Esd Can-pn/2 User manual

esd electronics gmbh

Vahrenwalder Str. 207 • 30165 Hannover • Germany

http://www.esd.eu

Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 1 of 122

CAN-PN/2,

CAN-PN/2-FD

Fieldbus Gateway for connecting

PROFINET®-IO with CAN and CAN FD

CAN-PN/2 (C.2924.02)

CAN-PN/2-FD (C.2924.62)

Manual

to Product C.2924.02,

C.2924.62

Page 2 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

This manual contains important information and instructions on safe and efficient

handling of the CAN-PN/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.

Links

esd electronics gmbh assumes no liability or guarantee for the content of Internet pages to which this document refers

directly or indirectly. Visitors follow links to websites at their own risk and use them in accordance with the applicable terms

of use of the respective websites.

Trademark Notices

CANopen® and CiA® are registered EU trademarks of CAN in Automation e.V.

PROFINET® is registered EU trademark of PROFIBUS Nutzerorganisation e.V.

All other trademarks, product names, company names or company logos used in this manual are reserved by their

respective owners.

Notes

The information in this document has been carefully checked and is believed to be entirely reliable.

esd electronics makes no warranty of any kind with regard to the material in this document and

assumes no responsibility for any errors that may appear in this document. In particular, the

descriptions and technical data specified in this document may not be constituted to be guaranteed

product features in any legal sense.

esd electronics reserves the right to make changes without notice to this, or any of its products, to

improve reliability, performance, or design.

All rights to this documentation are reserved by esd electronics. Distribution to third parties, and

reproduction of this document in any form, whole or in part, are subject to esd electronics' written

approval.

esd electronics gmbh

Vahrenwalder Str. 207

30165 Hannover

Germany

Tel.:

+49-511-37298-0

Fax:

+49-511-37298-68

E-Mail:

[email protected]

Internet:

www.esd.eu

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 3 of 122

Document Information

Document file:

I:\Texte\Doku\MANUALS\CAN\CAN-PN2(-FD)\CAN-PN2_Manual_en_10.docx

Date of print:

2023-06-26

Document-type

number:

DOC0800

Hardware version.:

from Rev. 3.0

Software version:

from Rev. 3.0

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.

Rev.

Chapter

Changes versus previous version

Date

1.0

First English manual of CAN-PN/2 and CAN-PN/2-FD

2023-06-26

Technical details are subject to change without further notice.

Page 4 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

Classification of Warning Messages and Safety Instructions

This manual contains noticeable descriptions, warning messages and safety instructions, which you

must follow to avoid personal injuries or death and property damage.

This is the safety alert symbol.

It is used to alert you to potential personal injury hazards. Obey all safety messages

and instructions that follow this symbol to avoid possible injury or death.

DANGER, WARNING, CAUTION

Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to

highlight safety instructions and warning messages. These messages may also include a warning

relating to property damage.

DANGER

Danger 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

Notes to point out something important or useful.

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 5 of 122

Safety Instructions

●

When working with the CAN-PN/2 follow the instructions below and read the manual carefully to

protect yourself from injury and the CAN-PN/2 from damage.

●

Do not use damaged or defective cables to connect the CAN-PN/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.

●

The galvanic isolation of the CAN-PN/2 has only functional tasks and is not a protection against

hazardous electrical voltage.

●

The CAN-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and may

only be operated on supply circuits that offer sufficient protection against dangerous voltages.

●

External circuits connected to the interfaces of the CAN-PN/2 must be sufficiently protected

against dangerous voltage.

●

Compliance with the applicable national safety regulations is the responsibility of the user.

●

Do not open the housing of the CAN-PN/2 .

●

The CAN-PN/2 must be securely installed before commissioning.

●

The permitted operating position is specified as shown (Figure 4). Other operating positions are

not allowed.

●

Never let liquids get inside CAN-PN/2. Otherwise, electric shocks or short circuits may result.

●

Protect the CAN-PN/2 from dust, moisture, and steam.

●

Protect the CAN-PN/2 from shocks and vibrations.

●

The CAN-PN/2 may become warm during normal use. Always allow adequate ventilation around

the CAN-PN/2 and use care when handling

●

Do not operate the CAN-PN/2 adjacent to heat sources and do not expose it to unnecessary

thermal radiation. Ensure an ambient temperature as specified in the technical data.

NOTICE

Electrostatic discharges may cause damage to electronic components.

→

Take the appropriate precautions for handling electrostatic discharge sensitive

devices.

Qualified Personnel

This documentation is directed exclusively towards personnel qualified in control and automation

engineering. The installation and commissioning of the product may only be carried out by qualified

personnel, which is authorized to put devices, systems, and electric circuits into operation according

to the applicable national standards of safety engineering.

Conformity

The CAN-PN/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.

Warning:

In a residential, commercial, or light industrial environment the CAN-PN/2 may cause

radio interferences in which case the user may be required to take adequate measures.

Page 6 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

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 Use

The intended use of the CAN-PN/2 is the operation fieldbus gateway for connecting PROFINET®-IO with

CAN and CAN FD (CAN-PN/2-FD only).

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-PN/2 is a built-in unit for installation e.g. in control cabinets.

●

The operation of the CAN-PN/2 in hazardous areas, or areas exposed to potentially explosive materials

is not permitted.

●

The operation of the CAN-PN/2 for medical purposes is prohibited.

Service Note

The CAN-PN/2 does not contain any parts that require maintenance by the user. The CAN-PN/2 does

not require any manual configuration of the hardware. Unauthorized intervention in the device voids

warranty claims

Disposal

Products marked with a crossed-out dustbin must not be disposed of with household waste.

Devices which have become defective in the long run must be disposed in an appropriate

way or must be returned to the manufacturer for proper disposal. Please, contribute to

environmental protection.

Typographical Conventions

Throughout this manual the following typographical conventions are used to distinguish technical terms.

Convention

Example

File and path names

/dev/null or <stdio.h>

Function names

open()

Programming constants

NULL

Programming data types

uint32_t

Variable names

Count

Number 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.

 
CAN-PN/2 
Manual Doc. No.: C.2924.21 / Rev 1.0 
Page 7 of 122 
 
 
 
Table of Contents 
Safety Instructions ..........................................................................................................................5 
1Overview................................................................................................................................ 12 
1 About this Manual...........................................................................................................12 
2 Description of CAN-PN/2................................................................................................ 12 
3 Glossary .........................................................................................................................14 
4 View with Connectors .....................................................................................................15 
5 LEDs...............................................................................................................................16 
5.1 Position of the LEDs ................................................................................................ 16 
5.2 PRIOFINET IO LEDs...............................................................................................16 
5.3 Status LEDs.............................................................................................................17 
6 Labels.............................................................................................................................18 
2Installing and Uninstalling Hardware......................................................................................19 
3Start-Up................................................................................................................................. 20 
4Software ................................................................................................................................21 
1 Functionality ...................................................................................................................21 
2 Installation ......................................................................................................................22 
2.1 Manual Installation of the RNDIS Driver...................................................................23 
2.2 GSDML File.............................................................................................................24 
3 Configuration.................................................................................................................. 24 
3.1 Quick Start Guide ....................................................................................................24 
3.2 Installation of the GSDML File .................................................................................25 
3.3 Insert the CAN-PN/2................................................................................................25 
3.4 Configuration of the CAN Bus..................................................................................26 
3.5 Assign the PROFINET Network...............................................................................26 
3.6 Assign IP Address and PROFINET Device Name....................................................27 
3.7 Add Modules............................................................................................................29 
3.8 Compile and Download Hardware and Software......................................................30 
3.9 Configuration Errors.................................................................................................32 
4 Modules..........................................................................................................................33 
4.1 CAN Interface.......................................................................................................... 34 
4.2 Input (11-bit and 29-bit CAN Identifier).....................................................................35 
4.3 Output (11-bit and 29-bit CAN Identifier)..................................................................37 
4.4 RX-/TX-FIFO ...........................................................................................................40 
4.4.1 CAN Frame Structure .......................................................................................40 
4.4.2 RX-FIFO...........................................................................................................41 
4.4.3 TX-FIFO ...........................................................................................................44 
4.5 Bus Statistic.............................................................................................................46 
4.5.1 Bus Status........................................................................................................46 
4.5.2 Busload ............................................................................................................46 
4.5.3 RX-/TX-Counter................................................................................................46 
4.6 Communication Window..........................................................................................47 
4.7 Additional Information.............................................................................................. 51 
4.7.1 In-Counter and Out-Counter .............................................................................51 
4.7.2 DLC and Flags..................................................................................................53 
4.7.3 CAN ID Filter ....................................................................................................54 
4.7.4 Format..............................................................................................................55 
5 Diagnostics.....................................................................................................................56 
6 Records..........................................................................................................................59 
6.1 Read Records..........................................................................................................61 
6.1.1 Read CAN Statistic (0x30 / 0x31) .....................................................................61 
6.1.2 Read Number of Remaining Frames in the Record Handle (0x300)..................61 
6.1.3 Read CAN Frame from the Record Handle (0x301)..........................................62 
6.1.4 Read multiple CAN Frames from the Record Handle (0x302)...........................63 
6.1.5 Read CAN FD Frame from the Record Handle (0x303)....................................64 

Page 8 of 122 
Manual Doc. No.: C.2924.21 / Rev 1.0 
CAN-PN/2 
 
6.1.6 Read multiple CAN FD Frames from the Record Handle (0x304).....................65 
6.1.7 Read current timestamp of the gateway (0x300)...............................................65 
6.2 Write Records..........................................................................................................66 
6.2.1 Reset CAN Statistic (0x10)...............................................................................66 
6.2.2 Add CAN Identifier to RX-FIFO (0x20)..............................................................67 
6.2.3 Delete CAN Identifier from RX-FIFO (0x21)......................................................68 
6.2.4 Send CAN Frame (0x101) ................................................................................69 
6.2.5 Send multiple CAN Frames (0x102)..................................................................69 
6.2.6 Send CAN FD Frame (0x103)...........................................................................70 
6.2.7 Send multiple CAN FD Frames (0x104)............................................................71 
6.2.8 Add CAN Identifier to Record Handle (0x107)...................................................71 
6.2.9 Delete CAN Identifier from Record Handle (0x108)...........................................71 
6.2.10 Reset Record Handle RX-FIFO (0x109) ...........................................................71 
6.3 PLC Function Blocks ...............................................................................................72 
6.3.1 Read Records...................................................................................................72 
6.3.2 Write Records................................................................................................... 73 
5Firmware Update...................................................................................................................74 
6CAN Monitoring ..................................................................................................................... 75 
7Compatibility..........................................................................................................................77 
8Troubleshooting.....................................................................................................................78 
1 Faulty PROFINET Connection........................................................................................78 
2 Faulty CAN Bus.............................................................................................................. 79 
3 Configuration Error .........................................................................................................80 
4 Support by esd................................................................................................................81 
9Example................................................................................................................................. 82 
1 Example for the RX-FIFO ...............................................................................................82 
2 Example for the TX-FIFO................................................................................................83 
3 Example for the Communication Window........................................................................84 
3.1 Basic Program Flow................................................................................................. 84 
3.2 Transmit a CAN Frame............................................................................................85 
3.3 Receive a CAN Frame.............................................................................................86 
3.3.1 Enable CAN identifier for Data Reception.........................................................86 
3.3.2 Reception of an enabled CAN Identifier............................................................ 87 
3.3.3 Deactivate CAN Identifier for Data Reception...................................................88 
3.4 Example Program....................................................................................................89 
3.4.1 Data Types.......................................................................................................89 
3.4.2 Data Blocks and Variables................................................................................90 
3.4.3 Function for Interaction with the Communication Window................................. 90 
3.4.4 Function to add CAN Identifier..........................................................................93 
3.4.5 Function to transmit CAN Frame.......................................................................94 
3.4.6 Organization Block OB1....................................................................................95 
Technical Data.......................................................................................................................96 
1 General Technical Data.................................................................................................. 96 
2 CPU and Memory...........................................................................................................96 
3 Connectors accessible from Outside...............................................................................97 
4 PROFINET IO Interface..................................................................................................97 
5 DIAG Interface................................................................................................................97 
6 CAN/ CAN FD Interfaces................................................................................................98 
Connector Pin Assignments...................................................................................................99 
1 CAN................................................................................................................................99 
2 24 V Power Supply Voltage .......................................................................................... 100 
3 PROFINET IO...............................................................................................................101 
4 DIAG............................................................................................................................. 102 
5 Conductor Connection/Conductor Cross Section.......................................................... 103 
Correct Wiring of Electrically Isolated CAN Networks........................................................... 104 
1 CAN Wiring Standards..................................................................................................104 
2 Light Industrial Environment (Single Twisted Pair Cable).............................................. 105 
2.1 General Rules........................................................................................................ 105 

 
CAN-PN/2 
Manual Doc. No.: C.2924.21 / Rev 1.0 
Page 9 of 122 
 
 
12.2.2 Cabling ..................................................................................................................106 
12.2.3 Branching ..............................................................................................................106 
12.2.4 Termination Resistor.............................................................................................. 106 
12.3 Heavy Industrial Environment (Double Twisted Pair Cable)..........................................107 
12.3.1 General Rules........................................................................................................ 107 
12.3.2 Device Cabling ...................................................................................................... 108 
12.3.3 Branching ..............................................................................................................108 
12.3.4 Termination Resistor.............................................................................................. 108 
12.4 Electrical Grounding......................................................................................................109 
12.5 Bus Length ...................................................................................................................109 
12.6 Examples for CAN Cables ............................................................................................ 110 
12.6.1 Cable for Light Industrial Environment Applications (Two-Wire)............................. 110 
12.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire)..........................110 
13 CAN Troubleshooting Guide................................................................................................ 111 
13.1 Electrical Grounding......................................................................................................112 
13.2 Short Circuit in CAN Wiring........................................................................................... 112 
13.3 Correct Voltage Levels on CAN_H and CAN_L.............................................................112 
13.4 CAN Transceiver Resistance Test................................................................................113 
13.5 Support by esd.............................................................................................................. 113 
14 References..........................................................................................................................114 
15 Software Licenses................................................................................................................ 115 
15.1 3rd Party Software License Terms................................................................................. 115 
15.2 Licence Conditions of the Software Modules ................................................................115 
15.2.1 Yocto-Linux License Modules................................................................................115 
15.2.2 Others.................................................................................................................... 118 
16 Declaration of Conformity..................................................................................................... 119 
17 PNO Certificates.................................................................................................................. 120 
17.1 CAN-PN/2 (C.2924.02)................................................................................................. 120 
17.2 CAN-PN/2-FD (C.2924.62) ........................................................................................... 121 
18 Order Information................................................................................................................. 122 
18.1 Hardware...................................................................................................................... 122 
18.2 Manuals........................................................................................................................ 122 
 
 
 
 
List of Tables 
Table 1: Description of PROFINET IO LEDs ................................................................................16 
Table 2: Indicator states of the Status LEDs.................................................................................17 
Table 3: Description of Status LEDs.............................................................................................17 
Table 4: Hardware installation......................................................................................................19 
Table 5: Manual installation of the RNDIS driver..........................................................................23 
Table 6: Configuration Quick Start Guide.....................................................................................24 
Table 7: Configuration errors........................................................................................................32 
Table 8: CAN Interface Parameter ...............................................................................................34 
Table 9: CAN FD Interface Parameter..........................................................................................34 
Table 10: Input Parameter............................................................................................................35 
Table 11: CAN FD Input Parameter..............................................................................................36 
Table 12: Output Parameter.........................................................................................................37 
Table 13: CAN FD Output Parameter...........................................................................................38 
Table 14: Static Output Parameter ...............................................................................................39 
Table 15: CAN Frame Structure...................................................................................................40 
Table 16: RX-FIFO General Parameter........................................................................................41 
Table 17: RX-FIFO CAN Identifier Parameter...............................................................................41 
Table 18: RX-FIFO Inputs ............................................................................................................42 
Table 19: RX-FIFO Outputs..........................................................................................................42 

Page 10 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

Table 20: CAN FD RX-FIFO Inputs ..............................................................................................43

Table 21: TX-FIFO Parameter......................................................................................................44

Table 22: TX-FIFO Inputs.............................................................................................................44

Table 23: TX-FIFO Outputs..........................................................................................................44

Table 24: CAN FD TX-FIFO Inputs...............................................................................................45

Table 25: CAN Bus States............................................................................................................46

Table 26: Busload Parameter.......................................................................................................46

Table 27: Communication Window Inputs ....................................................................................47

Table 28: Communication Window Outputs..................................................................................48

Table 29: Communication Window Commands............................................................................49

Table 30: In-Counter and Out-Counter Pseudo Code...................................................................52

Table 31: DLC and Flags..............................................................................................................53

Table 32: DLC Classical CAN.......................................................................................................53

Table 33: DLC CAN FD................................................................................................................53

Table 34: CAN Frame Flags.........................................................................................................53

Table 35: CAN ID Filter ................................................................................................................54

Table 36: CAN ID Filter Example..................................................................................................54

Table 37: CAN Format Parameter 1.............................................................................................55

Table 38: CAN Format Parameter 2.............................................................................................55

Table 39: CAN-PN/2 Alarms.........................................................................................................56

Table 40: CAN-PN/2 Read Records.............................................................................................59

Table 41: CAN-PN/2 Write Records .............................................................................................60

Table 42: Read Record Read CAN Statistic (0x30/0x31)..............................................................61

Table 43: Read Record Read Number of Remaining Frames in the Record Handle (0x300)........61

Table 44: Read Record Read CAN Frame from the Record Handle (0x301)................................62

Table 45: Read multiple CAN Frames from the Record Handle (0x302).......................................63

Table 46: Read Record Read CAN FD Frame from the Record Handle (0x303) ..........................64

Table 47: Read Record Read multiple CAN FD Frames from the Record Handle (0x304) ...........65

Table 48: Write Record Add CAN Identifier to RX-FIFO (0x20) ....................................................67

Table 49: Write Record Delete CAN Identifier to RX-FIFO (0x21) ................................................68

Table 50: Write Record Send CAN Frame (0x101).......................................................................69

Table 51: Write Record Send multiple CAN Frame (0x101)..........................................................69

Table 52: Write Record Send CAN FD Frame (0x103).................................................................70

Table 53: Write Record Send multiple CAN FD Frame (0x104)....................................................71

Table 54: Read Record PLC Parameter.......................................................................................72

Table 55: Write Record PLC Parameter.......................................................................................73

Table 56: Firmware Update..........................................................................................................74

Table 57: CAN Monitoring............................................................................................................75

Table 58: General Data of the module..........................................................................................96

Table 59: CPU and Memory.........................................................................................................96

Table 60: Connectors, accessible from outside............................................................................97

Table 61: Data of the PROFINET IO interface..............................................................................97

Table 62: Data of the USB device interface..................................................................................97

Table 63: Data of the CAN interface.............................................................................................98

Table 64: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ................109

Table 65: Order information hardware........................................................................................122

Table 66: Available Manuals ......................................................................................................122

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 11 of 122

List of Figures

Figure 1: PROFINET device to CAN.............................................................................................12

Figure 2: PROFINET device to CAN FD .......................................................................................12

Figure 3: Block circuit diagram......................................................................................................12

Figure 4: Connecting diagram of CAN-PN/2 (C.2924.02)..............................................................15

Figure 5: LEDs of CAN-PN/2 (C.2924.02).....................................................................................16

Figure 6: CAN-PN/2-FD with name plate (example)......................................................................18

Figure 7: CAN-PN/2-FD with LED/Connector label (example).......................................................18

Figure 8: Basic functionality of the firmware..................................................................................21

Figure 9: Manage GSDML files.....................................................................................................25

Figure 10: Inserting the CAN-PN/2 (example)...............................................................................25

Figure 11: Not assigned CAN-PN/2 (example)..............................................................................26

Figure 12: Assigned CAN-PN/2 (example)....................................................................................26

Figure 13: Assign IP address and device name of the configuration.............................................27

Figure 14: Assign IP address and device name of the gateway ....................................................28

Figure 15: Adding modules to the CAN-PN/2...............................................................................29

Figure 16: Compile Hardware and Software (detail)......................................................................30

Figure 17: Download hardware and software to device (detail).....................................................30

Figure 18: Toolbar with Go online button ......................................................................................31

Figure 19: Toolbar Online device overview ...................................................................................31

Figure 20: Module Parameters......................................................................................................33

Figure 21: PLC Address Space of the Modules (detail).................................................................33

Figure 22: CAN Interface Parameter.............................................................................................34

Figure 23: CAN FD Interface Parameter.......................................................................................34

Figure 24: Input Parameter...........................................................................................................35

Figure 25: CAN FD Input Parameter.............................................................................................36

Figure 26: Output Parameter ........................................................................................................37

Figure 27: CAN FD Output Parameter ..........................................................................................38

Figure 28: Static Output Parameter...............................................................................................39

Figure 29: RX-FIFO General Parameter .......................................................................................41

Figure 30: RX-FIFO CAN Identifier Parameter..............................................................................42

Figure 31: TX-FIFO Parameter .....................................................................................................44

Figure 32: Busload Parameter ......................................................................................................46

Figure 33: Example In-Counter and Out-Counter..........................................................................51

Figure 34: CAN Control Panel.......................................................................................................75

Figure 35: Monitoring the CAN Bus with CANreal.........................................................................76

Figure 36: Invalid CAN Data-Phase Bitrate...................................................................................78

Figure 37: Faulty CAN Bus ...........................................................................................................79

Figure 38: Duplicates unique Modules..........................................................................................80

Figure 39: Enable CAN FD ...........................................................................................................80

Figure 40: Default tag table...........................................................................................................90

Figure 41: CAN wiring for light industrial environment.................................................................105

Figure 42: Example for proper wiring with single shielded single twisted pair wires.....................106

Figure 43: CAN wiring for heavy industrial environment..............................................................107

Figure 44: Example of proper wiring with single shielded double twisted pair cables ..................108

Figure 45: Simplified diagram of a CAN network.........................................................................111

Figure 46: Simplified schematic diagram of ground test measurement........................................112

Figure 47: Measuring the internal resistance of CAN transceivers..............................................113

Overview

Page 12 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

1 Overview

In this manual all versions of the fieldbus gateway, the CAN-PN/2 and the CAN-PN/2-FD are

described together as CAN-PN/2. The hardware of the two variants is largely identical. They only

differ in the design of the CAN interface. While the CAN-PN/2 variant only supports Classical CAN,

the CAN-PN/2-FD is capable of CAN FD support.

Differences of the gateway variants are noted accordingly.

CAN-PN/2 (C.2924.02)

CAN-PN/2-FD (C.2924.62)

Figure 1: PROFINET device to CAN

Figure 2: PROFINET device to CAN FD

The CAN-PN/2 gateway offers reliable data exchange between PROFINET IO and CAN. It operates

as a PROFINET IO device with a process image of 1440 bytes input data and 1440 bytes output

data on the PROFINET bus.

The CAN-PN/2 variant (C.2924.02) supports Classical CAN (2.0A/B) with a bit rate of up to 1 Mbit/s.

Furthermore, the CAN-PN/2-FD variant (C.2924.62) can connect PROFINET IO with CAN FD. It

supports CAN FD with up to 64 bytes in data field and 8 Mbit/s bit rate. Furthermore, it is fully

compatible with Classical CAN.

Figure 3: Block circuit diagram

The CAN-PN/2 comes in a compact housing for DIN rail mounting with easily accessible connectors.

It is equipped with two Ethernet ports via RJ-45 sockets for PROFINET IO, a CAN interface via a

connector with spring-cage connection and a Mini-USB-B interface for diagnose and firmware

update.

1.1 About this Manual

1.2 Description of CAN-PN/2

Overview

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 13 of 122

Physical Interfaces

The CAN interface and the CAN FD interface (CAN-PN/2-FD only) are ISO 11898-2:2016

compliant.

The 100BASE-TX PROFINET IO interface complies with IEEE802.3 (1) and allows a data

transfer rate of 100 Mbit/s.

Both the PROFINET IO and the CAN interface are galvanically isolated from the rest of the

circuit.

11bit and 29bit CAN Identifier

The CAN-PN/2 supports 11-bit and 29-bit CAN identifier according to ISO 11898-1:2015

(CAN2.0A/B).

High speed data exchange

The gateway supports the exchange of data between PROFINET IO and CAN interfaces with

PROFINET cycle times up to 1ms.

Scheduling data

The CAN-PN/2 supports high precise scheduling of CAN frames in predefined interval.

Alarm Management

The gateway supports an extended alarm management to check the CAN network including

the CAN bus status, bus load and the bus statistic.

Configurable for your needs

The CAN-PN/2 is configurable in a simple manner exactly to fit your needs. From simple

incoming and outgoing CAN frames to more advanced application, the gateway can be

configured to tailor your application.

Monitoring the CAN bus

The gateway supports the monitoring of the CAN bus with the included EtherCAN interface

via Mini-USB.

Overview

Page 14 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

Abbreviations

Abbreviation

Term

API

Application Programming Interface

BSP

Board Support Package

CAL

CAN Application Layer

CAN

Controller Area Network

CPU

Central Processing Unit

CiA

CAN in Automation

Data Block

DCF

Device Configuration File

EDS

Electronic Data Sheet

GSD

General Station Description

GSDML

General Station Description Markup Language

Hardware

I/O

Input/Output

IO-CS

PROFINET Consumer Status

IO-PS

PROFINET Provider Status

LSB

Least Significant Bit

MSB

Most Significant Bit

n.a.

not applicable

Organization Block

Operating System

PDO

Process Data Object

PRU

Processor Realtime Unit

RTR

Remote Transmission Request

SDK

Software Development Kit

SDO

Service Data Object

USB

Universal Serial Bus

XML

Extensible Markup Language

1.3 Glossary

Overview

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 15 of 122

Figure 4: Connecting diagram of CAN-PN/2 (C.2924.02)

The connecting diagram also applies accordingly for the CAN-PN/2-FD.

See also from page 99 for connector assignments and for conductor connection and conductor

cross section.

NOTICE

Read chapter “ Installing and Uninstalling Hardware” on page 19, before you start with

the installation of the hardware!

1.4 View with Connectors

Overview

Page 16 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

1.5.1Position of the LEDs

Figure 5: LEDs of CAN-PN/2 (C.2924.02)

The names and positions of the LEDs are identical for the CAN-PN/2-FD.

1.5.2PRIOFINET IO LEDs

The PROFINET IO LEDs of PORT 1 and PORT 2 are integrated in the RJ-45 sockets. The LEDs

indicate the status of the corresponding port.

LED

Colour

Indicator

State

Description

Activity

Yellow

Off

No Ethernet connection

Blinking

Ethernet connection is established, data is transferred

Ethernet connection is established on

Link

Green

Off

No Ethernet connection

Ethernet connection is established

Table 1: Description of PROFINET IO LEDs

1.5 LEDs

Overview

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 17 of 122

1.5.3Status LEDs

Indicator

State

Description

LED on

Off

LED off

Blinking

LED blinks with 1 Hz (frequency is preset for PROFINET)

Single flash

LED 200 ms on, 1000 ms off

Double flash

LED 200 ms on, 200 ms off, 200 ms on, 1000 ms off

Table 2: Indicator states of the Status LEDs

LED

Function

Colour

Indicator

State

Description

CAN Bus

Status

Green

Off

No power supply

Blinking

BUS_OFF

Single

flash

BUS_ERROR_PASSIVE

Double

flash

BUS_WARN

BUS OK

Configuration

Error

Red

Off

No error

Error in the configuration

CON

PROFINET IO

Connect

Green

Off

No valid PROFINET IO link

Blinking

Request of the PROFINET IO Controller for the

identification of the device

Valid PROFINET IO link is established

PWR

Power

Green

Off

There is no request of the PROFINET IO-controller

for the identification of the unit

Blinking

Request of the PROFINET IO controller for the

identification of the unit

Table 3: Description of Status LEDs

See also chapter 3 on page 20 for a description of the status LEDs during Start-Up.

Overview

Page 18 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

Example

Figure 6: CAN-PN/2-FD with name plate

(example)

Figure 7: CAN-PN/2-FD with LED/Connector

label (example)

The name plate (Figure 5) shows among others the name, MAC-ID, esd order No. (PN) and the

serial number (SN).

Name plate

Classical CAN variant

CAN FD variant

- Name:

CAN-PN/2

CAN-PN/2-FD

- MAC-ID:

Individual MAC-ID of the module

e.g.: 00:02:27:70:08:15

Individual MAC-ID of the module

e.g.: 00:02:27:70:08:17

- PN (esd order No.):

C.2924.02

C.2924.62

- SN (Serial number):

Individual number of the module

e.g. GB000021

Individual number of the module

e.g. GB000023

The LED/Connector label (Figure 7) shows short descriptions of the LEDs and connectors and the

QR code of esd.

LED/Connector label

Classical CAN variant

CAN FD variant

- LEDs:

Status LEDs

PROFINET LEDs

Status LEDs,

PROFINET LEDs

Connectors:

DIAG,

PROFINET (Port 1, Port 2),

Power,

CAN

DIAG,

PROFINET (Port 1, Port 2),

Power,

CAN FD

1.6 Labels

Installing and Uninstalling Hardware

CAN-PN/2

Manual Doc. No.: C.2924.21 / Rev 1.0

Page 19 of 122

2 Installing and Uninstalling Hardware

To put the CAN-PN/2 into operation, please follow the installation notes.

Step

Procedure

See

Page

NOTICE

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 live parts with high voltages inside of the system into which the

CAN-PN/2 is to be integrated.

→

The CAN-PN/2 is a device of protection class III according to DIN EN IEC

61010-2-201 and may only be operated on supply circuits that offer

sufficient protection against dangerous voltages.

External circuits connected to the interfaces of the CAN-PN/2 must be

sufficiently protected against dangerous voltages.

Compliance with the applicable national safety regulations is the

responsibility of the user.

Ensure the absence of voltage before starting any electrical work.

To install, continue as described from steps 1. to 4.

To uninstall, continue from step 5.

Mount the CAN-PN/2 module and connect the interfaces (power supply

voltage, CAN, PROFINET interface) as described in Figure 4: Connecting

diagram of CAN-PN/2

See also chapter 11 for ‘Connector Pin Assignments’.

NOTICE

Incorrect wiring of the 24V power supply voltage can cause damage to the

module!

100

→

Make absolutely sure to connect the cables correctly to the 24V line

connector!

Use only suitable cables for the line plug

Please note that the CAN bus must be terminated at both ends!

esd offers special T-connectors and termination connectors for external

termination. Additionally, the CAN_GND signal must be connected to earth at

exactly one point in the CAN network.

For details, please read chapter ‘Correct Wiring of Electrically Isolated CAN

Networks’.

104

Switch on the 24 V-power supply voltage of the CAN-PN/2

Continue with the installation of the software, as described in chapter

‘Software’.

To uninstall the CAN-PN/2 continue as described below.

Make sure that all connected interfaces are switched off.

Disconnect the CAN-PN/2 from the connected interfaces.

If applicable, loosen the fastening of the CAN-PN/2.

Carefully pull the CAN-PN/2 out.

Table 4: Hardware installation

Start-Up

Page 20 of 122

Manual Doc. No.: C.2924.21 / Rev 1.0

CAN-PN/2

3 Start-Up

After switching onthe supply voltage, the CAN-PN/2 starts automatically. During start up the ‘R’ LED

(CAN Status) turns on. When the device is started successfully ‘PWR’ LED (Power) turns on and ‘R’

LED (CAN Status) turns off again. This process takes about 10s.

The gateway is now ready to be configured by the PROFINET controller.

When the gateway has established a connection to the PROFINET network, the ‘CON’ LED

(PROFINET Connect) turns ON. When the CAN bus is not faulty, the ‘R’ LED (CAN Status) turns

on, too.

After the PROFINET controller changes to state RUN, the data exchange is started automatically.

When the PLC changes to the state STOP, no more CAN frames are sent.

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