PCAN-cPCI - User Manual - Home: PEAK-System PCAN
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1. CAN Interface for CompactPCI User Manual Document version 2 2 1 2014 04 29 PCAN CPCI User Manual Products taken into account opto decoupled isolation for CAN connections Product Name Model PCAN cPCI Dual Channel 2 CAN channels galvanic PCAN cPCI Quad Channel 4 CAN channels galvanic opto decoupled isolation for CAN connections System Part Number IPEH 003021 IPEH 003022 The cover picture shows the product PCAN cPCI Ouad Channel opto decoupled The product version Dual Channel opto decoupled has an identical form factor but differs in eguipment no additional front blind with CAN connectors and in the board s components CANopen and Ci A6 are registered community trade marks of CAN in Automation e V All other product names mentioned in this manual may be the trademarks or registered trademarks of their respective companies They are not explicitly marked by uTM and D 2014 PEAK System Technik GmbH PEAK System Technik GmbH Otto Roehm Strasse 69 64293 Darmstadt Germany Phone 49 0 6151 8173 20 Fax 49 0 6151 8173 29 www peak system com info peak system com Document version 2 2 1 2014 04 29 PCAN CPCI User Manual a System Contents 1 Introduction 4 1 1 Properties at a Glance 4 1 2 System Requirements 5 1 3 Scope of Supply 5 2 Installing the Software and the Card 7 3 Connecting the CAN Bus 10 3 1 D Sub connector 10 3 2 Supplying External Devices via the CAN Co2. Transmit Message OOFFAAT Th O0FFBB77h OOFFCC77h 1 O Data 00 010001 AD 56 48 9476 D6 C6 BD 7665550056 00 65 00 Cycle Time Count Wait 1 7 v 125 208 5 4558 Trigger Manual Time Time O Connected to PCAN PCI 500 kBit s BM Overruns 0 OxmtFull 0 Figure 7 Receive Transmit Tab The Receive Transmit tab is the main element of PCAN View It contains two lists one for received messages and one for the transmit messages Representation of CAN data is in hexadecimal format D Do the following to transmit a CAN message with PCAN View i Select the menu command Transmit gt New Message alternatively 1 or Ins The dialog box New Transmit Message is shown i PCAN CPCI User Manual m System Edit Transmit Message DLE Data Hex l 44 25 12 44 25 AB OC Cycle Time 125 Message Type 7 Extended Frame V Paused Remote Request Comment Wake Up Message Cancel Help Figure 8 Dialog box Edit Transmit Message 2 Enter the ID and the data for the new CAN message 3 The field Cycle Time indicates if the message shall be transmitted manually or periodically If you want to transmit the message periodically you must enter a value greater than 0 For a manual only transmission enter 0 4 Confirm the entries with OK The created transmit message appears on the Receive Transmit tab 5 You trigger selected transmi
3. 2010 Declarations of In accordance with the above mentioned EU directives the EC Conformity declarations of conformity and the associated documentation are held at the disposal of the competent authorities at the address below PEAK System Technik GmbH Mr Wilhelm Otto Roehm Strasse 69 64293 Darmstadt Germany Phone 49 0 6151 8173 20 Fax 49 0 6151 8173 29 E mail info 2 peak system com Mh bE Signed this 22 day of October 2013 27 PCAN CPCI User Manual a 5 Le od im XTX System Appendix B Dimension Drawings 15 3 mm 128 4 mm E 4 1 36mm gt mA 14 3mm C TD ci N o Oo D D zZ Z w aN wu O9T Figure 12 Top view PCAN cPCI card 28 PCAN CPCI User Manual a System Stift 2x2 5 2xDM2 5 gesenkt N o X ag 2 3 ss 128 4 mm mmm EN E E N w t 2 v LO v N ae x o C sj Q N V V aO m C an Xan tA E amp E iz co oN a O VY V N E 7 u r pmf et F i Figure 13 View of the front blind The figures don t show the actual size of the product 29 PCAN CPCI User Manual m System Appendix C Quick Reference Software Hardware Installation under windows Before installing the PCAN cPCI card into the computer please set up th
4. CI User Manual a System 4 2 2 Principle Description of the API The PCAN Basic API is the interface between the user application and device driver In Windows operating systems this is a DLL Dynamic Link Library The sequence of accessing the CAN interface is divided into three phases 1 Initialization 2 Interaction 3 Completion Initialization A CAN channel must be initialized before using it This is done by the simple call of the function can Initialize Depending on the type of the CAN hardware up to eight CAN channels can be opened at the same time After a successful initialization the CAN channel is ready for communication with the CAN hardware and the CAN bus No further configuration steps are required Interaction For receiving and transmitting CAN messages the functions can Read and can write are available Additional settings can be made e g setting up message filters to confine to specific CAN IDs or setting the CAN controller to listen only mode When receiving CAN messages events are used for an automatic notification of an application client This offers the following advantages The application no longer needs to check for received messages periodically no polling The response time at reception is reduced 23 PCAN CPCI User Manual m System Completion To end the communication the function can Uninitialize Is called in order to release the reserved resources for the CAN channe
5. RMv4 Linux 32 64 bit The API is designed for cross platform use Therefore software projects can easily ported between platforms with low efforts PEAK System has created examples for the following programming languages C C C CLR Visual Basic Delphi Python and Java 21 PCAN CPCI User Manual 4 2 1 Features of PCAN Basic Supports Windows 8 7 Vista 32 64 bit Windows CE 6 x and Linux 32 64 bit operating system Multiple PEAK System applications and your own can be operated on a physical CAN channel at the same time Use of a single DLL for all supported hardware types Use of up to 8 channels for each hardware unit depending on the PEAK CAN interface used Simple switching between channels of a PEAK CAN interface Driver internal buffer for 32 768 messages per CAN channel Precision of time stamps on received messages up to 1 us depending on the PEAK CAN interface used Access to specific hardware parameters such as listen only mode Notification of the application through Windows events when a message Is received Extended system for debugging operations Multilingual debugging output Output language depends on operating system Debugging information can be defined individually An overview of the API functions is located in the header files You can find detailed information about the PCAN Basic API on the provided DVD in the text and help files file name extensions txt and chm 22 PCAN CP
6. SJA1000 CAN controller 16 MHz clock frequency NXP PCA82C251 CAN transceiver Galvanic isolation on the CAN connection up to 500 V separate for each CAN channel 5 Volts supply to the CAN connection can be connected through a solder jumper e g for external bus converter PCAN CPCI User Manual a System Extended operating temperature range from 40 to 85 C 40 to 185 F 0 Note This manual describes the use of the PCAN cPCI card with Windows You can find device drivers for Linux and the corresponding application information on the provided DVD in the directory branch Develop and on our website under www peak system com linux 1 2 System Requirements One empty slot in the CompactPCl system 3U form factor CompactPCl connector J1 With the Quad Channel version a place for an additional front blind with CAN connectors Operating system Windows 8 7 Vista 32 64 bit or Windows CE 6 x x86 and ARMv4 processor support or Linux 32 64 bit 1 3 Scope of Supply PCAN cPCI card Slot bracket with D Sub connectors for the CAN bus only four channel version Device drivers for Windows 8 7 Vista and Linux 32 64 bit Device driver for Windows CE 6 x x86 and ARMv4 processor support PCAN View CAN monitor for Windows 8 7 Vista 32 64 bit PCAN CPCI User Manual m System PCAN Basic programming interface consisting of an interface DLL examples and header files for all common programming languages Manual
7. ad Channel max 980 mA CompactPCl 3U plug in card Board 160 x 100 mm Total 175 x 130 mm without locking lever See also dimension drawing in Appendix B Seite 28 PCAN cPCI Dual Ch 120 g PCAN cPCI Quad Ch connection blind 132 g 56 g 25 PCAN CPCI User Manual m System Environment Operating temperature 40 85 C 40 185 F Temperature for storage 40 125 C 40 257 F and transport Relative humidity 15 90 not condensing EMC EN 55024 2011 09 EN 55022 2011 12 EC directive 2004 108 EG 26 PCAN CPCI User Manual a System Appendix A CE Certificate PCAN cPCI IPEH 003021 22 EC Declaration of Conformity PEAK System Technik GmbH Notes on the CE Symbol C The following applies to the PCAN cPCI product with the item number s IPEH 003021 22 EC Directive This product fulfills the reguirements of EU EMC Directive 2004 108 EG Electromagnetic Compatibility and is designed for the following fields of application as for the CE marking Electromagnetic Immunity DIN EN 55024 publication date 2011 09 Information technology equipment Immunity characteristics Limits and methods of measurement CISPR 24 2010 German version EN 55024 2010 Electromagnetic Emission DIN EN 55022 publication date 2011 12 Information technology equipment Radio disturbance characteristics Limits and methods of measurement CISPR 22 2008 modified German version EN 55022
8. e corresponding software package from the supplied DVD with administrator privileges Afterwards insert the PCAN cPCI card into an empty CompactPCI slot of the switched off computer The PCAN cPCI card is recognized by Windows and the driver is initialized After the driver installation process is finished successfully you can find the entry PCAN PCI in the branch CAN Hardware of the Windows Device Manager Getting Started under windows Run the CAN monitor PCAN View from the Windows Start menu as a sample application for accessing the PCAN cPCI card For initiali zation of the PCAN cPCI card select the desired CAN channel and the CAN bit rate High speed CAN connector D Sub 9 pins gt 5 V optional gt CAN_L gt GND GND CAN Hc 5 V optional lt 30
9. g box for selecting the CAN hardware and for setting the CAN parameters appears lt Connect r PCAN View Available CAN hardware and PCAN nets S PCAN PCI at PCI Bus 4 Device 1 Channel 1 Bit rate 500 kBit s t Bus timing register value Hex 001C Message filter 9 Standard From 000 Hex To TFF Hex 0 Extended lokam Cancel 2 Help Figure 6 Selection of the CAN hardware and parameters 2 From the list Available CAN hardware select the CAN channel to be used 3 Selectthe bit rate that is used by all nodes on the CAN bus from the dropdown list Bit rate 4 Under Filter settings you can limit the range of CAN IDs to be received either for standard frames 11 bit IDs or for extended frames 29 bit IDs 5 Finally confirm the settings in the dialog box with OK The main window of PCAN View appears see Figure 7 16 PCAN cPCI User Manual EAI 4 1 1 File Client S Hl AF Receive Transmit Trace O 18FEC000h Receive Transmit Tab Edit Transmit View Trace Help 4D 0 00 95 00 00 00 00 00 00 00 00 00 30 7B 00 00 00 00 00 02 050100 00 00 02 13 00 0400 008352 00 D9 7D 00 00 00 00 00 Cycle Time 49 19 11922 49 999 System 18FEC100h C9 5F 0100 00 00 00 00 999 18FEE500h 18FEE900h oo 00 00 00 00 00 00 00 00 00 00 00 00 53 00 00 00 1000 1000 O
10. ge or destroy components on the PCAN cPCI card Take precautions to avoid ESD when handling the card Set the solder bridge s on the PCAN cPCI card according to the desired settings During this procedure take especially care not to produce unwanted short circuits on the card Figure 3 shows the positions of the solder fields on the PCAN cPCI card The table below contains the possible settings 11 PCAN CPCI User Manual System J5 a N o D z gt Channel 1 9 O JP4 a o Channel 2 3 3U Channel 3 J4 fel Ji CAN 3 6 z 4 Channel J3 R69 R71 Figure 3 Positions of the solder fields on the PCAN cPCI card for a 5 Volt supply JP1 to JP4 for CAN channels 1 to 4 5 Volt supply gt None Pin 1 Pin 9 g g 9 a JP1 JP2 JP3 JP4 0 0 1 1 V 1 Pin 1 Pin9 SA 4 A Attention Risk of short circuit If the option described in this section is activated you may only connect or disconnect CAN cables or peripheral systems e g bus converters to or from the PCAN cPCI card while the computer is de energized 12 PCAN CPCI User Manual m System 3 3 Cabling 3 3 1 Termination A High speed CAN bus ISO 11898 2 must be terminated on both ends with 120 Ohms Otherwise there are interfering signal reflections and the transceivers of the connected CAN nodes CAN interface control device will not work The PCAN cPCI card does not have an internal termination Use
11. he pin assignment for CAN corresponds to the specification CiA 102 gt 5 V optional gt CAN_L gt GND GND CAN_H 5 V optional lt Figure 2 Pin assignment High speed CAN view onto a male D Sub connector on the PCAN cPCI card With the pins 1 and 9 devices with low power consumption e g bus converters can be directly supplied via the CAN connector At deli very these pins are not assigned You can find a detailed description in the following section 3 2 Tip You can connect a CAN bus with a different transmission standard via a bus converter PEAK System offers different bus converter modules e g PCAN TJA1054 for a Low speed CAN bus according to ISO 11898 3 _ a 10 PCAN CPCI User Manual m System 3 2 Supplying External Devices via the CAN Connector A 5 Volt supply can optionally be routed to pin 1 and or pin 9 of a D Sub connector independently for each connector by setting solder bridges on the PCAN cPCI card Thus devices with low power consumption e g bus converters can be directly supplied via the CAN connector When using this option the 5 Volt supply is connected to the power supply of the computer and is not fused separately For galvanic isolation the measuring unit contains an interconnected DC DC converter Therefore the current output is limited to 50 mA ID Proceed as follows to activate the 5 Volt supply by Attention Electrostatic discharge ESD can dama
12. in PDF format PCAN CPCI User Manual a System 2 Installing the Software and the Card This chapter covers the software setup for the PCAN cPCI card under Windows and the installation of the card in the computer Setup the driver before installing the PCAN cPCI card ID Do the following to install the driver 1 5 Make sure that you are logged in as user with administrator privileges not needed for normal use of the PCAN cPCI card later on Insert the supplied DVD into the appropriate drive of the computer Usually a navigation program appears a few moments later If not start the file Intro exe from the root directory of the DVD On the page English gt Drivers activate the entry PCAN PCI Click on Install now The setup program for the driver is executed Follow the instructions of the setup program W Tip If you don t want to install the CAN monitor PCAN View for AA aA Windows onto hard disk together with the driver you have the option to start the program later directly from DVD without prior installation PCAN CPCI User Manual a System I Do the following to install the PCAN cPCI card in the computer Attention Electrostatic discharge ESD can damage or destroy components on the PCAN cPCI card Take precautions to avoid ESD when handling the card 1 Atthe Quad Channel version of the PCAN cPCI card IPEH 003022 connect the cables of the additional front blind to the 10 p
13. in ports J1 CAN 3 and J2 CAN 4 J5 3 30 2 J4 R69 R71 a lt a a R67 R66 Figure 1 Positions of the pr the ports J1 CAN 3 lower marker and J2 CAN 4 upper marker 2 Shut down the computer 3 Disconnect the computer from the power supply 4 lf applicable remove the front blind of the CompactPCI slot to be used in the system The additional front blind with connectors used by the Quad Channel version needs a further place PCAN CPCI User Manual m System D Install the PCAN cPCI card in the appropriate 3U slot cPCI connection J1 For details refer to the documentation of the CompactPCI system 6 Place the additional connection blind beside the inserted PCAN cPCI card if applicable 7 Reconnect the power supply of the computer Do the following to complete the initialization 8 Turn onthe computer and start Windows Make sure that you are logged tn as user with administrator privileges Windows notifies that new hardware has been detected 9 The drivers are found and installed by Windows 10 Afterwards you can work as user with restricted rights again After the driver has been successfully set up you can find the entry PCAN PCI in the branch CAN Hardware of the Windows Device Manager PCAN CPCI User Manual a System 3 Connecting the CAN Bus 3 1 D Sub connector A High speed CAN bus ISO 11898 2 is connected to the 9 pin D Sub connector T
14. is 00 00 00 00 00 00 00 00 1000103 NL 22 00 00 00 00 00 00 00 415 2206 a l pacon Efa 8 56 65 68 69 63 6C 65 31 m 10001 109 R 8 28 00 00 00 00 00 00 00 PCAN View 8 00 5B 1E 01 00 00 00 00 8 00 FA 00 00 00 00 00 00 Available CAN hardware and PCAN nets Add Delet DLC Data _ _ Cycle Time Town IK Internal 8 18 00 11 00 1100 1100 Wait a fp PEAK PCI CAN at PCI Bus 4 Device 1 Channel 1 2 14 01 7 AF PCI125k 125 kBit s 2 1100 M1 AF PCI 250k 250 kBit s 4 00 0100 01 Wait AF PCI 500k 500 kBit s i PCAN USB Pro Device 11h Channel 1 Firmware 1 1 1 m PCAN USB Pro Device 11h Channel 2 Firmware 1 1 1 ee PCAN USB Device Bh Firmware 2 8 ISB 500 kBit s D3 Overruns 0 OXmtFull 0 E Bit rate 500 kBit s 7 Bus timing register value Hex 001C Message filter Standard From 000 Hex To 7FF Hex Extended Eris Bin Figure 5 PCAN View for Windows Do the following to start and initialize PCAN View 1 If PCAN View is already installed on the hard disk open the Windows Start menu go to Programs gt PCAN Hardware and select the entry PCAN View If you haven t installed PCAN View together with the device driver you can start the program directly from the supplied 15 PCAN cPCI User Manual m System DVD In the navigation program Intro exe go to English gt Tools and under PCAN View for Windows select the link Start The dialo
15. l among others In addition the CAN channel is marked as Free and is available to other applications 4 2 3 Notes about the License Device drivers the interface DLL and further files needed for linking are property of the PEAK System Technik GmbH and may be used only in connection with a hardware component purchased from PEAK System or one of its partners If a CAN hardware component of third party suppliers should be compatible to one of PEAK System then you are not allowed to use or to pass on the driver software of PEAK System If a third party supplier develops software based on the PCAN Basic and problems occur during the use of this software consult the software provider 24 PCAN CPCI User Manual a System 5 Technical Specifications Connectors Computer CAN CAN Specification Bit rates Controller Transceiver Galvanic isolation Supplying external devices Termination Supply Supply voltage Current consumption Measures Form factor Dimension Weight Continued on the next page CompactPCl connector J1 110 Pin 32 Bits D Sub m 9 pins Pin assignment according to specification CiA 102 ISO 11898 2 High speed CAN 2 0A standard format and 2 0B extended format 5 kbit s 1 Mbit s NXP SJA1000 NXP PCA82C251 Up to 500 V separate for each channel D Sub pin 1 pin 9 5 V max 50 mA Not assigned at delivery none 5V PCAN cPCI Dual Channel max 490 mA PCAN cPCI Qu
16. nnected to PCAN PCI 500 kBit s B Overruns 0 OXmtFull 0 Figure 9 Trace Tab System On the Trace tab the data tracer of PCAN View is used for logging the communication on a CAN bus During this process the CAN messages are cached in the working memory of the PC Afterwards they can be saved to a file The tracer can be configured to run in linear or in ring buffer mode In linear buffer mode the logging is stopped as soon as the buffer is filled completely In ring buffer mode the oldest messages are overwritten by incoming ones 19 PCAN CPCI User Manual m 4 1 3 Status Bar O Connected to PCAN PCI 500 kBit s B9 Overruns 0 OxrmtFull 0 Figure 10 Display of the Status Bar The status bar shows information about the current CAN connection about error counters Overruns OXmtFull and shows error messages You can find further information about the use of PCAN View in the help which you can invoke in the program via the menu Help or the F1 key 20 PCAN CPCI User Manual System 4 2 Linking Own Programs with PCAN Bas ic Figure 11 PCAN Basic On the provided DVD you can find files of the programming interface PCAN Basic in the directory branch Develop This API provides basic functions for linking own programs to CAN interfaces by PEAK System and can be used for the following operating systems Windows 8 7 Vista 32 64 bit Windows CE 6 x x86 A
17. nnector 11 3 3 Cabling 13 3 3 1 Termination 13 os 2 Example of a Connection 13 3 3 3 Maximum Bus Length 14 4 Using the Software 15 4 1 CAN Monitor PCAN View for Windows 15 4 1 1 Receive Transmit Tab 17 4 1 2 Trace Tab 19 4 1 3 Status Bar 20 4 2 Linking Own Programs with PCAN Basic 21 4 2 1 Features of PCAN Basic 22 4 2 2 Principle Description of the API 23 4 2 3 Notes about the License 24 5 Technical Specifications 25 Appendix A CE Certificate 27 Appendix B Dimension Drawings 28 Appendix C Quick Reference 30 PCAN CPCI User Manual m System 1 Introduct on The PCAN cPCI card enables the connection of an industrial computer system with CompactPCl to CAN networks There is galvanic isolation of up to 500 Volts between the computer and CAN sides The card is available as a dual or four channel version Device drivers and programming interfaces exist for different operating systems SO programs can easily access a connected CAN bus Tip At the end of this manual Appendix C you can find a Quick Reference with brief information about the installation and operation of the PCAN cPCI card 1 1 Properties at a Glance Extension card with euroboard form factor 3U for a CompactPCl system 2 or 4 High speed CAN channels ISO 11898 2 Compliant with CAN specifications 2 0A 11 bit ID and 2 0B 29 bit ID Bit rates from 5 kbit s up to 1 Mbit s CAN bus connection via D Sub 9 pin in accordance with CiA 102 NXP
18. t messages manually with the menu command Transmit gt Send alternatively Space bar The manual transmission for CAN messages being transmitted periodically is carried out additionally x q Tip Using the menu command File gt Save the current transmit messages can be saved to a list and loaded for reuse later on 2 18 PCAN CPCI User Manual PEAK 4 1 2 File Client Trace Tab Edit Transmit View Trace Help 539 4616 539 4797 539 5002 539 5109 539 5113 539 5116 539 5207 539 5402 539 5598 539 5627 539 5633 539 5803 539 5998 539 6115 539 6123 539 6126 539 6203 539 6399 Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data Data 18F00400 18F00400 18F00400 18FEF100 18F00300 18FE6C00 18F00400 18F00400 18F00400 18F00300 18FE6CO0 18F00400 18F00400 18FEF100 18F00300 18FE6CO0 18F00400 18F00400 Ring Buffer Rx 1264 O m m m Mm G M M Mm mo m Data 00 00 00 73 65 00 00 00 00 00 00 73 65 00 00 00 00 00 00 73 65 00 00 00 00 14 33 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 14 33 00 00 00 73 65 00 00 00 00 00 00 73 65 00 00 00 00 00 00 73 65 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 14 33 00 00 00 73 65 00 00 00 00 00 00 73 65 00 00 00 00 14 33 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 00 14 33 00 00 00 73 65 00 00 00 00 00 00 73 65 00 00 00 Errors 0 0O Co
19. the card ona terminated CAN bus 3 3 2 Example of a Connection Control Device Computer Figure 4 Simple CAN connection In this example the PCAN cPCI card is connected with a control unit by a cable that is terminated at both ends 13 PCAN CPCI User Manual m 33353 System Maximum Bus Length High Speed CAN networks may have bit rates of up to 1 Mbit s The maximum bus length depends primarily on the bit rate The following table shows the maximum possible CAN bus length at different bit rates Bit rate 1 Mbit s 500 kbit s 250 kbit s 125 kbit s 50 kbit s 20 kbit s 10 kbit s 5 kbit s Bus length 40 m 110 m 240 m 500 m 1 3 km 3 3 km 6 6 km 13 0 km The listed values have been calculated on the basis of an idealized system and can differ from reality 14 PCAN CPCI User Manual a System 4 Using the Software This chapter covers the provided software PCAN View and the programming interface PCAN Basic 4 1 CAN Monitor PCAN View for Windows PCAN View for Windows is a simple CAN monitor for viewing transmitting and logging CAN messages File Client Edit Transmit View Trace Help S Hlyn x0 ela do AF Receive Transmit I Trace amp PCAN USB Message LC Data Cycle Tim Count 18FEC000h 8 00 7F 7D 00 00 00 00 00 1001 1103 18FEC100h 8 88 00 00 00 00 00 00 00 1001 1103 18FEE500h 8 00 00 00 00 00 00 00 00 1001 1103 S isrecoo0n B
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