ICP DAS USA mPAC-7186EXD-CAN User manual

I-7188XBD-CAN/μPAC-7186EXD-CAN user manual (ver.1.0.3, May/09/2014)
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I-7188XBD-CAN/μPAC-7186EXD-CAN
User Manual
Warranty
All products manufactured by ICP DAS are warranted
against defective materials for a period of one year from
the date of delivery to the original purchaser.
Warning
ICP DAS assume no liability for damages consequent
to the use of this product. ICP DAS reserves the right to
change this manual at any time without notice. The
information furnished by ICP DAS is believed to be
accurate and reliable. However, no responsibility is
assumed by ICP DAS for its use, or for any infringements
of patents or other rights of third parties resulting from its
use.
Copyright
Copyright 2006 by ICP DAS. All rights are reserved.
Trademark
The names used for identification only maybe
registered trademarks of their respective companies.

I-7188XBD-CAN/μPAC-7186EXD-CAN user manual (ver.1.0.3, May/09/2014)
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Tables of Content
1Introduction.............................................................................................4
1.1 Overview.........................................................................................4
1.2 Hardware Features.........................................................................6
1.3 Hardware Specifications ...............................................................7
2Hardware Configuration.........................................................................9
2.1 I-7188XBD-CAN Hardware Structure............................................9
2.2 μPAC-7186EXD-CAN Hardware Structure..................................10
2.3 CAN Network Wire Connection ..................................................11
2.4 Terminal Resistor Jumper Selection..........................................13
2.5 Wiring Diagram For Different Application..................................15
2.5.1 Program download.........................................................15
2.5.2 General application........................................................15
2.5.3 I-7188XBD-CAN DI & DO channel wiring diagram .......17
3XC100 Library........................................................................................18
3.1 Library Function Definition and Description.............................20
3.1.1 CAN_Reset......................................................................21
3.1.2 XC100Init / XC100Init_Listen .........................................22
3.1.3 SetCANBaud...................................................................25
3.1.4 SetCANMask...................................................................26
3.1.5 CAN_InstallIrq.................................................................27
3.1.6 CAN_RemoveIrq.............................................................28
3.1.7 CAN_Resotre ..................................................................29
3.1.8 CAN_CreateBuffer..........................................................30
3.1.9 SendCANMsg / SendCANMsg_NonBlock ....................31
3.1.10 GetNonBlockTxBufferLockedCount.............................33
3.1.11 GetNonBlockTxIncompleteCount .................................34
3.1.12 GetCANMsg ....................................................................35
3.1.13 GetStatus.........................................................................37
3.1.14 ClearStatus......................................................................38
3.1.15 L1Off................................................................................39
3.1.16 L2Off................................................................................40
3.1.17 L3Off................................................................................41
3.1.18 L1On................................................................................42
3.1.19 L2On................................................................................43
3.1.20 L3On................................................................................44
3.1.21 UserCANInt .....................................................................45

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3.1.22 CAN_SearchBaud...........................................................47
3.1.23 CAN_BusOff_Recovery..................................................48
3.2 Table of Return Code...................................................................49
4Demo Programs....................................................................................50
4.1 Program Download Procedure ...................................................52

I-7188XBD-CAN/μPAC-7186EXD-CAN user manual (ver.1.0.3, May/09/2014)
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1 Introduction
1.1 Overview
The CAN (Controller Area Network) is a serial communication bus especially
suited to interconnect smart devices to build smart systems or sub-system. It
efficiently supports distributed real-time control with a very high level of security.
In CAN networks, there is no addressing of subscribers or stations in the
conventional sense, but instead prioritized messages are transmitted. As
standalone CAN controller, I-7188XBD-CAN/μPAC-7186EXD-CAN embedded
controller represents an economic solution. It consists of one XC100 and one
I-7188XBD/μPAC-7186EXD, and provides one CAN communication ports with
5-pin screw terminal connector for the various CAN applications. Besides,
I-7188XBD-CAN/μPAC-7186EXD-CAN uses the new Phillips SJA1000T and
transceiver 82C250, which supports both CAN 2.0A and 2.0B specific,
re-transmission function, bus arbitration and error detection. Because of the
features of I-7188XBD and μPAC-7186EXD, The I-7188XBD-CAN/
μPAC-7186EXD-CAN can be applied to communicate with several kinds of
industrial communication interface, such as RS-232, RS-485 and Ethernet of.
Therefore, users can design the wide applications between different
communication protocols.

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1.2 Hardware Features
1000Vdc voltage protection.
Compatible with CAN specification 2.0 parts A and B.
Programmable transfer rate up to 1 Mbps.
Jumper select 120Ω terminator resistor for CAN channel
Programmable with the XC100 library file.
Allow to design the behavior of CAN controller
Multi communication interface
Support Watchdog mechanism
Programmable Interrupt service routine and timers
Programmable by C/C++ language

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1.3 Hardware Specifications
System
CPU: 80186, 80MHz (for μPAC-7186EXD-CAN)
CPU: 80188, 40MHz (for I-7188XBD-CAN)
SRAM: 512K bytes
Build-in Flash Memory, EEPROM, NVSRAM, Real Time Clock
Built-in Watchdog Timer
16-bit Timer
Flash Memory
512K bytes
Minimum erase unit is one sector (64K bytes)
100,000 erase/write cycles
EEPROM
16K bytes (64 blocks, each block has 256 bytes)
Data retention >100 years
1,000,000 erase/write cycles
Real Time Clock
Year-2000 compliance
Second, minute, hour, date of the month
Month, year, valid up from 1980 to 2079
NVSRAM: 31 bytes, battery backup, data valid up to 10 years
CAN port
Philip SJA1000 CAN controller
Philip 82C250 CAN transceiver
1000 voltage protection on CAN side
120Ωterminal resister selected by jumper
16M Hz clock
COM1
RS-232 or RS-485 Interface
RS-232: TXD, RXD, RTS, CTS, GND
Communication speed: 115200 Max.
Program download port

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COM2
RS-485: D2+, D2-
Communication speed: 115200 Max.
Connect to DCON IO modules
Display
Programmable 7-segment LEDs
Programmable 4 LEDs (L1, L2, L3 and round LED)
Digital Input (only for I-7188XBD-CAN)
1 DI channel
Dry Contact: Logical level 0: closed to GND, Logical level 1: open
Wet contact: Logical level 1:3.5V~30V, Logical level 0: 0~1V
Digital Output (only for I-7188XBD-CAN)
1 DO channel
100 mA, 30V max.
Open-collector output
Power Requirement
10 to 30 VDC (non-regulated)
Power Supply: 3.0W
Application Environment
Operating Temperature: -25°C to +75°C
Storage Temperature: -30°C to +85°C
Humidity: 5%~9
Dimensions: 123mm*64.5mm*19.6mm

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2 Hardware Configuration
2.1 I-7188XBD-CAN Hardware Structure
L1, L2, and
L3 LEDs
CAN Bus
Connector
Round LED
7-segment
LED
COM1: RS-232 Port
or RS-485 Port
COM2: RS-485 Port
Power Pin
Bypass CAN
Bus Connector
DO and DI
channel

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2.2 μPAC-7186EXD-CAN Hardware Structure
L1, L2, and
L3 LEDs
CAN Bus
Connector
Round LED
7-segment
LED
COM1: RS-232 Port
COM2: RS-485 Port
Power Pin
Bypass CAN
Bus Connector
Ethernet port

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2.3 CAN Network Wire Connection
In order to minimize the reflection effects on the CAN bus line, the CAN
bus line has to be terminated at both ends by two terminal resistances as
following figure. According to the ISO 11898-2 spec, each terminal resistance
is 120Ω (or between 108Ω~132Ω). The length related resistance should have
70 mΩ/m. The user should check the resistances of CAN bus, before install a
new CAN network.
Moreover, in order to minimize the voltage drop on long distance, the
terminal resistance should be higher than the value defined in the ISO 11898-2.
The following table could be a reference.
Bus Length
(meter)
Bus Cable Parameters
Terminal
Resistance
(Ω)
Length Related
Resistance
(mΩ/m)
Cross Section
(Type)
0~40
70
0.25(23AWG)~
0.34mm2(22AWG)
124 (0.1%)
40~300
< 60
0.34(22AWG)~
0.6mm2(20AWG)
127 (0.1%)
300~600
< 40
0.5~0.6mm2
(20AWG)
150~300
600~1K
< 20
0.75~0.mm2
(18AWG)
150~300

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The CAN bus bard rate has the high relationship with the bus length. The
following table indicates the corresponding bus length on every kind of baud
rate.
Baud rate (bit/s)
Max. Bus length (m)
1 M
25
800 K
50
500 K
100
250 K
250
125 K
500
50 K
1000
20 K
2500
10 K
5000
Note: When the bus length is greater than 1000m, the
bridge or repeater devices may be needed.

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2.4 Terminal Resistor Jumper Selection
Remove the cover of the I-7188XBD-CAN/μPAC-7186EXD-CAN. Users
can see the part of internal structure shown as following figure. The XC100
provides users one jumper-selected termination resistor (J3). Its position is
displayed below.
Figure2.1 XC100 I/O expansion board LAYOUT
The jumper J3 is used to judge the resister of CAN network. When users
want to set the jumper JP3, the upper cover of I-7188XBD-CAN/
μPAC-7186EXD-CAN needs to be removed. About the J3 jumper setting,
please refer the following figure.

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Apply the termination
resistor(120Ω)
Don’t apply the termination resistor
v1.80 or before
v1.90
v1.80 or before
v1.90
Table 2.1 J3 Jumper Selections
For(I-7188XBD-CAN)
For(μPAC-7186EXD-CAN)
v1.80 or before
v1.90
v1.80 or before
v1.90
Table 2.2 J4 Jumper Selections

I-7188XBD-CAN/μPAC-7186EXD-CAN user manual (ver.1.0.3, May/09/2014)
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2.5 Wiring Diagram For Different Application
2.5.1 Program download
If users want to download users’ program, the following structure may be
needed. Users must use the download cable (packaged with I-7188XBD-CAN/
μPAC-7186EXD-CAN) to connect the I-7188XBD-CAN/ μPAC-7186EXD-CAN
COM1 with PC available COM port. Then, use the tool, 7188xw.exe, in
OSImage folder to download users’program. Please refer section 4 for more
detail information.
2.5.2 General application
The following figure shows the wiring diagram for general application.
When the COM1 of I-7188XBD-CAN is used, sending data to COM1 will
transmit the data both on RS-232 and RS-485 port. One of the RS-232 and
RS-485 port receives the data, these data will be obtained by COM1 of the
I-7188XBD-CAN. Therefore, it is not recommend using both RS-232 and
RS-485 functions of COM1 at the same time. If users select the RS-232
function of COM1, the RTS1 and CTS1 pins are not always necessary. It is
need to check if the connection target machine uses 3-line RS-232
communication or 5-line RS-232 communication.

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Moreover, in order to wire conveniently, the I-7188XBD-CAN/
μPAC-7186EXD-CAN provides not only one CAN port, but also another
bypass CAN port. There two CAN ports are the same one. The bypass
CAN port is just for wiring with another CAN device conveniently, it doesn’t
have any other function.
N
O
U
S
E
C
A
N
_
H
C
A
N
_
L
N
O
U
S
E
N
O
U
S
E
N
O
U
S
E
C
A
N
_
H
C
A
N
_
L
N
O
U
S
E
N
O
U
S
E
JP 3
120 Ω

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2.5.3 I-7188XBD-CAN DI & DO channel wiring diagram
The general wire connection methods for DI channel of I-7188XBD-CAN
are shown below.
(B)GND
(R)VS+
(G)D2-
(Y)D2+
INIT*
RXD1
TXD1
GND
RTS1 CTS1
COM2
COM1
D1-
D1+
DI
DO
I-7188XBD-CAN
DryContactSignalInput
(B)GND
(R)VS+
(G)D2-
(Y)D2+
INIT*
RXD1
TXD1
GND
RTS1 CTS1
COM2
COM1
D1-
D1+
DI
DO
I-7188XBD-CAN
TTL/CMOSSignalInput
LogicHihg LogicLow
Switch
(B)GND
(R)VS+
(G)D2-
(Y)D2+
INIT*
RXD1
TXD1
GND
RTS1 CTS1
COM2
COM1
D1-
D1+
DI
DO
I-7188XBD-CAN
Open-CollectorSignalInput
The DO channel of I-7188XBD-CAN wire connection is shown below.
(
B
)
G
N
D
(
R
)
V
S
+
(
G
)
D
2
-
(
Y
)
D
2
+
I
N
I
T
*
R
X
D
1
T
X
D
1
G
N
D
R
T
S
1
C
T
S
1
C O M 2
C O M 1
D
1
-
D
1
+
D
I
D
O
I - 7188 XBD - C A N
V + V -
Load
(B)GND
(R)VS+
(G)D2-
(Y)D2+
INIT*
RXD1
TXD1
GND
RTS1 CTS1
COM2
COM1
D1-
D1+
DI
DO
I-7188XBD-CAN
V+ V-
Load

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3 XC100 Library
The XC100 library file, XC100L.lib, is useful to help user design various CAN
devices. Here, the library for TC, BC and MSC is provided to receive CAN
messages, transmit CAN messages, and configure the CAN controller. This
section will show you what they have and how to use them. For developing a
program, the figure 3.1 and 3.2 may be a reference. The XC100L.lib is only
used for the XC100 hardware, and is for Large Mode of the C/C++ compiler.
For the step-by-step information about the program procedure, please refer to
the section 4.1.
Figure3.1 Program procedure

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Figure3.2 Compile concept
Because this manual is special described for the CAN functions, if users
want to know the other functions and demos of the I-7188XBD-CAN/
μPAC-7186EXD-CAN (such as the EEPROM function, 7-segment function,
flash ram function, real-time clock function, watchdog function, com port
function, and so forth), please refer to the I-7188XB(D)/I-7188EX(D) user
manual. Or refer to the on-line help on the 7000/7188/8000 CD. In this on-line
help, users can find a lot of useful information about MiniOS7 operation
commands, the other functions of I-7188XBD-CAN/ μPAC-7186EXD-CAN, and
the functions of download tool, 7188xw.exe. MiniOS7 is the operation system
of the I-7188XBD-CAN/ μPAC-7186EXD-CAN. It is a dos-like operation system.
The 7188xw.exe is a download tool. If users want to download users’ program
into the I-7188XBD-CAN/ μPAC-7186EXD-CAN, this tool may be needed.
Users can find the 7188xw.exe in the uPAC-7186EXD-CAN-OS-Image folder
in CAN CD. It path is “CAN/PAC/uPAC-7186EXD-CAN”. (Note: I-7188EX(D)
demos can be used in the μPAC-7186EXD-CAN. Users just need to compile I-7188EX(D)
demos again with 7186EL.lib. Both I-7188XBD-CAN and μPAC-7186EXD-CAN functions
can refer to the following on-line help.)
For on-line help:
8000cd /napdos/7188xabc/7188xb/document/ (For I-7188XBD-CAN)
fieldbus_cd/can/pac/i-7188xbd-can/document
8000cd /napdos/7186e/document/ (For uPAC-7186EXD-CAN)
fieldbus_cd/can/pac/upac-7186exd-can/document/
For demos:
8000cd /napdos/7188xabc/7188xb/demo/ (For I-7188XBD-CAN)
fieldbus_cd/can/pac/i-7188xbd-can/demo/
8000cd /napdos/7186e/demo/ (For uPAC-7186EXD-CAN)
fieldbus_cd/can/pac/upac-7186exd-can/document
C/C++ language
sourcecode
XC100L.lib
7188XBL.lib/
7186EL.lib
Compile& Link Executionfile
Projectfile

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3.1 Library Function Definition and Description
The functions of XC100 library file are presented in the following table. They
are provided to help users construct their characteristic CAN device. For the
detail information of each function, please refer to the following sub-section.
Function definition
Description
Page
CAN_Reset
CAN controller hardware reset
21
XC100Init
XC100Init_Listen
Initialize the XC100 hardware and let the
CAN chip into normal or listen only mode
22
SetCANBaud
Change CAN baud
25
SetCANMask
Change CAN message filter
26
CAN_InstallIrq
Enable the embedded controller interrupt
27
CAN_RemoveIrq
Disable the embedded controller interrupt
28
CAN_Restore
Release the resource and disable the
embed controller interrupt
29
CAN_CreateBuffer
Change the reception and transmission
buffer sizes
30
SendCANMsg
SendCANMsg_NonBlock
Send a CAN message to the CAN network
by using blocking or non-blocking method.
31
GetNonBlockTxBufferLockedCount
Get Transmission Buffer Lock retry count of
sending CAN message with non-blocking
method
33
GetNonBlockTxIncompleteCount
Get Transmission Incomplete retry count of
sending CAN message with non-blocking
method
34
GetCANMsg
Receive a CAN message
35
GetStatus
Obtain the CAN controller status and
reception/transmission buffer status
37
ClearStatus
Reset the reception and transmission buffer
status
38
L1Off
Turn LED0 off
39
L2Off
Turn LED1 off
40
L3Off
Turn LED2 off
41
L1On
Turn LED0 on
42
L2On
Turn LED1 on
43
L3On
Turn LED2 on
44
UserCANInt
Design user-defined interrupt routine
45
CAN_SearchBaud
Search the necessary CAN Bus baud rate
47
CAN_BusOff_Recovery
When CAN Bus off, calling this API to
recover the status of CAN Bus.
48
Table3.1 The function list of the XC100 library file