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 )