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