ESD CAN-PCI/400 User manual

CAN-PCI/400
PCI-CAN Interface
CAN-PCI/400-2 (C.2048.04)
Hardware Manual
to Product C.2048.04, C.2048.06
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 1 of 29
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.
esd makes no warranty of any kind with regard to the material in this document, and assumes no
responsibility for any errors that may appear in this document. In particular descriptions and
technical data specified in this document may not be constituted to be guaranteed product features
in any legal sense.
esd 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. istribution to third parties, and reproduction
of this document in any form, whole or in part, are subject to esd's written approval.
© 2015 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
This manual contains important information and instructions on safe and efficient
handling of the CAN-PCI/400. Carefully read this manual before commencing any work
and follow the instructions.
The manual is a product component, please retain it for future use.
Trademark Notices
CANopen® and CiA® are registered community trademarks of CAN in Automation e.V.
Windows is a registered trademark of Microsoft Corporation in the United States and other countries.
The PICMG® name and logo are registered trademarks of the PCI Industrial Computer Manufacturers Group.
All other trademarks, product names, company names or company logos used in this manual are reserved by their
respective owners.
Page 2 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Document file: I:\Texte\ oku\MANUALS\CAN\PCI\CAN-PCI400\Englisch\CAN-PCI400_Hardware_en_11.odt
Date of print: 2015-12-08
Document t pe
number: OC0800
Hardware version: CAN-PCI/400 Rev. 1.0
Document Histor
The changes in the document listed below affect changes in the hardware as well as changes in
the description of the facts, only.
Revision Chapter Changes versus previous version Date
1.0 - First English version 2012-03-20
1.1
- Safety messages and instructions revised
2015-12-08
2. Chapter revised
8. eclaration of conformity new
9. Order information revised
Technical details are subject to change without further notice.
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 3 of 29

Classification of Warning Messages and Safet 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
epending on the hazard level the signal words ANGER, WARNING or CAUTION are used to
highlight safety instructions and warning messages. These messages may also include a warning
relating to property damage.
DANGER
anger statements indicate a hazardous situation which, if not avoided, will result in
death or serious injury.
WARNING
Warning statements indicate a hazardous situation that, if not avoided, could result in
death or serious injury.
CAUTION
Caution statements indicate a hazardous situation that, if not avoided, could result in
minor or moderate injury.
NOTICE
Notice statements are used to notify people on hazards that could result in things other than
personal injury, like property damage.
NOTICE
This NOTICE statement indicates that the device contains components sensitive to
electrostatic discharge.
NOTICE
This NOTICE statement contains the general mandatory sign and gives information that
must be heeded and complied with for a safe use.
INFORMATION
INFORMATION
Notes to point out something important or useful.
Page 4 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Safet Instructions
● When working with the CAN-PCI/400 follow the instructions below and read the manual carefully to
protect yourself from injury and the CAN-PCI/400 from damage.
● The device is a built-in component. It is essential to ensure that the device is mounted in a way that
cannot lead to endangering or injury of persons or damage to objects.
● o not use damaged or defective cables to connect the CAN-PCI/400 and follow the CAN wiring
hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
● In case of damages to the device, which might affect safety, appropriate and immediate measures
must be taken, that exclude an endangerment of persons and domestic animals and property.
● Current circuits which are connected to the device have to be sufficiently protected against
hazardous voltage (SELV according to EN 60950-1).
● The CAN-PCI/400 may only be driven by power supply current circuits, that are contact protected.
A power supply, that provides a safety extra-low voltage (SELV) according to EN 60950-1, complies
with this conditions.
● The device has to be securely installed in the control cabinet before commissioning.
● Protect the CAN-PCI/400 from dust, moisture and steam.
● Protect the CAN-PCI/400 from shocks and vibrations.
● The CAN-PCI/400 may become warm during normal use. Always allow adequate ventilation around
the CAN-PCI/400 and use care when handling.
● o not operate the CAN-PCI/400 adjacent to heat sources and do not expose it to unnecessary
thermal radiation. Ensure an ambient temperature as specified in the technical data.
DANGER
Hazardous Voltage - Risk of electric shock due to unintentional contact with
uninsulated live parts with high voltages inside of the system into which the CAN-PCI/400
is to be integrated.
→ isconnect all hazardous voltages (mains voltage) before opening the system.
→ Ensure the absence of voltage before starting any electrical work
NOTICE
Electrostatic discharges ma cause damage to electronic components.
To avoid this, perform the steps described on page 10 before you touch the CAN-
PCI/400, in order to discharge the static electricity from your body.
Qualified Personal
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.
Conformit
The CAN-PCI/400-2 meets the demands of the EU regulations and EMC standards printed in the
conformity declaration at the end of this manual.
Intended Use
The intended use of the CAN-PCI/400 is the operation as a PCI CAN interface for PCs.
The guarantee given by esd does not cover damages which result from improper use, usage not in
accordance with regulations or disregard of safety instructions and warnings.
!The CAN-PCI/400 is intended for installation in a PCI slot of an industrial or home computer
only.
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 5 of 29

!The operation of the CAN-PCI/400 in hazardous areas, or areas exposed to potentially
explosive materials is not permitted.
!The operation of the CAN-PCI/400 for medical purposes is prohibited.
Service Note
The CAN-PCI/400 does not contain any parts that require maintenance by the user. The CAN-
PCI/400 does not require any manual configuration of the hardware.
Disposal
evices which have become defective in the long run have to be disposed in an appropriate way or
have to be returned to the manufacturer for proper disposal. Please, make a contribution to
environmental protection.
Abbreviations
API Application Programming Interface
CAN Controller Area Network
CPU Central Processing Unit
CiA CAN in Automation
I/O Input/Output
esdACC esd Advanced CAN Core
Page 6 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Table of contents
Safety Instructions...........................................................................................................................5
1. Overview......................................................................................................................................8
1.1 escription of the Module......................................................................................................8
1.2 PCB View with Connectors....................................................................................................9
2. Hardware Installation..................................................................................................................10
2.1 CAN-PCI/400-4 Version with 4 CAN Interfaces....................................................................12
3. Front Panel View with LE - isplay............................................................................................13
3.1 Additional LE s on CAN-PCI/400-4 Adapter Board.............................................................14
4. Technical ata...........................................................................................................................15
4.1 General Technical ata.......................................................................................................15
4.2 PCI-Bus...............................................................................................................................15
4.3 CAN Interface......................................................................................................................16
4.4 Software Support.................................................................................................................16
5. Connector Assignments.............................................................................................................17
5.1 CAN..................................................................................................................................... 17
6. Correct Wiring of Electrically Isolated CAN Networks.................................................................18
6.1 Standards concerning CAN Wiring......................................................................................18
6.2 Light Industrial Environment (Single Twisted Pair Cable).....................................................19
6.2.1 General Rules.............................................................................................................19
6.2.2 Cabling........................................................................................................................20
6.2.3 Termination.................................................................................................................20
6.3 Heavy Industrial Environment ( ouble Twisted Pair Cable).................................................21
6.3.1 General Rules.............................................................................................................21
6.3.2 evice Cabling............................................................................................................22
6.3.3 Termination.................................................................................................................22
6.4 Electrical Grounding.............................................................................................................23
6.5 Bus Length...........................................................................................................................23
6.6 Examples for CAN Cables...................................................................................................24
6.6.1 Cable for light industrial Environment Applications (Two-Wire)...................................24
6.6.2 Cable for heavy industrial Environment Applications (Four-Wire)................................24
7. CAN Troubleshooting Guide.......................................................................................................25
7.1 Termination..........................................................................................................................25
7.2 Electrical Grounding.............................................................................................................26
7.3 Short Circuit in CAN Wiring..................................................................................................26
7.4 CAN_H/CAN_L-Voltage ......................................................................................................26
7.5 CAN Transceiver Resistance Test.......................................................................................27
7.6 Support by esd.....................................................................................................................27
8. eclaration of Conformity...........................................................................................................28
9. Order Information.......................................................................................................................29
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 7 of 29

Overview
1. Overview
1.1 Description of the Module
Figure 1: Block circuit diagram of CAN-PCI/400
The CAN-PCI/400 is a PC board designed for the PCI bus that features two (CAN-PCI/400-2) or
optionally four (CAN-PCI/400-4) electrically isolated CAN High-Speed interfaces according to ISO
11898-2. CAN-PCI/400-4 comes with two additional CAN interfaces via a separate slot bracket.
The independent CAN nets acc. to ISO 11898-1 are driven by the esdACC (esd Advanced CAN
Core) implemented in the Xilinx® Spartan®-3E FPGA. Controlled by the FPGA the CAN-PCI/400
supports bus mastering as an initiator, meaning that it is capable of initiating write cycles to the
host CPU’s RAM independent of the CPU or the system MA controller. This results in a reduction
of overall latency on servicing I/O transactions in particular at higher data rates and reduced host
CPU load.
The CAN-PCI/400 provides high resolution hardware timestamps.
CAN Error injection on request.
CAN layer 2 (NTCAN-API) software drivers are available for Windows®, VxWorks®, QNX®, RTX®
and Linux® supporting up to 24 CAN nets. rivers for other operating systems are available on
request. The CANopen software package is available for Windows, Linux, VxWorks, and QNX.
Page 8 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400
FPGA
Xilinx Spartan-3E
(32-Bit Microcontroller
MicroBlaze Option)
PCI Brid e
PLX PCI 9056
RAM
(Option)
C
A
N
B
U
S
Physical
CAN
Layer
C
A
N
B
U
S
Physical
CAN
Layer
CAN2
CAN3
CAN0
CAN1
DSUB9
CiA pinnin
DSUB9
CiA pinnin
4 x
CAN Core
with Timestamp
PCI
Card Ed e
Connector
DC/DC
Converter
DC/DC
Converter
Adapter Board (CAN-PCI/400-4 only)
Option
10-pole
post connector
CAN-adapter board
Electrical Isolation
Electrical Isolation
Ribbon
Cable

Overview
1.2 PCB View with Connectors
Figure 2: Top layer view of the CAN-PCI/400-2 with 2x CAN
See also page 17 for signal assignment of the CAN connectors.
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 9 of 29

Hardware Installation
2. Hardware Installation
NOTICE
Read the safet instructions at the beginning of this document carefull , before
ou 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-PCI/400
is to be integrated.
→ isconnect all hazardous voltages (mains voltage) before opening the system.
→ Ensure the absence of voltage before starting any electrical work.
NOTICE
Electrostatic discharges ma cause damage to electronic components.
→
→
To avoid this, please discharge the static electricity from your body by touching the
metal case of the PCI system before you touch the CAN-PCI/400.
Furthermore, you should prevent your clothes from touching the CAN-PCI/400,
because your clothes might be electrostatically charged as well.
Procedure:
1. Switch off your PCI system and all connected peripheral devices (monitor, printer, etc.).
Switch off the connected CAN devices
2. ischarge your body as described above.
3. isconnect the power supply of the PC from the mains.
DANGER
Hazardous Voltage
Risk of electric shock due to unintentional contact with uninsulated live parts with
high voltages.
→
→
→
isconnect all hazardous voltages (mains voltage) before opening the system.
If the system does not have a flexible mains cable, but is directly connected to
mains, disconnect the power supply via the safety fuse and make sure that the
fuse cannot switch on again unintentionally (i.e. with caution label).
Ensure the absence of voltage before starting any electrical work
4. Open the case.
5. Select an open PCI slot and remove the slot cover at the back of the PC.
The CAN module can be inserted into every PCI slot.
NOTICE
Be careful not to insert the board into an ISA slot, because this can damage the
PC and the board!
6. Insert the CAN-PCI/400 board into the selected PCI slot. Carefully push the board down until
it snaps into place.
7. Attach the board.
8. If you are installing the CAN-PCI/400-4 module with 4 CAN interfaces you have to install the
adapter board in the PCI slot next to the CAN-PCI/400 board. Connect the two boards with
the included ribbon cable (see figure 3 on page 12) via the 10-pin post connectors on the
bard and on the adapter.
Page 10 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Hardware Installation
9. Close the computer case again.
10. Connect the CAN wire.
Please note that the CAN bus has to be terminated at both ends!
Use the special T- connectors and terminator connectors offered by esd. Additionally the
CAN_GN signal has to be connected to earth at exactly one point. For easier wiring the
termination connectors are equipped with an earth connector (4.8 mm fast-on, male).
A CAN participant without an electrically isolated interface acts as an earth connection.
The first CAN interface (CAN 0) has to be connected via the lower SUB connector (X400)
and the second CAN interface (CAN 1) has to be connected via the upper SUB connector
(X410).
If you are installing a CAN-PCI/400-4 with four CAN interfaces, you have to connect the third
CAN interface via the lower SUB connector of the adapter board and the fourth CAN
interface via the upper SUB connector of the adapter board. You will find a figure showing
the connectors on page 12.
11. Connect the system to mains again (mains connector or fuse).
12. Switch on the computer and the peripheral devices.
13. End of hardware installation.
Continue with the software installation as described in the manual ‘NTCAN-API, Installation
Guide’.
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 11 of 29

Hardware Installation
2.1 CAN-PCI/400-4 Version with 4 CAN Interfaces
Figure 3: View of CAN-PCI/400-4 with ribbon cable
In the CAN-PCI/400-4 version, the board comes with four CAN interfaces.
This module type uses two additional CAN transcievers. The physical layer of the additional CAN
interfaces is placed on a separate adapter board. The adapter board has to be mounted close to
the CAN-PCI/400. Furthermore, it has to be connected via the ribbon cable that is contained in the
scope of delivery.
The two additional physical interfaces are designed identical to the physical interfaces of CAN0
and CAN1.
Page 12 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Front Panel View with LED-Displa
3. Front Panel View with LED-Displa
The CAN-PCI/400-2 is equipped with four green LE s in the front panel.
Figure 4: Front panel view ( CAN-PCI/400-2)
Label Name Indicator
State Description
LE name
in schematic
diagram
ATraffic
CAN0
off no CAN bus connection and/or no CAN traffic on CAN0 300A
on connected to CAN bus 0 and CAN traffic on CAN0
BTraffic
CAN1
off no CAN bus connection and/or no CAN traffic on CAN1 300B
on connected to CAN bus 1 and CAN traffic on CAN1
Creserved - - 300C
DPower off power supply voltage off 300
on power supply voltage on
Table 1: LE s
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 13 of 29

Front Panel View with LED-Displa
3.1 Additional LEDs on CAN-PCI/400-4 Adapter Board
The CAN-PCI/400-4 is equipped with four LE s as described in table 1 and with four additional
green LE s in the front panel of the adapter board.
Label Name Indicator
State Description
ATraffic
CAN2
off no CAN bus connection and/or no CAN traffic on CAN2
on connected to CAN bus 2 and CAN traffic on CAN2
BTraffic
CAN3
off no CAN bus connection and/or no CAN traffic on CAN3
on connected to CAN bus 3 and CAN traffic on CAN3
Creserved - -
DPower off power supply voltage off
on power supply voltage on
Table 2: Additional LE s on adapter board
Page 14 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Technical Data
4. Technical Data
4.1 General Technical Data
Ambient
temperature 0...50°C
Humidity 90 %, non-condensing
Supply voltage
3.3 V ±5% / (depending on FPGA-image, 2x CAN: up to I = 1 A)
and
5 V ±5% / 250 mA
Plug- and socket
connectors
CAN0 - CAN interface 0 (9-pin SUB/male, X400)
CAN1 - CAN interface 1 (9-pin SUB/male, X410)
PCI-bus - (card edge connector, X100)
X420 - connection to adapter board via ribbon cable
(10-pin post connector)
Only for test- and programming purposes:
X200 - future use
X430 - future use
X700 - future use
CAN-PCI/400-4 only (on adapter board):
CAN0 - CAN interface 0 (9-pin SUB/male)
CAN1 - CAN interface 1 (9-pin SUB/male)
X420 - connection to CAN-PCI/400 board via ribbon cable
(10-pin post connector)
LE s CAN traffic, Power
imensions 107 mm x 120 mm (board only)
CAN-PCI/400-4 only: adapter board: 107 mm x 55 mm (board only)
Weight CAN-PCI/400-2: 110 g
CAN-PCI/400-4: 175 g
Table 3: General technical data of the module
4.2 PCI-Bus
Host bus PCI bus according to PCI Local Bus Specification 2.2
PCI bus width 32 bit
PCI bus clock rate 33/66 MHz / 3.3 V signalling level (5.0 V tolerant)
Controller PLX PCI9056
Interrupt Interrupt Signal A
Slot position no restrictions for the position of the CAN-PCI/400 on the PCI bus, PCI
bridges are tolerated
Board dimensions compatible with all 'short' PCI-card slots
Connector PCI-card edge connector
Table 4: PCI bus data
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 15 of 29

Technical Data
4.3 CAN Interface
Number of CAN
interfaces
CAN-PCI/400-2: 2 CAN high-speed interfaces (CAN0, CAN1)
CAN-PCI/400-4: 4 CAN high-speed interfaces (CAN0, CAN1, CAN2, CAN3)
CAN controller esdACC in FPGA Spartan®-3E,
according to ISO11898-1 (CAN 2.0A/2.0B)
CAN protocol according to ISO11898-1
Physical Layer physical layer according to ISO 11898-2,
bit rate up to 1 Mbit/s
Bus termination terminating resistor has to be set externally, if required
Electrical isolation via digital isolator and C/ C-converters
Connector CAN-PCI/400-2 (2x CAN): 2x SUB9 (male)
CAN-PCI/400-4 (4x CAN): 4x SUB9 (male)
Table 5: ata of the CAN interface
4.4 Software Support
CAN layer 2 (NTCAN-API) software drivers are available for Windows, Linux, RTX, RTX64
VxWorks, QNX and OnTime RTOS-32.
The CANopen software package is available for Windows, Linux, VxWorks, and QNX.
rivers for other operating systems are available on request.
For detailed information about the driver availability for your operating system, please contact our
sales team: [email protected]
INFORMATION
The CAN layer 2 (NTCAN-API) software installation and the software drivers are
described in the NTCAN-API manual (esd-order No.: C.2001.21):
“NTCAN-API Part 1: Application evelopers manual” and
“NTCAN-API Part 2: Installation Guide”
Page 16 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Connector Assignments
5. Connector Assignments
5.1 CAN
The signal assignments of CAN 0 and CAN 1 and both additional CAN interfaces (CAN-PCI/400-4
only) are identical.
Device connector: 9-pin SUB connector, male
Pin Position:
Pin Assignment:
Signal Pin Signal
1
reserved
(CANx_GN )
6
2
CANx_L
CANx_H
7
3
CANx_GN
reserved
8
4
reserved
reserved
9
5
Shield
Signal Description:
CANx_L, CANx_H ... CAN signal lines of CAN net x (CAN-PCI/400-2: x ... 0,1,
CAN-PCI/400-4: x ... 0 - 3)
CANx_GN ... reference potential of the local CAN physical layer x
(CANx_GN )... optional reference potential of the local CAN physical layer
Shield ... shielding (connected with the case of the 9-pin SUB connector)
reserved ... reserved for future applications, do not connect!
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 17 of 29
12345
6789

Correct Wiring of Electricall Isolated CAN Networks
6. Correct Wiring of Electricall Isolated CAN Networks
For the CAN wiring all applicable rules and regulations (EU, IN), e.g. regarding electromagnetic
compatibility, security distances, cable cross-section or material, have to be observed.
6.1 Standards concerning CAN Wiring
The flexibility in CAN network design is one of the key strengths of the various extensions and
additional standards like e.g. CANopen, ARINC825, eviceNet and NMEA2000 that have been
built on the original ISO 11898-2 CAN standard. In using this flexibility comes the responsibility of
good network design and balancing these tradeoffs.
Many CAN organizations and standards have scaled the use of CAN for applications outside the
original ISO 11898. They have made system level tradeoffs for data rate, cable length, and
parasitic loading of the bus.
However for CAN network design margin must be given for signal loss across the complete system
and cabling, parasitic loadings, network imbalances, ground offsets against earth potential and
signal integrity. Therefore the practical maximum number of nodes, bus length and stub
length are t picall much lower.
esd has concentrated her recommendations concerning CAN wiring on the specifications of the
ISO 11898-2. Thus this wiring hints forgoes to describe the special features of the derived
standards CANopen, ARINC825, eviceNet and NMEA2000.
The consistent compliance to ISO 11898-2 offers significant advantages:
●urable operation due to well proven design specifications
●Minimizing potential failures due to sufficient margin to physical limits
●Trouble-free maintenance during future network modifications or during fault diagnostics
due to lack of exceptions
Of course reliable networks can be designed according the specifications of CANopen, ARINC825,
eviceNet and NMEA2000, however it must be observed that it is strictl not recommended
to mix the wiring guidelines of the various specifications!
Page 18 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400

Correct Wiring of Electricall Isolated CAN Networks
6.2 Light Industrial Environment (Single Twisted Pair Cable)
6.2.1 General Rules
NOTICE
esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least
single shielded single twisted pair cables that match the requirements of ISO 11898-2.
Single shielded double twisted pair cable wiring as described in chapter 6.3. ensures the
EU Conformity as well.
The following general rules for CAN wiring with single shielded single twisted pair cable should be
followed:
1A cable type with a wave impedance of about 120 Ω ±10% with an adequate conductor cross-section
(≥ 0.22 mm²) has to be used. The voltage drop over the wire has to be considered.
2For light industrial environment use at least a two-wire CAN cable.
Connect
•
•
the two twisted wires to the data signals (CAN_H, CAN_L) and
the cable shield to the reference potential (CAN_GN ).
3The reference potential CAN_GN has to be connected to the functional earth (FE) at exactly one
point.
4A CAN net must not branch (exception: short cable stubs) and has to be terminated with the
characteristic impedance of the line (generally 120 Ω ±10%) at both ends (between the signals CAN_L
and CAN_H and not at CAN_GN ).
5Keep cable stubs as short as possible (l < 0.3 m).
6Select a working combination of bit rate and cable length.
7Keep away cables from disturbing sources. If this cannot be avoided, double shielded wires are
recommended.
Figure 5: CAN wiring for light industrial environment
CAN-PCI/400 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 Page 19 of 29
CAN GND
CAN_H
CAN_GND
n.c.
CAN_L 1
4
5
6
7
9
2
3
8
9
1
4
5
6
7
3
8
2
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
n.c.
earth (FE)
CAN_L
CAN_H
CAN_GND
Single shielded
twisted pair cable
two-wire cable,
1x 2x 0.22mm²)
CAN_GND
(at wire shield)
Wire Layout
Signal assignment of single shielded twisted pair cable
with earth and termination
n.c. = not connected
DSUB9 connector
(female or male)
pin designation
connector case connector case
DSUB9 connector
(female or male)
pin designation
AN wire with connectors

Correct Wiring of Electricall Isolated CAN Networks
6.2.2 Cabling
●To connect CAN devices with just one CAN connector per net use a short stub (< 0.3 m)
and a T-connector (available as accessory). If this devices are located at the end of the
CAN network, the CAN terminator “CAN-Termination- SUB9” can be used.
Figure 6: Example for proper wiring with single shielded single twisted pair wires
6.2.3 Termination
●A termination resistor has to be connected at both ends of the CAN bus.
If an integrated CAN termination resistor which is equipped at the CAN interface at the end
of the bus is connected, this one has to be used for termination instead of an external CAN
termination plug.
●9-pin SUB-termination connectors with integrated termination resistor and male and
female contacts (gender changer) are available from esd (order no. C.1303.01).
●SUB termination connectors with male contacts (order no. C.1302.01) or female contacts
(order no. C.1301.01) and additional functional earth contact are available, if CAN
termination and grounding of CAN_GN is required.
Page 20 of 29 Hardware Manual • oc. No.: C.2048.21 / Rev. 1.1 CAN-PCI/400
CAN_L
CAN_GND
CAN_H
FE
CAN-DP/2CAN-CBX-DIO8 CAN-CBX-AI420
l
< 0,3 m
l
< 0,3 m
l
< 0,3 m
Female Connector
Male Connector
Terminator
with FE connector
Female Terminator
(Order-no.: C.1301.01)
T-Connector
C.1311.03
CAN cable
Order-no.: C.1323.03
CAN 0
CAN 1 T-Connector
C.1311.03
T-Connector
C.1311.03
CAN Board
CAN cable
Order-no.: C.1323.03
CAN cable
Order-no.: C.1323.03
Termination connector
"CAN-Termination-DSUB"
Order-no.: C.1303.01
Termination connector
"CAN-Termination-DSUB"
with femal and male contacts
(Order-no.: C.1303.01)
e. .
CAN-PCIe/402,
PMC-CAN/400,
CAN-USB/2, etc.
CAN_GND connected
to functional earth (FE)
at exactly one point