IXXAT CANlink II User manual

The expert for industrial and automotive communication
Hardware Manual
CANlink II
RS232-CAN Converter

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.
Handbuchnummer: 4.01.0032.20000
Version: 1.3

Contents
1Lead-in ........................................................................................7
1.1 Overview ............................................................................. 7
1.2 Features............................................................................... 8
1.3 Versions............................................................................... 8
1.4 Block diagram ..................................................................... 9
1.5 Support ............................................................................. 10
1.6 Returning hardware.......................................................... 10
2Aluminum housing version.......................................................11
2.1 Connector allocation......................................................... 11
2.1.1 Power supply (X1)...................................................................11
2.1.2 Serial interface RS232 (X2) ......................................................12
2.1.3 CAN (X3) ................................................................................12
2.2 Ground connections ......................................................... 13
3Industrial DIN rail version .........................................................14
3.1 Connector allocation......................................................... 14
3.1.1 Power supply (X1)...................................................................15
3.1.2 Serial interface RS232 (X2) ......................................................15
3.1.3 CAN (X3) ................................................................................16
3.2 Ground connections ......................................................... 16
4Description of functions ...........................................................17
4.1 Introduction ...................................................................... 17
4.2 RS232-CAN gateway ......................................................... 17
4.3 RS232-CANopen gateway ................................................. 18
4.4 Data structure of the configuration files.......................... 22
4.4.1 General settings [General] .......................................................23
4.4.1.1 Product name (ProductName)....................................23
4.4.1.2 Version number (TemplateVersion) ............................23
4.4.1.3 Operation mode (OperationMode) ............................23
4.4.1.4 Timeout ....................................................................23
4.4.2 User settings [User].................................................................23
4.4.2.1 Configuration name (ConfigAlias) ..............................23
4.4.3 RS232 settings [RS232] ...........................................................23
4.4.3.1 Baudrate (RS232baudrate).........................................23
4.4.3.2 Number of databits (Databits) ...................................24
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Contents
4.4.3.3 Parity (Parity)............................................................. 24
4.4.3.4 Flow control (Handshake)..........................................24
4.4.4 CANlink settings [CANlink] ...................................................... 24
4.4.4.1 Baudrate (CANbaudrate) ........................................... 24
4.4.4.2 Frame format (FrameFormat)..................................... 24
4.4.4.3 Send identifier (SendID)............................................. 25
4.4.4.4 Receive identifier (ReceiveID)...................................... 25
4.4.5 COPlink settings [COPlink].......................................................25
4.4.5.1 Baudrate (CANopenBaudrate).................................... 25
4.4.5.2 CANopen node number (CANopenNode)................... 25
4.4.5.3 Heartbeat time (HBTime) ........................................... 25
4.4.5.4 Receive PDO (RxPDO) ................................................ 25
4.4.5.5 Receive PDO type (RxPDOtype)................................... 26
4.4.5.6 Transmit-PDO (TxPDO) .............................................. 26
4.4.5.7 Transmit-PDO type (TxPDOtype)................................. 26
4.4.5.8 Byte stream flow control (ByteStreamExtension)........ 26
4.5 Default configuration ........................................................27
5Download tool..........................................................................29
5.1 Configuration with Windows console program................29
5.1.1 Creating a configuration file ...................................................30
5.1.2 Download of a configuration ..................................................30
5.1.3 Displaying the current configuration .......................................31
5.1.4 Saving the current configuration............................................. 32
6Configuration tool....................................................................33
6.1 Configuration with Windows application .........................33
6.1.1 Default configuration ............................................................. 33
6.1.2 Loading and saving a configuration ........................................ 34
6.1.3 Setting up a connection.......................................................... 34
6.1.4 Reading the current configuration...........................................36
6.1.5 Downloading a configuration .................................................37
6.1.6 Disconnecting.........................................................................37
6.2 Configuration cable ...........................................................37
7Displays.....................................................................................38
7.1 Normal mode .....................................................................38
7.1.1 Power LED..............................................................................38
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Contents
7.1.2 CAN LED.................................................................................38
7.1.3 COP LED .................................................................................38
7.1.4 RS232 LED..............................................................................38
7.2 Configuration mode ......................................................... 39
7.3 Error state ......................................................................... 39
8Notes on EMC ...........................................................................40
8.1 Aluminum version............................................................. 40
8.2 Industrial DIN-rail version – shield concept ...................... 40
Appendix..........................................................................................41
Technical specifications............................................................ 41
Sources of data sheets............................................................. 41
EC conformity declaration....................................................... 42
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Lead-in
1 Lead-in
1.1 Overview
Congratulations on your purchase of the IXXAT CANlink II, a high-quality elec-
tronic component developed and manufactured according to the latest techno-
logical standards.
This manual is intended to familiarize you with your CANlink II. Please read this
manual before initial startup.
The CANlink II enables devices with only one serial port a simple, configurable
access to CAN and CANopen networks. CANlink II provides two operation modes
for this purpose.
In the CAN operation mode (CANlink), received CAN data are transmitted trans-
parently to the RS232 interface. Data received via RS232 are mapped into CAN
telegrams and transmitted. One configurable identifier each is available for
transmission and reception.
In the CANopen operation mode (COPlink), the CANlink operates as a CANopen
node, where the serial data are stored as a byte stream object in the manufac-
turer-specific object dictionary range.
The supported CANopen features are:
• 1 server SDO expedited, non-expedited, no CRC check
• 1 TX PDO static mapping
• 1 RX PDO static mapping
• Emergency message
• Heartbeat producer
• NMT slave
The communication interfaces and operation modes are configured by means of
a configuration file, which is saved on the device via a loading program.
The CANlink II is available in two housing versions, a plastic housing for DIN rail
mounting or as a desktop device in a robust aluminum housing.
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Lead-in
1.2 Features
• Supply voltage 9-36 V
• CAN bus interface in accordance with ISO 11898-2, optional galvanic isolation
• Serial interface (RS232) up to 115 kbaud
• Fujitsu 16 bit microcontroller
• Two housing versions available
1.3 Versions
The following versions of the CANlink II are available:
Industrial
DIN rail
Industrial
aluminum
Housing Plastic Aluminum
Supply voltage 9 V – 36 V 9 V – 36 V
Bus interface high speed
(ISO 11898-2)
high speed
(ISO 11898-2)
Galvanic isolation optional optional
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Lead-in
1.4 Block diagram
Microcontroller
MB90F543
CAN Bus
Optional
Data
Memory
CAN Bus
Interface
High Speed
internal
RS232
Adapter
TxD
RxD
CAN High
CAN Low
CAN
Industrial
Range
(9V-36V)
RS232Lines
A 0..17
D 0..15
Power Supply
Full RS232
transceiver
optional RS485
Fig. 1-1: Block diagram CANlink II
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Lead-in
1.5 Support
For more information on our products, FAQ lists and installation tips, please refer
to the support section of our website (http://www.ixxat.de), which also contains
information on current product versions and available updates.
If you have any further questions after studying the information on our website
and the manuals, please contact our support department. The support section on
our website contains the relevant forms for your support request. In order to fa-
cilitate our support work and enable a fast response, please provide precise in-
formation on the individual points and describe your question or problem in de-
tail.
If you would prefer to contact our support department by phone, please also
send a support request via our website 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 website 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 housing version
2 Aluminum housing version
2.1 Connector allocation
X1
LED
X2 X3
Fig. 2-1: Connector arrangement aluminum version
2.1.1 Power supply (X1)
The device is supplied with direct voltage of 9 V - 36 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 CANlink II 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 housing version
2.1.2 Serial interface RS232 (X2)
The signals of the serial port are connected to the 9-pin Sub-D connector X2 (see
table 2-2). The pin allocation complies with the standard for DTE devices. For
configuration of the device with a PC, you require a laplink cable.
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 (X3)
CAN 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). The pin allocation complies with the standard CiA DS102
Pin no.
X3, X4
Signal
1 -
2 CAN Low
3 GND
4 -
5 -
6 -
7 CAN High
8 -
9 -
Table 2-3: Pin allocation CAN
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Aluminum housing version
2.2 Ground connections
In the galvanically isolated version, the GND of CAN (X3) is isolated from the rest
of the circuit, the GND of the serial port (X2) is connected to the GND of the
power supply (X1).
In the version without galvanic isolation, all GND connections (X1, X2, X3) are
connected with each other.
The shield connections of CAN (X3), serial port (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 Connector allocation
The pin allocation for the Industrial DIN rail version is shown in Fig. 3-1.
1 2 3
4 5 6
Power
CAN
Status
RS232
CAN PWR
RS232
X1
X3
X2
LED
CANlink II
Fig. 3-1: Connector arrangement Industrial DIN rail version
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Industrial DIN rail version
3.1.1 Power supply (X1)
The device is supplied with DC voltage of 9 V - 36 V. The pin allocation is shown
in Table 3-1. The CANlink II 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.
Terminal Signal
1 PE
2 PWR (+)
3 GND (-)
Table 3-1: Terminal allocation Power
3.1.2 Serial interface RS232 (X2)
The signals of the serial port 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
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Industrial DIN rail version
3.1.3 CAN (X3)
CAN is available on X3 with a bus interface according to ISO 11898-2 (see Table
3-3).
Terminal Signal
4 CAN High
5 CAN Low
6 GND
Table 3-3: Terminal allocation CAN1
3.2 Ground connections
In the galvanically isolated version, the GND of CAN (X3) is isolated from the rest
of the circuit, the GND of the serial port (X2) is connected to the GND of the
power supply (X1).
In the version without galvanic isolation, all GND connections (X1, X2, X3) are
connected with each other.
The shield connection of the serial port (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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Description of functions
4 Description of functions
4.1 Introduction
The CANlink II offers the two operation modes CANlink (RS232-CAN Gateway)
and COPlink (RS232-CANopen Gateway).
In the CANlink mode, the device transmits the data that arrive on the serial port
to the CAN bus under a configurable identifier. In the same way, data that are
received via CAN by means of another configurable identifier are passed on to the
serial port.
The identifiers, CAN parameters and the parameters of the serial port used can be
freely configured.
In the COPlink mode, the databytes that arrive on the serial port are transmitted
on the CAN bus via TxPDO. Conversely, the data received via a certain RxPDO are
passed on to the serial port. On the CANopen side, the ”Byte Stream Protocol“
is used as the communication protocol.
The CANlink II can be configured via the serial port with the aid of a download
tool.
4.2 RS232-CAN gateway
Table 4-1 shows the functions and the associated key words, relevant for the
CANlink mode.
Function Possible settings Key words
Operation mode CANlink OperationMode
(under [General])
Timeout 0 - 6,5 s Timeout
(under [General])
RS232 parameter 1. Baudrate
2. Number of databits
3. Parity
4. Flow control
RS232baudrate
Databits
Parity
Handshake
(all under [RS232])
Baudrate for
CAN bus
1. Setting of a CiA baudrate
2. Setting the bus timing reg-
ister BTR0 / BTR1
CANbaudrate
(under [CANBus])
Frame Format for
CAN bus
1. Standard Frame Format
(11bit identifier)
2. Extended Frame Format
(29 bit identifier)
FrameFormat
(under [CANBus])
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Description of functions
CAN identifier for transmis-
sion of the data to the CAN
bus
All CAN identifiers are possible SendID
(under [CANlink])
CAN identifier for receiving
data from CAN bus
All CAN identifiers are possible ReceiveID
(under [CANlink])
Table 4-1
In the CANlink mode, the device transmits the data that arrive on the serial port
to the CAN bus under a configurable identifier. In the same way, data that are
received via CAN by means of another configurable identifier are passed on to the
serial port.
4.3 RS232-CANopen gateway
Table 4-2 shows the functions and the associated key words, relevant for the
COPlink mode.
Function Possible settings Key words
Operation mode COPlink OperationMode
(under [General])
Timeout 0 - 6,5 s Timeout
(under [General])
RS232 parameter 1. Baudrate
2. Number of databits
3. Parity
4. Flow control
RS232baudrate
Databits
Parity
Handshake
(all under [RS232])
CANopen baudrate CiA baudrates are possible CANopenBaudrate
(under [COPlink])
CANopen node number 1-127 CANopnNode
(under [COPlink])
Heart Beat Time 0- 32 s HBTime
(under [COPlink])
Receive PDO PDO ID – all free CANopen Ids
PDO Type – 0..240, 252..255
RxPDO
RxPDOtype
(under [COPlink])
Transmit PDO PDO ID – all free CANopen Ids
PDO Type – 0..240, 252..255
TxPDO
TxPDOtype
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Description of functions
(under [COPlink])
Flow control on CAN On / off ByteStreamExtension
(under [COPlink])
Table 4-2
CANlink II is an CANopen slave in the COPlink mode. The nearly all parameters
may be configured over object dictionary using SDO.
Table 4-3 shows the Object Dictionary of the CANlink II in the RS232-CANopen
gateway mode.
Idx Sidx Name (Reference) At-
trib
Ma-
pable
Obj Type DataType Default Value,
Range
1000 00 device type ro n VAR Unsigned32 0x00000000
1001 00 error register ro y VAR Unsigned8 0x00
1003 pre-defined error field ARRAY Unsigned32
00 number of entries rw n Unsigned8 0x00
01 standard error field ro n Unsigned32 0x00
02 standard error field ro n Unsigned32 0x00
03 standard error field ro n Unsigned32 0x00
04 standard error field ro n Unsigned32 0x00
1005 00 COB-ID SYNC message rw n VAR Unsigned32 0x00000080
1008 00 manufacturer device
name
ro n VAR Vis-String “IXXAT COP-
link”
1009 00 manufacturer hardware
version
ro n VAR Vis-String “01.01”
100A 00 manufacturer software
version
ro n VAR Vis-String “1.1.2.0”
100C 00 Guard time rw n VAR Unsigned16 0
100D 00 Life time factor rw n VAR Unsigned8 0
1010 store parameters ARRAY Unsigned32
00 largest Sidx supported ro n ARRAY Unsigned8 0x04
01 save all parameters rw n VAR Unsigned32
1011 restore parameters ARRAY Unsigned32
00 largest Sidx supported ro n Unsigned8 0x04
01
restore all default pa-
rameters
rw n Unsigned32 0x00
1014 00 COB-ID Emergency rw n VAR Unsigned32 0x80+Node-
ID
1016 Consumer Heartbeat Time ARRAY Unsigned32
00 Number entries ro n Unsigned8 0x05
01 Consumer Heartbeat Time rw n Unsigned32 0x00
02 Consumer Heartbeat Time rw n VAR Unsigned32
03 Consumer Heartbeat Time rw n VAR Unsigned32
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Description of functions
Idx Sidx Name (Reference) At-
trib
Ma-
pable
Obj Type DataType Default Value,
Range
1017 00 producer heartbeat time rw n VAR Unsigned16 0x00
1018 identity object ro RECORD Identity
00 number of entries ro n Unsigned8 0x04
01 Vendor-ID ro n Unsigned32 0x04
02 Product code ro n Unsigned32 341
03 Revision number ro n Unsigned32 0x00
04 Serial number ro n Unsigned32
1200 server SDO 1 RECORD SDO Param
00 number of entries ro n Unsigned8 0x02
01 COB-ID client->server ro n Unsigned32
600 +
Node-ID
02 COB-ID server->client ro n Unsigned32
580 +
Node-ID
1400 receive PDO 1 comm.
parameter
RECORD
PDO
CommPar
00 number of entries ro n Unsigned8 0x02
01 COB-ID used by PDO rw n Unsigned32 200h +
Node-ID
02 transmission type rw n Unsigned8 0xff
1600 receive PDO 1 mapping
parameter
RECORD PDO Mapping
00 number of entries ro n Unsigned8 0x01
01 1st object ro n Unsigned32 0x21000140
1800 transmit PDO 1 comm.
parameter
RECORD
PDO
CommPar
00 number of entries ro n Unsigned8 0x05
01 COB-ID used by PDO rw n Unsigned32 180h +
Node-ID
02 transmission type rw n Unsigned8 0xff
05 event timer rw n Unsigned16 0x00
1A00 transmit PDO 1 mapping
parameter
RECORD PDO Mapping
00 number of entries ro n Unsigned8 0x01
01 1st object ro n Unsigned32 0x20000140
2000 Byte Stream TxData RECORD
00 Number of elements ro n Unsigned8 0x01
01 1st BSC transmit channel ro y Unsigned64
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