ESD CAN-PN/2 User manual

esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: [phone] • Fax: [phone]
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.
© 2023 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Tel.:
[phone]
Fax:
[phone]
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
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
1.1 About this Manual...........................................................................................................12
1.2 Description of CAN-PN/2................................................................................................ 12
1.3 Glossary .........................................................................................................................14
1.4 View with Connectors .....................................................................................................15
1.5 LEDs...............................................................................................................................16
1.5.1 Position of the LEDs ................................................................................................ 16
1.5.2 PRIOFINET IO LEDs...............................................................................................16
1.5.3 Status LEDs.............................................................................................................17
1.6 Labels.............................................................................................................................18
2Installing and Uninstalling Hardware......................................................................................19
3Start-Up................................................................................................................................. 20
4Software ................................................................................................................................21
4.1 Functionality ...................................................................................................................21
4.2 Installation ......................................................................................................................22
4.2.1 Manual Installation of the RNDIS Driver...................................................................23
4.2.2 GSDML File.............................................................................................................24
4.3 Configuration.................................................................................................................. 24
4.3.1 Quick Start Guide ....................................................................................................24
4.3.2 Installation of the GSDML File .................................................................................25
4.3.3 Insert the CAN-PN/2................................................................................................25
4.3.4 Configuration of the CAN Bus..................................................................................26
4.3.5 Assign the PROFINET Network...............................................................................26
4.3.6 Assign IP Address and PROFINET Device Name....................................................27
4.3.7 Add Modules............................................................................................................29
4.3.8 Compile and Download Hardware and Software......................................................30
4.3.9 Configuration Errors.................................................................................................32
4.4 Modules..........................................................................................................................33
4.4.1 CAN Interface.......................................................................................................... 34
4.4.2 Input (11-bit and 29-bit CAN Identifier).....................................................................35
4.4.3 Output (11-bit and 29-bit CAN Identifier)..................................................................37
4.4.4 RX-/TX-FIFO ...........................................................................................................40
4.4.4.1 CAN Frame Structure .......................................................................................40
4.4.4.2 RX-FIFO...........................................................................................................41
4.4.4.3 TX-FIFO ...........................................................................................................44
4.4.5 Bus Statistic.............................................................................................................46
4.4.5.1 Bus Status........................................................................................................46
4.4.5.2 Busload ............................................................................................................46
4.4.5.3 RX-/TX-Counter................................................................................................46
4.4.6 Communication Window..........................................................................................47
4.4.7 Additional Information.............................................................................................. 51
4.4.7.1 In-Counter and Out-Counter .............................................................................51
4.4.7.2 DLC and Flags..................................................................................................53
4.4.7.3 CAN ID Filter ....................................................................................................54
4.4.7.4 Format..............................................................................................................55
4.5 Diagnostics.....................................................................................................................56
4.6 Records..........................................................................................................................59
4.6.1 Read Records..........................................................................................................61
4.6.1.1 Read CAN Statistic (0x30 / 0x31) .....................................................................61
4.6.1.2 Read Number of Remaining Frames in the Record Handle (0x300)..................61
4.6.1.3 Read CAN Frame from the Record Handle (0x301)..........................................62
4.6.1.4 Read multiple CAN Frames from the Record Handle (0x302)...........................63
4.6.1.5 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
4.6.1.6 Read multiple CAN FD Frames from the Record Handle (0x304).....................65
4.6.1.7 Read current timestamp of the gateway (0x300)...............................................65
4.6.2 Write Records..........................................................................................................66
4.6.2.1 Reset CAN Statistic (0x10)...............................................................................66
4.6.2.2 Add CAN Identifier to RX-FIFO (0x20)..............................................................67
4.6.2.3 Delete CAN Identifier from RX-FIFO (0x21)......................................................68
4.6.2.4 Send CAN Frame (0x101) ................................................................................69
4.6.2.5 Send multiple CAN Frames (0x102)..................................................................69
4.6.2.6 Send CAN FD Frame (0x103)...........................................................................70
4.6.2.7 Send multiple CAN FD Frames (0x104)............................................................71
4.6.2.8 Add CAN Identifier to Record Handle (0x107)...................................................71
4.6.2.9 Delete CAN Identifier from Record Handle (0x108)...........................................71
4.6.2.10 Reset Record Handle RX-FIFO (0x109) ...........................................................71
4.6.3 PLC Function Blocks ...............................................................................................72
4.6.3.1 Read Records...................................................................................................72
4.6.3.2 Write Records................................................................................................... 73
5Firmware Update...................................................................................................................74
6CAN Monitoring ..................................................................................................................... 75
7Compatibility..........................................................................................................................77
8Troubleshooting.....................................................................................................................78
8.1 Faulty PROFINET Connection........................................................................................78
8.2 Faulty CAN Bus.............................................................................................................. 79
8.3 Configuration Error .........................................................................................................80
8.4 Support by esd................................................................................................................81
9Example................................................................................................................................. 82
9.1 Example for the RX-FIFO ...............................................................................................82
9.2 Example for the TX-FIFO................................................................................................83
9.3 Example for the Communication Window........................................................................84
9.3.1 Basic Program Flow................................................................................................. 84
9.3.2 Transmit a CAN Frame............................................................................................85
9.3.3 Receive a CAN Frame.............................................................................................86
9.3.3.1 Enable CAN identifier for Data Reception.........................................................86
9.3.3.2 Reception of an enabled CAN Identifier............................................................ 87
9.3.3.3 Deactivate CAN Identifier for Data Reception...................................................88
9.3.4 Example Program....................................................................................................89
9.3.4.1 Data Types.......................................................................................................89
9.3.4.2 Data Blocks and Variables................................................................................90
9.3.4.3 Function for Interaction with the Communication Window................................. 90
9.3.4.4 Function to add CAN Identifier..........................................................................93
9.3.4.5 Function to transmit CAN Frame.......................................................................94
9.3.4.6 Organization Block OB1....................................................................................95
10 Technical Data.......................................................................................................................96
10.1 General Technical Data.................................................................................................. 96
10.2 CPU and Memory...........................................................................................................96
10.3 Connectors accessible from Outside...............................................................................97
10.4 PROFINET IO Interface..................................................................................................97
10.5 DIAG Interface................................................................................................................97
10.6 CAN/ CAN FD Interfaces................................................................................................98
11 Connector Pin Assignments...................................................................................................99
11.1 CAN................................................................................................................................99
11.2 24 V Power Supply Voltage .......................................................................................... 100
11.3 PROFINET IO...............................................................................................................101
11.4 DIAG............................................................................................................................. 102
11.5 Conductor Connection/Conductor Cross Section.......................................................... 103
12 Correct Wiring of Electrically Isolated CAN Networks........................................................... 104
12.1 CAN Wiring Standards..................................................................................................104
12.2 Light Industrial Environment (Single Twisted Pair Cable).............................................. 105
12.2.1 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