ESD CompactPCI CPCI-CAN/200 User manual

CPCI-CAN/200
Hardware Manual Doc.-Nr.: C.2035.21 / Rev 2.2
Page 1 of 31
CPCI-CAN/200
CompactPCI® CAN Interface
Hardware Manual
to Product C.2035.02,
C.2035.04,
C.2035.07

Page 2 of 31
Hardware Manual Doc.-Nr.: C.2035.21 / Rev. 2.2
CPCI-CAN/200
This manual contains important information and instructions on safe and efficient
handling of the CPCI-CAN/200. 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..
CompactPCI® is a registered trademark of the PCI Industrial Computers Manufacturers Group.
Linux® is the registered trademark of Linus Torvalds in the United States and/or other countries.
QNX® is a registered trademark of QNX Software Systems Limited, and a registered trademark and/or used in certain
jurisdictions.
VxWorks® is a registered trademark of Wind River Systems, Inc.
Windows® is a registered trademark of Microsoft Corporation in the United States and other countries.
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.
© 2021 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

CPCI-CAN/200
Hardware Manual Doc.-Nr.: C.2035.21/ Rev. 2.2
Page 3 of 31
Document Information
Document file:
I:\Texte\Doku\MANUALS\CPCI\CAN-200\Englisch\CPCI-CAN200_Hardware-Manual_en_22.docx
Date of print:
2021-07-21
Document-type
number:
DOC0800
Hardware version.:
2.0
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.
Rev.
Chapter
Changes versus previous version
Date
2.1
-
Order information revised, wiring hints revised, editorial revision.
2014-09-25
2.2
-
Classification of Warning Messages and Safety Instructions inserted,
Instructions revised
2021-07-21
1.1
Description of CPCI-CAN/200-2-T version inserted
2, 3.1
Note on availability of CAN 1 inserted
4.
Safety information revised
5.1
Description of Connectors and temperature range revised
5.4
Chapter revised, Description of CAN tools added
9
Declaration of Conformity new
10.1
Description of properties modified, CPCI-CAN/200-2-T version inserted
Technical details are subject to change without further notice.

Page 4 of 31
Hardware Manual Doc.-Nr.: C.2035.21 / Rev. 2.2
CPCI-CAN/200
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.

CPCI-CAN/200
Hardware Manual Doc.-Nr.: C.2035.21/ Rev. 2.2
Page 5 of 31
Safety Instructions
●
When working with the CPCI-CAN/200 follow the instructions below and read the manual
carefully to protect yourself from injury and the CPCI-CAN/200 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 CPCI-CAN/200 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 CPCI-CAN/200 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 CPCI-CAN/200 from dust, moisture and steam.
●
Protect the CPCI-CAN/200 from shocks and vibrations.
●
The CPCI-CAN/200 may become warm during normal use. Always allow adequate ventilation
around the CPCI-CAN/200 and use care when handling.
●
Do not operate the CPCI-CAN/200 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 CPCI-
CAN/200 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, perform the steps described on page 13 before you touch the CPCI-
CAN/200, in order to discharge the static electricity from your body
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 CPCI-CAN/200 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.
Warning:
In a residential, commercial, or light industrial environment the CPCI-CAN/200 may
cause radio interferences in which case the user may be required to take adequate
measures.

Page 6 of 31
Hardware Manual Doc.-Nr.: C.2035.21 / Rev. 2.2
CPCI-CAN/200
The CPCI-CAN/200 is a sub-assembly intended for incorporation into an apparatus by a
manufacturer and NOT by the end user. The manufacturer of the final system must decide whether
additional EMC or EMI protection requirements are necessary.
Intended Use
The intended use of the CPCI-CAN/200 is the operation CompactPCI module in a CompactPCI system.
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 CPCI-CAN/200 is intended for installation in a CompactPCI system.
●
The operation of the CPCI-CAN/200 in hazardous areas, or areas exposed to potentially explosive
materials is not permitted.
●
The operation of the CPCI-CAN/200 for medical purposes is prohibited.
Service Note
The CPCI-CAN/200 does not contain any parts that require maintenance by the user. The CPCI-CAN/200
does not require any manual configuration of the hardware. 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.

CPCI-CAN/200
Hardware Manual Doc.-Nr.: C.2035.21/ Rev. 2.2
Page 7 of 31
Table of Contents
Safety Instructions ..........................................................................................................................5
1Overview..................................................................................................................................9
1.1 Description of CPCI-CAN/200...........................................................................................9
1.2 Glossary .........................................................................................................................10
2PCB View with Connectors....................................................................................................11
3LEDs......................................................................................................................................12
3.1 Position of the LEDs .......................................................................................................12
3.2 LED Indication ................................................................................................................ 12
4Hardware Installation.............................................................................................................13
5Technical Data.......................................................................................................................15
5.1 General Technical Data ..................................................................................................15
5.2 CAN Interfaces ............................................................................................................... 15
5.3 CompactPCI Bus............................................................................................................16
5.4 Software Support............................................................................................................ 17
6Connector Assignments.........................................................................................................18
6.1 CAN (X301, X311)..........................................................................................................18
7Correct Wiring of Electrically Isolated CAN Networks.............................................................19
7.1Standards concerning CAN Wiring..................................................................................19
7.2 Heavy Industrial Environment (Double Twisted Pair Cable)............................................ 20
7.2.1 General Rules..........................................................................................................20
7.2.2 Device Cabling ........................................................................................................21
7.2.3 Branching ................................................................................................................21
7.2.4 Termination..............................................................................................................21
7.3 Light Industrial Environment (Single Twisted Pair Cable)................................................22
7.3.1 General Rules..........................................................................................................22
7.3.2 Cabling ....................................................................................................................23
7.3.3 Branching ................................................................................................................23
7.3.4 Termination..............................................................................................................23
7.4 Electrical Grounding........................................................................................................ 24
7.5 Bus Length .....................................................................................................................24
7.6 Examples for CAN Cables ..............................................................................................25
7.6.1 Cable for Light Industrial Environment Applications (Two-Wire)............................... 25
7.6.2 Cable for Heavy Industrial Environment Applications (Four-Wire)............................25
8CAN Troubleshooting Guide ..................................................................................................26
8.1 Termination..................................................................................................................... 26
8.2 Electrical Grounding........................................................................................................ 27
8.3 Short Circuit in CAN Wiring.............................................................................................27
8.4CAN_H/CAN_L-Voltage..................................................................................................27
8.5 CAN Transceiver Resistance Test.................................................................................. 28
8.6 Support by esd................................................................................................................28
9Declaration of Conformity.......................................................................................................29
10 Order Information...................................................................................................................30
10.1 Hardware........................................................................................................................ 30
10.2 Software for CPCI-CAN/200 ...........................................................................................30
10.3 Manuals..........................................................................................................................31

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Hardware Manual Doc.-Nr.: C.2035.21 / Rev. 2.2
CPCI-CAN/200
List of Tables
Table 1: Description of LEDs........................................................................................................12
Table 2: General Data of the module............................................................................................15
Table 3: Data of the CAN interface...............................................................................................15
Table 4: Data of the CompactPCI interface ..................................................................................16
Table 5: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....................24
Table 6: Order information hardware............................................................................................30
Table 7: Order information software for CPCI-CAN/200 ...............................................................30
Table 8: Available Manuals ..........................................................................................................31
List of Figures
Figure 1: Block circuit diagram........................................................................................................9
Figure 2: PCB top view of CPCI-CAN/200-2 .................................................................................11
Figure 3: Connectors and LEDs....................................................................................................12
Figure 4: CAN wiring for heavy industrial environment.................................................................20
Figure 5: Example of proper wiring with single shielded double twisted pair cables .....................21
Figure 6: CAN wiring for light industrial environment....................................................................22
Figure 7: Example for proper wiring with single shielded single twisted pair wires........................23
Figure 8: Simplified diagram of a CAN network............................................................................26
Figure 9: Simplified schematic diagram of ground test measurement...........................................27
Figure 10: Measuring the internal resistance of CAN transceivers...............................................28

Overview
CPCI-CAN/200
Hardware Manual Doc.-Nr.: C.2035.21/ Rev. 2.2
Page 9 of 31
1 Overview
Figure 1: Block circuit diagram
The CPCI-CAN/200 is a passive CompactPCI board with one CAN interface (CPCI-CAN/200-1), or
optional two CAN interfaces (CPCI-CAN/200-2, CPCI-CAN/200-2-T).
Data security and consistency are guaranteed up to 1 Mbit/s.
The ISO 11898-compliant CAN interface allows a maximum data-transfer rate of 1 Mbit/s. Among
many other features of CAN interfaces, the bit rate can be set by software.
The CAN interface is electrically isolated from the other potentials by means of optocouplers and
DC/DC-converters.
The CPCI-CAN/200-2-T version is designed for the extended temperature range (-40°C … +85°C).
1.1 Description of CPCI-CAN/200

Overview
Page 10 of 31
Hardware Manual Doc.-Nr.: C.2035.21 / Rev. 2.2
CPCI-CAN/200
Abbreviations
Abbreviation
Term
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
1.2 Glossary