ESD CAN-PCIe/402 User manual

CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21 / Rev 1.4
Page 1 of 52
CAN-PCIe/402,
CAN-PCIe/402-FD
PCI Express®Board
with up to 4 Classical CAN
or CAN FD Interfaces
CAN-PCIe/402-2
Hardware Manual
to Products C.2045.02 - C.2045.08
C.2045.10 - C.2045.12
C.2045.32 - C.2045.34
C.2045.62 - C.2045.68
C.2045.92 - C.2045.94

Page 2 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
This manual contains important information and instructions on safe and efficient
handling of the CAN-PCIe/402. 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 EU 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.
PCI Express® is a registered trademark of PCI-SIG.
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 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.
© 2020 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-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 3 of 52
Document Information
Document file:
I:\Texte\Doku\MANUALS\CAN\PCI-Express\CAN-PCIe402\English\CAN-PCIe402_Hardware_en_14.docx
Date of print:
2021-05-03
Document-type
number:
DOC0800
Hardware version.:
1.0
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.
Revision
Chapter
Changes versus previous version
Date
1.0
-
First version
2013-09-26
1.1
5.3
Voltage over CAN isolation specified
2015-01-05
6.2.1
Name of adapter cable changed to CAN-PCI/4XX-B4-1C4, Figure 8 updated,
Table 6 corrected and updated, Note inserted
9.
Declaration of Conformity updated
10.1
Name of adapter cable changed to CAN-PCI/4XX-B4-1C4
1.2
-
Safety Instructions revised and Classification of Warning Messages and Safety
Instructions inserted
2017-03-23
1.1
New chapter “About this Manual”
1.2
New chapter “Scope of Delivery”
1.3.1
New chapter “CAN-PCIe/402-FD - CAN FD Version”
2
Figure 3-5 new (with jumper)
5.4
New chapter “CAN FD Interface”
5.5
Chapter is revised, description of CAN FD version added
7.
Note about higher bit rates inserted
9.
New Declaration of Conformity
10.
Order Information of CAN-FD versions inserted
1.3
-
Converted to Word format
2020-11-20
-
Service Note corrected and supplemented
1.2
Description of CAN-PCIe/402-B4-FD 1 Slot and LIN-Adapter added
1.3
Description of CAN FD and CAN-PCIe/402-B4-FD 1 Slot added
3.
Description of LIN-Adapter added
2.2, 3.,
4.3, 5.4,
6.2
Description of CAN-PCIe/402-B4-FD 1 Slot added
9.
New chapter: “Accessory LIN-Adapter”
11.2
Order Information supplemented
1.4
1.3.2, 5.4
Editorial changes only: CAN FD bit rate up to 8 Mbit/s, Intel FPGA
2021-05-03
Technical details are subject to change without further notice.

Page 4 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
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-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 5 of 52
Safety Instructions
●
When working with the CAN-PCIe/402 follow the instructions below and read the manual
carefully to protect yourself from injury and the CAN-PCIe/402 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.
●
Do not use damaged or defective cables to connect the CAN-PCIe/402 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-PCIe/402 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 these conditions.
●
The device has to be securely installed in the control cabinet before commissioning.
●
Protect the CAN-PCIe/402 from dust, moisture and steam.
●
Protect the CAN-PCIe/402 from shocks and vibrations.
●
The CAN-PCIe/402 may become warm during normal use. Always allow adequate ventilation
around the CAN-PCIe/402 and use care when handling.
●
Do not operate the CAN-PCIe/402 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-
PCIe/402 is to be integrated.
→ Disconnect all hazardous voltages (mains voltage) before opening the system.
→ Ensure the absence of voltage before starting any electrical work
NOTICE
Electrostatic discharges may cause damage to electronic components.
→
→
To avoid this, please discharge the static electricity from your body before you touch
the CAN-PCIe/402.
Furthermore, you should prevent your clothes from touching the CAN-PCIe/402,
because your clothes might be electrostatically charged as well.
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-PCIe/402 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.

Page 6 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
Intended Use
The intended use of the CAN-PCIe/402 is the operation as a PCI Express 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-PCIe/402 is intended for installation in a PCI Express slot of an industrial home computer.
●
The operation of the CAN-PCIe/402 in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
●
The operation of the CAN-PCIe/402 for medical purposes is prohibited.
Service Note
The CAN-PCIe/402 does not contain any parts that require maintenance by the user. The CAN-PCIe/402
does not require any manual configuration of the hardware except the configuration of the jumpers as
described in chapter “PCB View with Connectors”. Unauthorized intervention in the device voids
warranty claims.
Disposal
Devices which have become defective in the long run have to be disposed in an appropriate way or have
to be returned to the manufacturer for proper disposal. Please, make a contribution to environmental
protection.
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.
Abbreviations
API
Application Programming Interface
CAN
Controller Area Network
CPU
Central Processing Unit
CiA
CAN in Automation
HW
Hardware
I/O
Input/Output
LSB
Least Significant Bit
MSB
Most Significant Bit
n.a.
not applicable
OS
Operating System
SDK
Software Development Kit

CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 7 of 52
Table of Contents
Safety Instructions ..........................................................................................................................5
1Overview.................................................................................................................................10
1.1 About this Manual...........................................................................................................10
1.2 Overview of Hardware Versions......................................................................................10
1.3 Description...................................................................................................................... 12
1.3.1 CAN-PCIe/402 - Classical CAN Versions.................................................................12
1.3.2 CAN-PCIe/402-FD - CAN FD Versions....................................................................13
2PCB View with Connectors and Jumpers ................................................................................15
2.1 CAN-PCIe/402-2 Version with 2 CAN Interfaces............................................................. 15
2.1.1 CAN-PCIe/402-4 Version with 4 CAN Interfaces...................................................... 16
2.1.2 Jumpers for CAN Termination and Jumper Depot....................................................17
2.2 CAN-PCIe/402-B4/1 Slot Versions.................................................................................. 18
2.2.1 Jumpers for CAN Termination and Jumper Depot....................................................19
3Hardware Installation...............................................................................................................20
4Front Panel View with LED-Display.........................................................................................23
4.1 CAN-PCIe/402-2 LEDs...................................................................................................23
4.2 Additional LEDs on CAN-PCIe/402-4 Adapter Board......................................................24
4.3 CAN-PCIe/402-B4 LEDs (C.2045.08, C.2045.68 only)....................................................25
5Technical Data ........................................................................................................................26
5.1.1 General Technical Data...........................................................................................26
5.2 PCI Express Interface.....................................................................................................27
5.3 CAN Interfaces ............................................................................................................... 27
5.4 CAN FD Interfaces (C.2045.62 –C.2045.94)..................................................................28
5.5 Software Support............................................................................................................ 29
5.6 CAN-PCIe/402................................................................................................................29
5.7 CAN-PCIe/402-FD.......................................................................................................... 29
6Connector Assignments ..........................................................................................................30
6.1 CAN (all except C.2045.08 and C.2045.68)....................................................................30
6.2 CAN-PCIe/402-B4(-FD) / 1 Slot (C.2045.08, C.2045.68) ................................................31
6.2.1 Adapter Cable CAN-PCI/4XX-B4-1C4 .....................................................................32
7Correct Wiring of Electrically Isolated CAN Networks.............................................................. 35
7.1 Standards concerning CAN Wiring..................................................................................35
7.2 Light Industrial Environment (Single Twisted Pair Cable)................................................ 36
7.2.1 General Rules..........................................................................................................36
7.2.2 Cabling ....................................................................................................................37
7.2.3 Branching ................................................................................................................37
7.2.4 Termination..............................................................................................................37
7.3 Heavy Industrial Environment (Double Twisted Pair Cable)............................................38
7.3.1 General Rules..........................................................................................................38
7.3.2 Device Cabling ........................................................................................................39
7.3.3 Branching ................................................................................................................39
7.3.4 Termination..............................................................................................................39
7.4 Electrical Grounding........................................................................................................40
7.5 Bus Length .....................................................................................................................40
7.6 Examples for CAN Cables ..............................................................................................41
7.6.1 Cable for Light Industrial Environment Applications (Two-Wire)...............................41
7.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire)............................41
8CAN Troubleshooting Guide....................................................................................................42
8.1 Termination..................................................................................................................... 42
8.2 Electrical Grounding........................................................................................................43
8.3 Short Circuit in CAN Wiring.............................................................................................43
8.4 CAN_H/CAN_L-Voltage..................................................................................................43
8.5 CAN Transceiver Resistance Test..................................................................................44
8.6 Support by esd................................................................................................................44

Page 8 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
9Accessory: LIN Adapter........................................................................................................... 45
9.1 Front panel with LEDs.....................................................................................................46
9.1.1 LEDs........................................................................................................................46
9.2 Technical Data................................................................................................................47
9.2.1 General Technical Data...........................................................................................47
9.2.2 LIN Interfaces..........................................................................................................47
9.3 Connector Assignment....................................................................................................48
9.3.1 LIN...........................................................................................................................48
9.4 Installation ......................................................................................................................48
10 Declaration of Conformity........................................................................................................49
11 Order Information.................................................................................................................... 50
11.1 CAN-PCIe/402 with Classical CAN Interface .................................................................. 50
11.2 CAN-PCIe/402-FD with CAN FD Interface......................................................................51
11.3 PDF Manuals..................................................................................................................52

CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 9 of 52
List of Tables
Table 1: LEDs ..............................................................................................................................23
Table 2: Additional LEDs on adapter board..................................................................................24
Table 3: CAN-PCIe/402-B4 LED Description................................................................................25
Table 4: General technical data of the module .............................................................................26
Table 5: PCI bus data...................................................................................................................27
Table 6: Data of the CAN interface...............................................................................................27
Table 7: Data of the CAN interface...............................................................................................28
Table 8: Assignments of the cable connectors of CAN-PCI/4XX-B4-1C4......................................33
Table 9: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....................40
Table 10: Additional LEDs on LIN-adapter board..........................................................................46
Table 11: Order information CAN-PCIe/402 hardware with Classical CAN interface ....................50
Table 12: Order information –additional software for CAN-PCIe/402...........................................50
Table 13: Order information CAN-PCIe/402-FD hardware with CAN FD interface........................51
Table 14: Order information software for CAN-PCIe/402..............................................................51
Table 15: Available Manuals ........................................................................................................52
List of Figures
Figure 1: Block circuit diagram......................................................................................................12
Figure 2: Block circuit diagram of CAN FD versions......................................................................13
Figure 3: Top layer view of the CAN-PCIe/402-2 with 2x CAN (Order No.: C.2045.04).................15
Figure 4: View of CAN-PCIe/402-4/2Slot with ribbon cable (Order No.: C.2045.06)......................16
Figure 5: Positions of the Jumper Depots CAN0 and CAN1 or CAN2 and CAN3..........................17
Figure 6: Top layer view of the CAN-PCIe/402-B4/1 Slot with 4x CAN (Order No.: C.2045.08).....18
Figure 7: Front panel view of CAN-PCIe/402-2.............................................................................23
Figure 8: Front panel view CAN-PCIe/402-B4...............................................................................25
Figure 9: Adapter cable CAN-PCI/4XX-B4-1C4 ............................................................................32
Figure 10: CAN wiring for light industrial environment..................................................................36
Figure 11: Example for proper wiring with single shielded single twisted pair wires......................37
Figure 12: CAN wiring for heavy industrial environment...............................................................38
Figure 13: Example of proper wiring with single shielded double twisted pair cables ...................39
Figure 14: Simplified diagram of a CAN network..........................................................................42
Figure 15: Simplified schematic diagram of ground test measurement.........................................43
Figure 16: Measuring the internal resistance of CAN transceivers...............................................44
Figure 17: Block circuit diagram LIN adapter for CAN-PCIe/402-2-FD.........................................45
Figure 18: CAN-PCIe/402-2-FD with CAN-PCIe/402-Slot/2-LIN...................................................45
Figure 19: CAN-PCIe/402-Slot/2-LIN front panel..........................................................................46

Overview
Page 10 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
1 Overview
In this hardware manual all versions of the CAN-PCIe/402 are described together as CAN-PCIe/402.
Differences of the CAN-PCIe/402 variants are noted accordingly.
Available features, options, and supplied items may vary depending on the CAN-PCIe/402 version
you selected.
1x CAN Version
CAN-PCIe/402-1
1 CAN interface,
1x DSUB9,
electrical isolation
(C.2045.02)
CAN-PCIe/402-1-D
1 CAN interface,
1x DSUB9,
without electrical
isolation
(C.2045.03)
CAN-PCIe/402-1-FD
1 CAN FD interface,
1x DSUB9,
electrical isolation
(C.2045.62)
CAN-PCIe/402-1-D-FD
1 CAN FD interface,
1x DSUB9,
without electrical
isolation (C.2045.63)
2x CAN Version
CAN-PCIe/402-2
2 CAN interfaces,
2x DSUB9,
electrical isolation
(C.2045.04)
CAN-PCIe/402-2-D
2 CAN interfaces,
2x DSUB9,
without electrical
isolation
(C.2045.05)
CAN-PCIe/402-2-FD
2 CAN FD interfaces,
2x DSUB9,
electrical isolation
(C.2045.64)
CAN-PCIe/402-2-D-FD
2 CAN FD interfaces,
2x DSUB9,
without electrical
isolation
(C.2045.65)
4x CAN, DSUB37-Version
Accessories
CAN-PCIe/402-B4/1 Slot
4 CAN interfaces,
1x DSUB37,
electrical isolation
(C.2045.08)
CAN-PCI/4xx-B4-1C4
DSUB37-to-4xDSUB9
CAN Adapter Cable
DSUB37 to 4x DSUB9
(C.2041.18)
CAN-PCIe/402-B4-FD
1 Slot
4 CAN FD interfaces,
1x DSUB37,
electrical isolation
(C.2045.68)
1.1 About this Manual
1.2 Overview of Hardware Versions

Overview
CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 11 of 52
4x CAN with Adapter Board
CAN-PCIe/402-Slot2
Adapter Board with
2 CAN interfaces,
2x DSUB9,
electrical isolation
(C.2045.10)
includes ribbon cable
CAN-PCIe/402-Slot2-D
Adapter Board with
2 CAN interfaces,
2x DSUB9,
without electrical isolation,
(C.2045.11)
includes ribbon cable
CAN-PCIe/402-4/2Slot
4 CAN interfaces
with electrical isolation
(C.2045.06)
includes C.2045.04
and adapter board
C.2045.10
CAN-PCIe/402-4/2Slot-D
4 CAN interfaces
without electrical isolation
(C.2045.07)
includes C.2045.05
and adapter board
C.2045.11
Low Profile Versions
CAN-PCIe/402-1-LP
1 CAN interface,
1x DSUB9,
electrical isolation
(C.2045.32)
CAN-PCIe/402-1-
LP-2
Extension board
1 CAN interface,
1x DSUB9,
electrical isolation
(C.2045.34),
cable included
CAN-PCIe/402-1-LP-
FD
1 CAN FD interface,
1x DSUB9,
electrical isolation
(C.2045.92)
CAN-PCIe/402-1-
LP2-FD
Extension board
1 CAN FD inter-
face,
1x DSUB9,
electrical isolation
(C.2045.94),
cable included
Accessories: LIN-Adapter Board for CAN-PCIe/402-2-FD
CAN-PCIe/402-Slot2-LIN
LIN-Adapter Board with
2 LIN interfaces,
2x DSUB9,
electrical isolation
(C.2045.15)
includes ribbon cable
CAN-PCIe/402-2-FD with
CAN-PCIe/402-Slot2-LIN Adapter

Overview
Page 12 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
1.3.1CAN-PCIe/402 - Classical CAN Versions
Figure 1: Block circuit diagram
The CAN-PCIe/402 is a PC board designed for the PCIe bus, available in a wide choice of hardware
designs. It features one, two (CAN-PCIe/402-2) or four (CAN-PCIe/402-4/2Slot) electrically isolated
CAN High-Speed interfaces according to ISO 11898-2.
The CAN-PCIe/402CAN-PCIe/402-4/2Slot version comes with two additional CAN interfaces via a
separate slot bracket.
These product versions are also available without electrical isolation.
In the CAN-PCIe/402-B4/1Slot version all four CAN interfaces are connected via one 37-pin DSUB
connector.
Equipped with one CAN interface (CAN0) the lower part of the CAN-PCIe/402-2 board is available
as low-profile version (CAN-PCIe/402-1-LP) with a smaller front panel. This version can be extended
to 2x CAN with the CAN-PCIe/402-1-LP-2 extension board. The extension board consists of the
remaining upper part of the CAN-PCIe/402-2 board but without front panel. Furthermore, the CAN
interface CAN1 is physical layer only.
The independent CAN nets according to ISO 11898-1 are driven by the esdACC (esd Advanced
CAN Core) implemented in the Intel®FPGA. Controlled by the FPGA the CAN-PCIe/402 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 DMA 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-PCIe/402 provides high resolution hardware timestamps.
Furthermore the CAN-PCIe/402 supports MSI (Message-Signaled Interrupts).
CAN layer 2 (CAN-API) software drivers are available for Windows®, Linux®, VxWorks®, QNX® and
RTX. The CANopen®software package is available for Windows, Linux, VxWorks and QNX.
Drivers for other operating systems are available on request.
1.3 Description

Overview
CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 13 of 52
1.3.2CAN-PCIe/402-FD - CAN FD Versions
Figure 2: Block circuit diagram of CAN FD versions
In the CAN FD-versions the board is available with CAN FD interfaces instead of CAN interfaces.
The CAN FD interface is based on a CAN core architecture (esdACC) implemented in a modern
FPGA. The interface is able to send and receive ISO conform CAN FD (up to 5 Mbit) or CAN 2.0
A/B messages. The CAN-FD bit rate range is validated from 10 kbit/s up to 8 Mbit/s.
It features one(CAN-PCIe/402-1-FD) or two (-2-FD) electrically isolated CAN High-Speed interfaces
according to ISO 11898-2. Optional these product versions are also available without electrical
isolation.
In the CAN-PCIe/402-B4-FD version all four CAN FD interfaces are connected via one 37-pin DSUB
connector in the front panel.
Equipped with one CAN interface (CAN0) the lower part of the CAN-PCIe/402-2-FD board is
available as low-profile version (CAN-PCIe/402-1-LP-FD) with a smaller front panel. This version
can be extended to 2x CAN with the CAN-PCIe/402-1-LP-2-FD extension board. The extension
board consists of the remaining upper part of the CAN-PCIe/402-2-FD board. Furthermore, the CAN
interface CAN1 is physical layer only.
CAN FD
With a higher bit rate in the data phase in combination with the increase of efficiency by a higher
number of user-data bytes, CAN FD offers a higher data throughput while maintaining the benefits
of Classical CAN.
The Classical CAN versions of CAN-PCIe/402 can only be used in Classical CAN applications
because its controller is not CAN FD capable.
The CAN FD versions of CAN-PCIe/402 are fully backwards compatible with CAN and can also be
used in Classical CAN applications.
INFORMATION
Every CAN FD controller is backward compatible to the Classical CAN protocol.
Classical CAN nodes and CAN FD nodes can communicate with each other as long as
the CAN FD frame format remains unused!
You can insert for example the CAN FD version CAN-PCIe/402-2-FD in your Classical CAN
application if you want to replace a Classical CAN component. The CAN FD board automatically
communicates like a Classical CAN board (the existing program code can be used unchanged).
The CAN-PCIe/402-2-FD has to communicate with the CAN nodes via Classical CAN frames,
because Classical CAN controller do not tolerate CAN FD frames. All controllers have to use the
same Classical CAN Bitrate.

Overview
Page 14 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
INFORMATION
During the initialisation of the CAN controller of the CAN FD boards the application
determines via software if the CAN FD boards communicate with Classical CAN or with
CAN FD.
See NTCAN-API Manual Part 1: “Application Developers Manual” for further information.
NOTICE
The system integrator has to verify that all CAN nodes on the bus are set to the same bit
rate!
If you work with a Classical CAN application and want to migrate to CAN FD in the future, you can
replace your Classical CAN nodes one after another until all CAN nodes are replaced by CAN FD
nodes.
esdACC
The independent CAN FD or CAN nets according to ISO 11898-1:2015 are driven by the esdACC
(esd Advanced CAN Core) implemented in the Intel FPGA.
LIN
The optional LIN adapter CAN-PCIe/402-Slot2-is available as accessory for the esd CAN-PCIe/402-
2-FD board. For further information see page 45.

PCB View with Connectors and Jumpers
CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 15 of 52
2 PCB View with Connectors and Jumpers
Figure 3: Top layer view of the CAN-PCIe/402-2 with 2x CAN (Order No.: C.2045.04)
See page 30 for signal assignment of the CAN connectors.
The figure above shows the module in the standard version CAN-PCIe/402-2. Please refer to
“Overview of Hardware Versions ” on page 10 for an overview of the available hardware designs.
NOTICE
Read chapter “Hardware Installation” on page 20, before you start with the installation of
the hardware!
2.1 CAN-PCIe/402-2 Version with 2 CAN Interfaces

PCB View with Connectors and Jumpers
Page 16 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
2.1.1CAN-PCIe/402-4 Version with 4 CAN Interfaces
Figure 4: View of CAN-PCIe/402-4/2Slot with ribbon cable (Order No.: C.2045.06)
In the CAN-PCIe/402-4/2Slot version, the board comes with four CAN interfaces. This version
contains the CAN-PCIe/402-2 and an additional adapter board CAN-PCIe/402-Slot2.
The physical layers of the additional CAN interfaces are placed on the adapter board.
This module type uses two additional CAN transceivers.
The adapter board has to be mounted close to the CAN-PCIe/402-2. Furthermore, it has to be
connected via the ribbon cable that is contained in the scope of delivery.
The two additional physical interfaces CAN2 and CAN3 are designed identical to the physical
interfaces of CAN0 and CAN1.
See page 30 for signal assignment of the CAN connectors.
NOTICE
Read chapter “Hardware Installation” on page 20, before you start with the installation of
the hardware!

PCB View with Connectors and Jumpers
CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 17 of 52
2.1.2Jumpers for CAN Termination and Jumper Depot
An on-board termination resistor of 120Ωcan be individually enabled for each CAN interface via
jumpers. For the position of the jumper see Figure 3, page 15.
Jumper
Jumper set
Jumper not set
JP410
internal termination of CAN interface CAN1
CAN1 has to be terminated externally
JP400
internal termination of CAN interface CAN0
CAN0 has to be terminated externally
The jumper positions of the CAN interfaces CAN2 and CAN3 on the add-on board correspond to the
positions shown in Figure 3.
NOTICE
It is strongly recommended to keep the jumpers which are not needed for CAN
termination on the corresponding jumper depots CAN0 - CAN3!
A missing jumper in the depot will be interpreted as an internally terminated CAN
interface.
Figure 5: Positions of the Jumper Depots CAN0 and CAN1 or CAN2 and CAN3

PCB View with Connectors and Jumpers
Page 18 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
Figure 6: Top layer view of the CAN-PCIe/402-B4/1 Slot with 4x CAN (Order No.: C.2045.08)
The figure above shows the module in the version CAN-PCIe/402-B4/1 Slot (C.2045.08).
In the CAN-PCIe/402-B4/1Slot version, the board comes with four CAN interfaces. The CAN-
PCIe/402-B4-FD 1Slot (C.2045.68) provides 4 CAN FD interfaces.
The physical layer of the four CAN interfaces is placed on the board.
See from page 31 for signal assignment of the CAN connector.
Please refer to “Overview of Hardware Versions” on page 10 for an overview of the available
hardware designs.
2.2 CAN-PCIe/402-B4/1 Slot Versions

PCB View with Connectors and Jumpers
CAN-PCIe/402
Hardware Manual Doc.-Nr.: C.2045.21/ 1.4
Page 19 of 52
2.2.1Jumpers for CAN Termination and Jumper Depot
An on-board termination resistor of 120Ωcan be individually enabled for each CAN
interface via jumpers. For the position of the jumper and the jumper depot see Figure 6.
Jumper
Jumper set
Jumper not set
JP430
internal termination of CAN interface CAN3
CAN3 has to be terminated externally
JP420
internal termination of CAN interface CAN2
CAN2 has to be terminated externally
JP410
internal termination of CAN interface CAN1
CAN1 has to be terminated externally
JP400
internal termination of CAN interface CAN0
CAN0 has to be terminated externally
NOTICE
It is strongly recommended to keep the jumpers which are not needed for CAN
termination on the corresponding jumper depots CAN0 - CAN3!
A missing jumper in the depot will be interpreted as an internally terminated CAN
interface.

Hardware Installation
Page 20 of 52
Hardware Manual Doc.-Nr.: C.2045.21 /Rev. 1.4
CAN-PCIe/402
3 Hardware Installation
NOTICE
Read the safety instructions at the beginning of this document carefully before you
start with the hardware installation!
WARNING
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-
PCIe/402 is to be integrated.
→
→
Disconnect all hazardous voltages (mains voltage) before opening the system.
Never carry out work while power supply voltage is switched on!
Ensure the absence of voltage before starting any electrical work.
NOTICE
Electrostatic discharges may 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-PCIe/402.
Furthermore, you should prevent your clothes from touching the CAN-PCIe/402,
because your clothes might be electrostatically charged as well.
Procedure:
1.
Switch off your system and all connected peripheral devices (monitor, printer, etc.).
Switch off the connected CAN devices.
2.
Discharge your body as described above.
3.
Disconnect the power supply of the PC from the mains.
Make sure that no risk arises from the system into which the CAN-PCIe/402 shall be
inserted.
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-PCIe/402 is to be integrated.
→
→
→
→
Disconnect 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 (e.g. with caution label).
Ensure the absence of voltage before starting any electrical work.
Cover or block off adjacent live parts.
4.
Open the case if necessary.
5.
Set the jumpers for the internal termination of the CAN interfaces according to your needs
(see page 17).
6.
Select an open PCI Express slot and remove the slot cover at the back of the PC.
The CAN module can be inserted into every PCI Express slot.
7.
Insert the CAN-PCIe/402 board into the selected PCI Express slot.
Carefully push the board down until it snaps into place.
8.
Attach the board.