ESD CAN-PCIeMini/402-2 User manual

CAN-PCIeMini/402-2,
CAN-PCIeMini/402-2-FD
PCI Express® Mini Card with 2 CAN
or 2 CAN FD Interfa es
Hardware Manual
to Products C.2044.04, C.2044.64
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 1 of 30
esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • German
http://www.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 ele troni s 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 ele troni s 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 ele troni s. istribution to third parties, and
reproduction of this document in any form, whole or in part, are subject to esd ele troni s's
written approval.
© 2020 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-PCIeMini/402-2. 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 reserved by their
respective owners.
Page 2 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Do ument file: I:\Texte\ oku\MANUALS\CAN\PCI-Express\CAN-PCIeMini402\Englisch\CAN-PCIeMini-402-
2_Manual_en_11.odt
Date of print: 2020-02-26
Do ument type
number: OC0800
Hardware version: 1.0
Do ument 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 version 2017-12-20
1.1
- Reference to CAN Wiring Hints inserted
2020-02-261. Note on CAN F inserted
9. EU-Konformitaetserklaerung neu
Technical details are subject to change without further notice.
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 3 of 30

Classifi ation of Warning Messages and Safety Instru tions
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
epending on the hazard level the signal words ANGER, WARNING or CAUTION are used to
highlight safety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
anger 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.
Page 4 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Safety Instru tions
● When working with the CAN-PCIeMini/402-2 follow the instructions below and read the manual
carefully to protect yourself from injury and the CAN-PCIeMini/402-2 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.
● o not use damaged or defective cables to connect the CAN-PCIeMini/402-2 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-PCIeMini/402-2 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-PCIeMini/402-2 from dust, moisture and steam.
● Protect the CAN-PCIeMini/402-2 from shocks and vibrations.
● The CAN-PCIeMini/402-2 may become warm during normal use. Always allow adequate
ventilation around the CAN-PCIeMini/402-2 and use care when handling.
● o not operate the CAN-PCIeMini/402-2 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 ele tri sho k due to unintentional contact with
uninsulated live parts with high voltages inside of the system into which the CAN-
PCIeMini/402-2 is to be integrated.
→ isconnect all hazardous voltages (mains voltage) before opening the system.
→ Ensure the absence of voltage before starting any electrical work
NOTICE
Ele trostati dis harges may ause damage to ele troni omponents.
→
→
To avoid this, please discharge the static electricity from your body before you touch
the CAN-PCIeMini/402-2.
Furthermore, you should prevent your clothes from touching the CAN-PCIeMini/402-
2, because your clothes might be electrostatically charged as well.
Qualified Personnel
This documentation is directed exclusively towards personal qualified in control and automation
engineering. The installation and commissioning of the product may only be carried out by qualified
personal, which is authorized to put devices, systems and electric circuits into operation according
to the applicable national standards of safety engineering.
Conformity
The CAN-PCIeMini/402-2 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-PCIeMini/402-2 is the operation as a CAN 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.
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 5 of 30

● The CAN-PCIeMini/402-2 is intended for installation in an Embedded system or PC, with indoor
use only.
● The operation of the CAN-PCIeMini/402-2 in hazardous areas, or areas exposed to potentially
explosive materials is not permitted.
● The operation of the CAN-PCIeMini/402-2 for medical purposes is prohibited.
Servi e Note
The CAN-PCIeMini/402-2 does not contain any parts that require maintenance by the user. The
CAN-PCIeMini/402-2 does not require any manual configuration of the hardware except the
configuration of the jumpers on the adapters described in chapter “CAN Termination Jumper”.
Unauthorized intervention in the device voids warranty claims.
Disposal
evices 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.
Typographi al 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.
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
S K Software evelopment Kit
Page 6 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Table of ontents
Safety Instructions...........................................................................................................................5
1. Overview......................................................................................................................................8
2. PCB View with Connectors and LE s..........................................................................................9
2.1 LE isplay ..........................................................................................................................9
3. Connector Assignment...............................................................................................................10
3.1 CAN Connector....................................................................................................................10
4. Adapter CAN-PCIeMini/402- SUB9 and Adapter Cable.............................................................11
4.1 Adapter View........................................................................................................................11
4.2 CAN Termination Jumper.....................................................................................................11
4.3 Connector Assignment of Adapter.......................................................................................12
4.3.1 CAN via SUB9..........................................................................................................12
4.3.2 CAN Cable Connector.................................................................................................12
4.4 Adapter cable.......................................................................................................................12
5. Hardware Installation..................................................................................................................13
6. Technical ata............................................................................................................................15
6.1 General Technical ata........................................................................................................15
6.2 Memory................................................................................................................................15
6.3 PCI Express Mini Interface...................................................................................................15
6.4 CAN Interface......................................................................................................................16
6.5 CAN-PCIeMini/402- SUB9 Adapter....................................................................................16
6.6 Software Support.................................................................................................................17
6.6.1 CAN-PCIeMini/402-2...................................................................................................17
6.6.2 CAN-PCIeMini/402-2-F .............................................................................................17
7. Correct Wiring of Electrically Isolated CAN Networks.................................................................18
7.1 Standards concerning CAN Wiring......................................................................................18
7.2 Light Industrial Environment (Single Twisted Pair Cable).....................................................19
7.2.1 General Rules.............................................................................................................19
7.2.2 Cabling........................................................................................................................20
7.2.3 Branching....................................................................................................................20
7.2.4 Termination..................................................................................................................20
7.3 Heavy Industrial Environment ( ouble Twisted Pair Cable).................................................21
7.3.1 General Rules.............................................................................................................21
7.3.2 evice Cabling............................................................................................................22
7.3.3 Branching....................................................................................................................22
7.3.4 Termination..................................................................................................................22
7.4 Electrical Grounding.............................................................................................................23
7.5 Bus Length...........................................................................................................................23
7.6 Examples for CAN Cables...................................................................................................24
7.6.1 Cable for light industrial Environment Applications (Two-Wire)....................................24
7.6.2 Cable for heavy industrial Environment Applications (Four-Wire)................................24
8. CAN Troubleshooting Guide.......................................................................................................25
8.1 Termination..........................................................................................................................25
8.2 Electrical Grounding.............................................................................................................26
8.3 Short Circuit in CAN Wiring..................................................................................................26
8.4 CAN_H/CAN_L-Voltage ......................................................................................................26
8.5 CAN Transceiver Resistance Test........................................................................................27
8.6 Support by esd.....................................................................................................................27
9. eclaration of Conformity...........................................................................................................28
10. Order Information.....................................................................................................................29
10.1 Hardware...........................................................................................................................29
10.2 Software for CAN-PCIeMini/402-2.....................................................................................29
10.3 Software for CAN-PCIeMini/402-2-F ...............................................................................30
10.4 Manuals.............................................................................................................................30
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 7 of 30

Overview
1. Overview
Figure 1: Block circuit diagram
The CAN-PCIeMini/402-2 is an add-in PCI Express Full-Mini Card, that features two electrically
isolated CAN High-Speed interfaces. The PCI Express® Mini Card CAN-PCIeMini/402-2-F
comes with two CAN F interfaces. The optional adapter CAN-PCIeMini/402- SUB9 offers a
SUB9 connector and on board CAN termination.
The CAN F version 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 Altera FPGA.
The FPGA supports bus mastering (first-party MA) 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.
ue to the usage of MSI (Message Signaled Interrupts) the CAN-PCIeMini/402-2(-F ) can be
operated for example in Hypervisor environments.
The CAN-PCIeMini/402-2(-F ) provides high resolution 64-bit hardware timestamps for CAN
messages.
CAN layer 2 (CAN-API) software drivers for CAN-PCIeMini/402-2 for Windows and Linux are
included in the scope of delivery. See “Order Information” on page 29 for availability of other
drivers.
Additional free-of-charge esd CAN tools for Windows are downloadable from our website. The
tools offer efficient setup and analysis of Classical CAN applications and networks.
Customized options are available for customized serial production in reasonable quantities. Please
contact our sales team for detailed information.
Page 8 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )
Altera
FPGA
EP4CGX22
oder ...30
2,5V
3,3V
1,2V
3,3V
FLASH 25MHz
CAN
CAN
PEX
x1
LE
4
120 R
SUB9
120 R
SUB9
I C 4 pol
5V
CAN Physik
5V
CAN Physik
I C 4 pol
I C 4 pol I C
4 pol
3,3V
3,3V
CAN-PCIeMini/402-2 (order no. C.2044.04) or
CAN-PCIeMini/402-2-FD (order no. C.2044.64)
Optional
CAN-PCIeMini/402-DSU 9
(order no. C.2044.10)
Optional
CAN-PCIeMini/402-DSU 9
(order no. C.2044.10)

PCB View with Conne tors and LEDs
2. PCB View with Conne tors and LEDs
Figure 2: PCB top view
NOTICE
Read chapter “Hardware Installation” on page 13, before you start with the installation of
the hardware!
2.1 LED Display
The CAN-PCIeMini/402-2(-F ) comes with four green LE s, which are equipped on the top layer,
see Figure 2.
LED name
in s hemati
diagram
Name Indi ator
State Des ription
LED320 Power off power supply voltage off / FPGA not booted
on power supply voltage on / FPGA ready
LED321 reserved - -
LED322 Traffic
CAN1
off no CAN bus connection and/or no CAN traffic on CAN1
on connected to CAN bus 1 and CAN traffic on CAN1
LED323 Traffic
CAN0
off no CAN bus connection and/or no CAN traffic on CAN0
on connected to CAN bus 0 and CAN traffic on CAN0
Table 1: LE s
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 9 of 30

Conne tor Assignment
3. Conne tor Assignment
3.1 CAN Conne tor
The CAN-PCIeMini/402-2(-F ) comes with two CAN connectors equipped on the PCB top layer.
Devi e onne tor: 4-pin Wire-to-Board connector, shrouded header (JST, SM04B-SURS-TF)
Pin Position:
1 2 3 4
Pin Assignment:
Pin Signal
1 reserved
2 CANx_GN
3 CANx_H
4 CANx_L
Signal Des ription:
CANx_L, CANx_H ... CAN signals of the CAN net x (x... 0, 1)
CANx_GN ... Reference potential of the local CAN physical layer of CAN net x
(x... 0, 1)
reserved ... Reserved for future applications, do not connect!
Page 10 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Adapter CAN-PCIeMini/402-DSUB9 and Adapter Cable
4. Adapter CAN-PCIeMini/402-DSUB9 and Adapter Cable
Figure 3: CAN-PCIeMini-402- SUB9
With the adapter CAN-PCIeMini-402- SUB9 you can connect the CAN interfaces of the CAN-
PCIeMini/402-2(-F ) via SUB9 connectors.
The adapter CAN-PCIeMini-CAN/402- SUB9 is not contained in the scope of delivery of the CAN-
PCIeMini/402-2(-F ). See “Order Information”, page 29.
The adapter cable CAN-PCIeMini/402-Cable and two UNC 4-40 SUB bolts are included in the
scope of delivery of CAN-PCIeMini/402- SUB. The bolts are intended to be used with a front
panel!
NOTICE
Read chapter “Hardware Installation” on page 14, in particular step 8., before you start
with the installation of the CAN-PCIeMini-402- SUB9!
4.1 Adapter View
SUB9
Cable
connector Jumper
with cable
Figure 4: Top layer with SUB9 connector Figure 5: Bottom layer with jumper
and cable connector
4.2 CAN Termination Jumper
With the jumper the CAN termination of the connected CAN interface can be set internally.
The jumper is located on the bottom layer of the adapter (see Figure 5).
JumperJP400
Jumper set Internal termination (120Ω) of the connected CAN net (CAN0 or CAN1)
Jumper not set The connected CAN interface has to be terminated externally.
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 11 of 30

Adapter CAN-PCIeMini/402-DSUB9 and Adapter Cable
4.3 Conne tor Assignment of Adapter
4.3.1 CAN via DSUB9
Devi e onne tor: 9-pin SUB connector, male
Pin Position:
Pin Assignment:
Signal Pin Signal
1
reserved
CANx_GN
6
2
CANx_L
CANx_H
7
3
CANx_GN
reserved
8
4
reserved
reserved
9
5
Shield
Signal Des ription:
CANx_L, CANx_H ... CAN signal lines (x = 0 or 1, number of the connected CAN interface)
CANx_GN ... Reference potential of the local CAN physical layer (x= 0 or 1)
Shield ... Shielding (connected with the case of the 9-pin SUB connector)
reserved ... Reserved for future applications, do not connect!
4.3.2 CAN Cable Conne tor
The 4-pin Wire-to-Board connector, (JST, SM04B-SURS-TF) is equipped on the bottom layer of the
adapter. The connector assignment of the CAN cable connector on the CAN-PCIeMini/402- SUB9
is the same as for CAN-PCIeMini/402-2(-F ), see chapter “Connector Assignment”, page 10.
4.4 Adapter able
One adapter cable is included in delivery of the CAN-PCIeMini/402- SUB9 adapter.
The cable can also be ordered separately as CAN-PCIeMini/402-Cable, see “Order Information”,
page 29.
The twisted single-wire cable comes with two I C receptacles (JST, 04SUR-32S).
Pin Position: Pin Assignment:
1
Figure 6: Adapter cable (detail)
Pin Signal
1 reserved
2 CANx_GN
3 CANx_H
4 CANx_L
Page 12 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )
12345
6789

Hardware Installation
5. Hardware Installation
NOTICE
Read the safety instru tions at the beginning of this do ument arefully, before
you start with the hardware installation!
WARNING
Hazardous Voltage - Risk of ele tri sho k due to unintentional contact with
uninsulated live parts with high voltages inside of the system into which the CAN-
PCIeMini/402-2(-F ) is to be integrated.
→ isconnect all hazardous voltages (mains voltage) before opening the system.
→ Ensure the absence of voltage before starting any electrical work
NOTICE
Ele trostati dis harges may ause damage to ele troni omponents.
→
→
To avoid this, please discharge the static electricity from your body before you touch
the CAN-PCIeMini/402-2(-F ).
Furthermore, you should prevent your clothes from touching the CAN-PCIeMini/402-
2(-F ), because your clothes might be electrostatically charged as well.
Pro edure:
1. Switch off your system and all connected peripheral devices (monitor, printer, etc.). Switch off
the connected CAN devices.
2. ischarge your body as described above.
3. isconnect the power supply of the PC from the mains.
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-
PCIeMini/402-2 is to be integrated.
→
→
→
→
isconnect all hazardous voltages (mains voltage) before opening the system.
If the system does not have a flexible mains cable, but is directly connected to
mains, disconnect the power supply via the safety fuse and make sure that the
fuse cannot switch on again unintentionally (i.e. with caution label).
Ensure the absence of voltage before starting any electrical work.
Cover or block off adjacent live parts.
4. Open the case.
5. Select an open PCIe Mini slot.
The CAN module can be inserted into every PCIe Mini slot.
6. Connect the CAN wire.
If applicable, connect the CAN-PCIeMini/402- SUB9 adapters via the adapter cables.
Set or remove the CAN termination jumper on the adapter according to your needs.
7. Insert the CAN-PCIeMini/402-2 board into the selected PCIe Mini slot. Carefully push the
board into place. Fix it with screws.
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 13 of 30

Hardware Installation
8. If applicable mount the CAN-PCIeMini/402- SUB9 adapters in your system. Use the
enclosed bolts to fix the adapter.
NOTICE
The adapters are intended to be used with a front panel with 0,8 mm to 1,2 mm
thickness! on't mount the bolts into the SUB without a front panel or additional
spacers like washers, because otherwise the bolt threat might damage the SUB.
9. Close the system's case again.
NOTICE
Please note that the CAN bus has to be terminated at both ends!
esd offers special T-connectors and termination connectors for external termination.
Additionally the CAN_GN signal has to be connected to earth at exa tly one point
in the CAN network. For details please read chapter “Correct Wiring of Electrically
Isolated CAN Networks”
9. Connect the system to mains again (mains connector or fuse).
10. Switch on the system and the peripheral devices.
11. End of hardware installation.
12. Continue with the software installation as described in the manual ‘NTCAN-API, Installation
Guide’.
Page 14 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Te hni al Data
6. Te hni al Data
6.1 General Te hni al Data
Power supply
voltage Nominal voltage: 3.3 V ±9%
Power
consumption Maximum 3 W (with 2 CAN interfaces at 100% bus load)
Connectors
X401
X411
(4-pin Wire-to-Board connector, male , JST, SM04B-SURS-TF) -
CAN Interface 0
(4-pin Wire-to-Board connector, male, JST, SM04B-SURS-TF) -
CAN Interface 1
Temperature
range 0...75 °C ambient temperature
Humidity Max. 90%, non-condensing
imensions Width: 30 mm, depth: 51 mm
Weight Approx. 15 g
Table 2: General data of the module
6.2 Memory
FPGA Altera EP4CGX22BF14C8N
Boot FLASH Spansion S25FL004K0XMFI04
Table 3: Memory
6.3 PCI Express Mini Interfa e
PCI port PCI Express Specification R1.0a, Link width 1x
Form factor PCI Express Mini Card Electromechanical Specification Rev. 1.2
Table 4: PCI bus data
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 15 of 30

Te hni al Data
6.4 CAN Interfa e
Number of CAN
interfaces
CAN-PCIeMini/402-2-2:
CAN-PCIeMini/402-2-F :
2x CAN high-speed interfaces (CAN0, CAN1),
2x CAN F high-speed interfaces (CAN0, CAN1)
CAN controller esdACC in EP4CGX Altera FPGA
Transceiver Microchip MCP2561F E/SN
CAN protocol CAN-PCIeMini/402-2:
CAN-PCIeMini/402-2-F :
According to ISO 11898-1
According to ISO 11898-1:2015
Physical Layer
Physical layer according to ISO 11898-2, electrical isolation,
CAN-PCIeMini/402-2:
CAN-PCIeMini/402-2-F :
Bit rates from 10 Kbit/s up to 1 Mbit/s,
Bit rates up to 5 Mbit/s
Bus termination
None
If the additional adapter CAN-PCIeMini/402- SUB9 is used, an internal
terminating resistor (120Ω) can be set via jumper.
Electrical isolation
Electrical isolation via digital isolator and C/ C-converters is possible:
Voltage over CAN isolation
- CAN to slot bracket/EARTH: 1000V C @ 1s (I < 1 mA);
- CAN to host/system ground 1000V C @ 1s (I < 1 mA);
- CAN to CAN: 1000V C @ 1s (I < 1 mA)
Connector 2x 4-pin Wire-to-Board connector, JST SM04B-SURS-TF
Table 5: ata of the CAN interface
6.5 CAN-PCIeMini/402-DSUB9 Adapter
imensions width
depth
hight
width:
hight:
depth:
31.5 mm,
13 mm,
16.5 mm
(10 mm behind front panel)
(adapter only, without cables)
Weight ca. 8 g
Cable length 150 mm
Connector Adapter:
Cable:
1x SUB9 (male),
1x 4-pin Wire-to-Board connector, male (JST , SM04B-SURS-TF)
2x I E receptacles (JST, 04SUR-32S to JST, 04SUR-32S)
Bolts 2x SUB bolts
(UNC 4-40 x 5 mm hex nuts with UNC 4-40 x 6 mm thread)
Table 6: Technical data of the SUB9 adapter
NOTICE
The adapter is intended to be used with a front panel with 0,8 mm to 1,2 mm thickness!
on't mount the bolts into the SUB without a front panel or additional spacers like
washers, because otherwise the bolt threat might damage the SUB.
Page 16 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Te hni al Data
6.6 Software Support
The CAN layer 2 (CAN-API) software installation and the software drivers are described in the
manual:
“NTCAN-API Part 1: Structure, Function and C/C++ API” Application evelopers Manual and
“NTCAN-API Part 2: Installation, Configuration and Firmware Update” Installation Guide
esd-order No.: C.2001.21
6.6.1 CAN-PCIeMini/402-2
CAN layer 2 (CAN-API) software drivers are available for Windows®, VxWorks®, QNX®, RTX,
RTX64 and Linux® The CANopen® software package is available for Windows, Linux, VxWorks,
RTX and QNX. Higher layer protocols (J1939, ARINC825) are supported. See Order Information
on page 29 for availability of the drivers.
rivers for other operating systems are available on request. For detailed information about the
driver availability for your operating system, please contact our sales team: [email protected]
6.6.2 CAN-PCIeMini/402-2-FD
CAN layer 2 (CAN-API) software drivers are available for Windows®, QNX®, RTX64.
Higher layer protocols (CANopen, J1939, ARINC825) are only supported for Classical CAN
applications on CAN-PCIeMini/402-2-F . See Order Information on page 30 for availability of the
drivers. For detailed information about the driver availability for your operating system, please
contact our sales team: [email protected].
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 17 of 30

Corre t Wiring of Ele tri ally Isolated CAN Networks
7. Corre t Wiring of Ele tri ally Isolated CAN Networks
NOTICE
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 F , the information given
in this chapter must be examined for applicability in each individual case.
For further information refer to the CiA® CAN F guidelines and recommendations
(https://www.can-cia.org/).
For the CAN wiring all applicable rules and regulations (EU, IN), e.g. regarding electromagnetic
compatibility, security distances, cable cross-section or material, have to be observed.
7.1 Standards on erning CAN Wiring
The flexibility in CAN network design is one of the key strengths of the various extensions and
additional standards like e.g. CANopen, ARINC825, eviceNet and NMEA2000 that have 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 have scaled the use of CAN for applications outside the
original ISO 11898. They have made system level tradeoffs for data rate, cable length, and
parasitic loading of the bus.
However for CAN network design margin must be given for signal loss across the complete system
and cabling, parasitic loadings, network imbalances, ground offsets against earth potential and
signal integrity. Therefore the pra ti al maximum number of nodes, bus length and stub
length are typi ally mu h 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 derived
standards CANopen, ARINC825, eviceNet and NMEA2000.
The consistent compliance to ISO 11898-2 offers significant advantages:
●urable operation due to well proven 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,
eviceNet and NMEA2000, however it must be observed that it is stri tly not re ommended
to mix the wiring guidelines of the various spe ifi ations!
Page 18 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )

Corre t Wiring of Ele tri ally Isolated CAN Networks
7.2 Light Industrial Environment (Single Twisted Pair Cable)
7.2.1 General Rules
NOTICE
esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least
single shielded single twisted pair cables that match the requirements of ISO 11898-2.
Single shielded double twisted pair cable wiring as described in chapter 7.3. ensures the
EU Conformity as well.
The following general rules for CAN wiring with single shielded single twisted pair cable should be
followed:
1A cable type with a wave impedance of about 120 Ω ±10% with an adequate conductor cross-section
(≥ 0.22 mm²) has to be used. The voltage drop over the wire has to be considered.
2For light industrial environment 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_GN ).
3The reference potential CAN_GN 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_GN ).
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 avoided, double shielded wires are
recommended.
Figure 7: CAN wiring for light industrial environment
CAN-PCIeMini/402-2(-F ) Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 Page 19 of 30
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 x 0. mm²)
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 designation
connector case connector case
DSUB9 connector
(female or male)
pin designation
AN wire with connectors

Corre t Wiring of Ele tri ally Isolated CAN Networks
7.2.2 Cabling
●To connect CAN devices with just one CAN connector per net use a short stub (< 0.3 m)
and a T-connector (available as accessory). If this devices are located at the end of the
CAN network, the CAN terminator “CAN-Termination- SUB9” can be used.
Figure 8: Example for proper wiring with single shielded single twisted pair wires
7.2.3 Bran hing
●In principle the CAN bus has to be realized in a line. The participants are connected to the
main CAN bus line via 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 unavoidable, take care
that the CAN_GN line is not interrupted!
●eviations from the bus structure can be realized by the usage of repeaters.
7.2.4 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 SUB-termination connectors with integrated termination resistor and male and
female contacts are available from esd (order no. C.1303.01).
●SUB termination connectors with male contacts (order no. C.1302.01) or female contacts
(order no. C.1301.01) and additional functional earth contact are available, if CAN
termination and grounding of CAN_GN is required.
Page 20 of 30 Hardware Manual • oc. No.: C.2044.21/ Rev. 1.1 CAN-PCIeMini/402-2(-F )
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