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CPCI-CAN/402-4,

CPCI-CAN/402-4-FD

CompactPCI

®

Board with 4x CAN

(Layer 2, CANopen

®

, J1939, ARINC 825)

or optional 4x CAN FD

Hardware Manual

to Products I.2332.08,

I.2332.68

CPCI-CAN/402-4(-FD)

Hardware Manual • Doc. No.: I.2332.21 / Rev. 1.2

Page 1 of 42

                                                                esd electronics gmbh
             Vahrenwalder Str. 207 • 30165 Hannover • Germany
                                                                   http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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Summary of Contents for CPCI-CAN/402-4

Page 1: ...9 ARINC 825 or optional 4x CAN FD Hardware Manual to Products I 2332 08 I 2332 68 CPCI CAN 402 4 FD Hardware Manual Doc No I 2332 21 Rev 1 2 Page 1 of 42 esd electronics gmbh Vahrenwalder Str 207 30165 Hannover Germany http www esd eu Phone 49 0 511 3 72 98 0 Fax 49 0 511 3 72 98 68 ...

Page 2: ...ectronics s written approval 2019 esd electronics gmbh Hannover esd electronics gmbh Vahrenwalder Str 207 30165 Hannover Germany Phone 49 511 372 98 0 Fax 49 511 372 98 68 E Mail info esd eu Internet www esd eu This manual contains important information and instructions on safe and efficient handling of the CPCI CAN 402 4 FD Carefully read this manual before commencing any work and follow the inst...

Page 3: ...hapter revised 4 Description of CPCI CAN 402 4 FD version added 5 Figure corrected 6 Description of CPCI CAN 402 4 FD version added 7 2 Figure inserted 10 Application Note to CAN 402 Boards inserted 11 New Declaration of Conformity 12 Order Information revised 1 2 1 Chapter revised note on CAN FD added Note on potential interoperability revised 2019 04 10 6 8 Chapter revised note on Windows and Li...

Page 4: ...ents indicate a hazardous situation which if not avoided will result in death or serious injury WARNING Warning statements indicate a hazardous situation that if not avoided could result in death or serious injury CAUTION Caution statements indicate a hazardous situation that if not avoided could result in minor or moderate injury NOTICE Notice statements are used to notify people on hazards that ...

Page 5: ...t to unnecessary thermal radiation Ensure an ambient temperature as specified in the technical data DANGER Hazardous Voltage Risk of electric shock due to unintentional contact with uninsulated live parts with high voltages inside of the system into which the CPCI CAN 402 4 FD is to be integrated Disconnect all hazardous voltages mains voltage before opening the system Ensure the absence of voltag...

Page 6: ...ice Note The CPCI CAN 402 4 FD does not contain any parts that require maintenance by the user The CPCI CAN 402 4 FD does not require any manual configuration of the hardware except of the configuration of the CAN termination jumpers Unauthorized intervention in the device voids warranty claims Disposal Devices which have become defective in the long run have to be disposed in an appropriate way o...

Page 7: ...7 2 Adapter Cable DSUB25 to DSUB9 24 7 2 1 CAN Interfaces at DSUB9 Male 4x 26 8 Correct Wiring of Electrically Isolated CAN Networks 27 8 1 Standards concerning CAN Wiring 27 8 2 Light Industrial Environment Single Twisted Pair Cable 28 8 2 1 General Rules 28 8 2 2 Cabling 29 8 2 3 Branching 29 8 2 4 Termination 29 8 3 Heavy Industrial Environment Double Twisted Pair Cable 30 8 3 1 General Rules 3...

Page 8: ...N 402 Boards 37 10 1 Windows Operating System 37 10 2 Linux Operating System 38 11 Declaration of Conformity 40 12 Order Information 41 12 1 Hardware 41 12 2 Software for CPCI CAN 402 4 41 12 3 Software for CPCI CAN 402 4 FD 42 12 4 Manuals 42 Page 8 of 42 Hardware Manual Doc No I 2332 21 Rev 1 2 CPCI CAN 402 4 FD ...

Page 9: ... CPCI CAN 402 4 The hardware of the Classical CAN version CPCI CAN 402 4 and the CAN FD version CPCI CAN 402 4 FD is equal but both versions come with different CAN controllers in the FPGA images The electrically isolated high speed CAN interfaces support bit rates up to 1 Mbit s INFORMATION The CPCI CAN 402 4 is not recommended for new designs It can still be used in existing systems e g if the d...

Page 10: ...integrator has to verify that all CAN nodes on the bus are set to the same bit rate If you work with a Classical CAN application and want to migrate to CAN FD in the future you can replace your Classical CAN nodes one after another until all CAN nodes are replaced by CAN FD nodes esdACC The CAN FD or CAN interfaces are driven by the ISO 16845 2004 certified esdACC esd advanced CAN Core implemented...

Page 11: ...ended temperature range 40 C 75 C Error simulation support IRIG B interface An optional IRIG B interface offers inputs for analog or RS 422 IRIG B coded signals Both are electrically isolated IRIG B evaluation is controlled by an 8051 microcontroller integrated in the FPGA All signals via Rear I O P3 2x CAN FD via DSUB9 CPCI CAN 402 4 FD Hardware Manual Doc No I 2332 21 Rev 1 2 Page 11 of 42 ...

Page 12: ...ure 2 PCB top view NOTICE Read chapter Hardware Installation on page 14 before you start with the installation of the hardware See also page 23 for signal assignment of the connectors Page 12 of 42 Hardware Manual Doc No I 2332 21 Rev 1 2 CPCI CAN 402 4 FD ...

Page 13: ... be terminated externally JP530 JP610 internal termination of CAN1 CAN1 has to be terminated externally JP531 JP700 internal termination of CAN2 CAN2 has to be terminated externally JP532 JP710 internal termination of CAN3 CAN3 has to be terminated externally JP533 3 2 MSI The MSI Enable jumper JP300 is reserved Do not use See chapter Message Signalled Interrupt Handling on page 20 for more inform...

Page 14: ... body as described above 3 Disconnect the system from the mains DANGER Hazardous Voltage Risk of electric shock due to unintentional contact with uninsulated live parts with high voltages Disconnect all hazardous voltages mains voltage before opening the system If the system does not have a flexible mains cable but is directly connected to mains disconnect the power supply via the safety fuse and ...

Page 15: ...he integrated CAN termination of the CAN FD interface is not set via the jumpers the interface has to be terminated externally read chapter Correct Wiring of Electrically Isolated CAN Networks from page 26 For external termination esd offers suitable termination connectors for the CAN bus Additionally the CAN_GND signal has to be connected to earth at exactly one point A CAN participant with elect...

Page 16: ... CAN bus 3 and CAN traffic on CAN3 2 CAN2 off no CAN bus connection and or no CAN traffic on CAN2 on connected to CAN bus 2 and CAN traffic on CAN2 1 CAN1 off no CAN bus connection and or no CAN traffic on CAN1 on connected to CAN bus 1 and CAN traffic on CAN1 0 CAN0 off no CAN bus connection and or no CAN traffic on CAN0 on connected to CAN bus 0 and CAN traffic on CAN0 Table 1 Description of CAN...

Page 17: ... off CPCI CAN 402 4 FD not ready FPGA not loaded on CPCI CAN 402 4 FD is ready for operation FPGA is loaded I off reserved for IRIG B option A on reserved Table 2 Description of LEDs B R I and A CPCI CAN 402 4 FD Hardware Manual Doc No I 2332 21 Rev 1 2 Page 17 of 42 ...

Page 18: ...PCI board connector X100 110 pin male connector Only for test and programming purposes X400 7 pin socket strip JTAG Interface Temperature range Operation 0 C 75 C Storage 40 C 85 C Humidity max 90 non condensing Dimensions PCB only 100 mm x 160 mm without front panel Front panel 3U 4HP Weight 150 g Conformity EN 61000 6 2 EN 61000 6 4 EMC RoHS CE Table 3 General data of the module 6 2 Hardware Com...

Page 19: ...e 5 Data of the CAN interface CPCI CAN 402 4 6 4 CAN FD Interface CPCI CAN 402 4 FD Number of CAN FD interfaces 4x CAN FD interfaces CAN0 CAN3 CAN controller esdACC in EP4CGX Altera FPGA according to ISO11898 1 2015 Physical Layer Physical layer according to ISO 11898 2 CAN bit rates from 10 kbit s up to 5 Mbit s with the same CAN transceiver Bus termination On board terminating resistors can be i...

Page 20: ...or CPCI CAN 402 4 FD order No I 2332 08 or I 2332 68 The IRIG B option is only available in a customized version on request Number 1x analog and 1x RS 422 compatible via front panel both electrically isolated 1x RS 422 compatible at J2 only Controller 8051 microcontroller Connector DSUB25 Table 8 Data of the serial interface 6 7 Message Signalled Interrupt Handling The CPCI CAN 402 4 FD supports M...

Page 21: ...CAN 402 4 FD Additional CAN layer 2 NTCAN API drivers for Real time OS can be ordered separately Higher layer protocols CANopen J1939 ARINC825 are supported for Classical CAN applications on CPCI CAN 402 4 FD only See Order Information on page 42 for availability of the drivers For detailed information about the driver availability for your operating system please contact our sales team sales esd ...

Page 22: ...plot Graphical display of CAN data CANrepro Replay of pre recorded CAN messages CANscript Python based scripting tool COBview Analysis and diagnostics of CANopen nodes System Requirements Windows 32 bit or 64 bit system 30 MB free HD drive space esd CAN driver installed As part of the esd software development kit CAN SDK of the NTCAN API the CAN Tools are included in delivery of the CAN CD The CAN...

Page 23: ...Y_H CAN signal lines of CAN interface Y Y 0 1 2 3 CAN_Y_GND reference potential of the local CAN physical layer Y Y 0 1 2 3 Shield shielding connected with the case of the 25 pin DSUB connector reserved reserved for future applications do not connect NOTICE To ensure the EC Conformity shielded cables have to be used In the adapter cables FE functional earth shall be connected to the cable shield I...

Page 24: ... socket and four DSUB9 male connectors for the CAN interfaces CAN0 CAN3 NOTICE To ensure the EC Conformity shielded cables have to be used In this adapter cables FE functional earth is connected to the cable shield Figure 4 Adapter DSUB25 to 4x DSUB9 Page 24 of 42 Hardware Manual Doc No I 2332 21 Rev 1 2 CPCI CAN 402 4 FD 60 mm CAN 1 CAN 0 Label Label Label Label CAN 2 CAN 3 heat shrink tube Chann...

Page 25: ...CAN1 white DSUB9 plug male 2 CAN1_L 4 brown 7 CAN1_H 17 green 3 CAN1_GND Housing shield Housing FE 6 CAN2 white DSUB9 plug male 2 CAN2_L 19 brown 7 CAN2_H 7 green 3 CAN2_GND Housing shield Housing FE 21 CAN3 white DSUB9 plug male 2 CAN3_L 9 brown 7 CAN3_H 22 green 3 CAN3_GND Housing shield Housing FE CANx GND signals are isolated from each other They are not tied together by the adapter cable CPCI...

Page 26: ...ion Name Description Reserved Do not use This pin is not connected at the module CANx_L CANx_H CANx_GND CAN signals of CAN node x x 0 1 2 3 Physical layer according to ISO11898 2 FE Functional earth FE is connected to the housing of the DSUB9 connector and to the shield of the cable Page 26 of 42 Hardware Manual Doc No I 2332 21 Rev 1 2 CPCI CAN 402 4 FD S 1 2 3 4 5 6 7 8 9 ...

Page 27: ...original ISO 11898 They have made system level tradeoffs for data rate cable length and parasitic loading of the bus However for CAN network design margin must be given for signal loss across the complete system and cabling parasitic loadings network imbalances ground offsets against earth potential and signal integrity Therefore the practical maximum number of nodes bus length and stub length are...

Page 28: ..._GND has to be connected to the functional earth FE at exactly one point 4 A CAN net must not branch exception short cable stubs and has to be terminated with the characteristic impedance of the line generally 120 Ω 10 at both ends between the signals CAN_L and CAN_H and not at CAN_GND 5 Keep cable stubs as short as possible l 0 3 m 6 Select a working combination of bit rate and cable length 7 Kee...

Page 29: ...pped at the CAN interface at the end of the bus is connected this one has to be used for termination instead of an external CAN termination plug 9 pin DSUB termination connectors with integrated termination resistor and male and female contacts are available from esd order no C 1303 01 DSUB termination connectors with male contacts order no C 1302 01 or female contacts order no C 1301 01 and addit...

Page 30: ...d has to be terminated with the characteristic impedance of the line generally 120 Ω 10 at both ends between the signals CAN_L and CAN_H and not to CAN_GND 5 Keep cable stubs as short as possible l 0 3 m 6 Select a working combination of bit rate and cable length 7 Keep away CAN cables from disturbing sources If this can not be avoided double shielded cables are recommended Figure 7 CAN wiring for...

Page 31: ...nector can be used in which the shield potential is looped through e g the DSUB9 connector from ERNI ERBIC CAN BUS MAX order no 154039 If a mixed application of single twisted and double twisted cables is unavoidable take care that the CAN_GND line is not interrupted Deviations from the bus structure can be realized by the usage of repeaters 8 3 4 Termination A termination resistor has to be conne...

Page 32: ...ection depending on the cable length are described in the CiA recommendation CiA 303 1 see CiA 303 CANopen Recommendation Part 1 Cabling and connector pin assignment Version 1 8 0 Table 2 Bit Rate kbit s Theoretical values of reachable wire length with esd interface lmax m CiA recommendations 07 95 for reachable wire lengths lmin m Standard values of the cross section according to CiA 303 1 mm 100...

Page 33: ...y www concab de e g BUS PVC C 1x 2x 0 22 mm Order No 93 022 016 UL appr BUS Schleppflex PUR C 1x 2x 0 25 mm Order No 94 025 016 UL appr 8 6 2 Cable for heavy industrial Environment Applications Four Wire Manufacturer Cable Type U I LAPP GmbH Schulze Delitzsch Straße 25 70565 Stuttgart Germany www lappkabel com e g UNITRONIC BUS CAN UL CSA 2x 2x 0 22 UL CSA approved Part No 2170261 UNITRONIC BUS FD...

Page 34: ...nce of the CAN data pair conductors and the attached terminating resistors To test it please 1 Turn off all power supplies of the attached CAN nodes 2 Measure the DC resistance between CAN_H and CAN_L at one end of the network see figure above The measured value should be between 50 Ω and 70 Ω If the value is below 50 Ω please make sure that there is no short circuit between CAN_H and CAN_L wiring...

Page 35: ...ta if there is a short circuit between CAN_GND and CAN_L but generally the error rate will increase strongly Make sure that there is no short circuit between CAN_GND and CAN_L 9 4 CAN_H CAN_L Voltage Each node contains a CAN transceiver that outputs differential signals When the network communication is idle the CAN_H and CAN_L voltages are approximately 2 5 V measured to CAN_GND Faulty transceive...

Page 36: ...see figure below 2 Measure the DC resistance between CAN_H and CAN_GND see figure below 3 Measure the DC resistance between CAN_L and CAN_GND see figure below The measured resistance has to be about 500 kΩ for each signal If it is much lower the CAN transceiver it is probably faulty Another indication for a faulty transceiver is a very high deviation between the two measured input resistances 200 ...

Page 37: ...BIOS If this feature is enabled by Windows it enforces additional mandatory features which are not implemented in the bridge of the CPCI CAN 402 4 FD boards This may prevent the start of the default PCI to PCI bridge driver Code 10 This problem occurs e g on most ACER PC Windows systems Based on our information Pericom does not plan to revise the silicon of the PCI to PCI bridge to be compatible w...

Page 38: ...ive State Power Management Reconfiguration Problem Description Recent Linux kernels try to reconfigure and optimize the Active State Power Management settings of PCI Express links In the course of the reconfiguration the kernel triggers an erratum of the PCI to PCIe reverse bridge PI7C9X111SL that is used on the shown products Caused by this erratum the PCIe link stays in the link retraining state...

Page 39: ...d child PCI_EXP_LNKSTA reg16 if reg16 PCI_EXP_LNKSTA_SLC 251 6 252 16 Retrain link reg16 PCI_EXP_LNKCTL_RL pcie_capability_write_word parent PCI_EXP_LNKCTL reg16 if 0x12d8 parent vendor 0xe111 parent device Due to an erratum in the Pericom PI7C9X111SLB bridge in reverse mode the retrain link bit needs to be cleared manually to allow the link training to succeed pci_info parent PI7C9X111SLB workaro...

Page 40: ...Declaration of Conformity 11 Declaration of Conformity Page 40 of 42 Hardware Manual Doc No I 2332 21 Rev 1 2 CPCI CAN 402 4 FD ...

Page 41: ...e and CD ROM for On Time RTOS 32 C 1101 45 Higher Layer Protocols including CD ROM Classical CAN Applications only CANopen LCD Windows Linux CANopen Object Driver Licence CD ROM for Windows Linux C 1101 06 CANopen LCD QNX CANopen Object Driver Licence CD ROM for QNX C 1101 17 CANopen LCD RTX CANopen Object Driver Licence CD ROM for RTX C 1101 16 CANopen LCD VxWorks CANopen Object Driver Licence CD...

Page 42: ... Software for CPCI CAN 402 4 page 41 for availability of software for Classical CAN Applications For detailed information about the driver availability for your special operating system please contact our sales team Table 12 Order information software for CPCI CAN 402 4 FD 12 4 Manuals For availability of English manuals see table below Please download the manuals as PDF documents from our esd web...

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