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ESD C.2922.02 Manual

Ethercat-can gateway
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CAN-EtherCAT
EtherCAT-CAN Gateway
Manual
to Product C.2922.02
CAN-EtherCAT
Manual • Doc. No.: C.2922.21 / Rev. 1.4
Page 1 of 92
esd electronic system design gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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  • Page 1 CAN-EtherCAT Manual • Doc. No.: C.2922.21 / Rev. 1.4 Page 1 of 92 esd electronic system design gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
  • Page 2 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. In particular descriptions and technical data specified in this document may not be constituted to be guaranteed product features in any legal sense.
  • Page 3 Note inserted - some write accesses only in PreOp 5.1.5.4, 2016-04-08 5.1.5.5 5.3.1 New chapter: “Firmware Update with the esd Workbench” 5.3.2 Figure 27 new- with Slave in Bootstrap 8,1, 8.2 Note to chapter 8.7 inserted New chapter „Conductor Connection/Conductor Cross Sections“...
  • Page 4 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 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.

  • Page 5: Safety Instructions

    Safety Instructions ● When working with the CAN-EtherCAT follow the instructions below and read the manual carefully to protect yourself from injury and the CAN-EtherCAT from damage. ● Do not use damaged or defective cables to connect the CAN-EtherCAT and follow the CAN wiring hints in chapter: "Correct Wiring of Electrically Isolated CAN Networks".
  • Page 6 It is the responsibility of the device's user to take care that necessary safety precautions for the device's network interface are in place.

  • Page 7: Table Of Contents

    2.2 LEDs............................ 12 2.2.1 Assignment......................12 Hardware Installation ......................... 14 Configuration with an EtherCAT Configurator................15 CAN-EtherCAT Gateway Application Example..............15 Configuration Sequence, esd EtherCAT Workbench............16 4.2.1 Setting the Baud Rate during Slave Initialization............18 4.2.2 Export ENI........................19 Configuration Sequence, Beckhoff Configurator..............20 4.3.1...
  • Page 8 5.3 FoE............................54 5.3.1 Firmware Update with the esd Workbench..............54 5.3.2 Firmware update with Beckhoff EtherCAT Configurator..........56 Webserver Interface........................58 Firmware Update......................... 59 6.1.1 Overview........................59 6.1.2 Firmware Update......................60 6.1.3 Reboot......................... 62 6.2 Status..........................63 6.2.1 Statistics......................63 Technical Data........................... 64 General Technical Data.......................64...
  • Page 9 11.2.1 Installation of the Module Using InRailBus Connector..........87 11.2.2 Connecting Power Supply and CAN Signals to CBX-InRailBus.........88 11.2.3 Connection of the Power Supply Voltage..............89 11.2.4 Connection of CAN....................89 11.3 Remove the CAN-CBX Module from InRailBus..............90 Declaration of Conformity......................91 Order Information........................

  • Page 10: Overview

    Overview 1. Overview PORT 1 LEDs RJ45 Electrical Isolation 100BASE-TX Micro- Micro- ET1100 ET1100 controller Physical controller Physical PORT 2 5-pole RJ45 Open style Layer Layer 100BASE-TX Connector ISO11898-2 ISO11898-2 +5V= DC/DC PORT 3 Converter RJ45 In-Rail-Bus +5V= 100BASE-TX In-Rail-Bus Connector Connector DIAG...

  • Page 11: Hardware Installation

    Hardware Installation 2. Hardware Installation 2.1 Connections Figure 2: Connections for operating condition NOTICE Read chapter “Hardware Installation ” on page 14, before you start with the installation of the hardware! Please refer to page 68 ff. for signal assignment of the connectors. INFORMATION The “DIAG”...

  • Page 12: Leds

    Hardware Installation 2.2 LEDs Figure 3: Connectors and LEDs 2.2.1 LED Assignment LEDs at Ethernet RJ45 connector ETH: Color LED Status Description no Ethernet link present Link/ green Ethernet link present, Activity blinking Ethernet activity (reception of Ethernet data packages) 10 MBit/s Speed yellow...
  • Page 13 Hardware Installation EtherCAT-LEDs U, E, R, L LED Status Description blinking LED repeats: 200 ms on, 200 ms off. flicker LED repeats: 50 ms on, 50 ms off. single flash LED repeats: 200 ms on, 1000 ms off. double flash LED repeats: 200 ms on, 200 ms off, 200 ms on, 1000 ms off.

  • Page 14: Hardware Installation

    T-connectors and termination connectors for external termination. Additionally the CAN_GND signal has to be connected to earth at exactly one point in the CAN network. All esd termination devices will provide a corresponding contact. For details please read chapter “Correct Wiring of Electrically Isolated CAN Networks”...

  • Page 15: Configuration With An Ethercat Configurator

    Configuration with an EtherCAT Configurator 4. Configuration with an EtherCAT Configurator 4.1 CAN-EtherCAT Gateway Application Example EtherCAT Master ECS #1 Node #1 CAN-EtherCAT Gateway (#2) Node #2 ECS #3 Node #n Figure 4: CAN-EtherCAT gateway connection example The CAN-EtherCAT gateway can take any position in an EtherCAT network. CAN-EtherCAT Manual •...

  • Page 16: Configuration Sequence, Esd Ethercat Workbench

    Configuration with an EtherCAT Configurator 4.2 Configuration Sequence, esd EtherCAT Workbench The following chapter describes the CAN interface configuration of the CAN-EtherCAT gateway for example by means of the esd EtherCAT Workbench. First, the enclosed EtherCAT Slave information file (ESI) ESD CAN-EtherCAT.xml must be copied to the corresponding folder.
  • Page 17 Configuration with an EtherCAT Configurator Now go to the “CoE Dictionary” tab page and recreate the dictionary by the menu item “Recreate dictionary”, “Online from slave” as shown in Figure 7: Figure 7: Recreating the CoE dictionary Click “Reread all” to update the items, then select the “Process Data” tab page. Figure 8: Recreating the list of available PDOs Recreate list of available PDOs by SDO Info service as shown in Figure 8.

  • Page 18: Setting The Baud Rate During Slave Initialization

    Configuration with an EtherCAT Configurator Different queue sizes or 29 bit CAN IDs If you want to use extended CAN IDs or change Rx- or Tx- queue size, you have to do this in the CoE dictionary, right after you clicked “Reread all” as described above, but it must be done before you recreate the list of available PDOs.

  • Page 19: Export Eni

    Configuration with an EtherCAT Configurator Just enter the desired baud rate index (described in 5.1.5.9) at the “Data:” input box and leave the dialog with the “OK” button. (Other settings should be left untouched) Now the “Init Commands” list contains an additional command that sets the baud rate during the slave's “PreOp →...

  • Page 20: Configuration Sequence, Beckhoff Configurator

    The following chapter describes the CAN interface configuration of the CAN-EtherCAT gateway for example by means of the Beckhoff EtherCAT configurator. First, the enclosed EtherCAT Slave information file (ESI) ESD CAN-EtherCAT.xml must be copied to the corresponding folder. Using the EtherCAT configurator the folder may be, for example: “C:\Program Files\EtherCAT Configurator\EtherCAT”.
  • Page 21 Configuration with an EtherCAT Configurator Use the table CoE-Online to display the object dictionary: Figure 13: Object dictionary The Process Data section will be initially empty. Click the Load PDO info from device button to read the data: Figure 14: Loading process data CAN-EtherCAT Manual •...
  • Page 22 Configuration with an EtherCAT Configurator The configurator will now display the process data: Figure 15: Process data display Figure 16: Process data (output PDOs chosen) Page 22 of 92 Manual • Doc. No.: C.2922.21 / Rev. 1.4 CAN-EtherCAT...
  • Page 23 Configuration with an EtherCAT Configurator Figure 17: Process data (input PDOs chosen) The CAN-EtherCAT gateway will only go active on the CAN bus after the baud rate has been set (see chapter “Object F800h CAN Bus Parameter” from page 49). Consequently, it makes sense to set the baud rate right now.
  • Page 24 Configuration with an EtherCAT Configurator The final startup sequence may look like shown in the following example: Figure 19: Startup - sequence example Following the startup sequence, the EtherCAT network can be set active by calling the Reload Devices function by clicking Main Menu/Actions: Figure 20: Reload Devices Page 24 of 92 Manual •...
  • Page 25 Configuration with an EtherCAT Configurator The CAN interface’s process image will look as follows: Figure 21: Can interface process image CAN-EtherCAT Manual • Doc. No.: C.2922.21 / Rev. 1.4 Page 25 of 92...

  • Page 26: Exporting Ethercat Network Information (Eni)

    Configuration with an EtherCAT Configurator 4.3.1 Exporting EtherCAT Network Information (ENI) To export the configuration file for an EtherCAT Master choose “Export Configuration File…”: Figure 22: Exporting configuration file Page 26 of 92 Manual • Doc. No.: C.2922.21 / Rev. 1.4 CAN-EtherCAT...

  • Page 27: Ethercat Communication

    EtherCAT Communication 5. EtherCAT Communication 5.1 CAN Interface The CAN Interface is based on a modular device profile (Fieldbus Gateway, Profile No. 5000), and it supports one CAN module. This module includes one CAN Tx message queue in the output area and one CAN Rx message queue in the input area.

  • Page 28: Object Dictionary

    EtherCAT Communication 5.1.2 Object Dictionary The CAN-EtherCAT gateway layer 2 implementation supports the following objects: Index Name 1000 Device type 1008 Device name 1009 Hardware version 100A Software version 1018 Identity 1600 RPDO-Map CAN interface 1A00 TPDO-Map CAN interface 1A85 CAN Status PDO 1C00 Sync manager type...

  • Page 29: Standard Objects (1000H

    EtherCAT Communication 5.1.3 Standard Objects (1000 ...1FFF 5.1.3.1 Object 1000 Device Type Sub- Index Description Data Type Default Index Device Type 1000 UINT32 13881389 Variable Description EtherCAT Slave device type: The low word contains the used CoE profile (5001 ). The high word contains the module profile according to the modular device profile: 5000 5.1.3.2 Object 1008 Device Name...

  • Page 30: Object 1018H Identity

    CAN-EtherCAT ESI revision number Corresponds to the slave revision number stored in its EEPROM ESI – used to determine which .xml ESI the configuration tool (e.g. the esd EtherCAT Workbench) shall use. (Exception: With firmware version 1.0 this does not match the EEPROM revision number –...

  • Page 31: Object 1C00H Sync Manager Type

    EtherCAT Communication 5.1.3.6 Object 1C00 Sync Manager Type Sub- Index Description Data Type Default Index Number of sub-indexes UINT8 Sync-Manager Type Channel 1: UINT8 Mailbox Write Sync-Manager Type Channel 2: UINT8 1C00 Mailbox Read Sync-Manager Type Channel 3: UINT8 Process Data Write (Outputs) Sync-Manager Type Channel 4: UINT8 Process Data Read (Inputs)

  • Page 32: Object 1600H Rpdo-Map Can-Interface

    EtherCAT Communication 5.1.3.7 Object 1600 RPDO-Map CAN-Interface This object defines the CAN interface mapping into the EtherCAT input data. The first three sub-indexes contain the size of the Tx and Rx counters plus the number of Tx messages. The size of the CAN Rx message queue is configured through object 8000 Object 8000 is also used to define the CAN message ID mode, either 11-bit (Object 7000 ) or 29-...

  • Page 33: Object 1A00H Tpdo-Map Can-Interface

    EtherCAT Communication 5.1.3.8 Object 1A00 TPDO-Map CAN-Interface This object defines the CAN interface mapping into the EtherCAT output data. The first three sub-indexes contain the size of the Tx and Rx counters plus the number of Tx messages. The size of the CAN Tx message queue is configured through object 8000 Object 8000 is also used to define the CAN message ID mode, either 11-bit (object 7000 ) or 29...

  • Page 34: Object 1A85H Can Status Pdo

    EtherCAT Communication 5.1.3.9 Object 1A85 CAN Status PDO This object allows to map the CAN Status entries from object F108 . See 5.1.5.8 for details about the mapped entries. Sub- Index Description Data Type RW Default Index Max Subitem UINT8 Object F108 sub index 01 UINT32...

  • Page 35: Manufacturer Specific Objects (2000H-5Fffh)

    EtherCAT Communication 5.1.4 Manufacturer Specific Objects (2000 -5FFF 5.1.4.1 Object 2000 Other Settings NOTICE The following CoE object (Index, Sub-Index) can only be written in Pre-Operational state: Index: 2000 , Sub-Index: 1 Sub- Index Name Data Type Default Index Number of sub-indexes UINT8 2000 EoE IP Port local mode...

  • Page 36: Object 2010H Statistics

    EtherCAT Communication 5.1.4.2 Object 2010 Statistics Sub- Index Name Data Type Default Index Number of sub-indexes UINT8 Reset UINT32 Cyclic handler time (min.) UINT32 Cyclic handler time (max.) UINT32 Cyclic handler time (avg.) UINT32 CAN handler time (min.) UINT32 CAN handler time (max.) UINT32 CAN handler time (avg.) UINT32...
  • Page 37 EtherCAT Communication Parameter Description Reset When this object is written the statistics are reset. (Reading this value shows the time stamp of the last reset – milliseconds since device start up) Cyclic handler time (min.) For debugging purposes only. (Minimum time in application's cyclic handler within its last 10000 calls, in us) Cyclic handler time (max.) For debugging purposes only.

  • Page 38: Profile Specific Objects (6000H-Ffffh)

    EtherCAT Communication 5.1.5 Profile Specific Objects (6000 -FFFF These objects are identical for all EtherCAT Slave devices supporting the profile number 5000 (“CAN Interface”). 5.1.5.1 Object 6000 CAN Rx Message Queue Relationship of message queues (here according to the default configuration of queue sizes) n …...
  • Page 39 EtherCAT Communication Parameter Description Tx Counter Gateway The Tx counter is increased by the Gateway to indicate that the CAN Tx messages were copied from the output data to the local CAN send queue (see Figure 26). Rx Counter Gateway The Rx counter is increased by the Gateway every time when new CAN Rx data arrived and the Rx Counter Gateway (6000 , sub-index...
  • Page 40 EtherCAT Communication Example Sequence Rx-Counter EtherCAT- Master CAN-EtherCAT EtherCAT-Master transmits the Rx-Counters are equal if no frames cyclically CAN frames are received or transmitted Rx Counter Application Rx Counter Application Rx Counter Gateway Rx Counter Gateway Receive CAN-Frame! After reception of a CAN frame Rx Counter Gateway = Rx Counter Application, see Figure 23, page 38) the Rx Counter Gateway is increased...

  • Page 41: Object 6001H Can Rx Extended Message Queue

    EtherCAT Communication 5.1.5.2 Object 6001 CAN Rx Extended Message Queue Sub- Index Name Data Type Default Index Number of sub-indexes UINT8 Tx Counter Gateway UINT16 Rx Counter Gateway UINT16 Number of Rx Messages UINT16 6001 Tx Transaction Number UINT16 Rx Message 1 OCTET-STRING[14] Rx Message m-4 OCTET-STRING[14]...

  • Page 42: Object 7000H Can Tx Message Queue

    EtherCAT Communication 5.1.5.3 Object 7000 CAN Tx Message Queue Relationship of message queues (here according to the default configuration of queue sizes) N … Number of Tx messages, which are accumulated at the moment of test / comparison of the „Tx counter“...
  • Page 43 EtherCAT Communication Parameter Description This counter must be increased when or after writing the CAN Tx Tx Counter Application message to the output data (see Figure 26). This counter must be increased by the EtherCAT Master application for Rx Counter Application each CAN Rx message list it has received and read.
  • Page 44 EtherCAT Communication Example Chronological Sequence Tx-Counter CAN-EtherCAT EtherCAT- Master EtherCAT-Master the Tx-Counters are equal if no cyclically transmits frames CAN frames are received or transmitted Tx Counter Application Tx Counter Application Tx Counter Gateway Tx Counter Gateway Master sends CAN frames For sending the CAN frames the Tx Counter Application is increased by 1 and...

  • Page 45: Object 7001H Can Tx Extended Message Queue

    EtherCAT Communication 5.1.5.4 Object 7001 CAN Tx Extended Message Queue NOTICE The following CoE objects (Index, Sub-Index) can only be written in Pre-Operational state: Index: 7001 , Sub-Index 4...m Sub- Index Name Data Type Default Index Number of sub-indexes UINT8 Tx Counter Application UINT16 Rx Counter Application...

  • Page 46: Object 8000H Can-Interface-Configuration

    EtherCAT Communication 5.1.5.5 Object 8000 CAN-Interface-Configuration NOTICE The following CoE objects (Index, Sub-Index) can only be written in Pre-Operational state: Index: 8000 , Sub-Index: 20 , 21 , 22 Sub- Index Name Data Type Default Index UINT8 Number of sub-indexes Node Address UINT16 0000...

  • Page 47: Object 8001H Can-Rx-Filter-Table

    EtherCAT Communication 5.1.5.6 Object 8001 CAN-Rx-Filter-Table Sub- Data Index Name Default Index Type UINT8 Number of sub-indexes Identifier Area 1 UINT64 8001 Identifier Area m UINT64 This object assigns the CAN identifier areas, which are filled into the RX queue and are transmitted with the EtherCAT input data.

  • Page 48: Object F000H Modular Device Profile

    EtherCAT Communication 5.1.5.7 Object F000 Modular Device Profile Usually only needed by configuration tools, e.g. esd EtherCAT Workbench. See ETG.5100 documents for details. Sub- Data Index Name Default Index Type UINT8 Max. sub-index Index distance UINT F000 Maximum number of modules...

  • Page 49: Object F800H Can Bus Parameter

    EtherCAT Communication 5.1.5.9 Object F800 CAN Bus Parameter Data Sub- Index Name Default Index Type UINT8 Number of sub-indexes Reserved for future extensions Baud rate UINT8 F800 3, 4 Reserved for future extensions API-baud rate UINT32 7FFFFFFF 6...24 Reserved for future extensions This object contains the baud rate.
  • Page 50 EtherCAT Communication Bit(s) Value Description Use the pre-defined bit rate table (Table Index)(in combination with UBRN) Set the CAN controller bit rate register directly (BTR0/BTR1) Configure the bit rate in ‘active’ mode (normal operation) Configure the bit rate in ‘Listen-Only’ mode Use the pre-defined bit rate table (in UBRN combination with UBR)
  • Page 51 The CAN-EtherCAT gateway is capable of detecting the CAN baud rate and initiating bus communication without effecting the CAN bus operation. This is only possible with the default bit rates from the esd bit rate table supporting the CiA bit timing requirements.

  • Page 52: Eoe

    EtherCAT Communication When the UBR flag is set to '0' and the UBRN flag is set to '1' the bits 0… 23 represent the baud rate as a numerical value in bits per second. INFORMATION When using the UBRN flag the BTR values are generated and may deviate from the values in the baud rate table.

  • Page 53: Disabling Eoe

    ETG.1000.6 documents). When this is set to 0 (checked at first change to PreOp after device start up), all EoE activity will be disabled and all EoE configuration options are ignored. Figure 28: esd EtherCAT Workbench: Where to en/disable EoE CAN-EtherCAT Manual •...

  • Page 54: Foe

    EtherCAT Communication 5.3 FoE 5.3.1 Firmware Update with the esd Workbench NOTICE Do not interrupt the CAN-EtherCAT gateway power supply during a firmware update as this might result in unforeseeable operating conditions. 1. Make sure slave is connected, etc. 2. Set the slave in the state Bootstrap. Therefore choose the tab Slave and than General.
  • Page 55 EtherCAT Communication Confirm your settings with the OK button and wait until the file is transferred (a progress bar will appear and the yellow LED is flickering while the transfer is in progress) 5. Wait until the update procedure is completed (approx. 3 minutes) 6.

  • Page 56: Firmware Update With Beckhoff Ethercat Configurator

    EtherCAT Communication 5.3.2 Firmware update with Beckhoff EtherCAT Configurator NOTICE Do not interrupt the CAN-EtherCAT gateway power supply during a firmware update as this might result in unforeseeable operating conditions. 1. Make sure slave is connected, etc. 2. Set slave to “Bootstrap”, by button Bootstrap (Fig. 32) Figure 32: Firmware update by FoE 3.
  • Page 57 EtherCAT Communication 8. Verify the current version in object 100A , Fig. 34 (Make sure you're actually seeing online data: uncheck “Show Offline Data”, and perhaps do “Reload I/O Devices” again, etc.) Figure 34: CAN-EtherCAT CoE dict., Software/Firmware version selected CAN-EtherCAT Manual •...

  • Page 58: Webserver Interface

    Make sure the IP settings assigned to the CAN-EtherCAT match the settings that are used by the system that shall access it, e.g. no IP address conflicts must occur etc. Figure 35: esd EtherCAT Workbench: Sample IP settings for the CAN-EtherCAT Figure 36: Beckhoff Configurator: Sample IP settings for the CAN-EtherCAT Page 58 of 92 Manual •...

  • Page 59: Firmware Update

    Webserver Interface 6.1 Firmware Update The CAN-EtherCAT gateway uses an internal HTTP server. Through means of a standard web browser it allows firmware updates and the display of CAN status information. Just enter the IP address that was assigned to the CAN-EtherCAT in the web browser at the device that is connected to the CAN-EtherCAT.

  • Page 60: Firmware Update

    Webserver Interface 6.1.2 Firmware Update In order to initiate a firmware update click the corresponding menu item Firmware Update. Figure 38: Firmware update The upload of the file is handled through the web browser. Enter the file name or click the Choose...
  • Page 61 Webserver Interface Example of a firmware update: Figure 39: Firmware update output Please wait until the firmware update is finished, which may take several minutes. When finished the system will initiate an automatic restart. CAN-EtherCAT Manual • Doc. No.: C.2922.21 / Rev. 1.4 Page 61 of 92...

  • Page 62: Reboot

    Webserver Interface 6.1.3 Reboot To initiate a system restart choose the menu item Reboot; then click the Reboot now command button. Figure 40: Reboot Page 62 of 92 Manual • Doc. No.: C.2922.21 / Rev. 1.4 CAN-EtherCAT...

  • Page 63: Status

    Webserver Interface 6.2 Status 6.2.1 CAN Statistics Click the CAN menu item to access the CAN bus statistics. Figure 41: CAN status output CAN-EtherCAT Manual • Doc. No.: C.2922.21 / Rev. 1.4 Page 63 of 92...

  • Page 64: Technical Data

    Technical Data 7. Technical Data 7.1 General Technical Data Power supply voltage Nominal voltage: typical: 24 V/DC, (min.: 18 V, max.: 32 V) Current consumption: (24 V, 20 °C): typ. 150 mA 24 V-power supply voltage (X1, 4-pin. COMBICON- Connectors connector with spring-cage connection) CAN Bus interface (X2, 5-pin Phoenix Contact MC 1,5/5-GF-3,81)

  • Page 65: Can Interface

    Technical Data 7.3 CAN Interface Number of CAN 1x CAN interfaces CAN controller integrated in CPU CAN protocol according to ISO 11898-1 High-speed CAN interface according to ISO 11898-2, Physical layer bit rate from 50 kBit/s up to 1 Mbit/s Isolation voltage U: 500 V Electrical isolation (= withstand-impulse voltage according to DIN EN 60664-1)

  • Page 66: Diag, Usb Interface

    Technical Data 7.6 DIAG, USB Interface Design USB, for manufacturing purposes only USB interface USB 2.0, Full-Speed, 12 Mbit/s Connector DIAG (X4), USB type B connector Table 16: Data of the USB interface Page 66 of 92 Manual • Doc. No.: C.2922.21 / Rev. 1.4 CAN-EtherCAT...

  • Page 67: Operating System And License Information

    This product uses the open source-bootloader "Das U-Boot". The U-Boot- source code is released under the terms of the GNU Public License (GPL). The complete text of the license is contained in the esd-document "3rd Party License information Licensor Notice" as part of the product documentation.

  • Page 68: Interfaces And Connector Assignments

    Interfaces and Connector Assignments 8. Interfaces and Connector Assignments 8.1 24 V-Power Supply Voltage The power supply voltage can be fed via connector X1 or optional via InRailBus (connector assignment see page 86) Device socket: Phoenix Contact MSTBO 2,5/4-G1L-KMGY Line connector: Phoenix Contact FKCT 2,5/4-ST, 5.0 mm pitch, spring cage connection, Phoenix Contact order No.: 19 21 90 0 (included in the scope of delivery)

  • Page 69: Can

    Interfaces and Connector Assignments 8.2 CAN 8.2.1 CAN Interface The CAN bus signals are electrically isolated from the other signals via digital isolator and DC/DC- converter. InRailBus DC/DC +3.3V +24 V 3.3V CAN_GND CAN_GND CAN_H CAN_L (Connection to top hat rail) Digital Isolator CAN-Transceiver MC 1,5/5-GF-3,81...

  • Page 70: Can Connector

    Interfaces and Connector Assignments 8.2.2 CAN Connector Device connector : Phoenix Contact MC 1,5/5-GF-3,81 Line connector: Phoenix Contact FK-MCP 1,5/5-STF-3,81, spring-cage connection Phoenix Contact Order No.: 1851261 (included in delivery) Pin Position: Pin Assignment: (device connector view) Signal CAN_GND CAN_L Shield CAN_H Signal description:...

  • Page 71: And Can Via Inrailbus

    Interfaces and Connector Assignments 8.3 24 V and CAN via InRailBus Power supply voltage and CAN can optionally be fed via InRailBus. Use the mounting-rail bus connector of the CBX-InRailBus for the connection via the InRailBus, see order information (page 92). Read and follow the instructions for connecting power supply and CAN signals via InRailBus (see page 87)! CAN-EtherCAT...

  • Page 72: Ethernet 100Base-Tx (Ieee 802.3)

    Interfaces and Connector Assignments 8.4 Ethernet 100BASE-TX (IEEE 802.3) Device connector: RJ45 socket, 8-pin, according to IEEE 802.3-2008, Table 25-3 'UTP MDI contact assignment' The ports have an identical pin assignment. Pin Position: 1 2 3 4 5 6 7 8 Pin Assignment: Signal Meaning...

  • Page 73: Ethercat

    Interfaces and Connector Assignments 8.5 EtherCAT Device connector: RJ45 socket, 8-pin, according to IEEE 802.3-2008, Table 25-3 'UTP MDI contact assignment' The ports have an identical pin assignment. Pin Position: 1 2 3 4 5 6 7 8 Pin Assignment: Signal Meaning MDI0+...

  • Page 74: Diag

    Interfaces and Connector Assignments 8.6 DIAG The USB interface DIAG does not fulfill a function and is only used for manufacturing purposes. NOTICE The CAN-EtherCAT may only be operated with USB nets with USB interfaces with versions 1.1 or 2.0! Operability can only be guaranteed for these USB interfaces.

  • Page 75: Conductor Connection/Conductor Cross Sections

    Interfaces and Connector Assignments 8.7 Conductor Connection/Conductor Cross Sections The following table contains an extract of the technical data of the cable plugs. Connector Type Characteristics Power Supply CAN Connector Voltage 24 V Connector type plug component FK-MCP 1,5/5-STF- FKCT 2,5/..-ST KMGY (Range of articles) 3,81 Connection method...

  • Page 76: Correct Wiring Of Electrically Isolated Can Networks

    Therefore the practical maximum number of nodes, bus length and stub length are typically much lower. esd has concentrated her recommendations concerning CAN wiring on the specifications of the ISO 11898-2. Thus this wiring hints forgoes to describe the special features of the derived standards CANopen, ARINC825, DeviceNet and NMEA2000.

  • Page 77: Light Industrial Environment (Single Twisted Pair Cable)

    9.2.1 General Rules NOTICE esd grants the EU Conformity of the product, if the CAN wiring is carried out with at least single shielded single twisted pair cables that match the requirements of ISO 11898-2. Single shielded double twisted pair cable wiring as described in chapter 9.3. ensures the EU Conformity as well.

  • Page 78: Cabling

    9-pin DSUB-termination connectors with integrated termination resistor and male and ● female contacts are available from esd (order no. C.1303.01). DSUB termination connectors with male contacts (order no. C.1302.01) or female contacts ● (order no. C.1301.01) and additional functional earth contact are available, if CAN termination and grounding of CAN_GND is required.

  • Page 79: Heavy Industrial Environment (Double Twisted Pair Cable)

    Correct Wiring of Electrically Isolated CAN Networks 9.3 Heavy Industrial Environment (Double Twisted Pair Cable) 9.3.1 General Rules The following general rules for the CAN wiring with single shielded double twisted pair cable should be followed: A cable type with a wave impedance of about 120 Ω ±10% with an adequate conductor cross-section (≥...

  • Page 80: Device Cabling

    DSUB9 connector from ERNI (ERBIC CAN BUS MAX, order no.:154039). The usage of esd’s T-connector type C.1311.03 is not recommended for single shielded double twisted pair cables because the shield potential of the conductive DSUB housing is not looped through this T-connector type.

  • Page 81: Electrical Grounding

    5000 Table 17: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) Optical couplers are delaying the CAN signals. esd modules typically reach a wire length of ● 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances like e.g.

  • Page 82: Examples For Can Cables

    Correct Wiring of Electrically Isolated CAN Networks 9.6 Examples for CAN Cables esd recommends the following two-wire and four-wire cable types for CAN network design. These cable types are used by esd for ready-made CAN cables, too. 9.6.1 Cable for light industrial Environment Applications (Two-Wire)

  • Page 83: Can Troubleshooting Guide

    CAN Troubleshooting Guide 10. CAN Troubleshooting Guide The CAN Troubleshooting Guide is a guide to find and eliminate the most frequent hardware-error causes in the wiring of CAN networks. CAN_H CAN_H 120  120   CAN_L CAN_L CAN_GND CAN_GND Figure 47: Simplified diagram of a CAN network 10.1 Termination The termination is used to match impedance of a node to the impedance of the transmission line...

  • Page 84: Electrical Grounding

    CAN Troubleshooting Guide 10.2 Electrical Grounding The CAN_GND of the CAN network should be connected to the functional earth potential (FE) at only one point. This test will check if the CAN_GND is grounded in several places. To test it, please CAN_H Disconnect the CAN_GND from the earth potential (FE).

  • Page 85: Can Transceiver Resistance Test

    If you have executed the fault diagnostic steps of this troubleshooting guide and you even can not find a solution for your problem our support department will be able to assist. Please contact our support via email at support@esd.eu or by phone +40-511-37298-130. CAN-EtherCAT Manual •...

  • Page 86: Option Inrailbus

    CAN Troubleshooting Guide 11. Option InRailBus 11.1 Connector Assignment 24V and CAN via InRailBus Connector type: InRailBus PCB direct plug-in mount CAN-CBX-TBUS (Phoenix Contact ME 22,5 TBUS 1,5/5-ST-3,81 KMGY) Connector View: Pin Assignment: Signal (GND) (+24 V) CAN_GND CAN_L CAN_H (PE_GND) Signal Description: CAN_L,...

  • Page 87: Using Inrailbus

    Option InRailBus 11.2 Using InRailBus INFORMATION This chapter describes the installation when using the InRailBus for CAN-CBX-modules. For the CAN-EtherCAT gateway the following chapters apply accordingly. 11.2.1 Installation of the Module Using InRailBus Connector If the CAN bus signals and the power supply voltage shall be fed via the InRailBus, please proceed as follows: Figure.

  • Page 88: Connecting Power Supply And Can Signals To Cbx-Inrailbus

    Option InRailBus Swivel the CAN-CBX module onto the mounting rail in pressing the module downwards according to the arrow as shown in figure 51. The housing is mechanically guided by the DIN rail bus connector. When mounting the CAN-CBX module the metal foot catch snaps on the bottom edge of the mounting rail.

  • Page 89: Connection Of The Power Supply Voltage

    Option InRailBus 11.2.3 Connection of the Power Supply Voltage NOTICE It is not permissible to feed through the power supply voltage through the CBX station and to supply it to another CBX station via 24V connector! A feed through of the +24 V power supply voltage can cause damage on the CBX modules. Figure.

  • Page 90: Remove The Can-Cbx Module From Inrailbus

    Option InRailBus 11.3 Remove the CAN-CBX Module from InRailBus If the CAN-CBX module is connected to the InRailBus please proceed as follows: Release the module from the mounting rail in moving the foot catch (see Fig. 52) downwards (e.g. with a screwdriver). Now the module is detached from the bottom edge of the mounting rail and can be removed.

  • Page 91: Declaration Of Conformity

    Declaration of Conformity 12. Declaration of Conformity CAN-EtherCAT Manual • Doc. No.: C.2922.21 / Rev. 1.4 Page 91 of 92...

  • Page 92: Order Information

    Table 18: Order information PDF Manuals Manuals are available in English and usually in German as well. Available manuals are listed in the following table Please download the manuals as PDF documents from our esd website www.esd.eu for free. Manuals Order No.

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