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