. The parameter determines the time the radio will
listen for Beacons on each channel. A PanDescriptor is created and returned for every
Beacon received from the scan. Each PanDescriptor contains the following information:
CoordAddress (SH, SL)<CR>
CoordPanID (ID)<CR>
CoordAddrMode <CR>
0x02 = 16-bit Short Address
0x03 = 64-bit Long Address
Channel (CH parameter) <CR>
SecurityUse<CR>
ACLEntry<CR>
SecurityFailure<CR>
SuperFrameSpec<CR> (2 bytes):
Networking bit 15 - Association Permitted (MSB)
AS 0-6 -
{Association} bit 14 - PAN Coordinator
bit 13 - Reserved
bit 12 - Battery Life Extension
bits 8-11 - Final CAP Slot
bits 4-7 - Superframe Order
bits 0-3 - Beacon Order
GtsPermit<CR>
RSSI<CR> (RSSI is returned as -dBm)
TimeStamp<CR> (3 bytes)
<CR>
A carriage return <CR> is sent at the end of the AS command. The Active Scan is
capable of returning up to 5 PanDescriptors in a scan. The actual scan time on each
channel is measured as Time = [(2 ^SD PARAM) * 15.36] ms. Note the total scan time is
this time multiplied by the number of channels to be scanned (16 for the XBee and 13
for the XBee-PRO). Also refer to SD command description.
Energy Scan. Sends Energy Detect Scan. The parameter determines length of scan on
each channel. The maximal energy on each channel is returned, each value is followed
by a carriage return. An additional carriage return is sent at the end of the command.
Networking
ED The values returned represent the detected energy level in units of -dBm. The actual 0-6 -
{Association}
scan time on each channel is measured as Time = [(2 ^ED) * 15.36] ms. Note the total
scan time is this time multiplied by the number of channels to be scanned. Refer to SD
parameter.
RF Interfacing Commands
Table 4‐03. XBee/XBee‐PRO Commands ‐ RF Interfacing
AT Command
Command Category
Power Level. Select/Read the power level at which the RF modem transmits conducted
PL RF Interfacing 0-4 4
power.
CCA Threshold. Set/read the CCA (Clear Channel Assessment) threshold. Prior to 0x2C
CA RF Interfacing transmitting a packet, a CCA is performed to detect energy on the channel. If the 0 - 0x50 [-dBm]
detected energy is above the CCA Threshold, the modem will not transmit the packet. (-44d dBm)
Serial Interfacing Commands

Table 4‐04. XBee‐PRO Commands ‐ Serial Interfacing
AT Command
Command Category
0 - 7 (standard baud rates)
0 = 1200 bps
1 = 2400
2 = 4800
3 = 9600
Serial Interface Data Rate. Set/Read the serial interface data rate for communications
BD 4 = 19200 3
Interfacing between the RF modem serial port and host.
5 = 38400
6 = 57600
7 = 115200
0x80 - 0x1C200
(non-standard baud rates)
Packetization Timeout. Set/Read number of character times of inter-character delay
Serial
RO required before transmission. Set to zero to transmit characters as they arrive instead of 0 - 0xFF [x character times] 3
Interfacing
buffering them into one RF packet.
0-1
Serial
D7 DIO7 Configuration. Select/Read options for the DIO7 line of the RF modem. 0 = Disabled 1
Interfacing
1 = CTS Flow Control
0-1
Serial DIO6 Configuration. Select/Read options for the DIO6 line of the RF modem. Options
D6 0 = Disabled 0
Interfacing include: RTS flow control.
1 = RTS flow control
0-1
Serial DIO5 Configuration. Configure options for the DIO5 line of the RF modem. Options
D5 0 = Disabled 1
Interfacing include: Associated LED indicator (blinks when associated).
1 = Associated indicator
0-1
Serial
P0 PWM0 Configuration. Select/Read function for PWM0. 0 = Disabled 1
Interfacing
1 = RSSI
0-2
0 = Disabled
Serial 1 = API enabled
AP API Enable. Enable API Mode. 0
Interfacing 2 = API enabled
(w/escaped control
characters)
Pull-up Resistor Enable. Set/Read bitfield to configure internal pull-up resistor status
for I/O lines.
bit 0 - AD4/DIO4/RF_TX
bit 1 - COORD
bit 2 - AD2/DIO2
Serial bit 3 - AD1/DIO1
PR 0 - 0xFF 0xFF
Interfacing bit 4 - AD0/DIO0
bit 5 - RTS
bit 6 - SLEEP_RQ
bit 7 - DIN/CONFIG
“1” specifies pull-up enabled, “0” specifies no pull-up
Sleep (Low Power) Commands

Table 4‐05. XBee‐PRO Commands ‐ Sleep (Low Power)
AT Command
Command Category
0-5
0 = No Sleep
1 = Pin Hibernate
2 = Pin Doze
3 = Reserved
4 = Cyclic sleep remote
Sleep 5 = Cyclic sleep remote
SM Sleep Mode. <NonBeacon firmware> Set/Read Sleep Mode configurations. 0
(Low Power) w/ pin wake-up
6 = [Sleep Coordinator - for
backwards compatibility
w/ v1.x6 only; otherwise,
use CE command to
enable a Coordinator.]
Cyclic Sleep Period. <NonBeacon firmware> Set/Read sleep period for cyclic sleeping
remotes. Coordinator and End Device SP values should always be equal. To send
Direct Messages, set SP = 0.
Sleep
SP End Device - SP determines the sleep period for cyclic sleeping remotes. Maximum 0 - 0x68B0 [x 10 ms] 0
(Low Power)
sleep period is 268 seconds (0x68B0).
Coordinator - If non-zero, SP determines the time to hold an indirect message before
discarding it. A Coordinator will discard indirect messages after a period of (2.5 * SP).
Disassociated Cyclic Sleep Period. <NonBeacon firmware>
End Device - Set/Read time period of sleep for cyclic sleeping remotes that are
Sleep configured for Association but are not associated to a Coordinator. (i.e. If a device is 0x3E8
DP 1 - 0x68B0 [x 10 ms]
(Low Power) configured to associate, configured as a Cyclic Sleep remote, but does not find a (1000d)
Coordinator, it will sleep for DP time before reattempting association.) Maximum sleep
period is 268 seconds (0x68B0). DP should be > 0 for NonBeacon systems.
Time before Sleep. <NonBeacon firmware> Set/Read time period of inactivity (no
serial or RF data is sent or received) before activating Sleep Mode. ST parameter is
only valid with Cyclic Sleep settings (SM = 4 - 5).
Sleep 0x1388
ST Coordinator and End Device ST values must be equal. 1 - 0xFFFF [x 1 ms]
(Low Power) (5000d)
Also note, the GT parameter value must always be less than the ST value. (If GT > ST,
the configuration will render the modem unable to enter into command mode.) If the ST
parameter is modified, also modify the GT parameter accordingly.
Diagnostics Commands
Table 4‐06. XBee‐PRO Commands ‐ Diagnostics
AT Command
Command Category
CCA Failures. Reset/Read count of CCA (Clear Channel Assessment) failures. This
parameter value increments when the modem does not transmit a packet because it
EC Diagnostics 0 - 0xFFFF -
detected energy above the CCA threshold level set with CA command. This count
saturates at its maximum value. Set count to “0” to reset count.
ACK Failures. Reset/Read count of acknowledgment failures. This parameter value
increments when the modem expires its transmission retries without receiving an ACK
EA Diagnostics 0 - 0xFFFF -
on a packet transmission. This count saturates at its maximum value. Set the parameter
to “0” to reset count.
VR Diagnostics Firmware Version. Read firmware version of the RF modem. 0 - 0xFFFF [read-only] Factory-set
Firmware Version - Verbose. Read detailed version information (including application
VL Diagnostics - -
build date, MAC, PHY and bootloader versions).
HV Diagnostics Hardware Version. Read hardware version of the RF modem. 0 - 0xFFFF [read-only] Factory-set
RSSI PWM Timer. Enable a PWM (Pulse Width Modulation) output on pin 6 of the
RP Diagnostics 0 - 0xFF [x 100 ms] 0x28 (40d)
embedded OEM RF module which shows RX signal strength.
Received Signal Strength. Read signal level [in dB] of last good packet received
DB Diagnostics (RSSI). Absolute value is reported. (For example: 0x58 = -88 dBm) Reported value is 0 - 0x64 [read-only] -
accurate between -40 dBm and RX sensitivity.
Energy Scan. Send an “Energy Detect Scan”. This parameter determines the length of
scan on each channel. The maximal energy on each channel is returned and each
ED Diagnostics value is followed by a carriage return. The values returned represent the detected 0-7 -
energy level in units of -dBm. The actual scan time on each channel is measured as
Time = [(2 ^ SD PARAM) * 15.36]ms.
AT Command Options Commands

Table 4‐07. XBee‐PRO Commands ‐ AT Command Options
AT Command
Command Category
Command Mode Timeout. Set/Read the period of inactivity (no valid commands
AT Command
CT received) after which the RF modem automatically exits AT Command Mode and 2 - 0xFFFF [x 100 ms] 0x64 (100d)
Mode Options
returns to Idle Mode.
AT Command
CN Exit Command Mode. Explicitly exit the modem from AT Command Mode. -- --
Mode Options
AT Command Apply Changes. Explicitly apply changes to queued parameter value(s) and re-
AC -- --
Mode Options initialize modem.
Guard Times. Set required period of silence before and after the Command Sequence
AT Command 0x3E8
GT Characters of the AT Command Mode Sequence (GT+ CC + GT). The period of silence 2 - 0xFFFF [x 1 ms]
Mode Options (1000d)
is used to prevent inadvertent entrance into AT Command Mode.
Command Sequence Character. Set/Read the ASCII character value to be used
AT Command 0x2B
CC between Guard Times of the AT Command Mode Sequence (GT+CC+GT). The AT 0 - 0xFF
Mode Options (‘+’ ASCII)
Command Mode Sequence enters the RF modem into AT Command Mode.
4.3. Command Descriptions
Command descriptions in this section are listed alphabetically. Command categories are desig-
nated within "< >" symbols that follow each command title. XBee-PRO RF Modems expect param-
eter values in hexadecimal (designated by the "0x" prefix).
All modems operating within the same network should contain the same firmware version.
A1 (End Device Association) Command
<Networking {Association}> The A1 command is

AT Command: ATA1
used to set and read association options for and
End Device. Parameter Range: 0 - 0x0F
Default Parameter Value: 0
Use the table below to determine End Device
behavior in relation to the A1 parameter. Related Commands: ID (PAN ID), MI (Modem
Identifier), CH (Channel), CE (Coordinator
Enable), A2 (Coordinator Association)
Bit number End Device Association Option

0 - Will only associate with Coordinator operating on PAN ID that matches Modem Identifier
0 - ReassignPanID
1 - May associate with Coordinator operating on any PAN ID
0 - Will only associate with Coordinator operating on Channel that matches CH setting
1 - ReassignChannel
1 - May associate with Coordinator operating on any Channel
0 - Device will not attempt Association
2 - AutoAssociate 1 - Device attempts Association until success
Note: This bit is used only for Non-Beacon systems. End Devices in a Beaconing system must
always associate to a Coordinator
0 - Pin Wake will not poll the Coordinator for pending (indirect) Data
3 - PollCoordOnPinWake
1 - Pin Wake will send Poll Request to Coordinator to extract any pending data
4-7 [reserved]
A2 (Coordinator Association) Command
<Networking {Association}> The A2 command is

AT Command: ATA2
used to set and read association options of the
Coordinator. Parameter Range: 0 - 0x07
Use the table below to determine Coordinator
behavior in relation to the A2 parameter. Related Commands: ID (PAN ID), MI (Modem
Identifier), CH (Channel), CE (Coordinator
Enable), A1 (End Device Association), AS
Active Scan), ED (Energy Scan)
Bit number End Device Association Option

0 - Coordinator will not perform Active Scan to locate available PAN ID. It will operate on ID
(PAN ID).
0 - ReassignPanID
1 - Coordinator will perform Active Scan to determine an available ID (PAN ID). If a PAN ID
conflict is found, the ID parameter will change.
0 - Coordinator will not perform Energy Scan to determine free channel. It will operate on the
1 - ReassignChannel channel determined by the CH parameter.
1 - Coordinator will perform Energy Scan to find a free channel, then operate on that channel.
0 - Coordinator will not allow any devices to associate to it.
2 - AllowAssociate
1 - Coordinator will allow devices to associate to it.
3-7 [reserved]
The binary equivalent of the default value (0x06) is 00000110. ‘Bit 0’ is the last digit of the sequence.
AC (Apply Changes) Command
<AT Command Mode Options> The AC command

AT Command: ATAC
is used to explicitly apply changes to modem
parameter values. ‘Applying changes’ means that the modem is re-initialized based on changes
made to its parameter values. Once changes are applied, the modem immediately operates
according to the new parameter values.
This behavior contrasts issuing the WR (Write) command. The WR command saves parameter val-
ues to non-volatile memory, but the modem still operates according to previously saved values
until the modem is re-booted or the CN (Exit AT Command Mode) command is issued.
Refer to the “AT Command Queue” API type for more information [p45].
AI (Association Indication) Command
<Networking {Association}> The AI command is

AT Command: ATAI
used to indicate occurrences of errors during the
last association request. Parameter Range: 0 - 0x13 [read-only]
Related Commands: AS (Active Scan), ID (PAN
Use the table below to determine meaning of the
ID), CH (Channel), ED (Energy Scan), A1 (End
returned values. Device Association), A2 (Coordinator
Association), CE (Coordinator Enable)
Returned Value (Hex) Association Indication

0x00 Successful Completion - Coordinator successfully started or End Device association complete
0x01 Active Scan Timeout
0x02 Active Scan found no PANs
0x03 Active Scan found PAN, but the Coordinator Allow Association bit is not set
0x04 Active Scan found PAN, but Coordinator and End Device are not configured to support beacons
Active Scan found PAN, but the Coordinator ID (PAN ID) parameter does not match the ID parameter of
0x05
the End Device
Active Scan found PAN, but the Coordinator CH (Channel) parameter does not match the CH parameter
0x06
of the End Device
0x07 Energy Scan Timeout
0x08 Coordinator start request failed
0x09 Coordinator could not start due to Invalid Parameter
0x0A Coordinator Realignment is in progress
0x0B Association Request not sent
0x0C Association Request timed out - no reply was received
0x0D Association Request had an Invalid Parameter
0x0E Association Request Channel Access Failure - Request was not transmitted - CCA failure
0x0F Remote Coordinator did not send an ACK after Association Request was sent
Remote Coordinator did not reply to the Association Request, but an ACK was received after sending the
0x10
request
0x11 [reserved]
0x12 Sync-Loss - Lost synchronization with a Beaconing Coordinator
0x13 Disassociated - No longer associated to Coordinator
AP (API Enable) Command
<Serial Interfacing> The AP command is used to

AT Command: ATAP
enable the RF modem to operate using frame-
based API operation. Parameter Range:0 - 2
Parameter Configuration
Disabled
0
(UART operation)
1 API enabled
API enabled
2 (with escaped
characters)
Refer to the “API Operation” sections [p43] when Default Parameter Value:0
API operation is enabled (AP = 1 or 2).
AS (Active Scan) Command
<AT Command Mode Options> The AS command

AT Command: ATAS
is used to send a Beacon Request to a Broadcast
Address (0xFFFF) and Broadcast PAN (0xFFFF) on Parameter Range: 0 - 6 (bit field)
every channel. The parameter determines the Related Command: SD (Scan Duration), DL
amount of time the RF modem will listen for Bea- (Destination Low Address), DH (Destination
High Address), ID (PAN ID), CH (Channel)
cons on each channel. A ‘PanDescriptor’ is created
and returned for every Beacon received from the
scan. Each PanDescriptor contains the following information:
CoordAddress (SH + SL parameters)<CR>
CoordPanID (ID parameter)<CR>
CoordAddrMode <CR>
0x02 = 16-bit Short Address
0x03 = 64-bit Long Address
Channel (CH parameter) <CR>
SecurityUse<CR>
ACLEntry<CR>
SecurityFailure<CR>
SuperFrameSpec<CR> (2 bytes):
bit 15 - Association Permitted (MSB)
bit 14 - PAN Coordinator
bit 13 - Reserved
bit 12 - Battery Life Extension
bits 8-11 - Final CAP Slot
bits 4-7 - Superframe Order
bits 0-3 - Beacon Order
GtsPermit<CR>
RSSI<CR> (- RSSI is returned as -dBm)
TimeStamp<CR> (3 bytes)
<CR> (A carriage return <CR> is sent at the end of the AS command.
The Active Scan is capable of returning up to 5 PanDescriptors in a scan. The actual scan time on
each channel is measured as Time = [(2 ^ (SD Parameter)) * 15.36] ms. Total scan time is this
time multiplied by the number of channels to be scanned (16 for the XBee, 13 for the XBee-PRO).
NOTES: Refer the scan table in the SD description [p40] to determine scan times. If using API Mode,
no <CR>’s are returned in the response (Refer to the API Mode Operation section [p43]).
BD (Interface Data Rate) Command
<Serial Interfacing> The BD command is used to

AT Command: ATBD
set and read the serial interface data rate (baud
rate) used between the RF modem and host. This Parameter Range:0 - 7 (standard rates)
0x80-0x1C200 (non-stndard rates)
parameter determines the rate at which serial
data is sent to the modem from the host. Modified Parameter Configuration (bps)
interface data rates do not take effect until the CN 0 1200
(Exit AT Command Mode) command is issued and 1 2400
the system returns the 'OK' response.
2 4800
When parameters 0-7 are sent to the modem, the
3 9600
respective interface data rates are used (as
4 19200
shown in the table on the right).
5 38400
The RF data rate is not affected by the BD param-
eter. If the interface data rate is set higher than 6 57600
the RF data rate, a flow control configuration may 7 115200
need to be implemented. Default Parameter Value:3
Command description is continued on the next page.
Non-standard Interface Data Rates:

When parameter values outside the range of standard baud rates are sent, the closest interface
data rate represented by the number is stored in the BD register. For example, a rate of 19200 bps
can be set by sending the following command line "ATBD4B00". NOTE: When using MaxStream’s
X-CTU Software, non-standard interface data rates can only be set and read using the X-CTU ‘Ter-
minal’ tab. Non-standard rates are not accessible through the ‘Modem Configuration’ tab.
When the BD command is sent with a non-standard interface data rate, the UART will adjust to
accommodate the requested interface rate. In most cases, the clock resolution will cause the
stored BD parameter to vary from the parameter that was sent (refer to the table below). Reading
the BD command (send "ATBD" command without an associated parameter value) will return the
value that was actually stored to the BD register.
Parameters Sent Versus Parameters Stored
BD Parameter Sent (HEX) Interface Data Rate (bps) BD Parameter Stored (HEX)
0 1200 0
4 19,200 4
7 115,200 7
12C 300 12B
1C200 115,200 1B207
CA (CCA Threshold) Command
<RF Interfacing> CA command is used to set and

AT Command: ATCA
read CCA (Clear Channel Assessment) thresholds.
Parameter Range: 0 - 0x50 [-dBm]
Prior to transmitting a packet, a CCA is performed
Default Parameter Value: 0x2C
to detect energy on the transmit channel. If the
(-44 dBm (decimal))
detected energy is above the CCA Threshold, the
RF modem will not transmit the packet.
CC (Command Sequence Character) Command
<AT Command Mode Options> The CC command

AT Command: ATCC
is used to set and read the ASCII character used
between guard times of the AT Command Mode Parameter Range: 0 - 0xFF
Sequence (GT + CC + GT). This sequence enters Default Parameter Value: 0x2B (ASCII “+”)
the RF modem into AT Command Mode so that Related Command: GT (Guard Times)
data entering the modem from the host is recog-
nized as commands instead of payload.
The AT Command Sequence is discussed further in the AT Command Mode section [p20].
CE (Coordinator Enable) Command
<Serial Interfacing> The CE command is used to

AT Command: ATCE
set and read the behavior (End Device vs. Coordi-
nator) of the RF modem. Parameter Range:0 - 1
0 End Device
1 Coordinator
Default Parameter Value:0
CH (Channel) Command
<Networking {Addressing}> The CH command is

AT Command: ATCH
used to set and read the channel on which RF
connections are made between RF modems. The Parameter Range:0x0C - 0x17
channel is one of three filtration options available Default Parameter Value: 0x0C (12 decimal)
to the modem. The other options are the PAN ID Related Commands: ID (PAN ID), DL
(ID command) and destination addresses (DL & (Destination Address Low, DH (Destination
DH commands). Address High)
In order for modems to communicate with each

other, the modems must share the same channel number. Different channels can be used to pre-
vent modems in one network from listening to transmissions of another.
The modem uses channel numbers of the 802.15.4 standard.
Center Frequency = 2.405 + (CH - 11d) * 5 MHz (d = decimal)
Refer to the “Addressing” section [p21] for more information.
CN (Exit AT Command Mode) Command
<AT Command Mode Options> The CN command

AT Command: ATCN
is used to explicitly exit the RF modem from AT
Command Mode.
CT (Command Mode Timeout) Command
<AT Command Mode Options> The CT command

AT Command: ATCT
is used to set and read the amount of inactive
time that elapses before the RF modem automat- Parameter Range:2 - 0xFFFF
[x 100 milliseconds]
ically exits from AT Command Mode and returns
to Idle Mode. Default Parameter Value: 0x64 (100 decimal
(which equals 10 decimal seconds))
Use the CN (Exit AT Command Mode) command
Number of bytes returned: 2
to exit AT Command Mode manually.
Related Command: CN (Exit AT Command
Mode)
D5 (DIO5 Configuration) Command
<Serial Interfacing> The D5 command is used to

AT Command: ATD5
configure options for the DIO5 line of the RF
modem. When the D5 parameter is set to “1”, the Parameter Range:0 - 1
D5 line is used to indicate “Association (member- Parameter Configuration
ship with another modem)” by causing the LED 0 Disabled
indicator to blink.
1 Association Indicator

AT Command: ATD6
set and read the behavior of the DIO6 line. This
line can be configured to enable RTS flow control. Parameter Range:0 - 1
0 Disabled
1 RTS Flow Control

AT Command: ATD7
set and read the behavior of the DIO7 line. CTS
flow control is enabled by default. Parameter Range:0 - 1
0 Disabled
1 CTS Flow Control
DA (Force Disassociation) Command
<(Special)> The DA command is used to immedi-

AT Command: ATDA
ately disassociate an End Device from a Coordi-
nator and reattempt to associate.
DB (Received Signal Strength) Command
<Diagnostics> DB parameter is used to read the

AT Command: ATDB
received signal strength (in dBm) of the last RF
packet received. Reported values are accurate Parameter Range: 0 - 0x64 [read-only]
between -40 dBm and the RF modem's receiver sensitivity.
Absolute values are reported. For example: 0x58 = -88 dBm (decimal). If no packets have been
received (since last reset, power cycle or sleep event), “0” will be reported.
DH (Destination Address High) Command
<Networking {Addressing}> The DH command is

AT Command: ATDH
used to set and read the upper 32 bits of the RF
modem's 64-bit destination address. When com- Parameter Range: 0 - 0xFFFFFFFF
bined with the DL (Destination Address Low) Default Parameter Value: 0
parameter, it defines the destination address used Related Commands: DL (Destination Address
for transmission. Low), CH (Channel), ID (PAN VID), MY (Source
Address)
An modem will only communicate with other
modems having the same channel (CH parame-
ter), PAN ID (ID parameter) and destination address
(DH + DL parameters).
To transmit using a 16-bit address, set the DH parameter to zero and the DL parameter less than
0xFFFF. 0x000000000000FFFF (DL concatenated to DH) is the broadcast address for the PAN.
DL (Destination Address Low) Command
<Networking {Addressing}> The DL command is

AT Command: ATDL
used to set and read the lower 32 bits of the RF
modem's 64-bit destination address. When com- Parameter Range: 0 - 0xFFFFFFFF
bined with the DH (Destination Address High) Default Parameter Value: 0
parameter, it defines the destination address used Related Commands: DH (Destination Address
for transmission. High), CH (Channel), ID (PAN VID), MY (Source
Address)
A modem will only communicate with other
modems having the same channel (CH parame-
ter), PAN ID (ID parameter) and destination address (DH + DL parameters).
To transmit using a 16-bit address, set the DH parameter to zero and the DL parameter less than
0xFFFF. 0x000000000000FFFF (DL concatenated to DH) is the broadcast address for the PAN.
DN (Destination Node) Command
<Networking {Identification}> The DN command

AT Command: ATDN
is used to resolve a NI (Node Identifier) string to
a physical address. The following events occur Parameter Range: 20 Byte ASCII String
upon successful command execution:
1. DL and DH are set to the address of the modem with the matching NI (Node Identifier).
2. ‘OK’ is returned.
3. RF modem automatically exits AT Command Mode.
If there is no response from a modem within 200 msec or a parameter is not specified (left blank),
the command is terminated and an ‘ERROR’ message is returned.
DP (Disassociation Cyclic Sleep Period) Command
<Sleep Mode (Low Power)>

AT Command: ATDP
NonBeacon Firmware Parameter NonBeacon Firmware:
End Device - The DP command is used to set and Range: 1 - 0x68B0 [x 10 milliseconds]
read the time period of sleep for cyclic sleeping Default
NonBeacon Firmware: 0x3E8
remotes that are configured for Association but Parameter
(1000 decimal)
are not associated to a Coordinator. (i.e. If a Value:
device is configured to associate, configured as a Related Commands: SM (Sleep Mode), SP
Cyclic Sleep remote, but does not find a Coordi- (Cyclic Sleep Period), ST (Time before Sleep)
nator; it will sleep for DP time before reattempt-
ing association.) Maximum sleep period is 268 seconds (0x68B0).
DP should be > 0 for NonBeacon systems.
EA (ACK Failures) Command
<Diagnostics> The EA command is used to reset

AT Command: ATEA
and read the count of ACK (acknowledgement)
failures. This parameter value increments when Parameter Range:0 - 0xFFFF
the modem expires its transmission retries with-
out receiving an ACK on a packet transmission. This count saturates at its maximum value.
Set the parameter to “0” to reset count.
EC (CCA Failures) Command
<Diagnostics> The EC command is used to read

AT Command: ATEC
and reset the count of CCA (Clear Channel
Assessment) failures. This parameter value incre- Parameter Range:0 - 0xFFFF
ments when the RF modem does not transmit a Related Command: CA (CCA Threshold)
packet due to the detection of energy that is
above the CCA threshold level (set with CA command). This count saturates at its maximum value.
Set the EC parameter to “0” to reset count.
ED (Energy Scan) Command
<Networking {Association}> The ED command is

AT Command: ATED
used to send an “Energy Detect Scan”. This
Parameter Range:0 - 6
parameter determines the length of scan on each
Related Command: SD (Scan Duration), SC
channel. The maximal energy on each channel is (Scan Channel)
returned and each value is followed by a carriage
return. An additional carriage return is sent at the end of the command.
The values returned represent the detected energy level in units of -dBm. The actual scan time on
each channel is measured as Time = [(2 ^ ED PARAM) * 15.36] ms.
Note: Total scan time is this time multiplied by the number of channels to be scanned. Also refer to
the SD (Scan Duration) table. Use the SC (Scan Channel) command to choose which channels to scan.
FP (Force Poll) Command
<(Special)> The FP command is used to request

AT Command: ATFP
indirect messages being held by a coordinator.
FR (Software Reset) Command
<Special> The FR command is used to force a

AT Command: ATFR
software reset on the RF modem. The reset simu-
lates powering off and then on again the modem.
GT (Guard Times) Command
<AT Command Mode Options> GT Command is

AT Command: ATGT
used to set the DI (data in from host) time-of-
silence that surrounds the AT command sequence Parameter Range:2 - 0xFFFF
[x 1 millisecond]
character (CC Command) of the AT Command
Mode sequence (GT + CC + GT). Default Parameter Value:0x3E8
(1000 decimal)
The DI time-of-silence is used to prevent inad-
Related Command: CC (Command Sequence
vertent entrance into AT Command Mode.
Character)
HV (Hardware Version) Command
<Diagnostics> The HV command is used to read

AT Command: ATHV
the hardware version of the RF modem.
Parameter Range:0 - 0xFFFF [Read-only]
ID (Pan ID) Command
<Networking {Addressing}> The ID command is

AT Command: ATID
used to set and read the PAN (Personal Area Net-
work) ID of the RF modem. Only modems with Parameter Range: 0 - 0xFFFF
matching PAN IDs can communicate with each Default Parameter Value:0x3332
other. Unique PAN IDs enable control of which RF (13106 decimal)
packets are received by a modem.
Setting the ID parameter to 0xFFFF indicates a global transmission for all PANs. It does not indi-
cate a global receive.
MM (MAC Mode) Command
<Networking {Addressing}> The MM command is

AT Command: ATMM
used to set and read the MAC Mode value. MAC
Mode disable/enables the use of a MaxStream Parameter Range:0 - 2
header contained in the 802.15.4 RF packet. Parameter Configuration
When enabled (Mode 0, MM = 0) duplicate packet MaxStream Mode
detection is enabled as well as certain AT com- 0 (802.15.4 +
mands. Modes 1 and 2 are strict 802.15.4 modes. MaxStream header)
When the MaxStream header is disabled, the ND 1 802.15.4 (no ACKs)

(Node Discover) and DN (Destination Node) 2 802.15.4 (with ACKs)
parameters are also disabled. Default Parameter Value:0
MY (16-bit Source Address) Command
<Networking {Addressing}> The MY command is

AT Command: ATMY
used to set and read the 16-bit source address of
the RF modem. Parameter Range: 0 - 0xFFFF
By setting MY to 0xFFFF, the reception of RF pack-
ets having a 16-bit address is disabled. The 64-bit Related Commands: DH (Destination Address
High), DL (Destination Address Low), CH
address is the modem’s serial number and is
(Channel), ID (PAN ID)
always enabled.
Refer to the Addressing section [p21] for more information.
ND (Node Discover) Command
<Networking {Identification}> The ND command

AT Command: ATND
is used to discover and report all RF modems on
its current CH (channel) and ID (Pan ID). ND also Parameter Range:optional 20 byte NI value
(decimal)
accepts an NI (Node Identifier) value as a param-
eter. In this case, only a modem matching the Related Commands: CH (Channel), ID (Pan
ID), MY (Source Address), SH (Serial Number
supplied identifier will respond.
High), SL (Serial Number Low), NI (Node
The ND command causes a modem to transmit a Identifier)
globally addressed ND command packet. This modem will allow responses within a 2.5 second
window. The 2.5 second window is large enough to receive all responses.
In AT Command mode, command completion is designated by a carriage return (0x0D). Since two
carriage returns end a command response, the application will receive three carriage returns at
the end of the command. If no responses are received, the application should only receive one
carriage return. When in API mode, the application should receive a frame (with no data) and sta-
tus (set to ‘OK’) at the end of the command. When the ND command packet is received, the
remote sets up a random time delay of 2.5 seconds before replying with a ND response as follows:
Node Discover Response (AT command mode format):
MY (Source Address) value<CR>
SH (Serial Number High) value<CR>
SL (Serial Number Low) value<CR>
DB (Received Signal Strength) value<CR>
NI (Node Identifier) value<CR>
<CR> (This is part of the response and not the end of command indicator.)
Node Discover Response (API format - data is binary (except for MI)):
2 bytes for MY (Source Address) value
4 bytes for SH (Serial Number High) value
4 bytes for SL (Serial Number Low) value
1 byte for RS (Received Signal Strength) value
NULL-terminated string for NI (Node Identifier) value (max 20 bytes w/out NULL terminator)
NI (Node Identifier) Command
<Networking {Identification}> The NI command

AT Command: ATNI
is used to set and read a string for identifying a
particular node. Parameter Range: 20 Byte ASCII string
(decimal)
Rules:
Related Commands: ND (Node Discover), DN
• Register only accepts printable ASCII data. (Destination Node)
• A string can not start with a space.
• A carriage return ends 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.
P0 (PWM0 Configuration) Command
<Diagnostics> The P0 command is used to select

AT Command: ATP0
and read the function for PWM0 (Pulse Width
Modulation Output 0). Parameter Range: 0 - 1
Note: The second character in the command is a
zero (“0”), not the letter “O”. 0 Disabled
1 RSSI PWM0 enabled
PL (Power Level) Command
<RF Interfacing> The PL command is used to

AT Command: ATPL
select and read the power level at which the RF
modem transmits conducted power. Parameter Range: 0 - 4
Parameter XBee XBee-Pro
WHEN OPERATING IN EUROPE:
XBee-PRO RF Modems must be configured to 0 -10 dBm 10 dBm
operate at a maximum transmit power output 1 -6 dBm 12 dBm
level of 10 dBm. The PL parameter must equal “0” 2 -4 dBm 14 dBm
(10 dBm).
3 -2 dBm 16 dBm
Additionally, European regulations stipulate an 4 0 dBm 18 dBm
EIRP power maximum of 12.86 dBm (19 mW) for
the XBee-PRO and 12.11 dBm for the XBee when
integrating high-gain antennas.
PR (Pull-up Resistor Enable) Command
<Serial Interfacing> The PR command is used to

AT Command: ATPR
set and read the bit field that is used to configure
internal the pull-up resistor status for I/O lines. Parameter Range: 0 - 0xFF
“1” specifies the pull-up resistor is enabled. “0” Default Parameter Value: 0xFF (all pull -up
specifies no pull up. resistors are enabled)
bit 0 - AD4/DIO4/RF_TX
bit 1 - COORD
bit 2 - AD2/DIO2
bit 3 - AD1/DIO1
bit 4 - AD0/DIO0
bit 5 - RTS
bit 6 - SLEEP_RQ
bit 7 - DIN/CONFIG
For example: Sending the command “ATPR 6F” will turn bits 0, 1, 2, 3, 5 and 6 ON; and bits 4 & 7
will be turned OFF. (The binary equivalent of “0x6F” is “01101111”. Note that ‘bit 0’ is the last digit
in the bitfield.
RE (Restore Defaults) Command
<(Special)> The RE command is used to restore

AT Command: ATRE
all configurable parameters to their factory
default settings. The RE command does not write
restored values to non-volatile (persistent) memory. Issue the WR (Write) command subsequent
to issuing the RE command to save restored parameter values to non-volatile memory.
RN (Random Delay Slots) Command
<Networking & Security> The RN command is

AT Command: ATRN
used to set and read the minimum value of the
back-off exponent in the CSMA-CA algorithm. The Parameter Range: 0 - 3 [exponent]
CSMA-CA algorithm was engineered for collision Default Parameter Value: 0
avoidance (random delays are inserted to prevent
data loss caused by data collisions).
If RN = 0, collision avoidance is disabled during the first iteration of the algorithm (802.15.4 -
macMinBE).
CSMA-CA stands for "Carrier Sense Multiple Access - Collision Avoidance". Unlike CSMA-CD (reacts
to network transmissions after collisions have been detected), CSMA-CA acts to prevent data colli-
sions before they occur. As soon as a modem receives a packet that is to be transmitted, it checks
if the channel is clear (no other modem is transmitting). If the channel is clear, the packet is sent
over-the-air. If the channel is not clear, the modem waits for a randomly selected period of time,
then checks again to see if the channel is clear. After a time, the process ends and the data is lost.
RO (Packetization Timeout) Command
<Serial Interfacing> RO command is used to set

AT Command: ATRO
and read the number of character times of inter-
character delay required before transmission. Parameter Range:0 - 0xFF
[x character times]
RF transmission commences when data is
detected in the DI (data in from host) buffer and
RO character times of silence are detected on the
UART receive lines (after receiving at least 1 byte).
RF transmission will also commence after 100 bytes (maximum packet size) are received in the DI
buffer.
Set the RO parameter to '0' to transmit characters as they arrive instead of buffering them into
one RF packet.
RP (RSSI PWM Timer) Command
<Diagnostics> The RP command is used to

AT Command: ATRP
enable PWM (Pulse Width Modulation) output on
the RF modem. The output is calibrated to show Parameter Range:0 - 0xFF
the level a received RF signal is above the sensi-
tivity level of the modem. The PWM pulses vary Default Parameter Value: 0x28 (40 decimal)
from zero to 95 percent. Zero to twenty-nine per-
cent means the received RF signal is at or below the published sensitivity level of the modem. The
following table shows levels above sensitivity and PWM values.
The total period of the PWM output is 8.32 ms. Because there are 40 steps in the PWM output, the
minimum step size is 0.208 ms.
PWM Percentages
PWM percentage*
dB above Sensitivity
(high period / total period)
10 46.0%
20 63.0%
30 80.1%
* PWM% = (295 + (17.5 * dBm above sensitivity)) / 10.24
A non-zero value defines the time that the PWM output will be active with the RSSI value of the
last received RF packet. After the set time when no RF packets are received, the PWM output will
be set low (0 percent PWM) until another RF packet is received. The PWM output will also be set
low at power-up until the first RF packet is received. A parameter value of 0xFF permanently
enables the PWM output and it will always reflect the value of the last received RF packet.
SC (Scan Channel) Command
<RF Interfacing> The SC command is used to set

AT Command: ATSC
and read the list of channels to scan for all Active
and Energy Scans as a bit field. Parameter Range: 0 - 0xFFFF [Bit Field]
Default Parameter Value: 0x1FFE (all XBee-
This affects scans initiated in command mode [AS
PRO channels)
(Active Scan) and ED (Energy Scan) commands]
Related Commands: ED (Energy Scan), SD
and during End Device Association and Coordina-
(Scan Duration)
tor startup:
bit 0 - 0x0B bit 4 - 0x0F bit 8 - 0x13 bit 12 - 0x17
bit 1 - 0x0C bit 5 - 0x10 bit 9 - 0x14 bit 13 - 0x18
bit 2 - 0x0D bit 6 - 0x11 bit 10 - 0x15 bit 14 - 0x19
bit 3 - 0x0E bit 7 - 0x12 bit 11 - 0x16 bit 15 - 0x1A
SD (Scan Duration) Command
<Networking {Association}> The SD command is

AT Command: ATSD
used to set and read the exponent value that
determines the duration (in time) of a scan. Parameter Range: 0 - 0x0F
End Device (Duration of Active Scan during
Association) - In a Beacon system, set SD = BE of Related Commands: ED (Energy Scan), SC
(Scan Channel)
the Coordinator. SD must be set at least to the
highest BE parameter of any Beaconing Coordina-
tor with which an End Device or Coordinator wish to discover.
Coordinator - If the ‘ReassignPANID’ option is set on the Coordinator [refer to A2 parameter], the
SD parameter determines the length of time the Coordinator will scan channels to locate existing
PANs. If the ‘ReassignChannel’ option is set, SD determines how long the Coordinator will perform
an Energy Scan to determine which channel it will operate on.
Scan Time is measured as ((# of Channels to Scan) * (2 ^ SD) * 15.36ms). The number of chan-
nels to scan is set by the SC command. The XBee RF Modem can scan up to 16 channels (SC =
0xFFFF). The XBee PRO RF Modem can scan up to 12 channels (SC = 0x1FFE).
Examples: Values below show results for a 12‐channel scan
If SD = 0, time = 0.18 sec SD = 8, time = 47.19 sec
SH (Serial Number High) Command
<Diagnostics> The SH command is used to read

AT Command: ATSH
the high 32 bits of the RF modem's unique IEEE
64-bit address. Parameter Range: 0 - 0xFFFFFFFF [read-only]
Related Commands: SL (Serial Number Low),
The modem serial number is set at the factory
MY (Source Address)
and is read-only.
SL (Serial Number Low) Command
<Diagnostics> The SL command is used to read

AT Command: ATSL
the low 32 bits of the RF modem's unique IEEE
64-bit address. Parameter Range: 0 - 0xFFFFFFFF [read-only]
Related Commands: SH (Serial Number High),
The modem serial number is set at the factory
MY (Source Address)
and is read-only.
SM (Sleep Mode) Command
<Sleep Mode (Low Power)> The SM command is

AT Command: ATSM
used to set and read Sleep Mode settings. By
Parameter Range: 0 - 6
default, Sleep Modes are disabled (SM = 0) and
the RF modem remains in Idle/Receive Mode. Parameter Configuration
When in this state, the modem is constantly 0 Disabled
ready to respond to either serial or RF activity. 1 Pin Hibernate
SM command options vary according to the net- 2 Pin Doze
working system type. By default, the modem is 3 (reserved)
configured to operate in a NonBeacon system. 4 Cyclic Sleep Remote
* The Sleep Coordinator option (SM=6) only Cyclic Sleep Remote
4
exists for backwards compatibility with firmware (with Pin Wake-up)
version 1.x06 only. In all other cases, use the CE 6 Sleep Coordinator*
command to enable a Coordinator. Default Parameter Value: 0
Related Commands: SP (Cyclic Sleep Period),
ST (Time before Sleep)
SP (Cyclic Sleep Period) Command
<Sleep Mode (Low Power)> The SP command is

AT Command: ATSP
used to set and read the duration of time in which
a remote RF modem sleeps. After the cyclic sleep Parameter NonBeacon Firmware:
Range: 1 - 0x68B0 [x 10 milliseconds]
period is over, the modem wakes and checks for
data. If data is not present, the modem goes back Default
Parameter NonBeacon Firmware: 0
to sleep. The maximum sleep period is 268 sec-
Value:
onds (SP = 0x68B0).
Related Commands: SM (Sleep Mode), ST
The SP parameter is only valid if the modem is (Time before Sleep), DP (Disassociation Cyclic
configured to operate in Cyclic Sleep (SM = 4-6). Sleep Period, BE (Beacon Order)
Coordinator and End Device SP values should
always be equal.
To send Direct Messages, set SP = 0.
NonBeacon Firmware
End Device - SP determines the sleep period for cyclic sleeping remotes. Maximum sleep period is
268 seconds (0x68B0).
Coordinator - If non-zero, SP determines the time to hold an indirect message before discarding it.
A Coordinator will discard indirect messages after a period of (2.5 * SP).
ST (Time before Sleep) Command
<Sleep Mode (Low Power)> The ST command is

AT Command: ATST
used to set and read the period of inactivity (no
serial or RF data is sent or received) before acti- Parameter NonBeacon Firmware:
Range: 1 - 0xFFFF [x 1 millisecond]
vating Sleep Mode.
Default
NonBeacon Firmware NonBeacon Firmware: 0x1388
Parameter
(5000 decimal)
Set/Read time period of inactivity (no serial or RF Value:
data is sent or received) before activating Sleep Related Commands: SM (Sleep Mode), ST
Mode. ST parameter is only valid with Cyclic Sleep (Time before Sleep)
settings (SM = 4 - 5).
Coordinator and End Device ST values must be equal.
VL (Firmware Version - Verbose)
<Diagnostics> The VL command is used to read

AT Command: ATVL
detailed version information about the RF
modem. The information includes: Parameter Range:0 - 0xFF
application build date; MAC, PHY and bootloader
versions; and build dates. Default Parameter Value: 0x28 (40 decimal)
VR (Firmware Version) Command
<Diagnostics> The VR command is used to read

AT Command: ATVR
which firmware version is stored in the modem.
Parameter Range: 0 - 0xFFFF [read only]
XBee version numbers will have four significant
digits. The reported number will show three or four numbers and is stated in hexadecimal nota-
tion. A version can be reported as "ABC" or "ABCD". Digits ABC are the main release number and
D is the revision number from the main release. "D" is not required and if it is not present, a zero
is assumed for D. "B" is a variant designator. The following variants exist:
• "0" - Non-Beacon Enabled 802.15.4 Code
• "1" - Beacon Enabled 802.15.4 Code
WR (Write) Command
<(Special)> The WR command is used to write AT Command: ATWR

configurable parameters to the RF modem's non-
volatile memory. Parameter values remain in the
modem's memory until overwritten by subsequent use of the WR Command.
If changes are made without writing them to non-volatile memory, the modem reverts back to
previously saved parameters the next time the modem is powered-on.
NOTE: Once the WR command is sent to the modem, no additional characters should be sent until
after the “OK/r” response is received.
4.4. API Operation
By default, XBee-PRO RF Modems act as a serial line replacement (Transparent Operation) - all
UART data received through the DI pin is queued up for RF transmission. When the modem
receives an RF packet, the data is sent out the DO pin with no additional information.
Inherent to Transparent Operation are the following behaviors:
• If modem parameter registers are to be set or queried, a special operation is required for
transitioning the modem into Command Mode [refer to p20].
• In point-to-multipoint systems, the application must send extra information so that the
receiving modem(s) can distinguish between data coming from different remotes.
As an alternative to the default Transparent Operation, API (Application Programming Interface)
Operations are available. API operation requires that communication with the modem be done
through a structured interface (data is communicated in frames in a defined order). The API spec-
ifies how commands, command responses and modem status messages are sent and received
from the modem using a UART Data Frame.
4.4.1. API Frame Specifications
Two API modes are supported and both can be enabled using the AP (API Enable) command. Use
the following AP parameter values to configure the modem to operate in a particular mode:
• AP = 0 (default): Transparent Operation (UART Serial line replacement)
API modes are disabled.
• AP = 1: API Operation
• AP = 2: API Operation (with escaped characters)
Any data received prior to the start delimiter is silently discarded. If the frame is not received cor-
rectly or if the checksum fails, the data is silently discarded.
API Operation (AP parameter = 1)
When this API mode is enabled (AP = 1), the UART data frame structure is defined as follows:
Figure 4‐01. UART Data Frame Structure:
Start Delimiter Length Frame Data Checksum

(Byte 1) (Bytes 2-3) (Bytes 4-n) (Byte n + 1)
0x7E MSB LSB API-specific Structure 1 Byte
MSB = Most Significant Byte, LSB = Least Significant Byte
API Operation - with Escape Characters (AP parameter = 2)
When this API mode is enabled (AP = 2), the UART data frame structure is defined as follows:
Figure 4‐02. UART Data Frame Structure ‐ with escape control characters:
(Byte 1) (Bytes 2-3) (Bytes 4-n) (Byte n + 1)
Characters Escaped If Needed
MSB = Most Significant Byte, LSB = Least Significant Byte
Escape characters. When sending or receiving a UART data frame, specific data values must be
escaped (flagged) so they do not interfere with the UART or UART data frame operation. To escape
an interfering data byte, insert 0x7D and follow it with the byte to be escaped XOR’d with 0x20.
Data bytes that need to be escaped:

• 0x7E – Frame Delimiter
• 0x7D – Escape
• 0x11 – XON
• 0x13 – XOFF
Example - Raw UART Data Frame (before escaping interfering bytes):

0x7E 0x00 0x02 0x23 0x11 0xCB
0x11 needs to be escaped which results in the following frame:
0x7E 0x00 0x02 0x23 0x7D 0x31 0xCB
Note: 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.
Checksum
To 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 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.
4.4.2. API Types
Frame data of the UART data frame forms an API-specific structure as follows:
Figure 4‐03. UART Data Frame & API‐specific Structure:

(Byte 1) (Bytes 2-3) (Bytes 4- n) (Byte n + 1)
API Identifier Identifier-specific Data
cmdID cmdData
The cmdID frame (API-identifier) indicates which API messages will be contained in the cmdData
frame (Identifier-specific data). Refer to the sections that follow for more information regarding
the supported API types. Note that multi-byte values are sent big endian.
Modem Status
API Identifier: 0x8A

RF modem status messages are sent from the modem in response to specific conditions.
Figure 4‐04. Modem Status Frames
0x8A cmdData
Status (Byte 5)
0 = Hardware reset
1 = Watchdog timer reset
2 = Associated
3 = Disassociated
4 = Synchronization Lost
(Beacon-enabled only)
5 = Coordinator realignment
6 = Coordinator reset
AT Command
API Identifier Value: 0x08

The “AT Command” API type allows for modem parameters to be queried or set. When using this
command ID, new parameter values are applied immediately. This includes any register set with
the “AT Command - Queue Parameter Value” (0x09) API type.
Figure 4‐05. AT Command Frames
0x08 cmdData
Frame ID (Byte 5) AT Command (Bytes 6-7) Parameter Value (Byte(s) 8-n)
Identifies the UART data frame for the host to Command Name - Two If present, indicates the requested parameter
correlate with a subsequent ACK (acknowledgement). ASCII characters that value to set the given register.
If set to ‘0’, no response is requested. identify the AT Command. If no characters present, register is queried.
Figure 4‐06. Example: API frames when reading the DL parameter value of the modem.
Byte 1 Bytes 2-3 Byte 4 Byte 5 Bytes 6-7 Byte 8
0x7E 0x00 0x04 0x08 0x52 (R) 0x44 (D) 0x4C (L) 0x15
Start Delimiter Length* API Identifier Frame ID** AT Command Checksum
* Length [Bytes] = API Identifier + Frame ID + AT Command
** “R” value was arbitrarily selected.
Figure 4‐07. Example: API frames when modifying the DL parameter value of the modem.
Byte 1 Bytes 2-3 Byte 4 Byte 5 Bytes 6-7 Bytes 8-11 Byte 12
0x7E 0x00 0x08 0x08 0x4D (M) 0x44 (D) 0x4C (L) 0x00000FFF 0x0C
Start Delimiter Length* API Identifier Frame ID** AT Command Parameter Value Checksum
* Length [Bytes] = API Identifier + Frame ID + AT Command + Parameter Value
** “M” value was arbitrarily selected.
AT Command - Queue Parameter Value

This API type allows modem 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 val-
ues) are returned immediately.
Figure 4‐08. AT Command Frames
(Note that frames are identical to the “AT Command” API type except for the API identifier.)
0x09 cmdData
Frame ID (Byte 5) AT Command (Bytes 6-7) Parameter Value (Byte(s) 8-n)
Identifies the UART data frame for the host to Command Name - Two If present, indicates the requested parameter
correlate with a subsequent ACK (acknowledgement). ASCII characters that value to set the given register.
If set to ‘0’, no response is requested. identify the AT Command. If no characters present, register is queried.
AT Command Response

Response to previous command.
In response to an AT Command message, the modem will send an AT Command Response mes-
sage. Some commands will send back multiple frames (for example, the ND (Node Discover) and
AS (Active Scan) commands). These commands will end by sending a frame with a status of
ATCMD_OK and no cmdData.
Figure 4‐09. AT Command Response Frames.
0x88 cmdData
Frame ID (Byte 5 ) AT Command (Bytes 6-7) Status (Byte 8) Value (Byte(s) 9-n)
Identifies the UART data frame being reported. Command Name - Two
0 = OK The HEX (non-ASCII) value
Note: If Frame ID = 0 in AT Command Mode, ASCII characters that
1 = ERROR of the requested register
no AT Command Response will be given. identify the AT Command.
TX (Transmit) Request: 64-bit address

A TX Request message will cause the modem to send RF Data as an RF Packet.
Figure 4‐10. TX Packet (64‐bit address) Frames
0x00 cmdData
Frame ID (Byte 5) Destination Address (Bytes 6-13) Options (Byte 14) RF Data (Byte(s) 15-n)
Identifies the UART data frame for the host to MSB first, LSB last. 0x01 = Disable ACK
correlate with a subsequent ACK (acknowledgement). Broadcast = 0x04 = Send packet with Broadcast Pan ID Up to 100 Bytes per packet
Setting Frame ID to ‘0' will disable response frame. 0x000000000000FFFF All other bits must be set to 0.
TX (Transmit) Request: 16-bit address

A TX Request message will cause the modem to send RF Data as an RF Packet.
Figure 4‐11. TX Packet (16‐bit address) Frames
0x01 cmdData
Frame ID (Byte 5) Destination Address (Bytes 6-7) Options (Byte 8) RF Data (Byte(s) 9-n)
Identifies the UART data frame for the host to 0x01 = Disable ACK
MSB first, LSB last.
correlate with a subsequent ACK (acknowledgement). 0x04 = Send packet with Broadcast Pan ID Up to 100 Bytes per packet
Broadcast = 0xFFFF
Setting Frame ID to ‘0' will disable response frame. All other bits must be set to 0.
TX (Transmit) Status

When a TX Request is completed, the modem sends a TX Status message. This message will indi-
cate if the packet was transmitted successfully or if there was a failure.
Figure 4‐12. TX Status Frames
0x89 cmdData
Frame ID (Byte 5) Status (Byte 6)

0 = Success
Identifies UART data frame being reported.
1 = No ACK (Acknowledgement) received
Note: If Frame ID = 0 in the TX Request, no
2 = CCA failure
AT Command Response will be given.
3 = Purged
NOTES:
• “STATUS = 1” occurs when all retries are expired and no ACK is received.
• If transmitter broadcasts (destination address = 0x000000000000FFFF), only
“STATUS = 0 or 2” will be returned.
• “STATUS = 3” occurs when Coordinator times out of an indirect transmission.
Timeout is defined as (2.5 x SP (Cyclic Sleep Period) parameter value).
RX (Receive) Packet: 64-bit address

When the modem receives an RF packet, it is sent out the UART using this message type.
Figure 4‐13. RX Packet (64‐bit address) Frames
0x80 cmdData
Source Address (Bytes 5-12) RSSI (Byte 13) Options (Byte 14) RF Data (Byte(s) 15-n)
Received Signal Strength Indicator - bit 0 [reserved]

MSB (most significant byte) first, Hexadecimal equivalent of (-dBm) value. bit 1 = Address broadcast
Up to 100 Bytes per packet
LSB (least significant) last (For example: If RX signal strength = -40 bit 2 = PAN broadcast
dBm, “0x28” (40 decimal) is returned) bits 3-7 [reserved]
RX (Receive) Packet: 16-bit address

When the modem receives an RF packet, it is sent out the UART using this message type.
Figure 4‐14. RX Packet (16‐bit address) Frames
0x81 cmdData
Source Address (Bytes 5-6) RSSI (Byte 7) Options (Byte 8) RF Data (Byte(s) 9-n)
Received Signal Strength Indicator - bit 0 [reserved]

MSB (most significant byte) first, Hexadecimal equivalent of (-dBm) value. bit 1 = Address broadcast
Up to 100 Bytes per packet
LSB (least significant) last (For example: If RX signal strength = -40 bit 2 = PAN broadcast
dBm, “0x28” (40 decimal) is returned) bits 3-7 [reserved]
Appendix A: Agency Certifications
FCC Certification
XBee-PRO RF Modems comply with Part 15 of the FCC rules and regulations. Compliance with the
labeling requirements, FCC notices and antenna usage guidelines is required.
To fulfill FCC Certification requirements, the OEM must comply with the following regulations:
1. The system integrator must ensure that the text on the external label provided with this
device is placed on the outside of the final product [Figure A-01].
2. XBee-PRO RF Modems may only be used with antennas that have been tested and approved
for use with this modem.
OEM Labeling Requirements
WARNING: The Original Equipment Manufacturer (OEM) must ensure that FCC labeling
requirements are met. This includes a clearly visible label on the outside of the final
product enclosure that displays the contents shown in the figure below.
Figure A‐01. Required FCC Label for OEM products containing the XBee‐PRO RF Modem
Contains FCC ID: OUR-XBEEPRO

The enclosed device complies with Part 15 of the FCC Rules. Operation is subject to the following two
conditions: (i.) this device may not cause harmful interference and (ii.) this device must accept any inter-
ference received, including interference that may cause undesired operation.
FCC Notices
IMPORTANT: The XBee-PRO RS-232 RF Modem has been certified by the FCC for use with other
products without any further certification (as per FCC section 2.1091). Modifications not expressly
approved by MaxStream could void the user's authority to operate the equipment.
IMPORTANT: OEMs must test final product to comply with unintentional radiators (FCC section
15.107 & 15.109) before declaring compliance of their final product to Part 15 of the FCC Rules.
IMPORTANT: The RF modem has been certified for remote and base radio applications. If the
modem will be used for portable applications, the device must undergo SAR testing.
This equipment has been tested and found to comply with the limits for a Class B digital device,
pursuant to Part 15 of the FCC Rules. These limits are designed to provide reasonable protection
against harmful interference in a residential installation. This equipment generates, uses and can
radiate radio frequency energy and, if not installed and used in accordance with the instructions,
may cause harmful interference to radio communications. However, there is no guarantee that
interference will not occur in a particular installation.
If this equipment does cause harmful interference to radio or television reception, which can be
determined by turning the equipment off and on, the user is encouraged to try to correct the inter-
ference by one or more of the following measures: Re-orient or relocate the receiving antenna,
Increase the separation between the equipment and receiver, Connect equipment and receiver to
outlets on different circuits, or Consult the dealer or an experienced radio/TV technician for help.
FCC-Approved Antennas (2.4 GHz)
The XBee-PRO RF Modem can be installed utilizing antennas and cables constructed with standard
connectors (Type-N, SMA, TNC, etc.) if the installation is performed professionally and according
to FCC guidelines. For installations not performed by a professional, non-standard connectors
(RPSMA, RPTNC, etc.) must be used.
The modems are FCC approved for fixed base station and mobile applications on channels 0x0B -
0x17. If the antenna is mounted at least 20cm (8 in.) from nearby persons, the application is con-
sidered a mobile application. Antennas not listed in the table must be tested to comply with FCC
Section 15.203 (Unique Antenna Connectors) and Section 15.247 (Emissions).
Table A‐01. Antennas approved for use with the XBee‐PRO RF Modems ‐ Cable‐loss is not required
Part Number Type (Description) Gain Application* Min. Separation
A24-HSM-450 Dipole (Half-wave articulated RPSMA - 4.5”) 2.1 dBi Fixed/Mobile 20 cm
A24-HABSM Dipole (Articulated RPSMA) 2.1 dBi Fixed 20 cm
A24-HABUF-P5I Dipole (Half-wave articulated bulkhead mount U.FL. w/ 5” pigtail) 2.1 dBi Fixed 20 cm
A24-QI Monopole (Integrated whip) 1.5 dBi Fixed 20 cm
Table A‐02. Antennas approved for use with the XBee‐PRO RF Modems ‐ Cable‐loss is required
Part Number Type (Description) Gain Application* Min. Separation Required Cable-loss
A24-C1 Surface Mount -1.5 dBi Fixed/Mobile 20 cm -
A24-Y4NF Yagi (4-element) 6.0 dBi Fixed 2m 8.1 dB
A24-Y16RM Yagi (16-element, RPSMA connector) 13.5 dBi Fixed 2m 15.6 dB
A24-F2NF Omni-directional (Fiberglass base station) 2.1 dBi Fixed/Mobile 20 cm 4.2 dB
A24-F8NF Omni-directional (Fiberglass base station) 8.0 dBi Fixed 2m 10.1 dB
A24-W7NF Omni-directional (Base station) 7.2 dBi Fixed 2m 9.3 dB
A24-M7NF Omni-directional (Mag-mount base station) 7.2 dBi Fixed 2m 9.3 dB
A24-P8SF Flat Panel 8.5 dBi Fixed 2m 8.6 dB
A24-P8NF Flat Panel 8.5 dBi Fixed 2m 8.6 dB
* If using the RF modem in a portable application (For example ‐ If the modem is used in a handheld device and the antenna is less
than 20cm from the human body when the device is operation): The integrator is responsible for passing additional SAR (Specific
Absorption Rate) testing based on FCC rules 2.1091 and FCC Guidelines for Human Exposure to Radio Frequency Electromagnetic
Fields, OET Bulletin and Supplement C. The testing results will be submitted to the FCC for approval prior to selling the integrated
unit. The required SAR testing measures emissions from the modem and how they affect the person.
RF Exposure
WARNING: To satisfy FCC RF exposure requirements for mobile transmitting devices, a separation distance of
20 cm or more should be maintained between the antenna of this device and persons during device operation.
To ensure compliance, operations at closer than this distance is not recommended. The antenna used for this
transmitter must not be co-located in conjunction with any other antenna or transmitter.
The preceding statement must be included as a CAUTION statement in OEM product manuals in order to alert users
of FCC RF Exposure compliance.
European Certification
The XBee-PRO RF Modem has been certified for use in several European countries. For a complete
list, refer to www.maxstream.net.
If the XBee-PRO RF Modems are incorporated into a product, the manufacturer must ensure com-
pliance of the final product to the European harmonized EMC and low-voltage/safety standards. A
Declaration of Conformity must be issued for each of these standards and kept on file as described
in Annex II of the R&TTE Directive.
Furthermore, the manufacturer must maintain a copy of the XBee-PRO user manual documenta-
tion and ensure the final product does not exceed the specified power ratings, antenna specifica-
tions, and/or installation requirements as specified in the user manual. If any of these
specifications are exceeded in the final product, a submission must be made to a notified body for
compliance testing to all required standards.
OEM Labeling Requirements
The 'CE' marking must be affixed to a visible location on the OEM product.
Figure A‐02. CE Labeling Requirements
The CE mark shall consist of the initials "CE" taking the following form:
• If the CE marking is reduced or enlarged, the proportions given in the above graduated draw-
ing must be respected.
• The CE marking must have a height of at least 5mm except where this is not possible on
account of the nature of the apparatus.
• The CE marking must be affixed visibly, legibly, and indelibly.
Restrictions
Power Output: The power output of the XBee-PRO RF Modems must not exceed 10 dBm. The
power level is set using the PL command and the PL parameter must equal “0” (10 dBm).
France: France imposes restrictions on the 2.4 GHz band. Go to www.art-telecom.Fr or contact
MaxStream for more information.
Norway: Norway prohibits operation near Ny-Alesund in Svalbard. More information can be found
at the Norway Posts and Telecommunications site (www.npt.no).
Declarations of Conformity
MaxStream has issued Declarations of Conformity for the XBee-PRO RF Modems concerning emis-
sions, EMC and safety. Files are located in the 'documentation' folder of the MaxStream CD.
Important Note
MaxStream does not list the entire set of standards that must be met for each country. MaxStream
customers assume full responsibility for learning and meeting the required guidelines for each
country in their distribution market. For more information relating to European compliance of an
OEM product incorporating the XBee-PRO RF Modem, contact MaxStream, or refer to the following
web sites:
CEPT ERC 70-03E - Technical Requirements, European restrictions and general requirements:
Available at www.ero.dk/.
R&TTE Directive - Equipment requirements, placement on market: Available at www.ero.dk/.
Approved Antennas
When integrating high-gain antennas, European regulations stipulate EIRP power maximums. Use
the following guidelines to determine which antennas to design into an application.
XBee-PRO (@ 10 dBm Transmit Power, PL parameter value must equal 0)
The following antennas have been tested and approved for use with the embedded XBee-PRO RF
Module:
• Dipole (2.1 dBi, Articulated RPSMA, MaxStream part number A24-HABSM)
• Chip Antenna (-1.5 dBi)
• Attached Monopole Whip (1.5 dBi)
The RF modem encasement was designed to accommodate the RPSMA antenna option.
IC (Industry Canada) Certification
Labeling Requirements
Labeling requirements for Industry Canada are similar to those of the FCC. A clearly visible label
on the outside of the final product enclosure must display the following text:
Contains Model XBee-PRO Radio, IC: 4214A XBEEPRO
The integrator is responsible for its product to comply with IC ICES-003 & FCC Part 15, Sub. B -
Unintentional Radiators. ICES-003 is the same as FCC Part 15 Sub. B and Industry Canada accepts
FCC test report or CISPR 22 test report for compliance with ICES-003.
Appendix B: Additional Information
1-Year Warranty
XBee-PRO RF Modems from MaxStream, Inc. (the "Product") are warranted against defects in
materials and workmanship under normal use, for a period of 1-year from the date of purchase. In
the event of a product failure due to materials or workmanship, MaxStream will repair or replace
the defective product. For warranty service, return the defective product to MaxStream, shipping
prepaid, for prompt repair or replacement.
The foregoing sets forth the full extent of MaxStream's warranties regarding the Product. Repair or
replacement at MaxStream's option is the exclusive remedy. THIS WARRANTY IS GIVEN IN LIEU
OF ALL OTHER WARRANTIES, EXPRESS OR IMPLIED, AND MAXSTREAM SPECIFICALLY DISCLAIMS
ALL WARRANTIES OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE. IN NO EVENT
SHALL MAXSTREAM, ITS SUPPLIERS OR LICENSORS BE LIABLE FOR DAMAGES IN EXCESS OF THE
PURCHASE PRICE OF THE PRODUCT, FOR ANY LOSS OF USE, LOSS OF TIME, INCONVENIENCE,
COMMERCIAL LOSS, LOST PROFITS OR SAVINGS, OR OTHER INCIDENTAL, SPECIAL OR CONSE-
QUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PRODUCT, TO THE
FULL EXTENT SUCH MAY BE DISCLAIMED BY LAW. SOME STATES DO NOT ALLOW THE EXCLUSION
OR LIMITATION OF INCIDENTAL OR CONSEQUENTIAL DAMAGES. THEREFORE, THE FOREGOING
EXCLUSIONS MAY NOT APPLY IN ALL CASES. This warranty provides specific legal rights. Other
rights which vary from state to state may also apply.
Ordering Information
Figure B‐01. Divisions of the XBee‐PRO RF Modem Part Numbers
For example:
XBP24-PKI-001-RA = XBee-PRO RF Modem (2.4 GHz), Industrial temperature rating, IEEE
802.15.4 standard, RS-232 Interface w/ accessories
Contact MaxStream
Free and unlimited technical support is included with every MaxStream Radio Modem sold. For the
best in wireless data solutions and support, please use the following resources:
Documentation: www.maxstream.net/support/downloads.php
Technical Support: Phone. (866) 765-9885 toll-free U.S.A. & Canada

(801) 765-9885 Worldwide
Live Chat. www.maxstream.net
E-Mail. rf-xperts@maxstream.net
MaxStream office hours are 8:00 am - 5:00 pm [U.S. Mountain Standard Time]

Xbee-Pro PKG-R™ Rs-232 RF Modem: Product Manual

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XBee-PRO PKG-R™ RS-232 RF Modem

XBee-PRO RS-232 RF Modem

Product Manual v1.x82

IEEE® 802.15.4 Stand-alone RF Modems by MaxStream, Inc.

355 South 520 West, Suite 180

© 2006 MaxStream, Inc. All rights reserved

1.1. Features Overview 4 FCC Certification 48

4.1. Programming the RF Modem 22

1.1. Features Overview

Range Power Currents

1.1.1. Worldwide Acceptance

FCC Approved (USA) Refer to Appendix A [p48] for FCC Requirements.

Specification XBee-PRO RS-232 RF Modem

1.3. External Interface

1-01a. Reset Switch

1-01b. I/O & Power LEDs

LEDs indicate RF modem activity as follows:

Yellow (top LED) = Serial Data Out (to host)

1-01d. RSSI LEDs

1-01b. I/O & Power LEDs

1-01e. Power Connector

1-01d. RSSI LEDs

RSSI LEDs indicate the amount of fade margin present in an active

3 LEDs ON = Very Strong Signal (> 30 dB fade margin)

1-01e. Power Connector

5-14 VDC power connector

1-02a. DIP Switch

1-02b. Antenna Port

Port is a 50Ω RF signal connector for connecting to an external

1-02b. Antenna Port

2.1.1. Pin Signals

DB-9 Pin RS-232 Name Description Implementation*

2.1.2. Wiring Diagrams

DTE RS-232 Device to a DCE RF Modem

DCE RF Modem to an DCE RS-232 Device

Sample Wireless Connection: DTE <--> DCE DCE <--> DCE

3.1.1. RS-232 Data Flow

3.1.2. Host and RF Modem Settings

Parameter Setting Default Parameter Value

3.1.3. Flow Control

DI (Data In) Buffer

How to eliminate the need for flow control:

1. Send messages that are smaller than the DI buffer size.

DO (Data Out) Buffer

3.1.4. Transparent Operation

3.1.5. API Operation

API (Application Programming Interface) Operation is an alternative to the default Transparent

-> Change destination addresses without having to enter command mode

To implement API operations, refer to API sections [p43].

3.2. IEEE 802.15.4 Networks

A peer-to-peer network can be established by

3.2.2. NonBeacon (w/ Coordinator)

A device is configured as a Coordinator by setting the CE (Coordinator Enable) parameter to “1”.

Coordinator / End Device Setup and Operation

To configure a modem to operate as a Coordinator, set the CE (Coordinator Enable) parameter to

NonBeacon (w/ Coordinator) Systems

Coordinator power-up is governed by the A2 (Coordinator Association) command. On power up,

1. Check A2 parameter- Reassign_PANID Flag

2. Check A2 parameter - Reassign_Channel Flag (bit 1)