IXXAT CANbridge User manual

The experts for industrial and automotive communication
Manual
CANbridge
CAN-to-CAN Gateway

IXXAT
Headquarter US Sales Office
IXXAT Automation GmbH IXXAT Inc.
Leibnizstr. 15 120 Bedford Center Road
D-88250 Weingarten USA-Bedford, NH 03110
Tel.: +49 (0)7 51 / 5 61 46-0 Phone: [phone]
Fax: +49 (0)7 51 / 5 61 46-29 Fax: [phone]
Internet: www.ixxat.de Internet: www.ixxat.com
e-Mail: [email protected] e-Mail: [email protected]
Support
In case of unsolvable problems with this product or other IXXAT products
please contact IXXAT in written form by:
Fax: +49 (0)7 51 / 5 61 46-29
e-Mail: [email protected]
Copyright
Duplication (copying, printing, microfilm or other forms) and the electronic
distribution of this document is only allowed with explicit permission of
IXXAT Automation GmbH. IXXAT Automation GmbH reserves the right to
change technical data without prior announcement. The general business
conditions and the regulations of the license agreement do apply. All rights
are reserved.
Document number: 4.01.0120.20000
Version: 1.4

Contents
1Introduction..................................................................................5
1.1 Overview ............................................................................... 5
1.2 Features ................................................................................ 5
1.3 Versions ................................................................................ 5
1.4 Block diagram....................................................................... 6
1.5 Support................................................................................. 7
1.6 Returning hardware ............................................................. 7
2Aluminum Version ........................................................................8
2.1 Pin Allocation........................................................................ 8
2.1.1 Voltage supply (X1).....................................................8
2.1.2 Serial interface RS232 (X2) ...........................................9
2.1.3 CAN 1 (X3) ...................................................................9
2.1.4 CAN 2 (X4) .................................................................10
2.2 Ground connections ........................................................... 10
3Industrial DIN-Rail Version .........................................................11
3.1 Pin allocation ...................................................................... 11
3.1.1 Voltage supply (X1)...................................................11
3.1.2 Serial interface RS232 (X2) ........................................12
3.1.3 CAN 1 (X3) .................................................................12
3.1.4 CAN 2 (X4) .................................................................13
3.2 Ground connections ........................................................... 13
4Displays.......................................................................................14
4.1 Normal mode (Gateway mode).......................................... 14
4.1.1 PWR - LED ..................................................................14
4.1.2 CAN1/CAN2 LED.........................................................14
4.1.3 COM LED....................................................................14
4.2 Automatic baudrate detection ........................................... 14
4.2.1 PWR LED ....................................................................14
4.2.2 CAN1/CAN2 LED.........................................................14
5Functional description................................................................15
5.1 Introduction........................................................................ 15
5.2 Data Structure of the Configuration Files .......................... 16
5.2.1 General settings [General] ........................................18
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Contents
5.2.1.1 Version number (TemplateVersion) ............................ 18
5.2.1.2 RepeaterFunctionality................................................18
5.2.1.3 AutoBaudAttemptTimeout ........................................18
5.2.1.4 Behavior on Bus Off (CANBusOffRecovery) .................18
5.2.2 User settings [User] ...................................................18
5.2.3 CAN-Bus settings [CANBus1] / [CANBus2].................19
5.2.3.1 [BaudRate]................................................................ 19
5.2.3.2 FrameFormat ............................................................20
5.2.3.3 UseGatewayTable...................................................... 20
5.2.4 Gateway Tables
[CAN1GatewayTable]/[CAN2GatewayTable] .............21
5.3 Sample configurations ........................................................22
5.3.1 Standard configuration.............................................22
5.3.2 Bridge with different Frames and Filters ..................23
6Download Tool ...........................................................................24
6.1 Generating a configuration file...........................................25
6.2 Downloading a configuration .............................................25
6.3 Display of the current configuration...................................26
7Notes on EMC.............................................................................27
7.1 Aluminum Version ...............................................................27
7.2 Industrial DIN-Rail Version – Shield concept .......................27
Appendix .........................................................................................28
Technical Data.............................................................................28
Accessories .................................................................................29
Null modem cable ...............................................................29
CAN bus termination resistor ..............................................29
FCC Compliance..........................................................................30
EC Declaration of Conformity ....................................................31
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Introduction
1 Introduction
1.1 Overview
Congratulations on your purchase of the IXXAT CANbridge, a high quality elec-
tronic component developed and manufactured according to the latest techno-
logical standards.
The CANbridge is a universal, intelligent CAN topology component based on the
store-modify-forward principle.
The component allows a configurable coupling of two, also different, CAN net-
works. It is configured via a configuration file and the download program in-
cluded in the delivery.
This manual is intended to familiarize you with your CANbridge. Please read this
manual before beginning with the installation.
1.2 Features
• Supply voltage 9-36 V DC (automotive version 7-16 V DC)
• CAN bus interface according to ISO 11898-2, as an option galvanically iso-
lated
• Optional CAN low speed bus interface according to ISO 11898-3 (“fault-
tolerant”) for automotive version
• Serial interface (RS232) for configuration of the CANbridge (as an option
RS485)
• Fujitsu 16-bit microcontroller
• Two housing designs available: robust aluminum housing or plastic housing
for DIN rail assembly
1.3 Versions
The CANbridge is available in the following versions:
Industrial
DIN rail
Industrial
aluminum
Automotive
Housing Plastic Aluminum Aluminum
Supply voltage 9 V - 36 V DC 9 V - 36 V DC 7 V - 16 V DC
Bus interface 2 x high speed
(ISO 11898-2)
2 x high speed
(ISO 11898-2)
1 x high speed,
1 x high speed
or low speed
Galvanically isolated Optional Optional Not available
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Introduction
1.4 Block diagram
Microcontroller
MB90F543
CAN Bus 1
Optional
Data
Memory
CAN Bus
Interface
High Speed
internal
RS232
Adapter
TxD
RxD
CAN High
CAN Low
CAN Bus
Interface
High or Low
Speed
CAN Bus 2
CAN High
CAN Low
CAN 1 CAN 2 Industrial
Range
(9V-36V)
Automotive
Range
(7V-16V)
or
RS232Lines
A 0..17
D 0..15
Power Supply
Full RS232
transceiver
optional RS485
Fig. 1-1: Block circuit diagram CANbridge
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Introduction
1.5 Support
For more information on our products, FAQ lists and installation tips, please refer
to the support area on our homepage (http://www.ixxat.de). There you will also
find information on current product versions and available updates.
If you have any further questions after studying the information on our home-
page and the manuals, please contact our support department. In the support
area on our homepage you will find the relevant forms for your support request.
In order to facilitate our support work and enable a fast response, please provide
precise information on the individual points and describe your question or prob-
lem in detail.
If you would prefer to contact our support department by phone, please also
send a support request via our homepage first, so that our support department
has the relevant information available.
1.6 Returning hardware
If it is necessary to return hardware to us, please download the relevant RMA
form from our homepage and follow the instructions on this form. In the case of
repairs, please also describe the problem or fault in detail on the RMA form. This
will enable us to carry out the repair quickly.
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Aluminum Version
2 Aluminum Version
2.1 Pin Allocation
X1 X4
LED
X2 X3
Fig. 2-1: Pin allocation aluminum version
2.1.1 Voltage supply (X1)
The device is supplied with direct voltage of 9 V - 36 V. With the automotive ver-
sion the supply voltage is 7 V - 16 V. A pre-fabricated cable for power supply is
included in the scope of delivery. The connection allocation is shown in Table 2-1.
The CANbridge is protected against polarity reversal, under-voltage and over-
voltage. In the event of polarity reversal or under-voltage, it is switched off, with
over-voltage an internal fuse is triggered.
Pin no.
X1
Signal Lead color
1 PWR (+) white
2 GND (-) brown
3 Shield Shield
1
1
2
3
Table 2-1: Pin allocation Power
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Aluminum Version
2.1.2 Serial interface RS232 (X2)
The serial interface is used for configuration of the CANbridge. The signals of the
serial interface are connected to the 9-pin Sub-D connector X2 (see Table 2-2).
Pin no.
X2
Signal
1 DCD
2 RX
3 TX
4 DTR
5 GND
6 DSR
7 RTS
8 CTS
9 RI
Table 2-2: Pin allocation RS232
2.1.3 CAN 1 (X3)
CAN 1 is available on connector X3 with a bus interface according to ISO 11898-
2. The signals of the bus interface are connected to the 9-pin Sub-D connector
X3 (see Table 2-3).
Pin no.
X3
Signal
1 -
2 CAN Low
3 GND
4 -
5 -
6 -
7 CAN High
8 -
9 -
Table 2-3: Pin allocation CAN1
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Aluminum Version
2.1.4 CAN 2 (X4)
The second CAN interface according to ISO 11898-2 (CAN High Speed) or ac-
cording to ISO 11898-3 (CAN low speed “fault-tolerant“) is available at connector
X4 (see Table 2-4).
Pin no.
X4
Signal
1 -
2 CAN Low
3 GND
4 -
5 -
6 -
7 CAN High
8 -
9 -
Table 2-4: Pin allocation CAN2
2.2 Ground connections
In the galvanically isolated version, the GND of CAN1 (X3) and CAN2 (X4) is iso-
lated in each case from the rest of the circuit, the GND of the serial interface (X2)
is connected to the GND of the power supply (X1).
In the version without galvanic isolation, all GND connections (X1, X2, X3, X4)
are connected with each other.
The shield connections of CAN1 (X3), CAN2 (X4), serial interface (X2) and power
supply (X1) are connected with each other both in the version with and in the
version without galvanic isolation.
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Industrial DIN-Rail Version
3 Industrial DIN-Rail Version
3.1 Pin allocation
The pin allocation for the Industrial DIN-Rail version is shown in Fig. 3-1.
1 2 3
9 8 7
4 5 6
PWR
CAN1
CAN2
SER
CAN1 PWR
RS232
CAN2
X1
X3
X2
X4
LED
CANbridge
Fig. 3-1: Pin allocation Industrial DIN-Rail version
3.1.1 Voltage supply (X1)
The device is supplied with DC voltage of 9V – 36V. The pin allocation is shown
in Table 3-1. The CANbridge is protected against polarity reversal, under-voltage
and over-voltage.
In the event of polarity reversal or under-voltage, it is switched off, with over-
voltage an internal fuse is triggered.
Pin Signal
1 PE
2 PWR (+)
3 GND (-)
Table 3-1: Pin allocation Power
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Industrial DIN-Rail Version
3.1.2 Serial interface RS232 (X2)
The signals of the serial interface are connected to the 9-pin Sub-D connector X2
(see Table 3-2).
Pin no.
X2
Signal
1 DCD
2 RX
3 TX
4 DTR
5 GND
6 DSR
7 RTS
8 CTS
9 RI
Table 3-2: Pin allocation RS232
3.1.3 CAN 1 (X3)
CAN 1 is available on X3 with a bus interface according to ISO 11898-2 (see Ta-
ble 3-3).
Pin Signal
4 CAN High
5 CAN Low
6 GND
Table 3-3: Pin allocation CAN1
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Industrial DIN-Rail Version
3.1.4 CAN 2 (X4)
CAN 2 is available on CAN 4 with a bus interface according to ISO 11898-2 (see
Table 3-4).
Pin Signal
7 CAN High
8 CAN Low
9 GND
Table 3-4: Pin allocation CAN2
3.2 Ground connections
In the galvanically isolated version, the GND of CAN1 (X3) and CAN2 (X4) is iso-
lated in each case from the rest of the circuit, the GND of the serial interface (X2)
is connected to the GND of the power supply (X1).
In the version without galvanic isolation, all GND connections (X1, X2, X3, X4)
are connected with each other.
The shield connection of the serial interface (X2) and the PE connection (X1 –
terminal 1) are connected with each other both in the version with and in the
version without galvanic isolation.
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Displays
4 Displays
The CANbridge has four 2-color LEDs (see Fig. 2-1 or Fig. 3-1). The LEDs behave
in the following way depending on the operating mode of the CANbridge.
4.1 Normal mode (Gateway mode)
4.1.1 PWR - LED
The Power-LED (PWR) is lit when the CANbridge is connected to the supply volt-
age and the microcontroller is installed. With a Watchdog reset the PWR-LED is lit
red.
4.1.2 CAN1/CAN2 LED
The CAN-LEDs are lit green with every message received or transmitted without
errors. When the CAN error warning level is reached, the corresponding LED is lit
red when receiving and transmitting. In ’CAN BUS OFF’ status, communication is
no longer possible. The corresponding LED is permanently lit red.
4.1.3 COM LED
The COM-LED is lit green briefly with every message received or transmitted with-
out errors. With an erroneous message it is lit red.
4.2 Automatic baudrate detection
During automatic baud rate detection the PWR- and CAN- LEDs have the follow-
ing meaning:
4.2.1 PWR LED
The Power-LED (PWR) flashes red during automatic baud rate detection with a
frequency of approx. 1Hz. If the automatic baud rate detection is terminated
without success, the Power-LED is permanently lit red.
4.2.2 CAN1/CAN2 LED
As long as no baudrate has been detected and allocated for the CAN-channels,
the LEDs flash red. If the baudrate is detected on one segment, the LED allocated
to this bus segment flashes green for each message received. If the baudrate of
the second segment is also detected, the PWR LED is permanently lit green and
the CANbridge switches to normal mode.
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Functional description
5 Functional description
5.1 Introduction
The CANbridge allows the coupling of two CAN networks also with different bit
rates or frame formats (standard and extended). The CAN messages are received
in full by the CANbridge and then transmitted in the other CAN network, taking
filters and implementation rules (store-(modify)-forward principle). With the aid
of the implementation rules the CAN messages can be filtered or forwarded un-
der a different identifier. With these mechanisms the busload can be reduced in
the associated network by only transmitting those messages that are of interest
there.
The baudrates of the CAN segments are freely configurable. In addition the
CANbridge offers automatic baud rate detection.
For configuration of the CANbridge, an ASCII-file is created and the configuration
data are loaded onto the CANbridge via the serial interface with the aid of a
download tool. The setting possibilities are described in Table 5-1.
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Functional description
Function Setting possibilities Key word
Baudrate for
CAN1 and CAN2
1. Automatic baud rate detection
2. Setting of a CIA-baudrate
3. Setting of the bus timing register
BTR0 / BTR1
BaudRate
(under [CANBus1]
or [CANBus2])
Frame format for
CAN1 and CAN2
1. Standard frame format (11-bit
identifiers)
2. Extended frame format (29-bit
identifiers)
FrameFormat
(under [CANBus1]
or [CANBus2])
Activate gateway
table for CAN1
and CAN2
1. Use gateway table
2. Do not use table, then all mes-
sages are transmitted to the other
segment unchanged
UseGatewayTable
(under [CANBus1]
or [CANBus2])
Repeater
functionality
1. Switch on repeater functionality:
All messages are transmitted un-
changed to the other segment in-
dependently of frame format.
2. Switch off repeater functionality:
the settings under frame format
and gateway table are taken into
account.
RepeaterFunctionality
(under [General])
Restart after Bus
Off
1. Allow restart after Bus Off
2. Do not allow restart after Bus Off
CANBusOffRecovery
(under [General])
Table 5-1: Possible settings of the CANbridge
5.2 Data Structure of the Configuration Files
A template of the ASCII configuration file can be generated with the download
tool (see Section 6). The required configuration can be easily created with the
template and a text editor. The data structure is based on the Windows INI-
Format.
The setting possibilities of the configuration file are listed in the following:
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Functional description
[General]
TemplateVersion = 01.01.00 ;!Don’t change this!
RepeaterFunctionality = no or yes
AutoBaudAttemptTimeout = no or value in seconds;(max.600s)
CANBusOffRecovery = no or value in seconds (1…60)
[User]
ConfigAlias = up to 31 characters ;(e.g.“CAN-Bridge Auto”)
[CANBus1]
BaudRate = Auto or CIA-baudrates or BTR0/BTR1
;(e.g. BaudRate=Auto, BaudRate=1000, BaudRate=0x01/0x0C)
FrameFormat = std or ext
UseGatewayTable = yes or no
[CANBus2]
BaudRate = Auto or CIA-baudrates or BTR0/BTR1
;(e.g. BaudRate=Auto / BaudRate=1000 / BaudRate=0x01/0x0C
FrameFormat = std or ext
UseGatewayTable = yes or no
[CAN1GatewayTable]
0x000 = 0x000 ;normal id retransmission with the
0x001 = 0x001 ;same identifier on both sides
…
0x100 = 0x200 ;modify the id
0x101 = 0x10052ff ;modify the id
…
0x7fa = ;not forward
0x7fb = no ;not forward
[CAN2GatewayTable]
0x004 = 0x004 ;normal id retransmission with the
0x006 = 0x006 ;same identifier on both sides
…
0x110 = 0x210 ;modify the id
0x111 = 0x110c200 ;modify the id
…
0x7fa = ;not forward
0x7fb = no ;not forward
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Functional description
5.2.1 General settings [General]
There are three parameters in the ASCII-file under the key word [General]:
5.2.1.1 Version number (TemplateVersion)
The version number of the ASCII-file structure. It is used for a compatibility check
and for this reason must not be changed.
5.2.1.2 RepeaterFunctionality
This parameter is used to activate the repeater functionality. In this mode all mes-
sages are transferred unchanged to the other segment irrespective of frame for-
mat and the gateway tables.
Note: If the repeater functionality, the entries under FrameFormat and UseGate-
wayTable and the gateway tables are ignored.
5.2.1.3 AutoBaudAttemptTimeout
A timeout time can be set for the automatic baud rate detection.The timeout
time starts with detection of a baudrate on one of the two segments. When this
time expires the detected baudrate is also set on the second segment provided if
no baudrate has already been detected there and a transmit attempt is then
made. If an error occurs during transmission, the CANbridge switches off (see Fig.
5-1).
This parameter is only relevant if the automatic baudrate detection has been se-
lected for at least one CAN segment.
No time limit is set in the standard configuration, the CANbridge then remains in
“Automatic baudrate detection“ mode until a baudrate has been detected on
both sides.
Note: the baudrate can only be detected if there is bus traffic and at least two
nodes per segment are active.
5.2.1.4 Behavior on Bus Off (CANBusOffRecovery)
The parameter CANBusOffRecovery defines how the CANbridge is to behave
when a CAN segment goes into Bus Off state. With CANBusOffRecovery = no,
the relevant CAN segment remains in Bus Off state until the device is switched
off. If a time between 1 and 60 seconds is specified, CANbridge is restarted after
this time expires. With a restart, the CAN message buffers of both CAN segments
are cleared.
5.2.2 User settings [User]
The user can set a character chain of up to 31 characters for the designation of
his or her individual configuration. The identification key is stored in the device
and can be read out with the download tool.
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Functional description
5.2.3 CAN-Bus settings [CANBus1] / [CANBus2]
5.2.3.1 [BaudRate]
There are three possibilities for setting the baudrate.
1. Automatic baudrate detection (BaudRate=Auto):
The status diagram (Fig. 4-1) shows the function of the automatic baudrate
detection.
Note: The baudrate can only be detected if there is bus traffic and at least
two nodes per segment are active.
Listen to CAN
0/1
Check baud rate
Set next CiA
baud rate
Listen on other
side for x seconds
Set next CiA
baud rate
Check baud rate
Restart timeout
Baud rate found is
used on both sides
CANbridge
switches off Normal operation
Bus activity
Restart
CAN
Wrong
baud rate
Baud rate found
on one side
Timeout
expired
Transmission
error Transmission
successful
Baudrate
found
False
baud rate
Restart
CAN
Bus
activity
Start
Fig. 5-1: Status diagram automatic baudrate detection
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Functional description
Table 4-1 shows the possible baudrates with automatic baudrate detec-
tion:
Baudrate (CiA) BTR0 (Hex) BTR1 (Hex)
1 Mbit/s 0x00 0x14
800 kbit/s 0x00 0x16
500 kbit/s 0x00 0x1C
250 kbit/s 0x01 0x1C
125 kbit/s 0x03 0x1C
100 kbit/s 0x04 0x1C
50 kbit/s 0x09 0x1C
20 kbit/s 0x18 0x1C
Table 5-1: Baudrates with automatic baudrate detection
2. Setting a CiA-baudrate:
20 kbit/s, 50 kbit/s, 100 kbit/s, 125 kbit/s, 250 kbit/s, 800 kbit/s and
1000 kbit/s can be set (e.g. baudrate=1000).
3. Setting via Bit Timing Register
The baudrate can be set via the Bit Timing Registers BTR0 and BTR1 of the
controller. Baudrates can thus also be selected that are not defined by CiA
(e.g. BaudRate = 0x04/0x14 for 200 kbit/s).
The values for the Bit Timing Registers BTR0 and BTR1 are determined ac-
cording to the specifications for the Philips CAN controller SJA1000 with
16MHz clock frequency (see data sheet SJA1000).
5.2.3.2 FrameFormat
The frame format states in which format the messages are received. Standard
frames (11 bit identifiers) or extended frames (29 bit identifiers) can be selected.
The frame format must always be defined, but with repeater functionality (Re-
peaterFunctionality = yes) both formats are received and transmitted irrespective
of the setting of the frame format.
5.2.3.3 UseGatewayTable
The parameter UseGatewayTable specifies whether the gateway tables under
[CAN1GatewayTable] or [CAN2GatewayTable] are used. With the setting Use-
GatewayTable = no, all messages are transmitted unchanged to the other seg-
ment. The entries in the tables are ignored.
Note: with different frame formats, the gateway tables must be used for transla-
tion into the other format.
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