Peak PCAN-Router FD User manual

Universal, programmable Converter
for CAN FD and CAN
User Manual
PCAN-Router FD
Document version 1.0.1 (2017-01-27)

PCAN-Router FD – User Manual
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Relevant products
Product Name Model Part number
PCAN-Router FD 2 D-Sub connectors IPEH-002214
PCAN-Router FD Screw terminal strip (Phoenix) IPEH-002215
CANopen® and CiA® are registered community trade marks of CAN in Automation
e.V.
All other product names mentioned in this document may be the trademarks or
registered trademarks of their respective companies. They are not explicitly marked
by “™” and “®”.
Copyright © 2017 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 1.0.1 (2017-01-27)

PCAN-Router FD – User Manual
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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 D-Sub Connectors (IPEH-002214) 7
2.2 Screw terminal strip (IPEH-002215) 9
3 Hardware Configuration 10
3.1 4-Bit Coding 10
3.2 Supply of External Devices via the D-Sub
Connector 12
3.3 Two Additional Digital Inputs 13
3.4 Termination of the CAN Busses 14
4 Startup Procedure 15
5 Software 16
5.1 Installing the GNU ARM Toolchain 16
5.2 Library 17
5.3 Firmware Examples 17
5.3.1 Compiling a Firmware Example 18
6 Uploading Firmware via CAN 19
6.1 System Requirements 19
6.2 Preparing Hardware and Software 19
6.3 Sending the Firmware 21
7 Technical Specifications 25

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Appendix A CE Certificate 27
Appendix B Dimension Drawings 28

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1 Introduction
The PCAN-Router FD has two CAN channels that support the new
CAN FD standard in addition to the conventional CAN 2.0 specifica-
tion. The module behavior and the data exchange between the two
channels are freely programmable. Thus, for example, a conversion
of CAN to CAN FD and vice versa is possible and new CAN FD
applications can be integrated into existing CAN 2.0 networks.
Using the programming library and the GNU compiler for C and
C++, a firmware is created and then transferred to the module via
CAN. On delivery, the PCAN-Router FD is using a demo firmware
whose source code is contained as example in the scope of supply.
1.1 Properties at a Glance
Microcontroller NXP LPC4078 (ARM Cortex M4 with FPU,
120 MHz)
4 kByte On-Chip-EEPROM
4 MByte SPI Flash
Two CAN FD channels (protocols CAN FD ISO, CAN FD non-ISO,
CAN 2.0 A/B)
CAN bit rates from 25 kbit/s up to 1 Mbit/s
CAN FD bit rates for the data field (max. 64 bytes) from 25 kbit/s
up to 12 Mbit/s
NXP CAN transceiver TJA1044GT
Status indication with two dual-color LEDs
Connections via two 9-pin D-Sub connectors or a 10-pin screw
terminal strip (Phoenix)

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RS-232 interface for serial data transmission
1 I/O pin: digital output, digital input
2 additional digital inputs as an alternative to RS-232
Supply voltage from 8 to 30 V DC
Extended operating temperature range of -40 to +85 °C (-40 to
+185 °F)
New firmware can be loaded via CAN interface
1.2 Prerequisites for Operation
Power supply in the range of 8 to 30 V DC
For uploading a new firmware via CAN:
 CAN interface of the PCAN series for the computer (e.g.
PCAN-USB)
 Operating system Windows 10, 8.1, 7 (32-/64-bit)
1.3 Scope of Supply
PCAN-Router FD in aluminum casing (optionally with DIN rail
mounting)
IPEH-002215: mating connector (Phoenix)
Windows development software (toolchain with GCC ARM
Embedded, flash program)
Library with programming examples
Manual in PDF format

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2 Connectors
Depending on the model, the PCAN-Router FD has the following
connectors:
IPEH-002214: two 9-pin D-Sub connectors (m)
IPEH-002215: one 10-pole screw terminal strip
Besides the primary functions (voltage supply, CAN FD incl. CAN
2.0), there are miscellaneous functions that can be used as needed:
RS-232 interface for serial data transmission
1 I/O pin: digital output, digital input
2 additional digital inputs as an alternative to RS-232 (must be
configured via hardware, see chapter 3 on page 10)
“Boot” input for activation of the CAN bootloader for firmware
upload (see chapter 6 on page 19)
The following subsections describe each connector assignment.
2.1 D-Sub Connectors (IPEH-002214)
The two D-Sub connectors are used for the CAN FD channels CAN1
and CAN2. The CAN lines (CAN_H, CAN_L) are laid out correspon-
ding to the CiA® 303-1 specification.
The power supply of the PCAN-Router FD can be done via both D-
Sub connectors. The supply connections Ub1 and Ub2 are connected
internally in a non-reactive configuration. This means that also
different power sources can be connected.

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Pin distribution D-Sub connector
CAN1
Pin Identifier Function
1 +5V opt. 5-Volt supply external device
(optional, see below)
2 CAN1_L CAN FD channel 1 Low
3 GND Ground
4 RxD (Din1) RS-232 RxD (alternative digital input Din11)
5 Shield Shield
6 Boot Activation CAN bootloader (High level)
7 CAN1_H CAN FD channel 1 High
8 TxD (Din2) RS-232 TxD (alternative digital input Din21)
9 Ub1 Power supply 8 - 30 V DC
CAN2
Pin Identifier Function
1 +5V opt. 5-Volt supply external device
(optional, see below)
2 CAN2_L CAN FD channel 2 Low
3 GND GND
4 - Not used
5 Shield Shield
6 - Not used
7 CAN2_H CAN FD channel 2 High
8 Din0 / Dout Digital input Din0,
digital output Dout (600 mA)
9 Ub2 Power supply 8 - 30 V DC
1For the corresponding hardware configuration, see section 3.3 on page 13.

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2.2 Screw terminal strip (IPEH-002215)
Terminal Identifier Function
1 UbPower supply 8 - 30 V DC
2 GND Ground
3 CAN1_L CAN FD channel 1 Low
4 CAN1_H CAN FD channel 1 High
5 CAN2_L CAN FD channel 2 Low
6 CAN2_H CAN FD channel 2 High
7 Boot Activation CAN bootloader (High level)
8 Din0 / Dout Digital input Din0,
digital output Dout (600 mA)
9 RxD (Din1) RS-232 RxD (alternative digital input Din12)
10 TxD (Din2) RS-232 TxD (alternative digital input Din22)
2For the corresponding hardware configuration, see section 3.3 on page 13.

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3 Hardware Configuration
For special applications, several settings can be done on the circuit
board of the PCAN-Router FD by using solder jumpers.
4-bit coding of the hardware for polling by the firmware
Supply of external devices with 5 Volts via the D-Sub connector
(only IPEH-002214)
Use of two additional digital inputs (Din1, Din2) instead of the
serial RS-232 interface
Termination of the CAN busses with 120 
Proceed as follows to perform soldering on the circuit board:
Attention! Electrostatic discharge (ESD) can damage or destroy
components on the circuit board. Take precautions to avoid
ESD when handling the circuit board.
1. Remove the screws from both sides of the PCAN-Router FD
casing. With the D-Sub version, in addition, remove the
screws besides one of the D-Sub connectors.
2. Pull the circuit board out of the casing profile.
3. Set the solder jumper(s) on the circuit board according to
the desired settings. During this procedure take especially
care not to produce unwanted short circuits on the board.
4. Afterwards, assemble the components in reverse order.
3.1 4-Bit Coding
The circuit board of the PCAN-Router FD has four coding solder
fields (ID0 to ID3) in order to allocate a permanent status to the