i: extedokumanualscancbxairenglishcan-cbx-air 11 · can-cbx-air manual rev. 1.1 n o t e the...

CAN-CBX-AIR Manual Rev. 1.1

CAN-CBX-AIR

Manualto Product C.3050.xx


Document-File: I:\texte\Doku\MANUALS\CAN\CBX\AIR\English\CAN-CBX-AIR_11 .en9

Date of Print: 08.07.2005

PCB version: Rev. 1.0

Changes in the chapters

The changes in the user’s manual listed below affect changes in the hardware as well as changes in thedescription of the facts only.

Chapter Changes versus previous version

- First English version

Technical details are subject to change without notice.


N O T E

The information in this document has been carefully checked and is believed to be entirely reliable. esdmakes no warranty of any kind with regard to the material in this document, and assumes noresponsibility for any errors that may appear in this document. esd reserves the right to make changeswithout notice to this, or any of its products, to improve reliability, performance or design.

esd assumes no responsibility for the use of any circuitry other than circuitry which is part of a productof esd gmbh.

esd does not convey to the purchaser of the product described herein any license under the patent rightsof esd gmbh nor the rights of others.

esd electronic system design gmbhVahrenwalder Str. 20730165 HannoverGermany

Phone: +49-511-372 98-0Fax: +49-511-372 98-68E-mail: [email protected]: www.esd-electronics.com

USA / Canada:esd electronics Inc.12 Elm StreetHatfield, MA 01038-0048USA

Phone: +1-800-732-8006Fax: +1-800-732-8093E-mail: [email protected]: www.esd-electronics.us

Contents Page

CAN-CBX-AIR Manual Rev. 1.1 1

1. Overview . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3

2. Hardware Installation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.1 Connecting Diagram . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 42.2 LED- and Connector View . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52.3 Coding Switch . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 72.4 Installation of the Module Using Optional In-Rail Bus Connector . . . . . . . . . . . . . . . . . 92.5 Remove the CAN-CBX Module from the Optional In-Rail Bus . . . . . . . . . . . . . . . . . . 10

3. Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.1 General Technical Data . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.2 Microcontroller . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 113.3 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.4 Serial Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.5 Radio Communication . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 123.6 Software . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 133.7 Order Information . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 13

4. Description of the Units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.1 CAN Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

4.1.1 Interface Circuit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 144.2 Serial Interfaces . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

4.2.1 Default Setting of the CAN-CBX-AIR Module . . . . . . . . . . . . . . . . . . . . . . . 154.2.2 Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 154.2.3 Connection of the RS-232-Interface . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 15

5. Configuration of the CAN-CBX-AIR-Module . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165.1 Serial Interface and Coding Switches . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165.2 Commands . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 165.3 Change Configuration . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 21

6. Connector Assignment . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226.1 Serial Interface (X100, 9-pin DSUB socket) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 226.2 CAN-Bus (X200, 5-pin COMBICON-Style) . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 246.3 CAN and Power Supply Voltage via In-Rail-Bus X210 . . . . . . . . . . . . . . . . . . . . . . . 256.4 Power Supply Voltage X500 . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 26

7. Correctly Wiring Electrically Isolated CAN Networks . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 27

8. CAN-Bus Troubleshooting Guide . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318.1 Termination . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 318.2 CAN_H/CAN_L Voltage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328.3 Ground . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 328.4 CAN Transceiver Resistance Test . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 33


This page is intentionally left blank.

iOverview


+5 V=

+5 V=

CANBUS

CAN

CAN Baud Rate

CANopen Node-ID

LEDs

MicrocontrollerMB90497

PhysicalCANLayer

Electrical Isolation Coding Switches

Power Supply24 V(DC)

ME-MAXBus Connector

Power ConnectorMSTBO 2,5/4-

G1LKMGY

CAN ConnectorMC1,5/5-GF38

DC/DCConverter

DSUB9Connector

Antenna

SerialInterface

Transmitter/Receiver

1. Overview

Fig. 1: Block diagram of the CAN-CBX-AIR module

The CAN-CBX-AIR module is designed for wireless radio communication of separated CAN networks.A CAN-CBX-AIR-Bridge comprises two CAN-CBX-AIR modules.

The CAN-CBX-AIR module is equipped with a MB90F543 microcontroller, which buffers the CAN-data in a local SRAM. The firmware is stored in the Flash memory. Parameters are stored in a serialEEPROM.

The power supply voltage and the CAN bus signals can be fed via the In-Rail-bus connector, integratedin the mounting rail, or via individual connectors.

The ISO 11898-compliant CAN interface allows a maximum data transfer rate of 1 Mbit/s. The CANinterface is electrically isolated from other units by optocouplers and a DC/DC-converter.

The CANopen node-ID of the CAN-CBX-AIR module and the CAN bit rate can be easily set via threecoding switches.

The serial RS-232 interface for service and development can be connected via a DSUB9 connector.

Hardware Installation


2. Hardware Installation

2.1 Connecting Diagram

Fig. 2: Connections of the CAN-CBX-AIR module

For the signal assignments of the connectors in table form refer to page 22.



2.2 LED- and Connector View

Fig. 3: Position of the LEDs and connectors in the front panel



LEDLabel

LEDColor

LEDNo. Name LED State Indication

T yellow 140A Traffic

on transmission in process

short blinking data package is transmitted or received

off no data transmission

R yellow 140B Radio Qualityon radio signal ok

blinking radio signal disturbed, the worse the signal,the faster the blinking

C yellow 140C CAN Stateon CAN-Bus ok

blinking CAN-Bus signal disturbed, the worse thesignal, the faster the blinking

P yellow 140D Power on 24 V-power supply voltage

Table 1: Indication of the LEDs

During operation the LED state ‘off’ is not defined for the LEDs Radio Quality, CAN State and Power,i.e. the LEDs are only off, if the module is turned off.



2.3 Coding Switch

Fig. 4: Position of the coding switches

After switching on the module the position of the coding switches is read and evaluated by thefirmware. Changes of the settings therefore have to be made before switching on the module, becausechanges of the settings are not determined during operation.

Node-ID

The address range of the CAN-CBX-AIR module can be set hexadecimal from 01h to FFh, i.e. decimalfrom 1 to 255.

The higher-order bits (higher-order nibble) are set via coding switch HIGH, the lower-order bits areset via coding switch LOW.

Attention:Please pay attention that the node-ID of the one module has to correspond with the node-ID ofthe other module!

For updating the firmware the coding switches have to be set to 00h.



Baud rate

The baud rate can be set with the coding switch BAUD.

Values from 0h to Fh can be set via the coding switch. The values of the baud rate can be taken fromthe following table:

Setting Baud rate [Kbit/s] Setting Baud rate [Kbit/s]

0 1000 8 66.6

1 666.6 9 50

2 500 A 33.3

3 333.3 B 20

4 250 C 12.5

5 166 D 10

6 125 E 800

7 100 F Setting via serialconfiguration

Table 2: Index of the baud rate

Note: To select the baud rate via serial configuration (see page 17) the coding switch has to beset to Fh.



2.4 Installation of the Module Using Optional In-Rail Bus Connector

If the CAN bus signals and the power supply voltage shall be fed via the In-Rail bus, please proceedas follows:

Figure 5: Mounting rail with bus connector

1. Position the In-Rail bus connector on the mounting rail and snap it onto the mounting rail usingslight pressure. Plug the bus connectors together to contact the communication and powersignals (in parallel with one). The bus connectors can be plugged together before or aftermounting the CAN-CBX modules.

2. Place the CAN-CBX module with the DIN rail guideway on the top edge of the mounting rail.

Figure 6 : Mounting CAN-CBX modules

3. Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards



according to the arrow as shown in figure 6. The housing is mechanically guided by the DINrail bus connector.

4. When mounting the CAN-CBX module the metal foot catch snaps on the bottom edge of themounting rail. Now the module is mounted on the mounting rail and connected to the In-Railbus via the bus connector. Connect the bus connectors and the In-Rail bus if not already done.

Figure 7: Mounted CAN-CBX module

2.5 Remove the CAN-CBX Module from the Optional In-Rail Bus

If the CAN-CBX module is connected to the In-Rail bus please proceed as follows:

Release the module from the mounting rail in moving the foot catch (see figure 7) downwards (e.g. witha screwdriver). Now the module is detached from the bottom edge of the mounting rail and can beremoved.

Note: It is possible to remove entire individual devices from the whole without interrupting theIn-Rail bus connection, because the contact chain will not be interrupted.



3. Technical Data

3.1 General Technical Data

Power supply voltage nominal voltage 24 V/DC ±10%,current consumption (at 20 C): 60 mA (typically)

Connectors

X100 (DSUB9, socket) - Serial interface

X200 (5-pin COMBICON connector) - CAN interface

X210 (ME-MAX-TRAG5, Phoenix Contact TBUS-connector) -CAN interface and power supply voltage via In-Rail-Bus

X300 (SMA-coaxial-socket, Multicomp, inner conductor : female) -antenna connector

X500 (4-pol.COMBICON plug with spring-cage connection) - 24V-power supply voltage

Temperature range 0...50 C ambient temperature(-20 C ... +70 C on request)

Humidity max. 90%, non-condensing

Dimensionswidth: 22 mm, height: 100 mm, depth: 115 mm (including hat rail mounting and connector projection, but withoutantenna)

Weight approx. 125 g

3.2 Microcontroller

Microcontroller MB90F543

MemorySRAM: internal in MB90F543, 6 KbyteFlash-EPROM: internal in MB90F543, 128 Kbyte EEPROM: serial SPI-EEPROM



3.3 CAN Interface

Number of CAN interfaces 1 x CAN

Connection 5-pol. COMBICON with spring-cage connectionor via Phoenix Contact TBUS-connector (In-Rail-Bus)

CAN controller MB90F543, CAN 2.0A/B,11- and 29-bit CAN identifier

Electrical isolation of CANinterfaces from other units

via optocouplers and DC/DC-converterreference voltage: 300 V/DC, 250 V/AC

Physical CAN Layer Physical Layer according to ISO 11898, transfer rate programmable from 10 Kbit/s up to 1 Mbit/s

3.4 Serial Interface

Controller MB90F543

Interface RS-232, only the signals TxD, RxD and GND are supported

Connection 9-pin DSUB socket

3.5 Radio Communication

Antenna connector(at CAN-CBX-AIR) SMA-connector, coaxial socket (inner conductor: female)

Transmitting frequency 2.44 GHz (ISM-band)

Transceiver typical peak power output: + 2 dBm,typical Rx sensitivity for BER = 10-4: - 80 dBm

Antenna

connector of the antenna: coaxial SMA-connector (inner conductor: male),

impedance: 50 Ohm nominal,antenna gain: 2.0 dBi

RangeCAN-CBX-AIR <-> CAN-CBX-AIR in open field approx. 15 m



3.6 Software

Update update option via serial interface

3.7 Order Information

Type Properties Order No.

CAN-CBX-AIR

Wireless CAN-BridgeCAN according to ISO 11898, bit rate up to 1 Mbit/s,electrically isolated, 2.4 GHz ISM-band, 24 V/DC, hat rail mounting

C.3050.02

CAN-CBX-AIR-Bridge 2x C.3050.02,Transfer range in open field approx. 15 m C.3050.04

CAN-CBX-AIR-ME Manual in English 1*) C.3050.21

CAN-CBX-AIR-ENGEngineering Manual in English 2*)

Contents: Circuit diagrams, PCB top overlay drawing,data sheets of significant components

C.3050.25

1*) If module and manual are ordered together, the manual is free of charge.2*) This manual is liable for costs, please contact our support.

Description of the Units


VCCin

IN

GNDin

VCCout

OUT

ENABLE

GNDout

VCCin

IN

GNDin

VCCout

OUT

ENABLE

GNDout

+5V

10K

CRX0

+5V

VDD

TX

R/GND

BUSL

RX BUSH

+5V

CAN_L

CAN_H

5V

++

- -

+5V

CAN_GND

DC/DCS7U-0505

2

4

CTX0 GND

VCC

GND

5V

VCC

CAN_GND1

3Shield

GND

GND

VC05D150

10µF

2.2M

2.2nF/250V~

CAN TransceiverTJA1050

5n.c.

CAN_L

CAN_H

3T, 3B

1T, 1B

CAN_GND

2T, 2B

X210In-Rail-Bus

4T, 4B

5T, 5B

X200MC1,5/5-GF-3,81

Optical CouplerHCPL7710

Optical CouplerHCPL7710

toMicrocontroller

CAN-bus driver

Reference potential M24

Power supply voltage P24

ADD-On option (X7-X8) for other Physical Layers

4. Description of the Units

4.1 CAN Interface

4.1.1 Interface Circuit

Fig. 8: Circuit of the CAN interface

Description of the Units


TxD

GND

RxDRxD

TxD3

2

5 GND

2

5

3

PC(Modem, DÜE)

CAN-CBX-AIR(Terminal, DEE)

localsignal-terms

pin numbers of the 9-pole DSUB connectorof the CAN-CBX-AIR module

pin number of the 9-pole DSUB connectorof the CAN-CBX-AIR module

4.2 Serial Interfaces

4.2.1 Default Setting of the CAN-CBX-AIR Module

Bit rate: 9600 BaudData bits: 8Parity: noStop bit: 1Handshake: no

4.2.2 Configuration

The serial interface is controlled by the MB90F543 microcontroller. The bit rate is 9600 Baud. Set the user’s terminal / PC to this value. The bit rate of the CAN-CBX-AIRmodule can not be changed.

4.2.3 Connection of the RS-232-Interface

Below, the wiring of the serial interface is shown. The figure is used to explain the short terms of thesignals as used in the chapter Connector Assignments. The signal description is given exemplary forthe connection of the CAN-CBX-AIR to a PC.

Note: For the connection of the CAN-CBX-AIR module to the RS-232 interface of the PC anullmodem is necessary (if not already considered by the configuration of the serial lines).

Fig. 9: Connecting diagram of the RS-232 interface

Configuration


5. Configuration of the CAN-CBX-AIR-Module This chapter describes the procedure for the configuration of the CAN-CBX-AIR, which can easily bedone e.g. by means of the program ‘Hyperterminal’ of Windows.

5.1 Serial Interface and Coding Switches

The serial interface of the PC has to be configured with the values which are described in chapterDefault Setting of CAN-CBX-Modules, (see page 15).

Attention: The settings of the coding switches are only read by the firmware when the moduleis switched on. Thus changes of the settings have to be made before switching onthe module. Changes of the settings during operation have no effect (see page 7).

5.2 Commands

After the power supply has been switched on the CAN-CBX-AIR module wakes up and puts out amessage in the hyperterminal.

Now you can enter the commands directly and acknowledge with >Enter<.

COMMANDS:

R Command R shows the current configuration of the module. In the examplebelow the module is still in default setting. The following message will bedisplayed:

input: R >Enter<

output: B0 : 6

Configuration


Bn:HexIndex The baud rate can only be set via software, if the coding switch is set to thevalue Fh when the module is switched on.By means of command Bn: you can select the bit rate of the CAN net with thenet number n, with: n= 0 for net 0

If values between 0h and Fh are read for the HexIndex, the bit rate is configuredaccording to the following table:

HexIndex Baud rate [Kbit/s] HexIndex Baud rate [Kbit/s]

0 1000 8 66.6

1 666.6 9 50

2 500 A 33.3

3 333.3 B 20

4 250 C 12.5

5 166 D 10

6 125 E 800

7 100 F reserved

Table 3: Index of the baud rate

In the following example the bit rate of net 0 (n=0) is to be configured to10 Kbit/s. From Table 3 you get the HexIndex = D. Your input therefore is asfollows:

Input : B0:D >Enter<

Bn:8000yyzz Alternatively you can configure the bit-timing register of the MB90F543component used, directly. In this case the register value for the bit-timingregisters BTR0 and BTR1 is specified directly.Here is: n: 0... net number

yy: value for BTR0zz: value for BTR1

Please refer to the manuals of the controller MB90F543 for the correct way todetermine the bit timing and the bit rate from the register values.The manual can e.g. be downloaded from the Fujitsu-Homepage: http://www.fme.gsdc.de/gsdc.htm?products/mb90495g.htm Choose the ‘MB90F540/545G Series Hardware Manual VX-xx’.

Configuration


I0:ID Net 0 I1:ID Net 1This command assigns an identifier of CAN-net 1 to an identifier of CAN-net 0.The identifier ID Net 0, which is received by the local CAN net, is transmittedwith identifier ID Net 1 on the CAN net which is connected via the transmissionpath.

Note:If you want to configure 29-bit CAN identifier (value range bit 28...bit 0), bit 29has to be set to indicate the 29-bit identifier to the system (20000000h accordingto CANopen)!

In the example below the 29 bit identifier 3456789h of the net 0 is mapped to the11-bit identifier 543h of net 1.

Input: I0:23456789 I1:543 >Enter<

In the following example the 11-bit identifier ID Net 0 = 200h is mapped to the11-bit identifier ID Netz 1 = 300h.

Input: I0:200 I1:300 >Enter<

Configuration


M0:1:zzzzzzzzzzzzzzzzzzzzzzzzzzzzzzWith this command masks for 29-bit identifiers can be defined. This way all identifiers of particular areas of identifiers can be assigned.Here is: 0: 0... net in which the identifiers are to be received 1: 1... net in which the filtered CAN frames are to be

transmitted: always 1 for the net transmittedvia the transmission path.

z...z: 0,1,x... mask 0: the according bit has to be logically 01: the according bit has to be logically 1x: the status of the according bit does not matter

Attention: Please note that the bits are numbered from right to left. The first bit from the left is therefore bit 30!

The mask must always have the full length of 30 bits (29 bits + 30th bit todistinguish between 11-bit and 29-bit identifiers). The first bit is the distinction bit, the following bit is the MSB of the CANidentifier, etc.

Bit 30 Meaning0 11-bit identifier1 29-bit identifierx 11- and 29-bit identifier

In the following example only the odd identifiers between 0h and FFh are letthrough from net 0 to net 1:

Input: M0:1:0000000000000000000000xxxxxxx1>Enter<

If more than one mask has been defined for one direction, one identifier has topass all masks (AND links) in order to be mapped in the other net. At themoment 2 masks are possible for each direction.

Configuration


The current configuration of the CAN-CBX-AIR module from the previous examples can be displayedby means of command R.

Input: R >Enter<

Output: B0:6I0:200 I1:300I0:23456789 I1:543M0:1:0000000000000000000000xxxxxxx1

E After the configuration has been successfully completed, the configured data isstored in the configuration memory by means of command E. Only after thedata have been stored the changes become effective.The CAN-CBX-AIR module is now in RUN status and meets the desired bridgefunction.

Input: E >Enter<

C You can delete a configuration again by means of the command C. Thecommand deletes all identifier assignments and resets the CAN bit rates to thedefault value of HexIndex 6, that is a bit rate of 125 Kbit/s. The configurationmemory is also deleted.

Input: C >Enter<

Configuration


5.3 Change Configuration

It is not possible to modify single parameters of an existing configuration. You have to call thecommand C (see page 20) to clear all parameters. After that you have to configure the CAN-CBX-AIRagain with the correct parameters. Do not forget to call the command E to store the new data to theconfiguration memory after the configuration.

Connector Assignment


6. Connector Assignment

6.1 Serial Interface (X100, 9-pin DSUB socket)

Pin Position:

Pin Assignment:

Signal Pin Signal

- 16 -

RxD (Input) 27 -

TxD (Output) 38 -

- 49 -

GND 5

9-pin DSUB socket

Signal description:

RxD/TxD ... receive and transmit data

GND ... reference potential

- ... reserved



RxD

GND

TxD

P1:(PC)

1

5 4 3 2 1

9 8 7 6

2

3

4

5

6

7

8

9

1

2

3

4

5

6

7

8

9

RxD

TxD

GND

5 4 3 2 1

9 8 7 6

P1DSUB female

9-pole

P2DSUB female

9-pole

local signalnames usedat CAN-CBX-Module

P2:(CAN-CBX-AIR Module)

Connecting cable for the serial interface

Below the connecting cable of the serial interface (RS-232) of the CAN-CBX-AIR module to a PC isshown.



12345

6.2 CAN-Bus (X200, 5-pin COMBICON-Style)

The CAN-Bus connector can have spring-cage connections or screw connections. Wires with a crosssection of up to 2.5 mm² fit in the terminal blocks.

Pin Position: Pin Assignment:

Pin Signal

1 CAN_GND

2 CAN_L

3 Shield

4 CAN_H

5 n.c.

Signal description:

CAN_L, CAN_H ... CAN signalsCAN_GND ... reference potential of the local CAN physical layerShield ... shielding

(connected with the shield contact of the case, which has a connection to themounting rail)

n.c. ... not connected

Adapter Cable from 5-pin Mini-Combicon (with spring-cage-connection) to 9-pin DSUB:

The 9-pin DSUBconnector isassigned inaccordance withCiA DS 102.



6.3 CAN and Power Supply Voltage via In-Rail-Bus X210

Connector: Bus connector MEMAXME 22,5 TBUS 1,5/5-ST-3,81 KMGY

Pin Position:

Pin Assignment:

Pin Signal

5 M24 (GND)

4 P24 (+24 V)

3 CAN_GND

2 CAN_L

1 CAN_H

S FE (PE_GND)

Signal description:

CAN_L, CAN_H ... CAN signalsCAN_GND ... reference potential of the local CAN physical layersP24... power supply voltage +24 VM24... reference potentialFE... functional earth contact (EMC)



6.4 Power Supply Voltage X500

Connector type: Mini-Combicon connector, MSTBO 2,5/4-G1LKMGY

Pin Position:

Pin Assignment:

Pin 4 3 2 1

Signal - - M24 (GND)

P24(+ 24 V)

Refer to the connecting diagram (page 4).

Signal description:

P24... power supply voltage +24 VM24... reference potential

Wiring


9

1

4567

9

23

8

1

4567

23

8

CAN_L

CAN_H

CAN_GND

Shielded wire withtransposed wires

CAN_L

CAN_H

CAN_GND(at wire shield)

120

Ohm

120

Ohm

earth (PE)

Wire structure Signal assignment of wire and connection of earthing and terminator

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c.

n.c. = not connected

DSUB9 connector(female or male)pin designation

connector case connector case

DSUB9 connector(female or male)pin designation

CAN wire with connectors

7. Correctly Wiring Electrically Isolated CAN NetworksGenerally all instructions applying for wiring regarding an electromagnetic compatible installation,wiring, cross sections of wires, material to be used, minimum distances, lightning protection, etc. haveto be followed.

The following general rules for the CAN wiring must be followed:

1.A CAN net must not branch (exception: short dead-end feeders) and has to be terminatedby the wave impedance of the wire (generally 120 W ±10%) at both ends (between thesignals CAN_L and CAN_H and not at GND)!

2.A CAN data wire requires two twisted wires and a wire to conduct the reference potential(CAN_GND)! For this the shield of the wire should be used!

3. The reference potential CAN_GND has to be connected to the earth potential (PE) at onepoint. Exactly one connection to earth has to be established!

4. The bit rate has to be adapted to the wire length.

5. Dead-end feeders have to kept as short as possible (l < 0.3 m)!

6. When using double shielded wires the external shield has to be connected to the earthpotential (PE) at one point. There must be not more than one connection to earth.

7. A suitable type of wire (wave impedance ca. 120 ±10%) has to be used and the voltageloss in the wire has to be considered!

8. CAN wires should not be laid directly next to disturbing sources. If this cannot be avoided,double shielded wires are preferable.

Figure: Structure and connection of wire

Wiring


l < 0,3 m

CAN_L

CAN_GND

CAN_H

PE

l < 0,3 m

CAN-CBM-AI4

CAN-CBM-COM1

CAN-CBM-DIO8

l < 0,3 ml < 0,3 ml < 0,3 m

Female Connector

Male Connector

e.g.CAN-SPS InterfaceCSC595/2orCAN-PC Board

Terminator

Male Terminator(Order-no.: C.1302.01)

Connecting CAN_GND toProtective Conductor PE

Terminatorwith PE Connector

Female Terminator(Order-no.: C.1301.01)

T-ConnectorC.1311.03

CAN-CableOrder-no.: C.1323.03

Net 2

Net 1 e.g. PCI/405,CAN-USB,

VME-CAN2, etc.






CAN-Board

T-ConnectorOrder-no.: C.1311.03

Cabling

for devices which have only one CAN connector per net use T-connector and dead-end feeder(shorter than 0.3 m) (available as accessory)

Figure: Example for correct wiring (when using single shielded wires)

Terminal Resistance

use external terminator, because this can later be found again more easily!

9-pin DSUB-terminator with male and female contacts and earth terminal are available asaccessories

Earthing

CAN_GND has to be conducted in the CAN wire, because the individual esd modules areelectrically isolated from each other!

CAN_GND has to be connected to the earth potential (PE) at exactly one point in the net!

each CAN user without electrically isolated interface works as an earthing, therefore: do notconnect more than one user without potential separation!

Earthing CAN e.g. be made at a connector

Wiring


Wire Length

Optical couplers are delaying the CAN signals. By using fast optical couplers and testing eachboard at 1 Mbit/s, however, esd CAN guarantee a reachable length of 37 m at 1 Mbit/s for mostesd CAN modules within a closed net without impedance disturbances like e.g. longer dead-endfeeders. (Exception: CAN-CBM-DIO8, -AI4 and AO4 (these modules work only up to 10 m with1 Mbit/s))

Bit rate[Kbit/s]

Typical values of reachablewire length with esd

interface lmax [m]

CiA recommendations(07/95) for reachable wire

lengths lmin [m]

1000 800

666.6 500

333.3 250 166 125 100 66.6

50 33.3

20 12.5

10

375980

130180270420570710

100014002000360054007300

2550

-100

-250

-500650

-1000

-2500

-5000

Table: Reachable wire lengths depending on the bit rate when using esd-CAN interfaces

Wiring


Examples for CAN Wires

Manufacturer Type of wire

U.I. LAPP GmbHSchulze-Delitzsch-Straße 2570565 StuttgartGermanywww.lappkabel.de

e.g.UNITRONIC ®-BUS CAN UL/CSA (UL/CSA approved)UNITRONIC ®-BUS-FD P CAN UL/CSA (UL/CSA approved)

ConCab GmbHÄußerer Eichwald74535 MainhardtGermanywww.concab.de

e.g.BUS-PVC-C (1 x 2 x 0,22 mm²) Order No.: 93 022 016 (UL appr.)BUS-Schleppflex-PUR-C (1 x 2 x 0,25 mm²) Order No.: 94 025 016 (UL appr.)

SAB Bröckskes GmbH&Co. KGGrefrather Straße 204-212b41749 ViersenGermanywww.sab-brockskes.de

e.g.SABIX® CB 620 (1 x 2 x 0,25 mm²) Order No.: 56202251CB 627 (1 x 2 x 0,25 mm²) Order No.: 06272251 (UL appr.)

Note: Completely configured CAN wires can be ordered from esd.

CAN-Bus Troubleshooting Guide


120

CAN_H

CAN_GND

CAN_LCAN_L

CAN_H

CAN_GND

V V

120

2 3

1

1

8. CAN-Bus Troubleshooting GuideThe CAN-Bus Troubleshooting Guide is a guide to find and eliminate the most frequent hardware-errorcauses in the wiring of CAN-networks.

Figure: Simplified diagram of a CAN network

8.1 Termination

The termination is used to match impedance of a node to the impedance of the transmission line beingused. When impedance is mismatched, the transmitted signal is not completely absorbed by the loadand a portion is reflected back into the transmission line. If the source, transmission line and loadimpedance are equal these reflections are eliminated. This test measures the series resistance of theCAN 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 the middle and ends of

the network (see figure above).

The measured value should be between 50 and 70 .

If the value is below 50 , please make sure that:- there is no short circuit between CAN_H and CAN_L wiring- there are not more than two terminating resistors - the nodes do not have faulty transceivers.

If the value is higher than 70 , please make sure that:- there are no open circuits in CAN_H or CAN_L wiring - your bus system has two terminating resistors (one at each end) and that they are 120 each.



2

3

8.2 CAN_H/CAN_L Voltage

Each node contains a CAN transceiver that outputs differential signals. When the networkcommunication is idle the CAN_H and CAN_L voltages are approximately 2.5 volts. Faultytransceivers can cause the idle voltages to vary and disrupt network communication. To test for faulty transceivers, please

1. Turn on all supplies. 2. Stop all network communication.3. Measure the DC voltage between CAN_H and GND (see figure above).

4. Measure the DC voltage between CAN_L and GND (see figure above).

Normally the voltage should be between 2.0 V and 4.0 V. If it is lower than 2.0 V or higher than 4.0 V, it is possible that one or more nodes have faultytransceivers. For a voltage lower than 2.0 V please check CAN_H and CAN_L conductors forcontinuity. For a voltage higher than 4.0 V, please check for excessive voltage.

To find the node with a faulty transceiver please test the CAN transceiver resistance (see next page).

8.3 Ground

The shield of the CAN network has to be grounded at only one location. This test will indicate if theshielding is grounded in several places.

To test it, please

1. Disconnect the shield wire from the ground. 2. Measure the DC resistance between Shield and ground. 3. Connect Shield wire to ground.

The resistance should be higher than 1 M . If it is lower, please search for additional grounding ofthe shield wires.



4

5

6

CAN_H

CAN_GND

CAN_L

5 6

4

CAN-Transceiver

CAN-Node

4Disconnect

Power !

Power

Disconnect CAN !

8.4 CAN Transceiver Resistance Test

CAN transceivers have one circuit that controls CAN_H and another circuit that controls CAN_L.Experience has shown that electrical damage to one or both of the circuits may increase the leakagecurrent in these circuits.

To measure the current leakage through the CAN circuits, please use an ohm-meter and:

1. Disconnect the node from the network. Leave the node unpowered (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).

Normally the resistance should be between 1 M and 4 M . If it is not within this range, the CANtransceiver is probably faulty.

Figure: Simplified diagram of a CAN node

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