Peak PCAN-Router Pro FD User manual

PCAN-Router Pro FD
6-Channel CAN FD Router with I/O and
Data Logger
User Manual
Document version 1.5.1 (2021-06-29)

PCAN-Router Pro FD – User Manual
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Relevant Products
Product Name Model Part Number
PCAN-Router Pro FD Standard model IPEH-002220
PCAN-Router Pro FD Standard model with
Ethernet interface
IPEH-002222
PCAN® is a registered trademark of PEAK-System Technik GmbH. CANopen®,
CANopen FD®, and CiA® are registered EU trademarks of CAN in Automation e.V.
Other product names in this document may be the trademarks or registered trade-
marks of their respective companies. They are not explicitly marked by ™ or ®.
© 2021 PEAK-System Technik GmbH
Duplication (copying, printing, or other forms) and the electronic distribution of this
document is only allowed with explicit permission of PEAK-System Technik GmbH.
PEAK-System Technik GmbH reserves the right to change technical data without
prior announcement. The general business conditions and the regulations of the
license agreement apply. All rights are reserved.
PEAK-System Technik GmbH
Otto-Roehm-Strasse 69
64293 Darmstadt
Germany
Phone: [phone]
Fax: [phone]
www.peak-system.com
[e-mail]
Document version 1.5.1 (2021-06-29)

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Contents
1Introduction 6
1.1 Properties at a Glance 6
1.2 Operation Requirements 8
1.3 Scope of Supply 8
2Connectors and Operating Elements 9
2.1 Power Supply 10
2.2 CAN Connection 10
2.3 Inputs and Outputs (I/O) 11
2.4 USB Connection 12
2.5 SD Card Slot and Internal Memory 12
2.6 Log Off Card Button 12
2.7 ID Rotary Switch 13
2.8 Status LEDs 13
2.9 Ethernet Connection 14
3Operation 15
3.1 Ensuring Power Supply 15
3.2 Starting the PCAN-Router Pro FD 15
4Hardware Modifications 16
4.1 Alternative Transceiver Module 16
4.2 Setting the Termination for a CAN Bus 18
4.3 Changing the Button Cell for the Real-Time
Clock (RTC) 19
4.4 Installing Backup Battery 21
5Creating Own Firmware 23

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6Firmware Upload 25
6.1 System Requirements 25
6.2 Preparing the Hardware 25
6.3 Firmware Transfer 28
7Configurable Data Logging 31
7.1 Installation 32
7.2 Configuration 33
7.2.1 Nominal and Data Bit Rates 34
7.2.2 CAN Specification and Options 35
7.2.3 Trace Options 36
7.2.4 Maximum File Size 36
7.2.5 Trace Mode 37
7.2.6 Memory Card 37
7.2.7 Handling of the USB Connection 38
7.2.8 Trace Start on Power-Up 38
7.2.9 Timeouts 39
7.2.10 Beep Patterns 40
7.2.11 LED Blinking Patterns 41
7.2.12 Remote Control via CAN 41
7.3 Configuration of the Ethernet Connection 42
7.3.1 IP Address 42
7.3.2 Subnet Mask 43
7.3.3 Gateway Address 44
7.3.4 Output the IP address via CAN 44
7.3.5 FTP Access 45
7.3.6 FTP Connection Timeout 46
7.4 Operation 47
7.4.1 LEDs 47
7.4.2 Control with the Log Off Card Button 48
7.4.3 Handling Trace Files 48
7.4.4 Memory Card Capacity and Logging
Duration 49
7.4.5 FTP Data Transfer 49
7.4.6 WebSocket Remote Control 51

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8Technical Specifications 57
Appendix A CE Certificate 62
Appendix B Dimension Drawing 63
Appendix C Disposal Information (Battery) 64

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1Introduction
With six channels, the PCAN-Router Pro FD links the data traffic of
modern CAN FD and classic CAN buses. Pluggable CAN transceiver
modules allow flexible adaptation of each CAN channel to the
respective requirements. In addition, the router is equipped with an
analog input and four digital I/Os. The CAN messages can be
recorded on the internal memory or on an inserted memory card
and later read out via the USB connection. With the PCAN-Router
Pro FD the data flow of test benches and production plants can be
managed, monitored, and controlled. The conversion from CAN to
CAN FD or vice versa enables the integration of new CAN FD
applications into existing CAN 2.0 networks.
The behavior of the PCAN-Router Pro FD can be programmed freely
for specific applications. The firmware is created using the included
development package with GNU compiler for C and C++ and is then
transferred to the module via CAN. Various programming exam-
ples, such as message forwarding or recording, facilitate the
implementation of own solutions.
On delivery, the PCAN-Router Pro FD is equipped with a firmware
for the configurable recording of CAN and CAN FD data traffic.
1.1 Properties at a Glance
6 High-speed CAN channels (ISO 11898-2)
•Complies with CAN specifications 2.0 A/B and FD
•CAN FD support for ISO and Non-ISO standards
•CAN FD bit rates for the data field (64 bytes max.) from
40 kbit/s up to 12 Mbit/s
•CAN bit rates from 40 kbit/s up to 1 Mbit/s

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•NXP CAN transceiver TJA1043 with Wake-up
•Alternative pluggable transceiver modules on request
(details on page 16)
CAN connections are D-Sub, 9-pin
CAN termination switchable, separately for each CAN channel
Wake-up function using separate input, CAN bus, or real-time
clock
2 digital I/Os, each usable as digital input or output with
High-side switch
2 digital I/Os, each usable as digital input or output with
Low-side switch
1 analog input (0 - 32 V)
Recording of CAN data and error frames
Internal memory: 16 GByte pSLC eMMC
SD card slot for additional memory
USB connection for accessing the data memory
(e.g. recorded log data)
Conversion of logging data to various output formats using the
Windows software PEAK-Converter
Battery-buffered real-time clock (RTC), can also be used for
wake-up
Beeper
Status LEDs for CAN channels, memory cards, and power
supply
Microcontroller STM32F765NIH6 (based on Arm®Cortex®M7)
32 MByte SDRAM in addition to microcontroller RAM
Aluminum casing with flange

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8 - 32 V power supply, protection against overvoltage and
reverse polarity
Slot for a backup battery for defined switch-off behavior (e.g. for
log data saving)
Ethernet interface via RJ-45 socket (only for IPEH-002222)
Extended operating temperature range from -40 to 85 °C
(-40 to 185 °F)
1.2 Operation Requirements
Power supply in the range of 8 to 32 V DC
The transfer of the firmware via CAN requires a PEAK CAN
interface
1.3 Scope of Supply
PCAN-Router Pro FD in aluminum casing including mating
connectors for I/O and power
USB connector cable
IPEH-002222: RJ-45 network patch cord (2 m)
Windows development package with GCC ARM Embedded,
flash program, and programming examples
Conversion software PEAK-Converter for Windows 10, 8.1
(32/64-bit)
Manual in PDF format

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2Connectors and Operating
Elements
This chapter describes the connectors on the front and rear panel of
the PCAN-Router Pro FD.
Figure 1: Connectors on the front panel
of the PCAN-Router Pro FD
Figure 2: Description of the pin assignments
on the top of the housing

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2.1 Power Supply
For the operation of the PCAN-Router Pro FD a voltage source with
nominal 12 V DC is required, 8 to 32 V are possible. The input is
electronically protected with reverse polarity and overvoltage
protection.
Note: The scope of delivery does not include a power supply
unit for the power supply of the device. The device is not
supplied via the USB connection to the PC.
The connection is made via the mating connector supplied (3-pole,
type: Phoenix Contact MC1,5/3-STF-3,81) to which you can screw
cable strands. The polarity is as follows:
Figure 3: Power connector
Pin Function Description
1 Wake-up 3 to 32 V DC required for wake-up signal
2 Vb(8-32V) Power supply with 8 to 32 V DC
3 GND Ground
Pin 1 is only necessary for transceivers without wake-up function
(see section 4.1) to switch on the device.
2.2 CAN Connection
A high-speed CAN bus (ISO 11898-2) is connected to the 9-pin
D-Sub connector. The CAN assignment corresponds to the
CiA®303-1 specification.

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Figure 4: Pin assignment High-speed CAN
2.3 Inputs and Outputs (I/O)
The I/O connector has 4 digital inputs and outputs and one analog
input. The connection is made via the supplied mating connector
(6-pin, type: Phoenix Contact MC1,5/6-STF-3,81), to which you can
screw cable strands.
Figure 5: I/O connector
Pin Name Function
1 Digital In/Out 1 Digital input and output 1 (High-side)
2 Digital In/Out 2 Digital input and output 2 (High-side)
3 Digital In/Out 3 Digital input and output 3 (Low-side)
4 Digital In/Out 4 Digital input and output 4 (Low-side)
5 GND Ground
6 Analog In 1 Analog input 1

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2.4 USB Connection
The internal memory and the external memory card of the PCAN-
Router Pro FD can be accessed via a USB connection with a PC. The
operating system on the PC integrates the memory card into the file
management, for example as a mass storage device under
Windows.
Note: Access to the USB connection via the CPU is not
possible.
2.5 SD Card Slot and Internal Memory
The PCAN-Router Pro FD is equipped with an internal memory card.
Optionally, an additional SD card can be inserted into the SD card
slot.
Both memory cards must be formatted with the file system FAT 32
which allows a maximum memory size of 2 TByte. However,
32 GByte is the maximum memory size supported by Windows at
FAT 32. For working with larger SD cards, additional tools are
required.
The internal memory and the external memory card of the PCAN-
Router Pro FD can be accessed via a USB connection with a PC.
2.6 Log Off Card Button
The function of the Log Off Card button can be programmed with a
custom firmware.
Independent of the installed firmware, the CAN bootloader for
uploading a firmware can be activated with this button. The
corresponding procedure is documented in chapter 6.2 on page 25.

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2.7 ID Rotary Switch
On the back of the PCAN-Router Pro FD housing is a rotary switch
for selecting an ID from 0 to F. The selected value can be read out
with a custom firmware.
Figure 6: Back side of standard product version (IPEH-002220)
Independent of the installed firmware, the CAN bootloader for up-
loading a firmware can be activated with the rotary switch position
F. The corresponding procedure is documented in chapter 6.2 on
page 25.
2.8 Status LEDs
When a power supply is applied, the power LED lights up green. All
other LEDs can be programmed with a custom firmware. More
details can be found in the supplied programming examples.
At delivery, the PCAN-Router Pro FD is programmed with the data
logger firmware. Its LED blinking patterns are described in chapter
7.4.1 on page 47.

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2.9 Ethernet Connection
Optionally, the PCAN-Router Pro FD is available with an Ethernet
interface (IPEH-002222). The connection is established via an RJ-45
socket on the back of the housing.
Figure 7: Back side of product version with Ethernet interface (IPEH-002222)
Pin Signal
1 Tx+
2 Tx-
3 Rx+
4 -
5 -
6 Rx-
7 -
8 -
9 -

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3Operation
3.1 Ensuring Power Supply
The PCAN-Router Pro FD must be supplied with a nominal 12 V DC
voltage (8 to 32 V possible) via the power connector.
Note: If you install a backup battery (see section 4.4) and it is
charged, the device can also be operated without a power
supply (e.g. in the event of a power failure).
3.2 Starting the PCAN-Router Pro FD
The PCAN-Router Pro FD is automatically switched on when the
supply voltage is applied (power LED lights up). By default, six
transceiver modules with wake-up function are installed.
If other transceiver modules without wake-up function are installed
on request, an external wake-up signal via pin 1 of the power
connector from 3 to 32 Volt is required (see section 4.1 on page 16).

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4Hardware Modifications
You can do various hardware modifications on the board of the
PCAN-Router Pro FD:
Using an alternative CAN transceiver module (section 4.1)
Adapting the termination for a CAN bus (section 4.2)
Changing the button cell for the real-time clock (section 4.3)
4.1 Alternative Transceiver Module
An alternative CAN transceiver module can be used for each of the
six CAN connections. The PCAN-Transceiver TJA1043 is preinstalled
by default. The following alternative modules are supported:
Order
Number
Name Transmission
Standard
Bit Rate Wake-
up
Galvanic
Isolation
IPEH-001001 PCAN-Transceiver
TJA1041
High-Speed-CAN
ISO 11898-2
40 kbit/s to
1 Mbit/s
yes no
IPEH-001002 PCAN-Transceiver
PCA82C251
High-Speed-CAN
ISO 11898-2
5 kbit/s to
1 Mbit/s
no no
IPEH-001004 PCAN-Transceiver
TH8056
Single-Wire-CAN
SAE J2411
1.3 kbit/s
to 40 or
100
kbit/s
yes no
IPEH-001005 PCAN-Transceiver
TJA1055
Low-Speed-CAN
ISO 11898-3
20 kbit/s to
125 kbit/s
yes no
IPEH-001006 PCAN-Transceiver
TJA1044
High-Speed-CAN
ISO 11898-2
25 kbit/s to
12 Mbit/s1
no no
IPEH-001007 PCAN-Transceiver
TJA1044-ISO
High-Speed-CAN
ISO 11898-2
25 kbit/s to
12 Mbit/s1
no yes
IPEH-001008
Default
PCAN-Transceiver
TJA1043
High-Speed-CAN
ISO 11898-2
40 kbit/s
to 12
yes no
1According to the CAN transceiver data sheet only CAN FD bit rates up to 5 Mbit/s are
guaranteed with the specified timing.

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Figure 8: Positions of the transceiver modules for the six CAN FD channels
Attention! Electrostatic discharge (ESD) can damage or destroy
components on the card. Take precautions to avoid ESD.
Do the following to change a transceiver module:
1. Disconnect the device from the power supply.
2. Remove the two upper screws on the front and rear of the
housing.
3. Pull the housing cover upwards.
4. Only with backup battery installed:
Remove the backup battery.
5. Remove the screw on the board from the transceiver
module to be replaced.
6. Remove the module from slot of the front panel.
7. Plug the new transceiver module into the slot.
8. Fasten the module with the screw.
9. Only with backup battery installed:
Reinstall the backup battery and secure it with a cable tie.
10. Put the housing cover back in place.
11. Fasten the four screws to the front and rear of the housing.

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If the PCAN-Router Pro FD is restarted, it automatically detects the
type of the installed CAN transceiver module and sets the
transmission standard (see table above) for the CAN channel
accordingly.
Note: If one or more transceiver modules without wake-up
function are installed, an external wake-up signal via pin 1 of
the power connector is required. Only then the device or the
respective transceiver will be powered on.
4.2 Setting the Termination for a CAN Bus
Depending on the CAN transceiver modules used, you can use the
switch blocks on the front panel to set a CAN bus termination for
CAN 1 to CAN 6 (C1 to C6). On delivery, the switch blocks are set to
off.
Tip: We recommend adding termination at the CAN cabling, for
example with termination adapters (e.g. PCAN-Term). Thus,
CAN nodes can be flexibly connected to the bus.
Figure 9: Positions of the switch blocks for CAN termination on the front board

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Termination at Switch PositionType of Transceiver and
Transmission Standard Off On
High-speed CAN (ISO 11898-2)
Transceiver installed by default.
none 120 Ωbetween
CAN_L and CAN_H
Low-speed CAN (ISO 11898-3)
Transceiver on request.
4.7 kΩfor
CAN_L and CAN_H
1.1 kΩfor
CAN_L and CAN_H
Single-wire CAN (SAE J2411)
Transceiver on request.
9.1 kΩfor CAN_SW 2.1 kΩfor CAN_SW
Attention! Electrostatic discharge (ESD) can damage or destroy
components on the card. Take precautions to avoid ESD.
Do the following to activate the CAN termination:
1. Disconnect the device from the power supply.
2. Remove the two upper screws on the front and rear of the
housing.
3. Pull the housing cover upwards.
4. Use a slotted screwdriver and set the switch of the desired
CAN channel from off to on.
5. Put the housing cover back in place.
6. Fasten the four screws to the front and rear of the housing.
4.3 Changing the Button Cell for the Real-
Time Clock (RTC)
The real-time clock (RTC) installed in the PCAN-Router Pro FD is
supplied by a button cell of the IEC type CR1620 (3 V) as long as the
device is switched off (without power supply).

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Figure 10: Position of the button cell for the real-time clock on the main board
A new button cell lasts several years. If the internal clock indicates
an unexpected time, remove the button cell, and measure its vol-
tage. The nominal voltage is 3.0 volts. If the measured voltage is
lower than 2.5 volts, replace the button cell.
Attention! Electrostatic discharge (ESD) can damage or destroy
components on the card. Take precautions to avoid ESD.
Do the following to replace the button cell:
1. Disconnect the device from the power supply.
2. Remove the two upper screws on the front and rear of the
housing.
3. Pull the housing cover upwards.
4. Only with backup battery installed:
Remove the backup battery before replacing the button cell.
5. Carefully remove the button cell from the holder.