ESD CAN-M.2/402-2-FD User manual

CAN-M.2/402-2-FD
Hardware Manual Doc.-Nr.: C.2074.21 /-Rev 1.0
Page 1 of 32
CAN-M.2/402-2-FD
M.2 Card with 2 CAN FD Interfaces
Hardware Manual
to Product C.2074.64

Page 2 of 32
Hardware Manual Doc.-Nr.: C.2074.21 /Rev. 1.0
CAN-M.2/402-2-FD
This manual contains important information and instructions on safe and efficient
handling of the CAN-M.2/402-2-FD. Carefully read this manual before commencing
any work and follow the instructions.
The manual is a product component, please retain it for future use.
Trademark Notices
CANopen® and CiA® are registered EU trademarks of CAN in Automation e.V.
Windows® is a registered trademark of Microsoft Corporation in the United States and other countries.
Linux® is the registered trademark of Linus Torvalds in the United States and/or other countries.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Notes
The information in this document has been carefully checked and is believed to be entirely reliable.
esd electronics makes no warranty of any kind with regard to the material in this document and
assumes no responsibility for any errors that may appear in this document. In particular descriptions
and technical data specified in this document may not be constituted to be guaranteed product
features in any legal sense.
esd electronics reserves the right to make changes without notice to this, or any of its products, to
improve reliability, performance or design.
All rights to this documentation are reserved by esd electronics. Distribution to third parties, and
reproduction of this document in any form, whole or in part, are subject to esd electronics' written
approval.
© 2020 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Tel.:
[phone]
Fax:
[phone]
E-Mail:
[email protected]
Internet:
www.esd.eu

CAN-M.2/402-2-FD
Hardware Manual Doc.-Nr.: C.2074.21/ 1.0
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Document Information
Document file:
I:\Texte\Doku\MANUALS\CAN\PCI-Express\CAN-M2-402-2\English\CAN-M2-402-2-
FD_Hardware_en_10_nfg_c.docx
Date of print:
2020-08-27
Document-type
number:
DOC0800
Hardware version.:
from Rev. 1.0
Document History
The changes in the document listed below affect changes in the hardware as well as changes in the
description of the facts, only.
Rev.
Chapter
Changes versus previous version
Date
1.0
-
First English manual
2020-08-27
-
-
-
Technical details are subject to change without further notice.

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Hardware Manual Doc.-Nr.: C.2074.21 /Rev. 1.0
CAN-M.2/402-2-FD
Classification of Warning Messages and Safety Instructions
This manual contains noticeable descriptions, warning messages and safety instructions, which you
must follow to avoid personal injuries or death and property damage.
This is the safety alert symbol.
It is used to alert you to potential personal injury hazards. Obey all safety messages
and instructions that follow this symbol to avoid possible injury or death.
DANGER, WARNING, CAUTION
Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to
highlight safety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
Danger statements indicate a hazardous situation which, if not avoided, will result in
death or serious injury.
WARNING.
Warning statements indicate a hazardous situation that, if not avoided, could result in
death or serious injury.
CAUTION
Caution statements indicate a hazardous situation that, if not avoided, could result in
minor or moderate injury.
NOTICE
Notice statements are used to notify people on hazards that could result in things other than personal
injury, like property damage.
NOTICE
This NOTICE statement indicates that the device contains components sensitive to
electrostatic discharge.
NOTICE
This NOTICE statement contains the general mandatory sign and gives information that
must be heeded and complied with for a safe use.
INFORMATION
INFORMATION
Notes to point out something important or useful.

CAN-M.2/402-2-FD
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Safety Instructions
●
When working with the CAN-M.2/402-2-FD follow the instructions below and read the manual
carefully to protect yourself from injury and the CAN-M.2/402-2-FD from damage.
●
The device is a built-in component. It is essential to ensure that the device is mounted in a way
that cannot lead to endangering or injury of persons or damage to objects.
●
Do not use damaged or defective cables to connect the CAN-M.2/402-2-FD and follow the CAN
wiring hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
●
In case of damages to the device, which might affect safety, appropriate and immediate
measures must be taken, that exclude an endangerment of persons and domestic animals and
property.
●
Current circuits which are connected to the device have to be sufficiently protected against
hazardous voltage (SELV according to EN 60950-1).
●
The CAN-M.2/402-2-FD may only be driven by power supply current circuits, that are contact
protected. A power supply, that provides a safety extra-low voltage (SELV) according to EN
60950-1, complies with these conditions.
●
The device has to be securely installed in the control cabinet before commissioning.
●
Protect the CAN-M.2/402-2-FD from dust, moisture and steam.
●
Protect the CAN-M.2/402-2-FD from shocks and vibrations.
●
The CAN-M.2/402-2-FD may become warm during normal use. Always allow adequate
ventilation around the CAN-M.2/402-2-FD and use care when handling.
●
Do not operate the CAN-M.2/402-2-FD adjacent to heat sources and do not expose it to
unnecessary thermal radiation. Ensure an ambient temperature as specified in the technical
data.
DANGER
Hazardous Voltage - Risk of electric shock due to unintentional contact with
uninsulated live parts with high voltages inside of the system into which the CAN-
M.2/402-2-FD is to be integrated.
→ Disconnect all hazardous voltages (mains voltage) before opening the system.
→ Ensure the absence of voltage before starting any electrical work
NOTICE
Electrostatic discharges may cause damage to electronic components.
→
→
To avoid this, please discharge the static electricity from your body before you touch
the CAN-M.2/402-2-FD.
Furthermore, you should prevent your clothes from touching the CAN-M.2/402-2-FD,
because your clothes might be electrostatically charged as well.
Qualified Personnel
This documentation is directed exclusively towards personnel qualified in control and automation
engineering. The installation and commissioning of the product may only be carried out by qualified
personnel, which is authorized to put devices, systems and electric circuits into operation according
to the applicable national standards of safety engineering.
Conformity
The CAN-M.2/402-2-FD is an industrial product and meets the demands of the EU regulations and
EMC standards printed in the conformity declaration at the end of this manual.

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Hardware Manual Doc.-Nr.: C.2074.21 /Rev. 1.0
CAN-M.2/402-2-FD
Warning:
In a residential, commercial or light industrial environment the CAN-M.2/402-2-FD
may cause radio interferences in which case the user may be required to take
adequate measures.
Intended Use
The intended use of the CAN-M.2/402-2-FD is the operation as CAN FD interface for Embedded PCs
The guarantee given by esd does not cover damages which result from improper use, usage not in
accordance with regulations or disregard of safety instructions and warnings.
●
The CAN-M.2/402-2-FD is intended for installation in an Embedded System or PC, with indoor use only.
●
The operation of the CAN-M.2/402-2-FD in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
●
The operation of the CAN-M.2/402-2-FD for medical purposes is prohibited.
Service Note
The CAN-M.2/402-2-FD does not contain any parts that require maintenance by the user. The CAN-
M.2/402-2-FD does not require any manual configuration of the hardware. Unauthorized intervention in
the device voids warranty claims
Disposal
Devices which have become defective in the long run have to be disposed in an appropriate way or have
to be returned to the manufacturer for proper disposal. Please, make a contribution to environmental
protection.
Typographical Conventions
Throughout this manual the following typographical conventions are used to distinguish technical terms.
Convention
Example
File and path names
/dev/null or <stdio.h>
Function names
open()
Programming constants
NULL
Programming data types
uint32_t
Variable names
Count
Number Representation
All numbers in this document are base 10 unless designated otherwise. Hexadecimal numbers have a
prefix of 0x, and binary numbers have a prefix of 0b. For example, 42 is represented as 0x2A in
hexadecimal and 0b101010 in binary.

CAN-M.2/402-2-FD
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Table of Contents
Safety Instructions ..........................................................................................................................5
1Overview.....................................................................................................................................9
1.1 Description of CAN-M.2/402-2-FD ........................................................................................9
1.2 Glossary .............................................................................................................................10
2PCB View with Connectors and LEDs.......................................................................................11
2.1 LED Display........................................................................................................................11
3Connector Assignment..............................................................................................................12
3.1 CAN Connector...................................................................................................................12
4DSUB Adapter and Adapter Cable............................................................................................13
4.1 Adapter View ......................................................................................................................13
4.2 CAN Termination Jumper....................................................................................................13
4.3 Connector Assignment of Adapter ......................................................................................14
4.3.1 CAN via DSUB9 ...........................................................................................................14
4.3.2 CAN Cable Connector..................................................................................................14
4.3.3 Adapter Cable ..............................................................................................................14
5Hardware Installation.................................................................................................................15
6Technical Data..........................................................................................................................17
6.1 General Technical Data ......................................................................................................17
6.2 Memory...............................................................................................................................17
6.3 PCI Express Mini Interface.................................................................................................. 17
6.4 CAN Interfaces ...................................................................................................................18
6.5 CAN-PCIeMini/402-DSUB9 Adapter ...................................................................................18
6.6 Software Support................................................................................................................19
7Correct Wiring of Electrically Isolated CAN Networks................................................................20
7.1 Standards concerning CAN Wiring......................................................................................20
7.2 Light Industrial Environment (Single Twisted Pair Cable)....................................................21
7.2.1 General Rules ..............................................................................................................21
7.2.2 Cabling.........................................................................................................................22
7.2.3 Branching..................................................................................................................... 22
7.2.4 Termination ..................................................................................................................22
7.3 Heavy Industrial Environment (Double Twisted Pair Cable)................................................ 23
7.3.1 General Rules ..............................................................................................................23
7.3.2 Device Cabling .............................................................................................................24
7.3.3 Branching..................................................................................................................... 24
7.3.4 Termination ..................................................................................................................24
7.4 Electrical Grounding............................................................................................................25
7.5 Bus Length..........................................................................................................................25
7.6 Examples for CAN Cables ..................................................................................................26
7.6.1 Cable for Light Industrial Environment Applications (Two-Wire)....................................26
7.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire).................................26
8CAN Troubleshooting Guide...................................................................................................... 27
8.1 Termination.........................................................................................................................27
8.2 Electrical Grounding............................................................................................................28
8.3 Short Circuit in CAN Wiring................................................................................................. 28
8.4 CAN_H/CAN_L-Voltage...................................................................................................... 28
8.5 CAN Transceiver Resistance Test......................................................................................29
8.6 Support by esd....................................................................................................................29
9Declaration of Conformity..........................................................................................................30
10Order Information..................................................................................................................... 31
10.1 Hardware........................................................................................................................ 31
10.2 Software for CAN-M.2/402-2-FD.....................................................................................32
10.3 Manuals..........................................................................................................................32

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CAN-M.2/402-2-FD
List of Tables
Table 1: LEDs ..............................................................................................................................11
Table 2: Jumper...........................................................................................................................13
Table 3: General Data of the module............................................................................................17
Table 4: Microprocessor and Memory ..........................................................................................17
Table 5: PCIe Mini interface.........................................................................................................17
Table 6: Data of the CAN interface...............................................................................................18
Table 7: Technical data of the DSUB9 adapter.............................................................................18
Table 8: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....................25
Table 9: Order information hardware............................................................................................31
Table 10: Order information software ...........................................................................................32
Table 11: Available Manuals ........................................................................................................32
List of Figures
Figure 1: Block circuit diagram of CAN-M.2/402-2-FD.....................................................................9
Figure 2: PCB view of CAN-M.2/402-2-FD...................................................................................11
Figure 3: Adapter CAN-PCIeMini-402-DSUB9 .............................................................................13
Figure 4: Top layer with DSUB9 connector ..................................................................................13
Figure 5: Bottom layer with jumper and cable connector..............................................................13
Figure 6: Adapter cable (detail)....................................................................................................14
Figure 7: CAN-M.2/402-2-FD wit 2 adapters................................................................................15
Figure 8: CAN wiring for light industrial environment....................................................................21
Figure 9: Example for proper wiring with single shielded single twisted pair wires........................22
Figure 10: CAN wiring for heavy industrial environment...............................................................23
Figure 11: Example of proper wiring with single shielded double twisted pair cables ...................24
Figure 12: Simplified diagram of a CAN network..........................................................................27
Figure 13: Simplified schematic diagram of ground test measurement.........................................28
Figure 14: Measuring the internal resistance of CAN transceivers ...............................................29

Overview
CAN-M.2/402-2-FD
Hardware Manual Doc.-Nr.: C.2074.21/ 1.0
Page 9 of 32
1 Overview
Figure 1: Block circuit diagram of CAN-M.2/402-2-FD
The CAN-M.2/402-2-FD is an M.2 Card, that features two electrically isolated CAN FD interfaces.
The optional adapter CAN-PCIeMini/402-DSUB comes with a DSUB9 connector, selectable on-
board CAN termination and an adapter cable.
CAN-M.2/402-2-FD is fully backwards compatible with CAN and can also be used in Classical CAN
applications.
The independent CAN nets are driven by the ISO 16845:2004 certified esdACC (esd Advanced
CAN Core) implemented in the Intel FPGA. The FPGA supports bus mastering (first-party DMA) to
transfer data to the host memory. This results in a reduction of overall latency on servicing I/O
transactions, in particular at higher data rates and a reduced host CPU load.
Due to the usage of MSI (Message Signaled Interrupts) the CAN-M.2/402-2-FD can be operated
for example in Hypervisor environments.
The CAN-M.2/402-2-FD provides high resolution 64-bit hardware timestamps for CAN messages.
The CAN layer 2 (NTCAN-API) drivers for Windows®and Linux®are included in the scope of
delivery. See “Order Information” on page 31 for availability of other drivers.
Customized options are available for customized series production in reasonable quantities.
Please contact our sales team for detailed information.
1.1 Description of CAN-M.2/402-2-FD

Overview
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Hardware Manual Doc.-Nr.: C.2074.21 /Rev. 1.0
CAN-M.2/402-2-FD
Abbreviations
Abbreviation
Term
API
Application Programming Interface
CAN
Controller Area Network
CPU
Central Processing Unit
CiA
CAN in Automation
HW
Hardware
I/O
Input/Output
LSB
Least Significant Bit
MSB
Most Significant Bit
n.a.
not applicable
OS
Operating System
SDK
Software Development Kit
PCI
Peripheral Component Interconnect
PCIe
PCI Express
IDC
Insulation Displacement Connector
WLAN
Wireless Local Area Network
WWAN
Wireless Wide Area Network
WPAN
Wireless Personal Area Network
1.2 Glossary