ESD CAN-PCI/402 User manual

CAN-PCI/402
1, 2 or 4 Channel PCI-CAN Interface
(Layer 2, CANopen®, J1939 or A INC825)
or 2 Channel PCI-CAN FD Interface
CAN-PCI/402-2
(C.2049.04)
Hardware Manual
to Product C.2049.02 - C.2049.07,
C.2045.10, C.2045.11,
C.2049.32,
C.2049.64
CAN-PCI 402 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 Page 1 of 43
esd electronics gmbh
Vahren alder Str. 207 • 30165 Hannover • Germany
http:// .esd.eu
Phone: [phone] • Fax: [phone]

N O T E
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's
written approval.
© 2021 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Phone: [phone]
Fax: [phone]
E-Mail: [email protected]
Internet: www.esd.eu
This manual contains important information and instructions on safe and efficient
handling of the CAN-PCI 402. 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 community 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 U.S. and other countries.
The PICMG® name and logo are registered trademarks of the PCI Industrial Computer Manufacturers Group.
Altera® and Intel® are trademarks of Intel Corporation or its subsidiaries in the U.S. and or other countries.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Page 2 of 43 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 CAN-PCI 402

Document file: I:\Texte\Doku\MANUALS\CAN\PCI\CAN-PCI402\Englisch\CAN-PCI402_Hardware-Manual_en_15.odt
Date of print: 2021-12-23
Document type
number: DOC0800
Hardware
version:
1.3
Note to CAN FD:
For the CAN FD versions the transceiver for the increased CAN FD bit rate (up to
8 Mbit s, formerly 5 Mbit s ) is only equipped from the batch number as described in
the following table:
Product Order No. Increased bit rate available from batch number
CAN-PCI 402-2-FD C.2049.64 GJ (see chapter “Product Label ” on page 16)
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.
ev. Chapter Changes versus previous version Date
1.0 First English Hardware Manual 2015-11-10
1.1
- Safety instructions and Warning Messages revised and Classification inserted
2016-11-23
2.1, 2.2 Figure 3 and 4 new
3.2 Chapter “MSI” Jumper deleted
6.3 Description of Jumper deleted
6.5 Description of CAN Tools inserted
1.2
- Description of CAN-PCI 402-2-FD inserted
2018-05-29
1. Chapter restructured, new subsections: ”About this Manual”, “Overview of
available Hardware Versions” and “Description”
2.2 New chapter: CAN-PCI 402-1
3. Figure inserted, notes revised
6.4 New chapter ”CAN FD Interface (CAN-PCI 402-2-FD only)”
6.6 Chapter “Software Support” revised
10. CAN FD version inserted in Application Note,
11. CE-Declaration of Conformity updated
12 Chapter revised
1.3
1.3 Chapter revised, note on CAN FD added.
2019-04-25
1.3.3,
6.5
Note on potential interoperability revised
10. Chapter “Application Note to CAN 402 Boards” revised and subsection for
Linux OS added.
11. Declaration of Conformity updated
1.4 1.3, 6.4 CAN FD Bitrate of CAN-PCI 402-2-FD is 8Mbit s 2021-04-15
1.5
-For CAN-PCI 402-2-FD the increased CAN FD bit rate (up to 8 Mbit s) is only
ensured from the batch number as specified under hardware version above.
2021-12-23
2.4 New chapter: Product Label
6.4 Note on extended bit rate added
Technical details are subject to change without further notice.
CAN-PCI 402 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 Page 3 of 43

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.
DANGE , WA NING, 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.
DANGE
Danger statements indicate a hazardous situation which, if not avoided, will result in
death or serious injury.
WA NING
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.
INFO MATION
INFO MATION
Notes to point out something important or useful.
Page 4 of 43 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 CAN-PCI 402

Safety Instructions
● When working with the CAN-PCI 402 follow the instructions below and read the manual
carefully to protect yourself from injury and the CAN-PCI 402 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-PCI 402 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-PCI 402 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 this conditions.
● The device has to be securely installed in the control cabinet before commissioning.
● Protect the CAN-PCI 402 from dust, moisture and steam.
● Protect the CAN-PCI 402 from shocks and vibrations.
● The CAN-PCI 402 may become warm during normal use. Always allow adequate ventilation
around the CAN-PCI 402 and use care when handling.
● Do not operate the CAN-PCI 402 adjacent to heat sources and do not expose it to unnecessary
thermal radiation. Ensure an ambient temperature as specified in the technical data.
DANGE
Hazardous Voltage - isk of electric shock due to unintentional contact with
uninsulated live parts with high voltages inside of the system into which the CAN-PCI 402
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-PCI 402.
Furthermore, you should prevent your clothes from touching the CAN-PCI 402,
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-PCI 402 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.
Warning: In a residential, commercial or light industrial environment the CAN-PCI 402 may cause
radio interferences in which case the user may be required to take adequate measures.
The CAN-PCI 402 is a sub-assembly intended for incorporation into an apparatus by a manufacturer.
The manufacturer of the final system must decide, whether additional EMC or EMI protection
requirements are necessary.
CAN-PCI 402 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 Page 5 of 43

Intended Use
The intended use of the CAN-PCI 402 is the operation as PCI-CAN interface board.
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-PCI 402 is intended for installation in a PCI system only.
●The operation of the CAN-PCI 402 in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
●The operation of the CAN-PCI 402 for medical purposes is prohibited.
Service Note
The CAN-PCI 402 does not contain any parts that require maintenance by the user. The CAN-
PCI 402 does not require any manual configuration of the hardware except the configuration of the
jumpers as described in chapter “Jumper Configuration”. 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 epresentation
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.
Abbreviations
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
Page 6 of 43 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 CAN-PCI 402

Table of contents
Safety Instructions...........................................................................................................................5
1. Overview......................................................................................................................................9
1.1 About this Manual..................................................................................................................9
1.2 Overview of available Hardware Versions..............................................................................9
1.3 Description...........................................................................................................................11
1.3.1 Classical CAN..............................................................................................................11
1.3.2 CAN FD.......................................................................................................................11
1.3.3 General Properties......................................................................................................12
1.3.4 Customized Options....................................................................................................13
2. PCB View with Connectors and Jumpers...................................................................................14
2.1 CAN-PCI 402-2(-FD)............................................................................................................14
2.2 CAN-PCI 402-1....................................................................................................................14
2.3 CAN-PCI 402-4 2-Slot View.................................................................................................15
3. Jumper Configuration.................................................................................................................16
3.1 CAN Termination .................................................................................................................16
4. Hardware Installation..................................................................................................................17
5. Front Panel View with LED-Display............................................................................................19
5.1 CAN-PCI 402-2(-FD) LEDs..................................................................................................19
5.2 Additional LEDs on CAN-PCIe 402-Slot2 Adapter Board.....................................................20
6. Technical Data............................................................................................................................21
6.1 General Technical Data........................................................................................................21
6.2 PCI Interface........................................................................................................................21
6.3 Classical CAN Interfaces ....................................................................................................22
6.4 CAN FD Interface (CAN-PCI 402-2-FD only).......................................................................22
6.5 Message-Signalled Interrupt Handling.................................................................................23
6.6 Software Support.................................................................................................................23
6.6.1 CAN-PCI 402 Classical CAN Versions........................................................................23
6.6.2 CAN-PCI 402-2-FD ....................................................................................................23
6.6.3 CAN Tools...................................................................................................................24
7. Connector Assignments..............................................................................................................25
7.1 CAN.....................................................................................................................................25
8. Correct Wiring of Electrically Isolated CAN Networks.................................................................26
8.1 Standards concerning CAN Wiring......................................................................................26
8.2 Light Industrial Environment (Single Twisted Pair Cable).....................................................27
8.2.1 General Rules.............................................................................................................27
8.2.2 Cabling........................................................................................................................28
8.2.3 Branching....................................................................................................................28
8.2.4 Termination..................................................................................................................28
8.3 Heavy Industrial Environment (Double Twisted Pair Cable).................................................29
8.3.1 General Rules.............................................................................................................29
8.3.2 Device Cabling............................................................................................................30
8.3.3 Branching....................................................................................................................30
8.3.4 Termination..................................................................................................................30
8.4 Electrical Grounding.............................................................................................................31
8.5 Bus Length...........................................................................................................................31
8.6 Examples for CAN Cables...................................................................................................32
8.6.1 Cable for light industrial Environment Applications (Two-Wire)....................................32
8.6.2 Cable for heavy industrial Environment Applications (Four-Wire)................................32
9. CAN Troubleshooting Guide.......................................................................................................33
9.1 Termination..........................................................................................................................33
CAN-PCI 402 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 Page 7 of 43

9.2 Electrical Grounding.............................................................................................................34
9.3 Short Circuit in CAN Wiring..................................................................................................34
9.4 CAN_H CAN_L-Voltage ......................................................................................................34
9.5 CAN Transceiver Resistance Test........................................................................................35
9.6 Support by esd.....................................................................................................................35
10. Application Note to CAN 402 Boards........................................................................................36
10.1 Windows Operating System...............................................................................................36
10.2 Linux Operating System.....................................................................................................37
11. Declaration of Conformity.........................................................................................................39
12. Order Information.....................................................................................................................40
12.1 Hardware...........................................................................................................................40
12.2 Software.............................................................................................................................41
12.2.1 Classical CAN...........................................................................................................41
12.2.2 CAN FD.....................................................................................................................42
12.3 PDF Manuals.....................................................................................................................42
Page 8 of 43 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 CAN-PCI 402

Overview
1. Overview
1.1 About this Manual
In this hardware manual all versions of the CAN-PCI 402 are described together as CAN-PCI 402.
Differences of the CAN-PCI 402 variants are noted accordingly.
Available features, options and supplied items may vary depending on the CAN-PCI 402 version
you selected.
1.2 Overview of available Hardware Versions
2x CAN Version - Standard version
CAN-PCI/402-2
2 CAN interfaces,
2x DSUB9,
electrical isolation
(C.2049.04)
CAN-PCI/402-2-D
2 CAN interfaces,
2x DSUB9,
without electrical
isolation
(C.2049.05)
CAN-PCI/402-2-FD
2 CAN FD interfaces,
2x DSUB9,
electrical isolation
(C.2049.64)
1x CAN Version
CAN-PCI/402-1
1 CAN interface,
1x DSUB9,
electrical isolation
(C.2049.02)
CAN-PCI/402-1-D
1 CAN interface,
1x DSUB9,
without electrical
isolation
(C.2049.03)
CAN-PCI 402 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 Page 9 of 43

Overview
4x CAN with Adapter Board
CAN-PCIe/402-Slot2
Adapter Board with
2 CAN interfaces,
2x DSUB9,
electrical isolation
(C.2045.10)
includes ribbon cable
CAN-PCIe/402-Slot2-D
Adapter Board with
2 CAN interfaces,
2x DSUB9,
without electrical isolation,
(C.2045.11)
includes ribbon cable
CAN-PCI/402-4/2Slot
4 CAN interfaces
with electrical isolation
(C.2049.06)
includes C.2049.04
and adapter board
C.2045.10
CAN-PCI/402-4/2Slot-D
4 CAN interfaces
without electrical isolation
(C.2049.07)
includes C.2049.05
and adapter board
C.2045.11
Low Profile Version Option on equest only
CAN-PCI/402-1-LP
1 CAN interface,
1x DSUB9,
electrical isolation
(C.2049.32)
CAN-PCI/402-1-
LP-2
Extension board
1 CAN interface,
1x DSUB9,
electrical isolation
(C.2049.34),
cable included
4x CAN, DSUB37-Version Option on equest only Accessories
CAN-PCI/402-B4/1 Slot
4 CAN interfaces,
1x DSUB37,
electrical isolation
(C.2049.08)
CAN-PCI/4xx-B4-1C4
DSUB37-to-4xDSUB9
CAN Adapter Cable
DSUB37 to 4x DSUB9
(C.2041.18)
Page 10 of 43 Hardware Manual • Doc. No.: C.2049.21 Rev. 1.5 CAN-PCI 402