ESD CAN-CBX-CPU5201 User manual

CAN-CBX-CPU5201
Powerful Realtime Controller
in a Smart Format
Hardware Manual
to Product C.3071.02,
C.3071.03,
C.3071.04,
C.3071.05,
C.3071.06
CAN-CBX-CP 5201 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 Page 1 of 53
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • ermany
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.
e d 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.
e d 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 e d. Distribution to third parties, and reproduction
of this document in any form, whole or in part, are subject to e d's written approval.
© 2014 esd electronic system design gmbh, Hannover
esd electronic system design gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Phone: [phone]
Fax: [phone]
E-Mail: [email protected]
Internet: www.esd.eu
Trademark Notices
CANopen® and CiA® are registered community trademarks of CAN in Automation e.V.
CODESYS® is a registered trademark of 3S Smart Software Solutions GmbH.
EtherCAT® is a registered trademark and patented technology, licensed by Beckhoff Automation GmbH, Germany.
Profibus® is a registered trademark of PROFIB S and PROFINET International (PI).
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Page 2 of 53 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 CAN-CBX-CP 5201

Document file: I:\Texte\Doku\MAN ALS\CAN\CBX\CP 5201\Englisch\CAN-CBX-CP 5201_Manual_en_15.odt
Date of print: 2014-12-22
Document type
number: DOC0800
Hardware ver ion: CAN-CBX-CP 5201 Rev. 1.0
Document Hi tory
The changes in the document listed below affect changes in the hardware as well as changes in
the description of the facts, only.
Revi ion Chapter Change ver u previou ver ion Date
1.3
- Trademark Notices and Safety Instructions supplemented
2012-04-16
1.1 SB interface is high-speed
2.4.2.2 Note corrected
3.2 Dimensions: hight and depth corrected
3.4 SB interface is full-speed
4.2.1 Shield connected to FE
4.4 Signal description: double listing of signal names removed, Shield connected to
FE
4.6.1 Shield connected to FE
8. Order information corrected
1.4
2.1 Reference to chapter “Conductor Connection/Conductor Cross Sections“ inserted
2013-09-06
2.3.1 Reference to chapter “Appendix CAN-CBX-CP 5201-PLC“ inserted
2.4 Chapter “Starting- p“ new
3.9 Module CAN-CBX-CP 5201/DP QNX inserted
3.10 Software support revised, license information new
4.1, 4.2.1 Note inserted
4.4 Note about cable types inserted
4.8 Chapter “Conductor Connection/Conductor Cross Sections new
7 Chapter: „Appendix CAN-CBX-CP 5201-PLC” new
8 Chapter: „References” new
9 Former chapter 7., moved to chapter 9, Declaration of Conformity new
10 Former chapter 8., moved to chapter 10, order information revised
1.5
- 'Data Safety' notice and Typographical Conventions inserted
2014-12-222.4, 7.1 Sentence concerning termination devices in step 2 deleted, cross-reference to
chapter '' (page 38) inserted
9. Declaration of conformity updated
Technical details are subject to change without further notice.
CAN-CBX-CP 5201 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 Page 3 of 53

Safety In truction
!When working with the CAN-CBX-CP 5201 follow the instructions below and read the manual carefully to protect
yourself from injury and the CAN-CBX-CP 5201 from damage.
!Do not open the housing of the CAN-CBX-CP 5201.
!The permitted operating position is specified as shown (Figure: 8).
!Never let liquids get inside the CAN-CBX-CP 5201. Otherwise, electric shocks or short circuits may result.
!Protect the CAN-CBX-CP 5201 from dust, moisture and steam.
!Protect the CAN-CBX-CP 5201 from shocks and vibrations.
!The CAN-CBX-CP 5201 may become warm during normal use. Always allow adequate ventilation around the CAN-
CBX-CP 5201 and use care when handling.
!Do not operate the CAN-CBX-CP 5201 adjacent to heat sources and do not expose it to unnecessary thermal
radiation. Ensure an ambient temperature as specified in the technical data.
!Do not use damaged or defective cables to connect the CAN-CBX-CP 5201 and follow the CAN wiring hints in
chapter: "Correctly Wiring 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-CBX-CP 5201 may only be driven by power supply current circuits, that are contact protected.
A power supply, that provides a safety extra-low voltage (SELV or PELV) according to EN 60950-1, complies with this
conditions.
Qualified Per onal
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-CBX-CP 5201 is an industrial product and meets the demands of the E 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-CBX-CP 5201 may cause radio
interferences in which case the user may be required to take adequate measures.
Data Safety
This device is equipped with an Ethernet or other interface which is suitable to establish a connection to data networks.
Depending on the software used on the device, these interfaces may allow attackers to compromise normal function, get
illegal access or cause damage.
esd does not take responsibility for any damage caused by the device if operated at any networks. It is the responsibility
of the device's user to take care that necessary safety precautions for the device's network interface are in place.
Intended U e
The intended use of the CAN-CBX-CP 5201 is the operation as real-time controller.
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-CBX-CP 5201 is intended for indoor installation only.
!The operation of the CAN-CBX-CP 5201 in hazardous areas, or areas exposed to potentially explosive materials is
not permitted.
!The operation of the CAN-CBX-CP 5201 for medical purposes is prohibited.
Service Note
The CAN-CBX-CP 5201 does not contain any parts that require maintenance by the user with the exception of the
battery (see page 19). For a battery change the case has to be opened.
Attention:
The battery change may only be carried out by qualified personal! Send the CAN-CBX-CP 5201 module
to esd for the battery change if necessary.
nauthorized intervention in the device voids warranty claims.
Di po al
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.
Page 4 of 53 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 CAN-CBX-CP 5201

Table of content
1. Overview...................................................................................................................................... 8
1.1 Description of the Module......................................................................................................8
2. Hardware Installation....................................................................................................................9
2.1 Connecting Diagram..............................................................................................................9
2.2 Coding switch e.g. for Profibus DP Slave Address...............................................................10
2.3 LED Display.........................................................................................................................11
2.3.1 LED Indication.............................................................................................................11
2.3.1.1 Assignment of LED Labelling to Name in the Schematic Diagram........................12
2.4 Starting- p...........................................................................................................................13
2.5 Installation and Wiring of the Module...................................................................................14
2.5.1 Connection of the Power Supply Voltage....................................................................14
2.5.2 Installation of the Module using the InRailBus connector............................................15
2.5.2.1 Connecting Power Supply and CAN Signals via CBX-InRailBus..........................17
2.5.2.2 Connection of CAN1 and CAN2............................................................................18
2.5.3 Remove the CAN-CBX Module from InRailBus...........................................................18
2.6 Battery.................................................................................................................................19
2.6.1 Battery Change...........................................................................................................19
3. Technical Data...........................................................................................................................20
3.1 General Technical Data.......................................................................................................20
3.2 Dimensions and Mounting...................................................................................................21
3.3 CP - nit..............................................................................................................................21
3.4 SB Interface .....................................................................................................................21
3.5 CAN Interfaces....................................................................................................................22
3.5.1 CAN1...........................................................................................................................22
3.5.2 CAN2...........................................................................................................................22
3.6 Ethernet Interface................................................................................................................22
3.7 Serial Interface.....................................................................................................................23
3.8 Real Time Clock (RTC)........................................................................................................23
3.9 Profibus DP Interface (Option).............................................................................................23
3.10 Software Support...............................................................................................................24
3.11 Power PC Microcontroller MPC5121..................................................................................25
3.11.1 General.....................................................................................................................25
3.11.2 Address Assignment.................................................................................................25
3.11.3 Interrupt Assignment.................................................................................................25
4. Connector Assignments.............................................................................................................26
4.1 24V-Power Supply Voltage..................................................................................................26
4.1.1 Connector Assignment ...............................................................................................26
4.2 CAN Interface CAN1............................................................................................................27
4.2.1 Connector Assignment ...............................................................................................28
4.3 CAN2 and Power Supply via InRailBus ...............................................................................29
4.3.1 Connector Assignment................................................................................................29
4.4 Ethernet 100BASE-TX Interface..........................................................................................30
4.5 COM1/2 Serial Interfaces.....................................................................................................31
4.5.1 Basic Setting...............................................................................................................31
4.5.2 Configuration...............................................................................................................31
4.5.3 Connection of the Serial Interface ..............................................................................31
4.5.3.1 2x RS-232 via COM1/2 ........................................................................................31
4.5.3.2 1x RS-232 via COM1, 1x RS-485 via COM2 .......................................................32
4.5.4 Connector Assignment................................................................................................33
4.6 Optional Profibus DP Interface.............................................................................................34
4.6.1 Connector Assignment................................................................................................35
4.7 Assignment of the Labelling to Name in Schematic Diagram ..............................................36
4.8 Conductor Connection/Conductor Cross Sections...............................................................37
CAN-CBX-CP 5201 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 Page 5 of 53

5. Correct Wiring of Electrically Isolated CAN Networks.................................................................38
5.1 Standards concerning CAN Wiring......................................................................................38
5.2 Light Industrial Environment (Single Twisted Pair Cable).....................................................39
5.2.1 General Rules.............................................................................................................39
5.2.2 Cabling........................................................................................................................40
5.2.3 Termination.................................................................................................................40
5.3 Heavy Industrial Environment (Double Twisted Pair Cable).................................................41
5.3.1 General Rules.............................................................................................................41
5.3.2 Device Cabling............................................................................................................42
5.3.3 Termination.................................................................................................................42
5.4 Electrical Grounding.............................................................................................................43
5.5 Bus Length...........................................................................................................................43
5.6 Examples for CAN Cables...................................................................................................44
5.6.1 Cable for light industrial Environment Applications (Two-Wire)...................................44
5.6.2 Cable for heavy industrial Environment Applications (Four-Wire)................................44
6. CAN Troubleshooting Guide.......................................................................................................45
6.1 Termination..........................................................................................................................45
6.2 Electrical Grounding.............................................................................................................46
6.3 Short Circuit in CAN Wiring..................................................................................................46
6.4 CAN_H/CAN_L-Voltage ......................................................................................................46
6.5 CAN Transceiver Resistance Test.......................................................................................47
6.6 Support by esd.....................................................................................................................47
7. Appendix CAN-CBX-CP 5201-PLC...........................................................................................48
7.1 Start-up................................................................................................................................48
7.2 Network Configuration ...................................................................................................49
7.2.1 Configuration of the Network Settings.........................................................................49
7.2.2 Configuration of the IP-Address with CODESYS.........................................................50
7.2.3 Indication of the CAN-CBX-CP 5201-PLC LEDs........................................................50
8. References.................................................................................................................................51
9. Declaration of Conformity...........................................................................................................52
10. Order Information.....................................................................................................................53
Page 6 of 53 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 CAN-CBX-CP 5201

Typographical Convention
Throughout this design specification 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
The following indicators are used to highlight noticeable descriptions.
Attention:
Warnings or cautions to tell you about operations which might have unwanted side
effects.
Note:
Notes to point out something important or useful.
Number Repre entation
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.
Abbreviation
API Application Programming Interface
CAN Controller Area Network
CP Central Processing nit
CiA CAN in Automation
I/O Input/Output
CAN-CBX-CP 5201 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 Page 7 of 53

Overview
1. Overview
1.1 De cription of the Module
Figure 1: Block circuit diagram
The CAN-CBX-CP 5201 is a stand-alone module with a powerful 400 MHz PowerPC, 0.5 GB
DDR2-SDRAM, 1GB NAND-Flash and RTC with battery backup on-board.
The two CAN interfaces are designed according to ISO11898-2 high-speed layer and support bit
rates up to 1 Mbit/s. One CAN interface (CAN1) is electrically isolated and is accessible via a 5-
pole Combicon-style connector. The other CAN interface (CAN2, optional electrically isolated) is
connected to the InRailBus for local CBX-I/O expansion.
The power supply and the CAN bus signals can be applied via the InRailBus connector (TB S-
connector) integrated in the mounting rail or separately via the clamp-connection. From the
InRailBus individual modules can be removed without interrupting the bus signals.
The CAN-CBX-CP 5201 comes with a 100BASE-TX ETHERNET interface that is accessible via
an RJ45 plug in the front.
An SB device (e.g. memory stick) can be connected on the front side SB 2.0 Host interface
running with high-speed (480 MBit/s).
Two serial RS-232 interfaces (Rx-, Tx-signals) are accessible via an RJ12 connector.
The module is available as CAN-CBX-CP 5201/DP with an additional Profibus® DP interface.
Optionally in the CAN-CBX-CP 5201/DP version the two serial interfaces can be designed as one
RS-232 and one RS-485 interface
Page 8 of 53 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 CAN-CBX-CP 5201
+5 V=
+5 V=
C
A
N
CAN1
LEDs
Physical
CAN
Layer
PowerPC
MPC5121
400 MHz
10/100 ASE-T
Ethernet
Interface
NAND-Flash
1G
SDRAM
0,5 G
Physical
CAN
Layer
CAN2
C
A
N
US 2.0
Host
RTC
VCC
Serial Interface
RS-232
Digital
Isolator
DC/DC
Converter
InRail us
Connector
Module Status
Electrical Isolation
Power Supply
24 V(DC)
CAN Connector
5-pole Combicon
RJ12,
Console,
Debug
RJ45,
Ethernet
Power Connector
4-pole Combicon
+
-Bat
+5 V=
+5 V=
DC/DC-
Converter
D
P
DP
DP-Slave
Controller
VPC3+
Electrical Isolation
DSU 9
Connector
RS-485
DP-Layer
VCC Optional
Profibus DP Interface
Serial Interface
RS-232
(Rx, Tx)

Hardware In tallation
2. Hardware In tallation
2.1 Connecting Diagram
Fig. 2: Connecting diagram of CAN-CBX-CP 5201/DP
Note:
See also page 26 ff. for signal assignment of the CAN connectors.
For information about conductor connection/conductor cross sections see page 37.
CAN-CBX-CP 5201 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 Page 9 of 53

Hardware In tallation
2.2 Coding witch e.g. for Profibu DP Slave Addre
Figure 3: Position of the coding switches
Attention:
The state of the coding switches e.g. for the Profibus DP address is only determined at
the moment the module is powered on.
The operating system BSPs (Board Support Packages), which are currently available, support
functions for reading the coding switch position. Please see the documentation of your BSP for
further information.
Page 10 of 53 Hardware Manual • Doc. No.: C.3071.21 / Rev. 1.5 CAN-CBX-CP 5201