ESD PMC-CAN/402-4-FD, XMC-CAN/402-4-FD Owner's manual

Brand: ESD

Model: PMC-CAN/402-4-FD, XMC-CAN/402-4-FD

Category: Interface cards/adapters

Type: Owner's manual

Below you will find brief information for PMC-CAN/402-4-FD, XMC-CAN/402-4-FD, PMC-CAN/402-4-FD-IRIG-B, XMC-CAN/402-4-FD-IRIG-B, PMC-CAN/402-4-FD-T. These CAN interface boards provide four independent CAN FD interfaces and an optional IRIG-B interface. The interfaces are driven by the esdACC core implemented in an Intel FPGA. They support bus mastering, MSI, and offer high-resolution 64-bit hardware timestamps. The boards are compatible with classical CAN and can be used in classical CAN applications. The PMC-CAN/402-4-FD-T version is designed for extended temperature ranges.

PMC-CAN/402-4-FD,

XMC-CAN/402-4-FD

PMC or XMC Board with 4 CAN FD

Interfaces and optional IRIG-B

PMC-CAN/402-4-FD

XMC-CAN/402-4-FD

Hardware Manual

to Products C.2018.68, C.2018.69

C.2028.68, C.2028.69, C.2028.78

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 1 of 46

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

N O T E

The information in this document has been carefully checked and is believed to be entirely reliable.

esd electronics makes no warranty of any kind with regard to the material in this document, and

assumes no responsibility for any errors that may appear in this document. In particular

descriptions and technical data specified in this document may not be constituted to be guaranteed

product features in any legal sense.

esd electronics reserves the right to make changes without notice to this, or any of its products, to

improve reliability, performance or design.

All rights to this documentation are reserved by esd electronics. Distribution to third parties, and

reproduction of this document in any form, whole or in part, are subject to esd electronics's

written approval.

esd electronics gmbh

Vahrenwalder Str. 207

30165 Hannover

Germany

Phone: +49-511-372 98-0

Fax: +49-511-372 98-68

E-Mail: [email protected]

Internet: www.esd.eu

This manual contains important information and instructions on safe and efficient

handling of the PMC/XMC-CAN/402-4-FD. Carefully read this manual before

commencing any work and follow the instructions.

The manual is a product component, please retain it for future use.

Trademark Notices

Linux® is the registered trademark of Linus Torvalds in the United States and/or other countries.

Microsoft® and Windows® are registered trademarks of Microsoft Corporation in the United States and/or other

countries.

QNX® is a registered trademark of QNX Software Systems Limited, and are registered trademarks and/or used in certain

jurisdictions.

All other trademarks, product names, company names or company logos used in this manual are reserved by their

respective owners.

Page 2 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Document file: I:\Texte\Doku\MANUALS\PMC-XMC\PMC_XMC-CAN402-4-FD\English\PMC_XMC-CAN402-4-

FD_Hardware-Manual_en_13.odt

Date of print: 2019-06-18

Document type

number: DOC0800

Hardware version: PCB 1.1

Document History

The changes in the document listed below affect changes in the hardware as well as changes in

the description of the facts, only.

Rev. Chapter Changes versus previous version Date

1.0 - First English manual for PMC-CAN/402-4-FD and XMC-CAN/402-4-FD 2017-12-12

1.1 1.2, 6.7 Note on potential interoperability with enabled PCI Express Native Mode

inserted (PMC-CAN/402-4-FD only) 2018-02-23

10. Chapter inserted:“Application Note to PMC-CAN/402”

1.2

1.2 Note on CAN FD inserted

2018-12-211.2, 6.7 Note on potential interoperability revised (PMC-CAN/402-4-FD only)

10. Chapter revised, note on Linux operating systems added

1.3

- Note on conformity added under Safety Instructions

2019-06-18

1.2 Description of esdACC and CAN FD supplemented

1.3 PMC-CAN/402-4-FD-T added, customization of temperature range deleted

10.2 Link to Linux-PCI kernel mailing list updated

11. Declarations of Conformity updated

12. PMC-CAN/402-4-FD-T added in Order Information

Technical details are subject to change without further notice.

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 3 of 46

Classification of Warning Messages and Safety Instructions

This manual contains noticeable descriptions, warning messages and safety instructions, which

you must follow to avoid personal injuries or death and property damage.

This is the safety alert symbol.

It is used to alert you to potential personal injury hazards. Obey all safety messages

and instructions that follow this symbol to avoid possible injury or death.

DANGER, WARNING, CAUTION

Depending on the hazard level the signal words DANGER, WARNING or CAUTION are used to

highlight safety instructions and warning messages. These messages may also include a warning

relating to property damage.

DANGER

Danger statements 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 could result in things other than

personal injury, like property damage.

NOTICE

This NOTICE statement indicates that the device contains components sensitive to

electrostatic discharge.

NOTICE

This NOTICE statement contains the general mandatory sign and gives information that

must be heeded and complied with for a safe use.

INFORMATION

Notes to point out something important or useful.

Page 4 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Safety Instructions

● When working with the PMC/XMC-CAN/402-4-FD follow the instructions below and read the manual

carefully to protect yourself from injury and the PMC/XMC-CAN/402-4-FD from damage.

● The device is a built-in component. It is essential to ensure that the device is mounted in a way that

cannot lead to endangering or injury of persons or damage to objects.

● Do not use damaged or defective cables to connect the PMC/XMC-CAN/402-4-FD and follow the

CAN wiring hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".

● In case of damages to the device, which might affect safety, appropriate and immediate measures

must be taken, that exclude an endangerment of persons and domestic animals and property.

● Current circuits which are connected to the device have to be sufficiently protected against

hazardous voltage (SELV according to EN 60950-1).

● The PMC/XMC-CAN/402-4-FD may only be driven by current circuits, that are contact-protected.

A power supply, that provides a safety extra-low voltage (SELV) according to EN 60950-1, complies

with this conditions.

● The device has to be securely installed in the control cabinet before commissioning.

● Protect the PMC/XMC-CAN/402-4-FD from dust, moisture and steam.

● Protect the PMC/XMC-CAN/402-4-FD from shocks and vibrations.

● The PMC/XMC-CAN/402-4-FD may become warm during normal use. Always allow adequate

ventilation around the PMC/XMC-CAN/402-4-FD and use care when handling.

● Do not operate the PMC/XMC-CAN/402-4-FD adjacent to heat sources and do not expose it 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 PMC/XMC-

CAN/402-4-FD is to be integrated.

→ Disconnect all hazardous voltages (mains voltage) before opening the system.

→ Ensure the absence of voltage before starting any electrical work

NOTICE

Electrostatic discharges may cause damage to electronic components.

→

To avoid this, please discharge the static electricity from your body before you touch

the PMC/XMC-CAN/402-4-FD.

Furthermore, you should prevent your clothes from touching the PMC/XMC-CAN/402-

4-FD, because your clothes might be electrostatically charged as well.

Qualified Personnel

This documentation is directed exclusively towards personnel qualified in control and automation

engineering. The installation and commissioning of the product may only be carried out by qualified

personnel, which is authorized to put devices, systems and electric circuits into operation according to

the applicable national standards of safety engineering.

Conformity

The PMC/XMC-CAN/402-4-FD is an industrial product and meets the demands of the EU regulations

and EMC standards printed in the conformity declaration at the end of this manual.

Warning: In a residential, commercial or light industrial environment the PMC/XMC-CAN/402-4-FD

may cause radio interferences in which case the user may be required to take adequate

measures.

The PMC/XMC-CAN/402-4-FD is a sub-assembly intended for incorporation into an apparatus by a

manufacturer. The manufacturer of the final system must decide, whether additional EMC or EMI

protection requirements are necessary.

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 5 of 46

Intended Use

The intended use of the PMC-CAN/402-4-FD is the operation as PMC-CAN interface on a base board

according to IEEE 1386.1-2001.

The intended use of the XMC-CAN/402-4-FD is the operation as XMC-CAN interface on a base board

according to Vita 42.3.

The guarantee given by esd does not cover damages which result from improper use, usage not in

accordance with regulations or disregard of safety instructions and warnings.

● The PMC-CAN/402-4-FD is intended for installation in PMC slots according to IEEE 1386.1-2001.

The XMC-CAN/402-4-FD is intended for installation in XMC slots according to Vita 42.3.

● The operation of the PMC/XMC-CAN/402-4-FD in hazardous areas, or areas exposed to potentially

explosive materials is not permitted.

● The operation of the PMC/XMC-CAN/402-4-FD for medical purposes is prohibited.

Service Note

The PMC/XMC-CAN/402-4-FD does not contain any parts that require maintenance by the user. The

PMC/XMC-CAN/402-4-FD does not require any manual configuration of the hardware. 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 or

have to be returned to the manufacturer for proper disposal. Please, make a contribution to

environmental protection.

Typographical Conventions

Throughout this manual the following typographical conventions are used to distinguish technical terms.

Convention Example

File and path names /dev/null or <stdio.h>

Function names open()

Programming constants NULL

Programming data types uint32_t

Variable names Count

Number Representation

All numbers in this document are base 10 unless designated otherwise. Hexadecimal numbers have a prefix

of 0x, and binary numbers have a prefix of 0b. For example, 42 is represented as 0x2A in hexadecimal and

0b101010 in binary.

Abbreviations

API Application Programming Interface

CAN Controller Area Network

CPU Central Processing Unit

CiA CAN in Automation

HW Hardware

I/O Input/Output

LSB Least Significant Bit

MSB Most Significant Bit

n.a. not applicable

OS Operating System

SDK Software Development Kit

Page 6 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Table of contents
 Safety Instructions...........................................................................................................................5
Overview......................................................................................................................................9
1 About this manual..................................................................................................................9
2 General Properties of the PMC/XMC-CAN/402-4-FD............................................................9
3 PMC-CAN/402-4-FD............................................................................................................11
4 XMC-CAN/402-4-FD............................................................................................................11
PCB-View with Connector and Jumper Positions.......................................................................12
1 PMC-CAN/402-4-FD Versions.............................................................................................12
2 XMC-CAN/402-4-FD Versions.............................................................................................12
Jumper Configuration.................................................................................................................13
1 CAN Termination .................................................................................................................13
LEDs..........................................................................................................................................14
Hardware Installation..................................................................................................................15
Technical Data............................................................................................................................17
1 General Technical Data........................................................................................................17
2 CAN FD Interface ................................................................................................................18
3 IRIG-B Interface...................................................................................................................18
4 PMC Interface......................................................................................................................19
5 XMC Interface......................................................................................................................19
6 Message-Signalled Interrupt Handling.................................................................................19
7 Software Support.................................................................................................................20
Connector Assignments..............................................................................................................21
1 I/O Connector X800 (DSUB25 male) Pin Assignment..........................................................21
1.1 Adapter Cables DSUB25 to DSUB9............................................................................22
1.1.1 CAN Interfaces via DSUB9...................................................................................24
1.1.2 IRIG-B Input via DSUB9.......................................................................................25
1.1.3 IRIG-B Wiring at CAN/400-4-1C5 ........................................................................26
2 PMC Connectors..................................................................................................................27
2.1 PMC Connector P1.....................................................................................................27
2.2 PMC Connector P2.....................................................................................................28
3 XMC Connector...................................................................................................................29
3.1 XMC Connector P5 ....................................................................................................29
Correct Wiring of Electrically Isolated CAN Networks.................................................................30
1 Standards concerning CAN Wiring......................................................................................30
2 Light Industrial Environment (Single Twisted Pair Cable).....................................................31
2.1 General Rules.............................................................................................................31
2.2 Cabling........................................................................................................................32
2.3 Branching....................................................................................................................32
2.4 Termination..................................................................................................................32
3 Heavy Industrial Environment (Double Twisted Pair Cable).................................................33
3.1 General Rules.............................................................................................................33
3.2 Device Cabling............................................................................................................34
3.3 Branching....................................................................................................................34
3.4 Termination..................................................................................................................34
4 Electrical Grounding.............................................................................................................35
5 Bus Length...........................................................................................................................35
6 Examples for CAN Cables...................................................................................................36
6.1 Cable for light industrial Environment Applications (Two-Wire)....................................36
6.2 Cable for heavy industrial Environment Applications (Four-Wire)................................36
PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 7 of 46

CAN Troubleshooting Guide.......................................................................................................37
1 Termination..........................................................................................................................37
2 Electrical Grounding.............................................................................................................38
3 Short Circuit in CAN Wiring..................................................................................................38
4 CAN_H/CAN_L-Voltage ......................................................................................................38
5 CAN Transceiver Resistance Test........................................................................................39
6 Support by esd.....................................................................................................................39
Application Note to PMC-CAN/402...........................................................................................40
1 Windows Operating System...............................................................................................40
2 Linux Operating System.....................................................................................................41
Declaration of Conformity.........................................................................................................43
1 PMC-CAN/402-4-FD..........................................................................................................43
2 XMC-CAN/402-4-FD..........................................................................................................44
Order Information.....................................................................................................................45
1 Hardware...........................................................................................................................45
2 Software.............................................................................................................................46
3 Manuals.............................................................................................................................46
Page 8 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Overview

1. Overview

1.1 About this manual

In this manual the PMC-CAN/402-4-FD and the XMC-CAN/402-4-FD and their order options with

additional IRIG-B interface are described together as PMC/XMC-CAN/402-4-FD.

Differences of the boards are noted where they are described.

1.2 General Properties of the PMC/XMC-CAN/402-4-FD

The PMC/XMC-CAN/402-4-FD comes with four independent CAN FD interfaces according to ISO

11898-1:2015, which are driven by the ISO 16845:2004 certified esdACC (esd advanced CAN

Core), implemented in an Intel® (formerly Altera®) FPGA.

For further information about esdACC see https://esd.eu/en/products/esdacc.

CAN FD

Due to the higher bit rate in the data phase in combination with the increase of efficiency by a

higher number of user-data bytes, CAN FD offers a higher data throughput while maintaining the

qualities of the Classical CAN.

The PMC/XMC-CAN/402-4-FD is fully backwards compatible with CAN and can also be used in

Classical CAN applications.

INFORMATION

Every CAN FD controller is backward compatible to the Classical CAN protocol.

Classical CAN nodes and CAN FD nodes can communicate with each other as long as

the CAN FD frame format remains unused!

You can insert for example the PMC/XMC-CAN/402-4-FD in your Classical CAN application if you

want to replace a Classical CAN component. The CAN FD board automatically communicates like

a Classical CAN board (the existing program code can be used unchanged). The PMC/XMC-

CAN/402-4-FD has to communicate with the CAN nodes via Classical CAN frames, because

Classical CAN controllers do not tolerate CAN FD frames. All controllers have to use the same

Classical CAN Bitrate.

INFORMATION

During the initialisation of the CAN controller of the CAN FD boards the application

determines via software if the CAN FD boards communicate with Classical CAN or with

CAN FD.

See NTCAN-API Manual Part 1: “Application Developers Manual” for further information.

NOTICE

The system 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.

CAN Data Management

The FPGA supports bus mastering (firstparty DMA) to transfer data to the host memory.

This results in a reduction of overall latency on servicing I/O transactions in particular at higher

data rates and a reduced host CPU load.

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 9 of 46

Overview

Due to the usage of MSI (Message Signalled Interrupts) the PMC/XMC-CAN/402-4-FD can be

operated for example in Hypervisor environments. It provides high resolution 64-bit hardware

timestamps for CAN messages.

NOTICE (PMC-CAN/402-4-FD versions only)

PMC-CAN/402-4-FD boards which are equipped with the Pericom® PCI-to-PCI bridge

PI7C9X111SL might have a potential interoperability problem in Microsoft Windows or in

Linux operating systems. Read chapter “Application Note to PMC-CAN/402“ on page 40

for information about this.

Additional IRIG-B

The PMC/XMC-CAN/402-4-FD-IRIG-B comes with an additional IRIG-B interface, via the DSUB25

connector. The interface offers inputs for analog or RS-422 compatible IRIG-B coded signals at the

front panel. Both are electrically isolated.

IRIG-B evaluation is controlled by an additional soft microcontroller implemented in the FPGA.

Extended Temperature Range

Optional the version PMC-CAN/402-4-FD-T of the PMC board is designed to be used in an

extended temperature range ( -40° C … +75° C)

Accessories

Adapter cables for the 25-pin DSUB connector in the front panel to 9-pin DSUB connectors for 4x

CAN and optional IRIG-B (analog and RS-422 compatible) are available.

Customization

Customized options are available for customized series production in reasonable quantities.

Please contact our sales team for detailed information.

Page 10 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Overview

1.3 PMC-CAN/402-4-FD

Figure 1: Block circuit diagram PMC-CAN/402-4-FD versions

Figure 1 shows the block circuit diagram of PMC-CAN/402-4-FD, PMC-CAN/402-4-FD-T and

PMC-CAN/402-4-FD-IRIG-B

Customized solutions are e.g.:

- Digital input (RS-422 compatible) for IRIG-B via PMC connector Pn4 (without electrical isolation).

- Error simulation support

- All signals via Rear I/O

1.4 XMC-CAN/402-4-FD

Figure 2: Block circuit diagram XMC-CAN/402-4-FD(-IRIG-B)

Figure 2 shows the block circuit diagram of XMC-CAN/402-4-FD and XMC-CAN/402-4-FD-IRIG-B.

Customized solutions are e.g.:

- Extended temperature range: -40° C … +75° C

- Digital input (RS-422 compatible) for IRIG-B via Rear I/O connector (without electrical isolation).

- Error simulation support

- All signals via Rear I/O

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 11 of 46

XMC Connector

4 x

CAN Core

with Timestamp

1x IRIG-B

FPGA

Altera EP4CGX

integrated 8-Bit

Microcontoller 8051

Electrical Isolation

DC/DC

Converter

Physical

CAN Layer

ISO11898-2

4x CAN FD

DSUB25

CiA pinning

Electrical Isolation

CAN

DSUB25

4x CAN FD Interface

CAN

Physical

IRIG-B Layer

RS-422

compatible

Physical

IRIG-B Layer

analog

IRIG-B

Front Panel

A/D

Converter

6 LEDs

Bus Master

Capability

(C.2018.69) only:

IRIG-B Input

XMC-CAN/402-4-FD-IRIG-B

Only

XMC-CAN/402-

4-FD-IRIG-B

(C.2018.69):

IRIG-B Input

4 x

CAN Core

with Timestamp

1x IRIG-B

FPGA

Altera EP4CGX

PMC Connector

Pn4

Customized Options

IRQ A

PCI to PCIe

Bridge

P17C9x1115L

Bus Master

Capability

PMC Connectors

Pn1, Pn2

integrated 8-Bit

Microcontoller 8051

(C.2028.69) only:

IRIG-B Input

Electrical Isolation

DC/DC

Converter

Physical

CAN Layer

ISO11898-2

4x CAN FD

DSUB25

CiA pinning

Electrical Isolation

CAN

DSUB25

(X400)

4x CAN FD Interface

CAN

PMC-CAN/402-4-FD-IRIG-B

Physical

IRIG-B Layer

RS-422

compatible

Physical

IRIG-B Layer

analog

IRIG-B

PMC

Front Panel

A/D

Converter

6 LEDs

optional FPGA-IO

IRIG-B

Only

PMC-CAN/402-

4-FD-IRIG-B

(C.2028.69):

IRIG-B Input

IRIG-B Input via Pn4

PCB-View with Connector and Jumper Positions

2. PCB-View with Connector and Jumper Positions

2.1 PMC-CAN/402-4-FD Versions

Note the special arrangement of

the termination jumpers CAN 1/0!

Figure 3: Top layer view of PMC-CAN/402-4-FD facing the carrier board

See also from page 21 for signal assignment of the connectors.

2.2 XMC-CAN/402-4-FD Versions

Note the special arrangement of

the termination jumpers CAN 1/0!

Figure 4: Top layer view of XMC-CAN/402-4-FD facing the carrier board

See also from page 21 for signal assignment of the connectors.

Page 12 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Jumper Configuration

3. Jumper Configuration

3.1 CAN Termination

An on-board termination resistor of 120Ω can be individually enabled for each CAN interface via

jumpers.

For the position of the jumpers and jumper depots on the PMC/XMC-CAN/402-4-FD see Figure 3

or 4 on page 12.

Name Jumper Jumper set Jumper not set Jumper

Depot

CAN1 JP610 Internal termination of CAN1 CAN1 has to be terminated externally JP531

CAN0 JP600 Internal termination of CAN0 CAN0 has to be terminated externally JP530

CAN2 JP700 Internal termination of CAN3 CAN3 has to be terminated externally JP532

CAN3 JP710 Internal termination of CAN2 CAN2 has to be terminated externally JP533

NOTICE

It is strongly recommended to keep the jumpers which are not needed for CAN

termination on the corresponding jumper depots CAN0 - CAN3!

A missing jumper in the depot will be interpreted as an internally terminated CAN

interface.

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 13 of 46

LEDs

4. LEDs

The PMC/XMC-CAN/402-4-FD is equipped with 6 green LEDs in the front panel.

INFORMATION

The IRIG-B option is only available on the the PMC/XMC-CAN/402-4-FD-IRIG-B boards

(C.2028.69 and C.2018.69)

Figure 5: Front panel view of PMC/XMC-CAN/402-4-FD

Label Function Indication (LED on)

RRUN Board (FPGA) booted

IRIG-B

IRIG-B Link - PMC/XMC-CAN/402-4-FD-IRIG-B only,

(C.2018. 69 and C.2028.69)

flickering - no signal

blinking - synchronisation is proceeding

on - synchronised

Reserved

Reserved - For the PMC/XMC-CAN/402-4-FD boards without

IRIG-B option (C.2018.68 and C.2028.68)

the LED is without function

1CAN 0 blinking - Traffic on CAN 0

2CAN 1 blinking - Traffic on CAN 1

3CAN 2 blinking - Traffic on CAN 2

4CAN 3 blinking - Traffic on CAN 3

Table 1: LED description

Page 14 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Hardware Installation

5. Hardware Installation

NOTICE

Read the safety instructions at the beginning of this document carefully, before

you start with the hardware installation!

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 PMC/XMC-

CAN/402-4-FD is to be integrated.

→ Disconnect all hazardous voltages (mains voltage) before opening the system.

→ Ensure the absence of voltage before starting any electrical work

NOTICE

Electrostatic discharges may cause damage to electronic components.

→

To avoid this, please discharge the static electricity from your body before you touch

the PMC/XMC-CAN/402-4-FD.

Furthermore, you should prevent your clothes from touching the PMC/XMC-CAN/402-

4-FD, because your clothes might be electrostatically charged as well.

Procedure:

1. Switch off your computer and all connected peripheral devices (monitor, printer, etc.).

2. Discharge your body as described above.

3. Disconnect the computer 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 make sure that the

fuse cannot switch on again unintentionally (i.e. with caution label).

Ensure the absence of voltage before starting any electrical work.

Cover or block off adjacent live parts.

4. Open the case.

5. A conductive O-ring is contained in the product package of the PMC/XMC-CAN/402-4-FD

module. Mount the conductive O-ring on the front panel of the PMC/XMC-CAN/402-4-FD to

obtain EMC shielding.

6. Set the jumpers for the internal termination of the CAN interfaces according to your needs, as

described in chapter “Jumper Configuration”, page 13

7. Remove the carrier board (if already installed) and plug the PMC/XMC-CAN/402-4-FD

carefully on the carrier board. Pay attention that the PMC/XMC-CAN/402-4-FD module is

correctly installed on the carrier board.

Fix the PMC/XMC-CAN/402-4-FD with the screws on the carrier board. Use the four M 2.5 x

6 mm screws which are contained in the product package of the module.

8. Install the carrier board in your system.

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 15 of 46

Hardware Installation

9. Close the computer case again.

10. Connect the CAN interfaces and optionally the IRIG-B input via the DSUB25 connector in the

front panel of the PMC/XMC-CAN/402-4-FD.

NOTICE

Please note that the CAN bus has to be terminated at both ends!

If the integrated CAN termination of the CAN 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 30.

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 electrical connection to earth potential acts as an earth connection.

NOTICE

To ensure the EC Conformity shielded cables have to be used.

In an adapter cable FE (functional earth) shall be connected to the cable shield.

It is recommended to use the cable CAN/400-4-1C5 or CAN/400-4-1C4, as

described in chapter 'Adapter Cables DSUB25 to DSUB9', page 22.

The conformity is granted when using this cables.

See also page 26 for notes on the IRIG-B wiring.

11. Connect the computer to mains again (mains connector or safety fuse).

12. Switch on the computer and the peripheral devices.

13. End of hardware installation.

Page 16 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Technical Data

6. Technical Data

6.1 General Technical Data

Ambient

temperature

Standard: 0...75°C,

Extended temperature range: -40° C … +75° C (C.2028.78 only)

Humidity 90 %, non-condensing

Supply voltage

Nominal voltage: 3.3 VDC ±5% / I3.3V_MAX = 1 A,

I3.3V_TYPICAL = 750 mA,

Absolute maximum power: P3.3V_MAX = 4W (4x CAN, 100% bus load)

Plug- and socket

connectors

PMC-CAN/402-4-FD, PMC-CAN/402-4-FD-T,

PMC-CAN/402-4-FD-IRIG-B:

P1,

P2,

CAN 0-3,

IRIG-B

(64-pin PMC connector) - PCI bus,

(DSUB25, X800) - CAN, IRIG-B (physical layers available)

The IRIG-B option is only equipped on the PMC-CAN/402-4-

FD-IRIG-B, order No.: C.2028.69

Only for test- and programming purposes:

X200 (Samtec CLM104-02-F-D-BE) - JTAG Bridge

X400 (Samtec CLM104-02-F-D-BE) - JTAG FPGA

XMC-CAN/402-4-FD,

XMC-CAN/402-4-FD-IRIG-B:

P5,

CAN 0-3,

IRIG-B

(Samtec: ASP-105885-01 connector) - PCI Express bus,

(DSUB25, X800) - CAN, IRIG-B (physical layers available)

The IRIG-B option is only equipped on the XMC-CAN/402-4-

FD-IRIG-B, order No.: C.2018.69

Only for test- and programming purposes:

X400 (Samtec CLM104-02-F-D-BE) - JTAG FPGA

Dimensions

(width x height) 74.0 mm x 149.0 mm (single PMC size)

Weight Approximately 100 g

Table 2: General technical data of the module

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 17 of 46

Technical Data

6.2 CAN FD Interface

Number of CAN FD

interfaces

4x CAN FD interfaces (CAN0 - CAN3)

CAN controller esdACC in EP4CGX Intel 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

Transceiver 4 x Microchip MCP2561FDE/SN

Bus termination Terminating resistors (120Ω) can be set via jumpers for each individual CAN

channel

Electrical isolation

Electrical isolation via digital isolator and DC/DC-converters is possible:

voltage over CAN isolation

(CAN to slot bracket/EARTH;

CAN to host/system ground;

CAN to CAN): 1000V DC @ 1s (I < 1 mA)

Connector 1x 25-pin DSUB, male

Table 3: Data of the CAN FD interface

6.3 IRIG-B Interface

INFORMATION

The IRIG-B option is only equipped on the the PMC/XMC-CAN/402-4-FD-IRIG-B boards

(C.2028.69 and C.2018.69)

Number 1 x analogue,

1 x digital

Design IRIG-B Input according to standard 200-87 in format B122 (analog) and

B003 (digital), both electrically isolated

Controller 8051 microprocessor, integrated in the FPGA

Connector DSUB25 in the front panel

Table 4: IRIG-B Inputs

Page 18 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

Technical Data

6.4 PMC Interface

INFORMATION

The PMC interface is only equipped on the PMC boards PMC-CAN/402-4-FD (C.2028.68)

and PMC-CAN/402-4-FD-IRIG-B (C.2028.69)

Number 1

Standard PMC according to IEEE Std 1386.1-2001

PCI bus PCI bus according to PCI Local Bus Specification 3.0,

32 bit 33/66 MHz, PCI bus master capability

Voltage 3.3 V, (5 V tolerant)

Connector Via PMC P1, PMC P2

Table 5: Data of the PMC interface

6.5 XMC Interface

INFORMATION

The XMC interface is only equipped on the XMC boards XMC-CAN/402-4-FD (C.2018.68)

and XMC-CAN/402-4-FD-IRIG-B (C.2018.69)

Number 1

Standard XMC according to VITA 42.3

PCIe port According to PCI Express Specification R1.0a, Link width 1x

Connector Via XMC P5

Table 6: PCI bus data

6.6 Message-Signalled Interrupt Handling

The PMC/XMC-CAN/402-4-FD supports MSI. The equipped PCI-to-PCIe bridge is able to convert

MSI's from the PCIe bus to “Hardware” Interrupt lines or to PCI MSI'.

The MSI enable bit in the capability pointer of the PCI-to-PCIe bridge is enabled. Usually this bit is

modified during the plug-and-play run of the operating system and is set depending on the system

configuration: Therefore it is not possible to affect the usage of MSI/Legacy IRQ directly.

PMC/XMC-CAN/402-4-FD Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 Page 19 of 46

Technical Data

6.7 Software Support

The CAN layer 2 (CAN-API) software installation and the software drivers are described in the

manual:

“NTCAN-API Part 1: Structure, Function and C/C++ API” Application Developers Manual and

“NTCAN-API Part 2: Installation, Configuration and Firmware Update” Installation Guide

esd-order No.: C.2001.21

CAN layer 2 (CAN-API) software drivers are available for Windows®, QNX®, RTX64.

Higher layer protocols (CANopen, J1939, ARINC825) are only supported for Classical CAN

applications on PMC/XMC-CAN/402-4-FD. See Order Information on page 45 for availability of the

drivers. For detailed information about the driver availability for your operating system, please

contact our sales team: [email protected].

NOTICE (PMC-CAN/402-4-FD versions only)

PMC-CAN/402-4-FD boards which are equipped with the Pericom® PCI-to-PCI bridge

PI7C9X111SL might have potential interoperability problems in Microsoft Windows or

Linux operating systems. Read chapter “Application Note to PMC-CAN/402“ on page 40

for information about this.

CAN Tools

esd offers additional free-of-charge tools which support efficient setup and analysis of CAN

applications and networks

The CAN Tools are operational with all esd PC-CAN interfaces (e.g. PCIe, USB, EtherCAN/2 ...)

The following CAN Tools are available:

CANreal Display and record of CAN message

frames

CANplot 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 SDK can also be downloaded free-of-charge from the esd website.

Page 20 of 46 Hardware Manual • Doc. No.: C.2018.21 / Rev. 1.3 PMC/XMC-CAN/402-4-FD

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