AMC-CAN4 - esd electronics, Inc. · esd makes no warranty of any kind with regard to the material...

AMC-CAN44 Channel AMC CAN Module

Hardware Manualto Product U.1002.01

AMC-CAN4 Hardware Manual • Doc. No.: U.1002.21 / Rev. 1.0 Page 1 of 24

esd electronic system design gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu • Fax: 0511/37 29 8-68 Phone: 0511/37 29 80 • International: +49-5 11-37 29 80

N O T E

The information in this document has been carefully checked and is believed to be entirely reliable. esd 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. esd reserves the right to make changes without 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 product of esd gmbh.

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

esd electronic system design gmbhVahrenwalder Str. 20730165 HannoverGermanyPhone: +49-511-372 98-0Fax: +49-511-372 98-68E-Mail: [email protected]: www.esd.eu

USA / Canada:esd electronics Inc.525 Bernardston RoadSuite 1Greenfield, MA 01301 USAPhone: +1-800-732-8006Fax: +1-800-732-8093E-mail: [email protected]: www.esd-electronics.us

Trademark Notices

CANopen® and CiA® are registered community trademarks of CAN in Automation e.V. Windows is a registered trademark of Microsoft Corporation in the United States and other countries.The PICMG® name and logo, are registered trademarks of the PCI Industrial Computer Manufacturers Group.

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

Page 2 of 24 Hardware Manual • Doc. No.: U.1002.21 / Rev. 1.0 AMC-CAN4

mailto:[email protected]

http://www.esd.eu/

Document file: I:\Texte\Doku\MANUALS\AMC\AMC-CAN4\AMC-CAN4_Hardware_en_10.odt

Date of print: 2011-03-03

Document type number: DOC0800

Firmware version: from FPGA release 0.0.23

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.

Revision Chapter Changes versus previous version Date

1.0 - First English version 2011-03-03

Technical details are subject to change without further notice.


Safety Instructions

! When working with AMC-CAN4 follow the instructions below and read the manual carefully to protect yourself and the AMC-CAN4 from damage.

! Protect the AMC-CAN4 from dust, moisture and steam. ! Protect the AMC-CAN4 from shocks and vibrations.! The AMC-CAN4 may become warm during normal use. Always allow adequate ventilation

around the AMC-CAN4 and use care when handling.! Do not operate the AMC-CAN4 adjacent to heat sources and do not expose it to unnecessary

thermal radiation. Ensure an ambient temperature as specified in the technical data.! Do not use damaged or defective cables to connect the AMC-CAN4.

Qualified PersonalThis documentation is directed exclusively towards qualified personal in control and automation engineering. The installation and commissioning of the product may only be carried out by qualified personal, which is authorized to put devices, systems and electric circuits into operation according to the applicable national standards of safety engineering.

Intended UseThe intended use of the AMC-CAN4 is the operation as AMC CAN module in a µTCA system. 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 AMC-CAN4 is intended for installation in a µTCA system only.! The operation of the AMC-CAN4 in hazardous areas, or areas exposed to potentially explosive

materials is not permitted.! The operation of the AMC-CAN4 for medical purposes is prohibited.

Service NoteThe AMC-CAN4 does not contain any parts that require maintenance by the user. The AMC-CAN4 does not require any manual configuration of the hardware.

Note on Environmental ProtectionDevices 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.


Table of contents1. Overview......................................................................................................................................7

2. PCB View with Connectors...........................................................................................................8

3. Hardware Installation ...................................................................................................................93.1 Front-Panel View.................................................................................................................10

3.1.1 Front Panel LEDs and Connectors..............................................................................10 3.1.2 LED Indication.............................................................................................................10

3.1.2.1 Description of the AMC LEDs...............................................................................103.1.2.2 Description of the CAN LEDs................................................................................11

4. Technical Data...........................................................................................................................124.1 General Technical Data.......................................................................................................124.2 MicroTCATM /AMC Standards.............................................................................................124.3 CAN Interface......................................................................................................................134.4 Software Support.................................................................................................................13

5. Interfaces and Connector Assignments......................................................................................145.1 CAN.....................................................................................................................................14

5.1.1 Connector Assignment RJ45.......................................................................................15 5.1.2 CAN via AMC-CAN-RJ45-DSUB9 Cable (Optional)....................................................16

6. Correctly Wiring Electrically Isolated CAN Networks..................................................................17

7. CAN-Bus Troubleshooting Guide...............................................................................................217.1 Termination..........................................................................................................................217.2 Ground.................................................................................................................................227.3 Short Circuit in CAN Wiring..................................................................................................227.4 CAN_H/CAN_L-Voltage ......................................................................................................227.5 CAN Transceiver Resistance Test ......................................................................................23

8. Order Information.......................................................................................................................24


This page is intentionally left blank.


Overview

1. Overview

Figure 1: Block circuit diagram

The AMC-CAN4 is an AMC CAN module, that features four CAN High-Speed interfaces according to ISO 11898-2. The CAN interfaces are electrically isolated against the controller potential and against each other. CAN status is displayed by two LEDs for each CAN channel placed at the RJ45 connectors.

CAN Data ManagementThe four independent CAN nets according to ISO 11898-1 are driven by the esd Advanced CAN Core (esdACC) CAN controller implemented in the Xilinx Spartan 3e FPGA.

Controlled by the FPGA the AMC-CAN4 supports PCI bus mastering as an initiator, meaning that it is capable of initiating write cycles to the host CPU’s RAM independent of the CPU or the system DMA controller. This results in a reduction of overall latency on servicing I/O transactions in particular at higher data rates.


CAN 2

CAN 1

CAN 4MicrowireEEPROM

PCI BridgePEX8311

J1AMC Connector

FPGASpartan

IIIe

SPIEEPROM

Bu

s In

terf

ace

CAN

CONFIG

IPMIController(ATMEL AVR)

IPMB

3.3VMP

PCIe

12V3.3V

Power Supply

Electrical Isolation

4x CAN Interface

CAN 3

PhysicalCAN LayerISO11898-2

DC/DCConverter

4x RJ45

CAN

StatusLEDs

PCB View with Connectors

2. PCB View with Connectors

Figure 2: PCB top view

See also page 14 for signal assignment of the CAN connectors.


Hardware Installation

3. Hardware Installation

Read the safety instructions at the beginning of this document carefully, before you start with the hardware installation!

Attention !Electrostatic discharges may cause damage to electronic components. To avoid this, please discharge the static electricity from your body by touching the metal case of the µTCA system before you touch the AMC-CAN4.

Procedure:

1. The AMC-CAN4 is electrically hot-pluggable.Insert the AMC-CAN4 into a free slot in your µTCA system.

2. Fix the AMC-CAN4 by pushing the handle with interlocking mechanism (see figure 2).3. Connect the RJ45 connectors (P1A - P1D) in the front panel (see figure 2) to the CAN bus,

e.g. via the optional AMC-CAN-RJ45-DSUB9 cable (see page 24) RJ45 to DSUB9 male. Please remember that the CAN bus has to be terminated at both ends. esd offers T-connectors and terminators. Additionally, the CAN-GND-signal has to be grounded at exactly one point in the CAN network. Therefore the CAN termination connectors have got a grounding contact. A CAN device whose CAN interface is not electrically isolated corresponds to the grounding of the CAN-GND.

4. End of hardware installation.Continue with the software installation as described in the software manual

'CAN-API, Part 2: Installation Guide'. Order Information: CAN-API-ME, Order No.: C.2001.21



3.1 Front-Panel View

3.1.1 Front Panel LEDs and Connectors

Figure 3: Connectors and LEDs

3.1.2 LED Indication

3.1.2.1 Description of the AMC LEDsThe AMC-CAN4 supports 3 AMC LEDs in the front panel (see figure 3).

Name Colour Description LED name in schematics diagram

AMC-LED1 red Controlled by IPMI. LED321

AMC-LED2 green Controlled by IPMI. Local function: Lit if FPGA is booted correctly. LED322

AMC-Blue blue

Controlled by IPMI.

LED320Off in operation

Blinking preparing for hot-plug (in transition)

On powered off, hot-plug allowed

Table 1: AMC LEDs



3.1.2.2 Description of the CAN LEDsFor each CAN channel (CAN1 ... 4), there are a CAN Traffic LED and a CAN Error LED, integrated in the corresponding RJ45 connector in the front panel of the AMC-CAN4 (see figure 3).

Name Colour Description

CAN Traffic green

Off Module not ready for operation

On Module ready

Blinking CAN Traffic, CAN frames are received or transmitted

Table 2: CAN Traffic LED

Name Colour Description

CAN Error yellow

Off Bus OK

On Bus Off 1*)

5 Flashes(LED 4x(200 ms on, 200 ms off)+ 1x(200ms on, 1000ms off))

Error Passive

1 Flash(LED 200 ms on, 1000 ms off) Error Warn

1*) Depends on CAN driver option.

Table 3: CAN Error LED


Technical Data

4. Technical Data4.1 General Technical Data

Power supply voltage

nominal voltage: 3.3 V (I3.3VMPMAX = 70 mA),12 V (I12VTYPICAL = 0.4 A, I12VMAX = 0.5 A)

Connectors CAN1 ... CAN4

AMC plug connector

(8 pin RJ45 P1A - D) - 4x CAN Interface

(170-pin AMC plug connector, J1) - AMC B/B+ compatible (MicroTCATM)

Only for test- and programming purposes: X300

X980

programming, debugging

JTAG interface

Temperature range 0...70 °C ambient temperature (free convection)

Humidity max. 90%, non-condensing

Dimensions mid-height, single-width (73.5 mm x 180 mm) AMC

Weight ca. 140 g

Table 4: General data of the module

4.2 MicroTCATM /AMC Standards

µTCA PICMG® MTCA.0 R1.0, PICMG® AMC.0 R2.0

IPMI IPMI V1.5

Updates PICMG® HPM.1 R1.0

PCIe PCISIG® PCIe spec. R.1.0a, only lane 4 is used

ConnectorAMC plug connector according to PICMG® 3.0 Rev. 3.0 AdvancedTCA® Base Specification and PICMG® AMC.1 R2.0 PCI Express on AdvancedMCTM

Table 5: MicroTCA standards


Technical Data

4.3 CAN InterfaceNumber of CAN interfaces 4

CAN controller esdACC in FPGA Spartan® 3e, acc. to ISO 11898-1 (CAN 2.0 A/B)

CAN protocol ISO 11898-1

Physical Layer High-speed CAN interface according to ISO 11898-2,bit rate up to 1 Mbit/s

Electrical isolationvia optocoupler and DC/DC converter,500 V (effective) between CAN potential and module-system-potential with pollution degree 1

Bus termination has to be set externallyConnector 4x RJ45, according to DS-303-1

4.4 Software SupportCAN layer 2 (CAN-API) software drivers are available for Windows, RTX, VxWorks*, QNX* and Linux* supporting up to 24 CAN nets. Drivers for other operating systems are available on request.The CANopen® software package is available for Windows*, RTX*, VxWorks*, QNX* and Linux*.The J1939 software package is available for Windows*, VxWorks*, QNX* and Linux*.

* For detailed information about the driver availability of your special operating system please contact our sales team.

The software installation and the software driver are described in the manual 'CAN-API-ME':

'CAN-API Part 1: Function Description' and'CAN-API Part 2: Installation Notes'

Order Information: CAN-API-ME, Order No.: C.2001.21


Interfaces and Connector Assignments

5. Interfaces and Connector Assignments5.1 CANThe CAN bus signals are electrically isolated from the other signals via digital isolator and DC/DC-converter.

Figure 4: Interface circuit of CAN interface 1 ... 4


I1

O2

GND1

O1

I2

VDD2

GND2

VDD

TX

R/GND

BUSL

RX BUSH

5V

++

- -

+5V

CAN_GND

DC/DC

GND

3.3V

GND

VC120605D150

CAN-Transceiver

100nF

VDD1

CAN_Tx

CAN_RxCAN_L

CAN_H

2

1

CAN_GND3

7

Digital Isolator

100nFCAN_GND

RJ45

+3.3V

+3.3V


5.1.1 Connector Assignment RJ45

The four RJ45 connectors have the same pin-assignment, each for the corresponding CAN interface.

Pin Position:

Pin Assignment:

Pin Signal1 CANx_H2 CANx_L3 CANx_GND4 -5 -6 -7 CANx_GND

((GND) optional GND)

8 -

S Shield

Signal Description:

CANx_L, CANx_H ... CAN signals of the CAN interface x (x... 1 - 4)CANx_GND... reference potential of the local CAN physical layer of CAN interface x

(x... 1 - 4) - ... reserved for future applications, do not connect!Shield... case shield, connected with the shield potential of the µTCA system


1 2 3 4 5 6 7 8

S


5.1.2 CAN via AMC-CAN-RJ45-DSUB9 Cable (Optional)As optional adapter from RJ45 to DSUB9 connector, the AMC-CAN-RJ45-DSUB9 cable (1.5 m, CAT6 SFTP) can be used.

Described connector: 9-pin DSUB connector, male

Pin Position:

Pin Assignment:

Signal Pin Signal

- 16 CAN_GND

((GND), optional GND)CAN_L 2

7 CAN_HCAN_GND 3

8 -- 4

9 -- 5

Shield connected to DSUB9 case

Signal Description:

CAN_L, CAN_H... CAN signalsCAN_GND... reference potential of local CAN physical layer- ... reserved for future applications, do not connect!Shield... cable shield, connected to DSUB9 case


1 2 3 4 5

6 7 8 9

Correctly Wiring Electrically Isolated CAN Networks

6. Correctly Wiring Electrically Isolated CAN Networks

Note:This chapter describes the correct wiring of electrically isolated CAN networks using DSUB9 connectors. It applies accordingly for the usage of RJ45 connectors

Generally all instructions applying for wiring regarding an electromagnetic compatible installation, wiring, cross sections of wires, material to be used, minimum distances, lightning protection, etc. have to be followed.

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

1 A suitable type of wire (wave impedance approx. 120 Ω ±10%) with an adequate wire cross section has to be used and the voltage loss in the wire has to be considered!

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 one point. Exactly one connection to earth has to be established!

4 A CAN net must not branch (exception: short stub lines) and has to be terminated by the wave impedance of the wire (generally 120 Ω ±10%) at both ends (between the signals CAN_L and CAN_H and not at GND)!

5 Stub lines have to kept as short as possible (l < 0.3 m)!

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

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

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

Figure.: Structure and connection of Wire


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


Cabling for devices which have only one CAN connector per net use T-connector and stub (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 as accessories

Earthing CAN_GND has to be conducted in the CAN wire, because the individual esd modules are

electrically 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 not connect more than one user without potential separation!

Earthing can e.g. be made at a connector



Wire Length Optical couplers are delaying the CAN signals. By using fast digital isolators and testing each

board at 1 Mbit/s, esd modules typically reach a wire length of 37 m at 1 Mbit/s within a closed net without impedance disturbances like e.g. longer stub.

Bit rate[kbit/s]

Typical values of reachable wire 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



Examples for CAN Wires

Manufacturer Type of wire

U.I. LAPP GmbHSchulze-Delitzsch-Straße 2570565 Stuttgartwww.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 Mainhardtwww.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.)

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


CAN-Bus Troubleshooting Guide

7. CAN-Bus Troubleshooting Guide

The CAN-Bus Troubleshooting Guide is a guide to find and eliminate the most frequent hardware-error causes in the wiring of CAN-networks.

Fig. : Simplified diagram of a CAN network

7.1 TerminationThe termination is used to match impedance of a node to the impedance of the transmission line being used. When impedance is mismatched, the transmitted signal is not completely absorbed by the load and a portion is reflected back into the transmission line. If the source, transmission line and load impedance are equal these reflections are eliminated. This test measures the series resistance of the CAN data pair conductors and the attached terminating resistors.

To test it, please

1. Turn off all power supplies of the attached CAN nodes.2. Measure the DC resistance between CAN_H and CAN_L at the middle and ends of

the network (see figure above).

The measured value should be between 50 Ω and 70 Ω. The measured value should be nearly the same at each point of the network.

If the value is below 50 Ω, 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 Ω, 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 Ω

each.


120

CAN_H

CAN_GND

CAN_LCAN_L

CAN_H

CAN_GND

V

Ω120

2 3

1

V

1


7.2 Ground

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

1.

2.

3.

Disconnect the shield wire (Shield)from the ground.

Measure the DC resistance between Shield and ground (see picture on the right hand).

Connect Shield wire to ground.

Fig.: Simplified schematic diagram of ground test measurement

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

7.3 Short Circuit in CAN Wiring

A CAN bus might possibly still be able to transmit data, if there is a short circuit between CAN_GND and CAN_L. But the error rate will increase strongly. Make sure that there is no short circuit between CAN_GND and CAN_L!

7.4 CAN_H/CAN_L-Voltage

Each node contains a CAN transceiver that outputs differential signals. When the network communication is idle the CAN_H and CAN_L voltages are approximately 2.5 volts. Faulty transceivers 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 faulty transceivers. For a voltage lower than 2.0 V please check CAN_H and CAN_L conductors for continuity. For a voltage higher than 4.0 V, please check for excessive voltage.


>1M

CAN_H

CAN_GND

CAN_L

Ω

2

3


To find the node with a faulty transceiver please test the CAN transceiver resistance (see chapter: “7.5 CAN Transceiver-Resistance Test”).

7.5 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 leakage current in these circuits.

To measure the current leakage through the CAN circuits, please use an resistance measuring device and:

1. Switch off the node and disconnect it from the network. (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 MΩ and 4 MΩ or higher. If it is lower than this range, the CAN transceiver is probably faulty.

Fig.: Simplified diagram of a CAN node


5

6

CAN_H

CAN_GND

CAN_L

Ω5 6

4

Ω

4

Power

CAN-Transceiver

Disconnect Power !

Disconnect CAN !

CAN-node

4

Order Information

8. Order Information

Type Properties Order No.

AMC-CAN4 4x CAN interface, according to ISO 11898-2 U.1002.01

CAN-DRV-LCD Object licence for Windows and Linux incl. CD-ROM C.1101.02

Accessories

AMC-CAN-RJ45-DSUB9 cable

Adapter cable, RJ45 male connector to 9-pin DSUB male connector, length 1.5 m

U.1002.10

Manuals

AMC-CAN4-ME Manual in English U.1002.21

CAN-API-MESoftware manual of the CAN-API in English'CAN-API Part1: Function Description''CAN-API Part2: Installation Guide'

C.2001.21

Table 6: Order information


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