Peak Industry User manual

Universal CAN Converter
in DIN Rail Plastic Casing
User Manual
PCAN-Router DR
Document version 2.2.0 (2021-03-11)

PCAN-Router DR – User Manual
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Relevant Products
Product Name Model Part Number
PCAN-Router DR Industry IPEH-002213
PCAN® is a registered trademark of PEAK-System Technik GmbH. CANopen® and
CiA® are registered community trademarks of CAN in Automation e.V.
Product names mentioned in this document may be the trademarks or registered
trademarks of their respective companies. They are not explicitly marked by “™” and
“®”.
© 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 2.2.0 (2021-03-11)

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Contents
1 Introduction 5
1.1 Properties at a Glance 5
1.2 Prerequisites for Operation 6
1.3 Scope of Supply 6
2 Connectors 7
2.1 CAN 1/CAN 2 7
2.2 RS-232 8
2.3 Power 8
2.4 Galvanic Isolation of the Connections 9
3 Operation 10
3.1 Initial Steps 10
3.2 Status LEDs 10
3.3 Rotary Switch Bit Rate 11
3.4 CAN Bus Termination 12
3.5 Signal Delay 13
3.6 Reset Push Button 14
4 Creating Own Firmware 15
4.1 Library 17
5 Firmware Upload 18
5.1 System Requirements 18
5.2 Preparing the Hardware via Rotary Switch 18
5.3 Firmware Transfer 19
6 Technical Specifications 23
Appendix A CE Certificate 26

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Appendix B Dimension Drawing 27

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1 Introduction
The PCAN-Router DR has two High-speed CAN channels. Their bit
rate is adjusted with a rotary switch on the device front. The module
forwards the message traffic bi-directionally 1:1 between both
connected CAN buses.
The ports of the device are isolated against each other and against
the power supply with at least 500 V. Furthermore, CAN 1 has a
separation voltage of up to 5 kV conforming with IEC 60601-1. With
its DIN rail casing and the support of the extended temperature
range, the module is suitable for use in an industrial environment.
Just like the PCAN-Router in the aluminum casing, the PCAN-Router
DR can be freely programmed. A corresponding development
package is included in the scope of supply.
1.1 Properties at a Glance
NXP LPC21 series microcontroller (16/32-bit ARM CPU)
32 kbyte EEPROM
Two High-speed CAN channels (ISO 11898-2)
Complies with CAN specifications 2.0 A/B
NXP PCA82C251 CAN transceiver
Bit rates from 5 kbit/s up to 1 Mbit/s, adjustable with a rotary
switch
Reset of the device with a push button
Switchable termination for each CAN channel
Status indication via LEDs for the module status, both CAN
channels, and the power supply

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Connections for CAN, RS-232, and power supply via 4-pole
screw-terminal strips (Phoenix)
CAN 1 is isolated up to 5 kV against CAN 2, RS-232, and the
power supply (compliant with IEC 60601-1)
CAN 2 and RS-232 are isolated with 500 V against each other
and against the power supply
Plastic casing (width: 22.5 mm) for mounting on a DIN rail
(DIN EN 60715 TH35)
Voltage supply from 8 to 30 V
Extended operating temperature range from -40 to 85 °C
(-40 to 185 °F)
RS-232 connector for serial data transfer
(reserved for future use)
New firmware can be loaded via CAN interface
1.2 Prerequisites for Operation
Power supply in the range of 8 to 30 V DC
1.3 Scope of Supply
PCAN-Router DR in DIN rail plastic casing
Mating connectors (Phoenix, type: MSTB 2,5/4-ST BK) for both
CAN channels, RS-232, and power supply
Windows development package with GCC ARM Embedded,
flash program, and programming
Library with programming examples
Manual in PDF format

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2 Connectors
Position of the connectors
2.1 CAN 1/CAN 2
The CAN connectors are located on the upper side of the casing.
Pin assignment
connectors CAN 1 and CAN 2
Pin Assignment
1 CAN-High
2 CAN-Low
3 CAN-GND
4 CAN-Shield

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2.2 RS-232
The RS-232 connector is located on the lower side of the casing.
Pin assignment
RS-232 connector
Pin Assignment
1 GND
2 RxD
3 not connected
4 TxD
2.3 Power
The connection for the power supply is located on the lower side of
the casing.
Pin assignment
power connector
Pin Assignment
1 GND
2 not connected
3 Vbat (8 - 30 V)
4 Shield

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2.4 Galvanic Isolation of the Connections
Galvanic isolation
The ports of the device are isolated against each other and against
the power supply with at least 500 V. Furthermore, CAN 1 has a
separation voltage of up to 5 kV conforming with IEC 60601-1.

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3 Operation
3.1 First Steps
Do the following to switch on the PCAN-Router DR:
1. Mount the PCAN-Router DR at the appropriate position on
the DIN rail by hanging it in at the top of the rail and
snapping it to the bottom.
2. Connect each of the two CAN ports with the corresponding
CAN network.
3. If the bit rate is different from the default 500 kbit/s, set the
bit rate with the rotary switch (see section 3.3 on page 11).
The new bit rate takes effect after reset (see section 3.6 on
page 14).
4. Connect the PCAN-Router DR to a power supply (8 to 30 V
DC).
The PCAN-Router DR now forwards the CAN messages one on one.
3.2 Status LEDs
The PCAN-Router DR has several status LEDs. Using the standard
firmware, the LEDs have the following meanings:
LED Status Meaning
Off No CAN communication
Green blinking Operational
Status
Red flashing once Reset
Green blinking Data is transmittedCAN 1/CAN 2
Red flashing once Communication error (error frames)

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LED Status Meaning
Power Green on Power supply is present
3.3 Rotary Switch Bit Rate
Using the rotary switch of the PCAN-Router DR, the CAN bit rate can
be adjusted. The selected bit rate applies to both CAN channels. At
delivery, the switch is set to C (500 kbit/s). A changed setting takes
effect after the reset of the device (see section 3.6 on page 14).
Rotary switch for the bit rate
Switch position Bit rate
0 (left) 5 kbit/s
1 10 kbit/s
2 20 kbit/s
3 33.3 kbit/s
4 (top) 47.6 kbit/s
5 50 kbit/s
6 83.3 kbit/s
7 95.2 kbit/s
8 (right) 100 kbit/s
9 125 kbit/s
A 200 kbit/s
B 250 kbit/s
C (bottom) 500 kbit/s
D 800 kbit/s
E 1 Mbit/s
F CAN bootloader
On switch position F, the CAN bootloader is activated after a reset.
In that way, you can upload a self-developed firmware via CAN to
the device (see chapter 5
Firmware Upload on page 18).

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3.4 CAN Bus Termination
The termination for each CAN channel can be separately activated
with switches on the board. At delivery, the termination is switched
off. A High-speed CAN bus (ISO 11898-2) must be terminated on
both cable ends with 120 . Otherwise, malfunctions may arise.
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.
Do the following to activate the internal termination:
Attention! Electrostatic discharge (ESD) can damage or destroy
components on the circuit board of the PCAN-Router DR. Take
precautions to avoid ESD when handling the circuit board.
1. Disconnect the power supply.
2. Open the plastic casing by slightly pushing the latches at the
top behind the CAN 1 connector and at the bottom behind
the power connector, e.g. with a flat tip screwdriver.
3. Pull out the circuit board including the casing front.
4. Make your desired setting(s).
Figure 1 shows the positions of the switches term. CAN1
and term CAN2on the board. The tables below contain the
possible settings.
5. For the assembly of the PCAN-Router DR, slide the board
including the front part back into the plastic casing and
press the casing together until the latches click in.

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Figure 1: Switch on the circuit board for the termination of the CAN channels
CAN Connector Switching Block
Name
Off (default) Active
CAN 1 term. CAN-1 No internal
termination
120 between
CAN_L and CAN_H
CAN 2 term. CAN-2 No internal
termination
120 between
CAN_L and CAN_H
3.5 Signal Delay
The signal delay at forwarding of a CAN message consists of a fixed
processing time of the microcontroller of about 30 μs and a variable
delay depending on message length and transfer rate. Thus, the
signal delay of a CAN message with an 11-bit ID and eight data
bytes at 500 kbit/s is about 260 μs.

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3.6 Reset Push Button
The reset button is located on the front of
the PCAN-Router DR. To perform a reset,
press into the small hole with the tip of small
screwdriver or a paper clip.
If the PCAN-Router DR, for example, should
be operated with a changed bit rate, it will
take effect only after a reset.
Reset button

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4 Creating Own Firmware
With the help of the development package, you can program your
own application-specific firmware for PEAK-System programmable
hardware products.
Download of the development package:
URL: www.peak-system.com/quick/DLP-DevPack
System requirements:
PC with Windows®10 (32-/64-bit)
CAN interface of the PCAN series to upload the firmware to your
hardware via CAN
Content of the package:
Build Tools\
Tools for automating the build process
Compiler\
Compilers for the supported programmable products
Hardware\
Contains sub directories of the supported hardware which
include several firmware examples. Use the examples for
starting your own firmware development.
PEAK-Flash\
Windows tool for uploading the firmware to your hardware via
CAN. Copy the directory to your PC and start the software
without further installation.
LiesMich.txt and ReadMe.txt
SetPath_for_VSCode.vbs
VBScript to modify the example directories for the Visual Studio
Code IDE.

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Do the following to create your own firmware:
1. Create a folder on your local PC. We recommend using a
local drive.
2. Copy the complete unzipped PEAK-DevPack directories into
your folder, incl. all subs.
No installation is required at all.
3. Run the script SetPath_for_VSCode.vbs. This script will
modify the example directories for the Visual Studio Code
IDE (https://code.visualstudio.com/).
After that every example directory has a folder called
.vscode containing the needed files with your local path
information.
4. Now you can start Visual Studio Code which is available for
free from Microsoft.
5. Select the folder of your project and open it.
For example: d:\PEAK-DevPack\Hardware\PCAN-
Router_DR\Examples\01_ROUTING
6. You can edit the C code and call make clean, make all, or
compile single file via the menu Terminal > Run Task.
7. Create your firmware with Make All.
The firmware is the *.bin in the sub directory out of your project
folder.
Note: The standard firmware that is installed at delivery is not
available as source code. It can be downloaded from the PEAK-
System website.

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4.1 Library
The development of applications for the PCAN-Router DR is supported
by the library libPCAN-Router-DRGNU*ys.a (*stands for version
number), a binary file. You can access all resources of the PCAN-
Router DR by means of this library. The library is documented in the
header files (*.h). The files are located in each example directory.

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5 Firmware Upload
The PCAN-Router DR is equipped with new firmware via CAN and
the Windows program PEAK-Flash. For this, the bootloader must be
activated via the rotary switch on the front of the PCAN-Router DR.
5.1 System Requirements
The following prerequisites must be given, so that the PCAN-Router
DR can be updated with new firmware:
CAN interface of the PCAN series for the computer (e.g. PCAN-
USB)
CAN cabling between the CAN interface and the PCAN-Router
DR with proper termination (120 on each end of the CAN bus)
Operating system Windows 10 or 8.1 (32-/64-bit)
5.2 Preparing the Hardware via Rotary
Switch
For uploading new firmware via CAN, the CAN bootloader must be
activated in the PCAN-Router DR. This is done with the help of the
rotary switch on the front of the device.
Do the following to set the rotary switch:
1. Note the current setting of the rotary switch and then turn it
to F(one notch below 0).

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2. Restart the device by shortly disconnecting the power
supply or by pressing the Reset button into the hole with
the tip of small screwdriver or a paper clip.
The change of the rotary switch is now active.
The activated bootloader is indicated as follows:
LED Status
Status off
CAN 1 orange blinking
CAN 2 orange on
3. Continue with the chapter 5.3 Firmware Transfer .
5.3 Firmware Transfer
The firmware is uploaded via a CAN bus using the Windows
program PEAK-Flash.
Note: The firmware transfer is only possible with the CAN 1
connector. This must be connected to the PC alone.
Do the following to transfer a new firmware with PEAK-Flash:
1. Connect the CAN interface of your computer to the CAN 1
connector on the PCAN-Router DR. Make sure that the CAN
cabling is terminated correctly (2 x 120 ).
2. Download the software PEAK-Flash, which is included in the
development package:
www.peak-system.com/quick/DLP-DevPack
3. Open the zip file and extract it to your local storage medium.
4. Run the PEAK-Flash.exe.
The program opens.

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5. Click the Next button.
6. Click on the Modules connected to the CAN bus radio
button.
7. In the Channels of connected CAN hardware drop-down
menu, select a CAN interface connected to the computer
(e.g. PCAN-USB).
8. In the Bit rate drop-down menu, a nominal bit rate of 500
kbit/s must be set.