ESD CAN-PCIe/402 User manual

esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: [phone] • Fax: [phone]
CAN-PCIe/402
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
Page 1 of 48
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
For products C.2045.02, C.2045.04, - C.2045.06,
C.2045.08, C.2045.10,
C.2045.32, C.2045.34,
C.2045.62, C.2045.64, C.2045.68,
C.2045.92, C.2045.94

Page 2 of 48
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
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.
Links
esd electronics gmbh assumes no liability or guarantee for the content of Internet pages to which this document refers
directly or indirectly. Visitors follow links to websites at their own risk and use them in accordance with the applicable terms
of use of the respective websites.
Trademark Notices
CANopen® and CiA® are registered EU trademarks of CAN in Automation e.V.
Windows® is a registered trademark of Microsoft Corporation in the United States and other countries.
Linux® is the registered trademark of Linus Torvalds in the U.S. 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 checked with greatest care and is considered to be
entirely reliable. esd electronics makes no warranty of any kind regarding the material in this
document and assumes no responsibility for any errors that may appear in this document. In
particular, the descriptions and technical data specified in this document may not be constituted to
be guaranteed product features in any legal sense.
esd electronics reserves the right to make changes without notice to this, or any of its products, to
improve reliability, performance, or design.
All rights to this documentation are reserved by esd electronics. Distribution to third parties, and
reproduction of this document in any form, whole or in part, are subject to esd electronics' written
approval.
© 2023 esd electronics gmbh, Hannover
esd electronics gmbh
Vahrenwalder Str. 207
30165 Hannover
Germany
Tel.:
[phone]
Fax:
[phone]
E-Mail:
[email protected]
Internet:
www.esd.eu

CAN-PCIe/402
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
Page 3 of 48
Document Information
Document file:
I:\Texte\Doku\MANUALS\CAN\PCI-Express\CAN-PCIe402\English\CAN-PCIe402_Hardware_en_16.docx
Date of print:
2023-05-23
Document-type
number:
DOC0800
Hardware version.:
Revision 1.1
Note to CAN FD:
For the CAN FD versions the transceiver for the increased CAN FD bit rate
(up to 8 Mbit/s, formerly 5 Mbit/s) is only equipped from the batch number as
described in the following table:
Product
Order No.
Increased bit rate available
from batch number
CAN-PCIe/402-1-FD
C.2045.62
IB
See chapter
“Product Label”
on page 18
CAN-PCIe/402-2-FD
C.2045.64
IC
CAN-PCIe/402-B4-FD
C.2045.68
HF
CAN-PCIe/402-1-LP-FD
C.2045.92
IB
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
1.4
1.3.2, 5.4
Editorial changes only: CAN FD bit rate up to 8 Mbit/s, Intel FPGA
2021-05-03
1.5
For the CAN FD versions the increased CAN FD bit rate (up to 8 Mbit/s) is only
ensured from the batch numbers as specified under hardware version above.
2021-12-23
2.3
New chapter: Product Label”
5.4
Note on extended bit rate added.
1.6
Note on Links inserted (page 2)
2023-05-23
Safety Instructions and Note on Disposal (page 6) revised
All
Editorial revision
All
The LIN-adapter has been renamed and is described in a separate manual (1).
All CAN-PCIe/402 variants without electrical isolation (D-variants) are
discontinued.
All
Descriptions of variants without electrical isolation are deleted.
3.
Description of Uninstalling added.
9.
Chapter: “Accessory: LIN Adapter” has been removed.
The chapter “References” has been included.
11
Order Information revised.
Technical details are subject to change without further notice.

Page 4 of 48
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
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. No.: C.2045.21 / Rev. 1.6
Page 5 of 48
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.
●
The galvanic isolation of the CAN-PCIe/402 has only functional tasks and is not a protection
against hazardous electrical voltage.
●
The CAN-PCIe/402 may only be operated on supply circuits that provide sufficient protection
against dangerous voltages.
●
External circuits connected to the interfaces of the CAN-PCIe/402 must be sufficiently protected
against dangerous voltage.
●
The user is responsible for compliance with the applicable national safety regulations.
●
The device must 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 48
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
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
Products marked with a crossed-out dustbin must not be disposed of with household waste.
Devices which have become defective in the long run must be disposed in an appropriate
way or must be returned to the manufacturer for proper disposal. Please, contribute to
environmental protection.
Typographical Conventions
Throughout this manual the following typographical conventions are used to distinguish technical terms.
Convention
Example
File and path names
/dev/null or <stdio.h>
Function names
open()
Programming constants
NULL
Programming data types
uint32_t
Variable names
Count
Number Representation
All numbers in this document are base 10 unless designated otherwise. Hexadecimal numbers have a
prefix of 0x, and binary numbers have a prefix of 0b. For example, 42 is represented as 0x2A in
hexadecimal and 0b101010 in binary.
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. No.: C.2045.21 / Rev. 1.6
Page 7 of 48
Table of Contents
Safety Instructions ..........................................................................................................................5
1Overview...................................................................................................................................9
1.1 About this Manual.............................................................................................................9
1.2 Overview of Hardware Versions........................................................................................9
1.3 Description...................................................................................................................... 11
1.3.1 CAN-PCIe/402 - Classical CAN Versions.................................................................11
1.3.2 CAN-PCIe/402-FD - CAN FD Versions....................................................................12
2PCB View with Connectors and Jumpers ................................................................................14
2.1 CAN-PCIe/402-2 Version with 2 CAN Interfaces.............................................................14
2.1.1 CAN-PCIe/402-4 Version with 4 CAN Interfaces......................................................15
2.1.2 Jumpers for CAN Termination and Jumper Depot....................................................16
2.2 CAN-PCIe/402-B4/1 Slot Versions.................................................................................. 17
2.2.1 Jumpers for CAN Termination and Jumper Depot....................................................18
2.3 Product Label .................................................................................................................18
3Hardware Installation...............................................................................................................19
4Front Panel View with LED-Display.........................................................................................21
4.1 CAN-PCIe/402-2 LEDs...................................................................................................21
4.2 Additional LEDs on CAN-PCIe/402-4 Adapter Board......................................................22
4.3 CAN-PCIe/402-B4 LEDs (C.2045.08, C.2045.68 only)....................................................23
5Technical Data ........................................................................................................................24
5.1.1 General Technical Data...........................................................................................24
5.2 PCI Express Interface.....................................................................................................25
5.3 CAN Interfaces ...............................................................................................................25
5.4 CAN FD Interfaces (C.2045.62 –C.2045.94)..................................................................26
5.5 Software Support............................................................................................................ 27
6Connector Pin Assignments ....................................................................................................28
6.1 CAN via DSUB9..............................................................................................................28
6.2 CAN via DSUB37 (B4-Variants only) ..............................................................................29
6.2.1 Adapter Cable CAN-PCI/4XX-B4-1C4 .....................................................................30
7Correct Wiring of Electrically Isolated CAN Networks..............................................................33
7.1 CAN Wiring Standards....................................................................................................33
7.2 Light Industrial Environment (Single Twisted Pair Cable)................................................34
7.2.1 General Rules..........................................................................................................34
7.2.2 Cabling ....................................................................................................................35
7.2.3 Branching ................................................................................................................35
7.2.4 Termination Resistor................................................................................................35
7.3 Heavy Industrial Environment (Double Twisted Pair Cable)............................................36
7.3.1 General Rules..........................................................................................................36
7.3.2 Device Cabling ........................................................................................................37
7.3.3 Branching ................................................................................................................37
7.3.4 Termination Resistor................................................................................................37
7.4 Electrical Grounding........................................................................................................ 38
7.5 Bus Length .....................................................................................................................38
7.6 Examples for CAN Cables .............................................................................................. 39
7.6.1 Cable for Light Industrial Environment Applications (Two-Wire)............................... 39
7.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire)............................39
8CAN Troubleshooting Guide....................................................................................................40
8.1 Termination..................................................................................................................... 40
8.2 Electrical Grounding........................................................................................................ 41
8.3 Short Circuit in CAN Wiring............................................................................................. 41
8.4 Correct Voltage Levels on CAN_H and CAN_L...............................................................41
8.5 CAN Transceiver Resistance Test..................................................................................42
8.6 Support by esd................................................................................................................42
9References..............................................................................................................................43

Page 8 of 48
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
CAN-PCIe/402
10 Declaration of Conformity........................................................................................................ 44
11 Order Information.................................................................................................................... 45
11.1 Hardware with Classical CAN Interface ..........................................................................45
11.2 Hardware with CAN FD Interface....................................................................................46
11.3 Software .........................................................................................................................47
11.4 PDF Manuals..................................................................................................................48
List of Tables
Table 1: LEDs ..............................................................................................................................21
Table 2: Additional LEDs on adapter board..................................................................................22
Table 3: CAN-PCIe/402-B4 LED Description................................................................................23
Table 4: General technical data of the module .............................................................................24
Table 5: PCI bus data...................................................................................................................25
Table 6: Data of the CAN interface...............................................................................................25
Table 7: Data of the CAN interface...............................................................................................26
Table 8: Assignments of the cable connectors of CAN-PCI/4XX-B4-1C4......................................31
Table 9: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....................38
Table 10: Order information CAN-PCIe/402 hardware with Classical CAN interface ....................45
Table 11: Order information CAN-PCIe/402 hardware with CAN FD interface..............................46
Table 12: Order information software ...........................................................................................47
Table 13: Available Manuals ........................................................................................................48
List of Figures
Figure 1: Block circuit diagram.....................................................................................................11
Figure 2: Block circuit diagram of CAN FD versions.....................................................................12
Figure 3: Top layer view of the CAN-PCIe/402-2 with 2x CAN (Order No.: C.2045.04)................14
Figure 4: View of CAN-PCIe/402-4/2Slot with ribbon cable (Order No.: C.2045.06).....................15
Figure 5: Top view of the CAN-PCIe/402-Slot2 adapter view.......................................................15
Figure 6: Positions of the Jumper Depots CAN0 and CAN1 or CAN2 and CAN3.........................16
Figure 7: Top layer view of the CAN-PCIe/402-B4/1 Slot with 4x CAN (Order No.: C.2045.08)....17
Figure 8: Example of product label (order of the items may deviate)............................................18
Figure 9: Front panel view of CAN-PCIe/402-2............................................................................21
Figure 10: Front panel view of CAN-PCIe/402-Slot2 Adapter.......................................................22
Figure 11: Front panel view CAN-PCIe/402-B4............................................................................23
Figure 12: Adapter cable CAN-PCI/4XX-B4-1C4..........................................................................30
Figure 13: CAN wiring for light industrial environment..................................................................34
Figure 14: Example for proper wiring with single shielded single twisted pair wires......................35
Figure 15: CAN wiring for heavy industrial environment...............................................................36
Figure 16: Example of proper wiring with single shielded double twisted pair cables ...................37
Figure 17: Simplified diagram of a CAN network..........................................................................40
Figure 18: Simplified schematic diagram of ground test measurement.........................................41
Figure 19: Measuring the internal resistance of CAN transceivers...............................................42

Overview
CAN-PCIe/402
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
Page 9 of 48
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-FD
1 CAN FD interface,
1x DSUB9,
electrical isolation
(C.2045.62)
2x CAN Version
CAN-PCIe/402-2
2 CAN interfaces,
2x DSUB9,
electrical isolation
(C.2045.04)
CAN-PCIe/402-2-FD
2 CAN FD interfaces,
2x DSUB9,
electrical isolation
(C.2045.64)
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
1x 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
Page 10 of 48
Hardware Manual Doc. No.: C.2045.21 / Rev. 1.6
CAN-PCIe/402
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/402-4/2Slot
4 CAN interfaces
with electrical isolation
(C.2045.06)
includes C.2045.04
and adapter board
C.2045.10
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/402-Slot2-LIN
LIN-Adapter Board with
2 LIN interfaces,
2x DSUB9,
electrical isolation
(C.2045.12)
includes ribbon cable
The LIN Adapter is
described in a separate
manual (1).
CAN-PCIe/402-2-FD with
CAN/402-Slot2-LIN Adapter