ESD CAN-PCIe/200 User manual

CAN-PCIe/200
Passive CAN-Interface Board
for PCI Express®
CAN-PCIe/200-2
(C.2042.04)
Hardware Manual
to Product C.2042.02,
C.2042.04
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 1 of 28
esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • German
http://www.esd.eu
Phone: [phone] • Fax: [phone]

N T E
The information in this document has been carefully checked and is belie ed 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 reser es the right to make changes without notice to this, or any of its products, to
impro e reliability, performance or design.
All rights to this documentation are reser ed 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 appro al.
© 2020 esd electronics gmbh, Hanno er
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hanno er
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-PCIe/200. 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.
The PICMG® name and logo are registered trademarks of the PCI Industrial Computer Manufacturers Group.
PCI Express® is a registered trademark of PCI-SIG.
All other trademarks, product names, company names or company logos used in this manual are reser ed by their
respecti e owners.
Page 2 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Document file: I:\Texte\Doku\MANUALS\CAN\PCI-Express\PCIe200\english\CAN-PCIe-200_Hardware_en_15.odt
Date of print: 2020-02-26
Document type
number: DOC0800
Hardware version: CAN-PCIe/200 Re . 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.
Revision Chapter Changes versus previous version Date
1.3
- Added Safety Instructions
2012-12-03
2 Updated chapter 'Hardware Installation'
6 Updated chapter 'Correct Wiring of Electrically Isolated CAN Networks'
7 Added new chapter 'CAN Troubleshooting Guide'
8 Added new Declaration of Conformity 2012-11-30
9 Updated chapter 'Order Information' 2012-12-03
1.4
- Name of product corrected : CAN-PCIe/200
2014-06-25
- Safety Instructions ans Trademark Notices re ised
3.3 'Electrical isolation' entry re ised
3.4 chapter updated
8. Declaration of Conformity updated
9. Order Information updated
1.5
-Note on manual and Classification of Warning Messages and Safety
Instructuions inserted.
2020-02-26
1.2 Notes inserted
2. Safety Instructiions re ised
3.4 Description of CAN Tools added
8. Declaration of Conformity updated
Technical details are subject to change without further notice.
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 3 of 28

Classification of Warning Messages and Safety Instructions
This manual contains noticeable descriptions, warning messages and safety instructions, which
you must follow to a oid 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 a oid possible injury or death.
DANGER, WARNING, CAUTI N
Depending on the hazard le el 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 a oided, will result in
death or serious injury.
WARNING
Warning statements indicate a hazardous situation that, if not a oided, could result in
death or serious injury.
CAUTI N
Caution statements indicate a hazardous situation that, if not a oided, could result in
minor or moderate injury.
N TICE
Notice statements are used to notify people on hazards that could result in things other than
personal injury, like property damage.
N TICE
This NOTICE statement indicates that the de ice contains components sensiti e to
electrostatic discharge.
N TICE
This NOTICE statement contains the general mandatory sign and gi es information that
must be heeded and complied with for a safe use.
INF RMATI N
INF RMATI N
Notes to point out something important or useful.
Page 4 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Safety Instructions
● When working with the CAN-PCIe/200 follow the instructions below and read the manual carefully to
protect yourself from injury and the CAN-PCIe/200 from damage.
● The de ice is a built-in component. It is essential to ensure that the de ice is mounted in a way that
cannot lead to endangering or injury of persons or damage to objects.
● Do not use damaged or defecti e cables to connect the CAN-PCIe/200 and follow the CAN wiring
hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
● In case of damages to the de ice, 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 de ice ha e to be sufficiently protected against
hazardous oltage (SELV according to EN 60950-1).
● The CAN-PCIe/200 may only be dri en by power supply current circuits, that are contact protected.
A power supply, that pro ides a safety extra-low oltage (SELV) according to EN 60950-1, complies
with this conditions.
● The de ice has to be securely installed in the control cabinet before commissioning.
● Protect the CAN-PCIe/200 from dust, moisture and steam.
● Protect the CAN-PCIe/200 from shocks and ibrations.
● The CAN-PCIe/200 may become warm during normal use. Always allow adequate entilation around
the CAN-PCIe/200 and use care when handling.
● Do not operate the CAN-PCIe/200 adjacent to heat sources and do not expose it to unnecessary
thermal radiation. Ensure an ambient temperature as specified in the technical data.
N TICE
Electrostatic discharges may cause damage to electronic components.
To a oid this, please perform the steps described on page 10 before you touch the CAN-
PCIe/200, in order to discharge the static electricity from your body.
Qualified Personnel
This documentation is directed exclusi ely 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 de ices, systems and electric circuits into operation according to
the applicable national standards of safety engineering.
Conformity
The CAN-PCIe/200 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.
Intended Use
The intended use of the CAN-PCIe/200 is the operation as a PCI Express® CAN interface.
The guarantee gi en by esd does not co er damages which result from improper use, usage not in
accordance with regulations or disregard of safety instructions and warnings.
!The CAN-PCIe/200 is intended for installation in PCI Express systems only.
!The operation of the CAN-PCIe/200 in hazardous areas, or areas exposed to potentially
explosi e materials is not permitted.
!The operation of the CAN-PCIe/200 for medical purposes is prohibited.
Service Note
The CAN-PCIe/200 does not contain any parts that require maintenance by the user. The CAN-
PCIe/200 does not require any manual configuration of the hardware. Unauthorized inter ention in
the de ice oids warranty claims.
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 5 of 28

Disposal
De ices which ha e become defecti e in the long run ha e to be disposed in an appropriate way or
ha e to be returned to the manufacturer for proper disposal. Please, make a contribution to
en ironmental protection.
Typographical Conventions
Throughout this manual the following typographical con entions 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 ha e a
prefix of 0x, and binary numbers ha e 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 De elopment Kit
Page 6 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Table of contents
Safety Instructions...........................................................................................................................5
1. O er iew......................................................................................................................................8
1.1 Description of the Module......................................................................................................8
1.2 PCB View with Connectors....................................................................................................9
2. Hardware Installation..................................................................................................................10
3. Technical Data...........................................................................................................................12
3.1 General Technical Data.......................................................................................................12
3.2 PCI Express Interface..........................................................................................................12
3.3 CAN Interface......................................................................................................................12
3.4 Software Support.................................................................................................................13
4. Front Panel View with LED-Display............................................................................................14
5. Connector Assignments.............................................................................................................15
5.1 CAN.....................................................................................................................................15
6. Correct Wiring of Electrically Isolated CAN Networks.................................................................16
6.1 Standards concerning CAN Wiring......................................................................................16
6.2 Hea y Industrial En ironment (Double Twisted Pair Cable).................................................17
6.2.1 General Rules.............................................................................................................17
6.2.2 De ice Cabling............................................................................................................18
6.2.3 Branching....................................................................................................................18
6.2.4 Termination.................................................................................................................18
6.3 Light Industrial En ironment (Single Twisted Pair Cable).....................................................19
6.3.1 General Rules.............................................................................................................19
6.3.2 Cabling........................................................................................................................20
6.3.3 Branching....................................................................................................................20
6.3.4 Termination.................................................................................................................20
6.4 Electrical Grounding.............................................................................................................21
6.5 Bus Length...........................................................................................................................21
6.6 Examples for CAN Cables...................................................................................................22
6.6.1 Cable for light industrial En ironment Applications (Two-Wire)...................................22
6.6.2 Cable for hea y industrial En ironment Applications (Four-Wire)................................22
7. CAN Troubleshooting Guide.......................................................................................................23
7.1 Termination..........................................................................................................................23
7.2 Electrical Grounding.............................................................................................................24
7.3 Short Circuit in CAN Wiring..................................................................................................24
7.4 CAN_H/CAN_L-Voltage ......................................................................................................24
7.5 CAN Transcei er Resistance Test.......................................................................................25
7.6 Support by esd.....................................................................................................................25
8. Declaration of Conformity...........................................................................................................26
9. Order Information.......................................................................................................................27
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 7 of 28

verview
1. verview
1.1 Description of the Module
Figure 1: Block circuit diagram of CAN-PCIe/200
The CAN-PCIe/200 is a passi e CAN interface board for PCI Express with one, or optionally two
CAN interfaces.
The ISO 11898-2 CAN interface allows a maximum data transfer rate of 1 Mbit/s. Among many
other features of the CAN interfaces, the baud rate can be set by software.
The maximum effecti e CAN bit rate alue may be limited by the performance of the host CPU,
because this is a passi e CAN module without a microcontroller on board.
The CAN interface is electrically isolated from the other potentials by optocouplers and DC/DC-
con erters.
The CAN-PCIe/200 is equipped with four LEDs in the front panel.
Page 8 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200
+12 V=
+5 V=
+12 V=
+5 V=
C
A
N
B
U
S
CAN
CAN
LEDs
PLD
Physical
CAN
Layer
C
A
N
B
U
S
Electrical Isolation
DC/DC
Converter
DSU 9
CiA pinning
CAN Controller
SJA1000
PCI Express
Endpoint
PEX8311
Electrical Isolation
PCI Express Card Connector
CAN Controller
SJA1000
Physical
CAN
Layer
DSU 9
CiA pinning
2
nd
CAN Interface
only
CAN-PCIe/200-2
DC/DC
Converter

verview
1.2 PCB View with Connectors
Figure 2: PCB iew of CAN-PCIe/200-2 with 2 CAN interfaces
On CAN-PCIe/200-1 (C.2042.02) the interface CAN Net 1 is not equipped.
See also page 15 for signal assignment of the CAN connectors.
N TICE
Read chapter “Hardware Installation” on page 10, before you start with the installation of
the hardware!
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 9 of 28

Hardware Installation
2. Hardware Installation
N TICE
Read the safety instructions at the beginning of this document carefully, before
you start with the hardware installation!
DANGER
Hazardous Voltage - Risk of electric shock due to unintentional contact with
uninsulated li e parts with high oltages inside of the system into which the CAN-
PCIe/200 is to be integrated.
→ Disconnect all hazardous oltages (mains oltage) before opening the system.
→ Ensure the absence of oltage before starting any electrical work.
N TICE
Electrostatic discharges may cause damage to electronic components.
→
→
To a oid this, please discharge the static electricity from your body before you touch
the CAN-PCIe/200.
Furthermore, you should pre ent your clothes from touching the CAN-PCIe/200,
because your clothes might be electrostatically charged as well.
Procedure:
1. Switch off your system and all connected peripheral de ices (monitor, printer, etc.). Switch off
the connected CAN de ices.
2. Discharge your body as described abo e.
3. Disconnect the system from the mains.
Make sure that no risk arises from the system into which the CAN-PCIe/200 shall be
inserted.
DANGER
Hazardous Voltage
Risk of electric shock due to unintentional contact with uninsulated li e parts with
high oltages.
→
→
→
→
Disconnect all hazardous oltages (mains oltage) before opening the system.
If the system does not ha e a flexible mains cable, but is directly connected to
mains, disconnect the power supply ia the safety fuse and make sure that the fuse
cannot switch on again unintentionally (i.e. with caution label).
Ensure the absence of oltage before starting any electrical work.
Co er or block off adjacent li e parts.
4. Open the case if necessary.
5. Select an open PCI Express slot and remo e the slot co er at the back of the PC.
Unfasten the screw which fixes the slot co er and retain it for fixing the module afterwards.
The CAN module can be inserted into e ery PCI Express slot.
6. Insert the CAN-PCIe/200 board into the selected PCI Express slot. Carefully push the board
down until it snaps into place.
7. Attach the board.
Use the screw you remo ed from the slot co er in step 5.
8. Close the system's case again.
Page 10 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Hardware Installation
9. Connect the CAN cable and follow the CAN wiring hints in chapter: "Correct Wiring of
Electrically Isolated CAN Networks" from page 16.
Please note that the CAN bus has to be terminated at both ends!
Additionally the CAN_GND signal has to be connected to earth at exactly one point. For
easier wiring esd offers termination connectors with an earth connector
(4.8 mm fast-on, male).
A CAN node without an electrically isolated interface acts as an earth connection.
The first CAN interface (CAN net 0) has to be connected ia the lower DSUB connector
(X400) and the second CAN interface (CAN net 1) has to be connected ia the upper DSUB
connector (X410).
10. Connect the computer to mains again (mains connector or safety fuse).
11. Switch on the computer and the peripheral de ices.
12. End of hardware installation.
Continue with the software installation as described in the manual ‘CAN-API, Installation
Guide’.
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 11 of 28

Technical Data
3. Technical Data
3.1 General Technical Data
Ambient
temperature 0...50 °C
Humidity 90 %, non-condensing
Supply oltage
ia PCIe-bus,
Nominal oltage / current (typ., at 20 °C):
3.3 V ±5% / 200mA
and
+12V ±5% / 80mA
Connectors
X400 (DSUB9/male) - CAN net 0
X410 (DSUB9/male) - optional CAN net 1
X100 (Card Edge) - PCIe bus
LEDs 4 LEDs
Dimensions height: 111.15 mm (standard PCI Express Add-In Card Size)
length: 80 mm
Link width x1
Weight approx. 85 g (module with 2 x CAN)
Table 1: General technical data of the module
3.2 PCI Express Interface
PCIe Endpoint PEX8311
PCIe port compliant with PCI Express Specification R1.0a
Connector x1 PCI Express card edge connector
Table 2: PCI Express data
3.3 CAN Interface
Number of CAN
interfaces
1,
optional 2 CAN interfaces
CAN controller SJA1000, acc. to ISO 11898-1
Physical Layer Physical layer according to ISO 11898-2,
transmission rate is programmable from 10 Kbit/s to 1 Mbit/s
Termination terminating resistor has to be set externally, if required
Electrical
isolation of the
CAN interface
against other
units
both CAN interfaces are electrically isolated ia optocouplers and DC/DC-
con erters against each other and against the PCIe bus potentials
Table 3: Data of the CAN interface
Page 12 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Technical Data
3.4 Software Support
Software dri ers are a ailable for Windows® and Linux®and real-time operating systems are
a ailable (see 'Order Information', page 27).
The CANopen software package is a ailable for Windows, Linux, QNX® RTX and VxWorks®.
J1939 Stack is a ailable as higher layer protocol for Windows, Linux and RTX.
For detailed information about the dri er a ailability for your special operating system, please
contact our sales team: [email protected]
The CAN layer 2 (CAN-API) software installation and the software dri ers are described in the
manual:
“NTCAN-API Part 1: Structure, Function and C/C++ API” Application De elopers Manual and
“NTCAN-API Part 2: Installation, Configuration and Firmware Update” Installation Guide
(esd-order No.: C.2001.21)
CAN Tools
esd offers additional free-of-charge tools which support efficient setup and analysis of CAN
applications and networks
The CAN Tools are operational with all esd PC-CAN interfaces (e.g. PCIe, USB, EtherCAN/2 ...)
The following CAN Tools are a ailable:
CANreal Display and record of CAN message
frames
CANplot Graphical display of CAN data
CANrepro Replay of pre-recorded CAN
messages
CANscript Python based scripting tool
C Bview Analysis and diagnostics of
CANopen® nodes
System Requirements:
- Windows 32 bit or 64 bit system
- 30 MB free HD dri e space
- esd CAN dri er installed
As part of the esd software de elopment kit (CAN SDK) of the NTCAN-API the CAN Tools are
included in deli ery of the CAN-CD.
The CAN SDK can also be downloaded free-of-charge from the esd website.
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 13 of 28

Front Panel View with LED-Display
4. Front Panel View with LED-Display
The CAN-PCIe/200 is equipped with four green LEDs located in the front panel.
Figure 3: Front panel iew of CAN-PCIe/200-2
Name Function Colour Display function (LED on)
A ADU-CS green reser ed
B CAN-IRQ1 green Interrupt in CAN Net 1 -
CAN frames are recei ed or transmitted
C CAN-IRQ0 green interrupt of CAN net 0 acti e -
CAN frames are recei ed or transmitted
D Power green 5 V- power supply on
Table 4: LEDs
Page 14 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Connector Assignments
5. Connector Assignments
5.1 CAN
The assignment of the signals to the connector pins of CAN net 0 (X400) is equal to the
assignment of the optional second CAN net 1 (X410). The connectors are 9-pin DSUB connectors
(male).
Device connector: 9-pin DSUB connector, male
Pin Position:
Pin Assignment:
Signal Pin Signal
1
reser ed
(CAN_GND)
6
2
CAN_L
CAN_H
7
3
CAN_GND
reser ed
8
4
reser ed
reser ed
9
5
Shield
Signal Description:
CAN_L, CAN_H ... CAN signal lines
CAN_GND ... reference potential of the local CAN physical layer
(CAN_GND)... optional reference potential of the local CAN physical layer
Shield ... shielding (connected with the chassis ground of the 9-pin DSUB connector)
reser ed ... reser ed for future applications, do not connect!
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 15 of 28
12345
6789

Correct Wiring of Electrically Isolated CAN Networks
6. Correct Wiring of Electrically Isolated CAN Networks
N TICE
This chapter applies to CAN networks with bit rates up to 1 Mbit/s.
If you work with higher bit rates, as for example used for CAN FD, the information gi en
in this chapter must be examined for applicability in each indi idual case.
For further information refer to the CiA® CAN FD guidelines and recommendations
(https://www.can-cia.org/).
For the CAN wiring all applicable rules and regulations (EU, DIN), e.g. regarding electromagnetic
compatibility, security distances, cable cross-section or material, ha e to be met.
6.1 Standards concerning CAN Wiring
The flexibility in CAN network design is one of the key strengths of the arious extensions and
additional standards like e.g. CANopen, ARINC825, De iceNet and NMEA2000 that ha e been
built on the original ISO 11898-2 CAN standard. In using this flexibility comes the responsibility of
good network design and balancing these tradeoffs.
Many CAN organizations and standards ha e scaled the use of CAN for applications outside the
original ISO 11898. They ha e made system le el tradeoffs for data rate, cable length, and
parasitic loading of the bus.
Howe er for CAN network design margin must be gi en for signal loss across the complete system
and cabling, parasitic loadings, network imbalances, ground offsets against earth potential and
signal integrity. Therefore the practical maximum number of nodes, bus length and stub
length are typically much lower.
esd has concentrated her recommendations concerning CAN wiring on the specifications of the
ISO 11898-2. Thus this wiring hints forgoes to describe the special features of the deri ed
standards CANopen, ARINC825, De iceNet and NMEA2000.
The consistent compliance to ISO 11898-2 offers significant ad antages:
●Durable operation due to well pro en design specifications
●Minimizing potential failures due to sufficient margin to physical limits
●Trouble-free maintenance during future network modifications or during fault diagnostics
due to lack of exceptions
Of course reliable networks can be designed according the specifications of CANopen, ARINC825,
De iceNet and NMEA2000, however it must be observed that it is strictly not recommended
to mix the wiring guidelines of the various specifications!
Page 16 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Correct Wiring of Electrically Isolated CAN Networks
6.2 Heavy Industrial Environment (Double Twisted Pair Cable)
6.2.1 General Rules
N TICE
esd only grants the compliance with directi e 2014/30/EU, if the CAN wiring is carried out
with single shielded double twisted pair cables that match the requirements of
ISO 11898-2.
The following general rules for the CAN wiring with single shielded double twisted pair cable
should be followed:
1A cable type with a wa e impedance of about 120 Ω ±10% with an adequate conductor cross-section
(≥ 0.22 mm²) has to be used. The oltage drop o er the wire has to be considered.
2For hea y industrial en ironment use a four-wire CAN cable.
Connect
•
•
•
two twisted wires to the data signals (CAN_H, CAN_L) and
the other two twisted wires to the reference potential (CAN_GND) and
the cable shield to functional earth (FE) at least at one point.
3The reference potential CAN_GND has to be connected to the functional earth (FE) at exactly one
point.
4A CAN bus line must not branch (exception: short cable stubs) and has to be terminated with the
characteristic impedance of the line (generally 120 Ω ±10%) at both ends (between the signals CAN_L
and CAN_H and not to CAN_GND).
5Keep cable stubs as short as possible (l < 0.3 m).
6Select a working combination of bit rate and cable length.
7Keep away CAN cables from disturbing sources. If this can not be a oided, double shielded cables are
recommended.
Figure 4: CAN wiring for hea y industrial en ironment
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 17 of 28
CAN GND
CAN_L
CAN_H
CAN_GND
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
CAN_L
CAN_H CAN_GND
Shield
CAN_GND
twisted twisted
5
6
7
9
8
1
4
3
2
9
1
4
5
6
7
3
8
2
n.c.
n.c.
Single shielded
double twisted pair cable
(four wire cable,
2x 2x 0.22mm²)
wire shield
Wire Layout
(Example)
Signal assignment of single shielded double twisted pair cable
with earth and termination
n.c. = not connected
DSUB9 connector
(female or male)
pin desi nation
connector case
DSUB9 connector
(female or male)
pin desi nation
CAN cable with connectors
connector case
earth (FE)

Correct Wiring of Electrically Isolated CAN Networks
6.2.2 Device Cabling
Figure 5: Example of proper wiring with single shielded double twisted pair cables
6.2.3 Branching
●In principle the CAN bus has to be realized in a line. The participants are connected to the
main CAN bus line ia short cable stubs. This is normally realised by so called T-
connectors. When using esd's CAN-T-Connector (order no.: C.1311.03) it should be noted
that the shield potential of the conducti e DSUB housing is not looped through this T-
Connector type. Thus the shielding is interrupted. Therefore you ha e to take adequate
measures to connect the shield potentials, as described in the manual of the CAN-T-
Connector. For further information on this read the CAN-T-Connector Manual (order no.:
C.1311.21).
Alternati ely a T-connector can be used, in which the shield potential is looped through,
e.g. the DSUB9 connector from ERNI (ERBIC CAN BUS MAX, order no.:154039).
●If a mixed application of single twisted and double twisted cables is una oidable, take care
that the CAN_GND line is not interrupted!
●De iations from the bus structure can be realized by the usage of repeaters.
6.2.4 Termination
●A termination resistor has to be connected at both ends of the CAN bus.
If an integrated CAN termination resistor which is equipped at the CAN interface at the end
of the bus is connected, this one has to be used for termination instead of an external CAN
termination plug.
●9-pin DSUB-termination connectors with integrated termination resistor and male and
female contacts are a ailable from esd (order no. C.1303.01).
●9-pin DSUB-connectors with integrated switchable termination resistor can be ordered e.g.
from ERNI (ERBIC CAN BUS MAX, female contacts, order no.:154039).
Page 18 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200

Correct Wiring of Electrically Isolated CAN Networks
6.3 Light Industrial Environment (Single Twisted Pair Cable)
6.3.1 General Rules
N TICE
esd only grants the compliance with directi e 2014/30/EU, if the CAN wiring is carried out
with single shielded double twisted pair cables that match the requirements of
ISO 11898-2. See pre ious chapter: 'Hea y Industrial En ironment (Double Twisted Pair
Cable)'.
The following general rules for CAN wiring with single shielded single twisted pair cable should be
followed:
1A cable type with a wa e impedance of about 120 Ω ±10% with an adequate conductor cross-section
(≥ 0.22 mm²) has to be used. The oltage drop o er the wire has to be considered.
2For light industrial en ironment use at least a two-wire CAN cable.
Connect
•
•
the two twisted wires to the data signals (CAN_H, CAN_L) and
the cable shield to the reference potential (CAN_GND).
3The reference potential CAN_GND has to be connected to the functional earth (FE) at exactly one
point.
4A CAN net must not branch (exception: short cable stubs) and has to be terminated with the
characteristic impedance of the line (generally 120 Ω ±10%) at both ends (between the signals CAN_L
and CAN_H and not at CAN_GND).
5Keep cable stubs as short as possible (l < 0.3 m).
6Select a working combination of bit rate and cable length.
7Keep away cables from disturbing sources. If this cannot be a oided, double shielded wires are
recommended.
Figure 6: CAN wiring for light industrial en ironment
CAN-PCIe/200 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 Page 19 of 28
CAN GND
CAN_H
CAN_GND
n.c.
CAN_L 1
4
5
6
7
9
2
3
8
9
1
4
5
6
7
3
8
2
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
earth (FE)
CAN_L
CAN_H
CAN_GND
Single shielded
twisted pair cable
(two wire cable,
1x 2x 0.22mm²)
CAN_GND
(at wire shield)
Wire Layout
Signal assignment of single shielded twisted pair cable
with earth and termination
n.c. = not connected
DSUB9 connector
(female or male)
pin desi nation
connector case connector case
DSUB9 connector
(female or male)
pin desi nation
CAN wire with connectors

Correct Wiring of Electrically Isolated CAN Networks
6.3.2 Cabling
●To connect CAN de ices with just one CAN connector per net use a short stub (< 0.3 m)
and a T-connector (a ailable as accessory). If this de ices are located at the end of the
CAN network, the CAN terminator “CAN-Termination-DSUB9” can be used.
Figure 7: Example for proper wiring with single shielded single twisted pair wires
6.3.3 Branching
●In principle the CAN bus has to be realized in a line. The participants are connected to the
main CAN bus line ia short cable stubs. This is normally realised by so called T-
connectors. esd offers the CAN-T-Connector (Order No.: C.1311.03)
●If a mixed application of single twisted and double twisted cables is una oidable, take care
that the CAN_GND line is not interrupted!
●De iations from the bus structure can be realized by the usage of repeaters.
6.3.4 Termination
●A termination resistor has to be connected at both ends of the CAN bus.
If an integrated CAN termination resistor which is equipped at the CAN interface at the end
of the bus is connected, this one has to be used for termination instead of an external CAN
termination plug.
●9-pin DSUB-termination connectors with integrated termination resistor and male and
female contacts are a ailable from esd (order no. C.1303.01).
●DSUB termination connectors with male contacts (order no. C.1302.01) or female contacts
(order no. C.1301.01) and additional functional earth contact are a ailable, if CAN
termination and grounding of CAN_GND is required.
Page 20 of 28 Hardware Manual • Doc. No.: C.2042.21 / Re . 1.5 CAN-PCIe/200
CAN_L
CAN_GND
CAN_H
FE
CAN-DP/2CAN-CBX-DIO8 CAN-CBX-AI420
l
< 0,3 m
l
< 0,3 m
l
< 0,3 m
Female Connector
Male Connector
Terminator
with FE connector
Female Terminator
(Order-no.: C.1301.01)
T-Connector
C.1311.03
CAN cable
Order-no.: C.1323.03
CAN 0
CAN 1 T-Connector
C.1311.03
T-Connector
C.1311.03
CAN Board
CAN cable
Order-no.: C.1323.03
CAN cable
Order-no.: C.1323.03
Termination connector
"CAN-Termination-DSU "
Order-no.: C.1303.01
Termination connector
"CAN-Termination-DSU "
with femal and male contacts
(Order-no.: C.1303.01)
e.g.
CAN-PCIe/402,
PMC-CAN/400,
CAN-US /2, etc.
CAN_GND connected
to functional earth (FE)
at exactly one point