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ESD CAN-PN/2 Manual

Fieldbus gateway for connecting profinet-io with can and can fd
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CAN-PN/2-FD
Fieldbus Gateway for connecting
PROFINET®-IO with CAN and CAN FD
CAN-PN/2 (C.2924.02)
CAN-PN/2
Vahrenwalder Str. 207 • 30165 Hannover • Germany
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68
CAN-PN/2,
Manual
to Product
Manual Doc. No.: C.2924.21 / Rev 1.0
esd electronics gmbh
http://www.esd.eu
CAN-PN/2-FD (C.2924.62)
C.2924.02,
C.2924.62
Page 1 of 122

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  • Page 1 CAN-PN/2, CAN-PN/2-FD Fieldbus Gateway for connecting PROFINET®-IO with CAN and CAN FD CAN-PN/2 (C.2924.02) CAN-PN/2-FD (C.2924.62) Manual to Product C.2924.02, C.2924.62 CAN-PN/2 Manual Doc. No.: C.2924.21 / Rev 1.0 Page 1 of 122 esd electronics gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu...
  • Page 2 Links esd electronics gmbh assumes no liability or guarantee for the content of Internet pages to which this document refers directly or indirectly. Visitors follow links to websites at their own risk and use them in accordance with the applicable terms of use of the respective websites.
  • Page 3 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 First English manual of CAN-PN/2 and CAN-PN/2-FD 2023-06-26 Technical details are subject to change without further notice. CAN-PN/2 Manual Doc. No.: C.2924.21 / Rev 1.0...
  • Page 4 This NOTICE statement contains the general mandatory sign and gives information that must be heeded and complied with for a safe use. INFORMATION INFORMATION Notes to point out something important or useful. Manual Doc. No.: C.2924.21 / Rev 1.0 Page 4 of 122 CAN-PN/2...
  • Page 5 ● The galvanic isolation of the CAN-PN/2 has only functional tasks and is not a protection against hazardous electrical voltage. ● The CAN-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
  • Page 6 It is the responsibility of the device's user to take care that necessary safety precautions for the...
  • Page 7 Table of Contents Safety Instructions .......................... 5 Overview ..........................12 About this Manual ......................12 Description of CAN-PN/2 ....................12 Glossary ......................... 14 View with Connectors ..................... 15 LEDs ..........................16 1.5.1 Position of the LEDs ....................16 1.5.2 PRIOFINET IO LEDs ....................16 1.5.3...
  • Page 8 Troubleshooting ........................78 Faulty PROFINET Connection ..................78 Faulty CAN Bus ......................79 Configuration Error ......................80 Support by esd........................ 81 Example ..........................82 Example for the RX-FIFO ....................82 Example for the TX-FIFO ....................83 Example for the Communication Window ................ 84 9.3.1...

  • Page 9: Table Of Contents

    Yocto-Linux License Modules ................115 15.2.2 Others ........................118 16 Declaration of Conformity ..................... 119 17 PNO Certificates ........................120 17.1 CAN-PN/2 (C.2924.02) ....................120 17.2 CAN-PN/2-FD (C.2924.62) ................... 121 18 Order Information ......................... 122 18.1 Hardware ........................122 18.2 Manuals ........................122 List of Tables Table 1: Description of PROFINET IO LEDs ................
  • Page 10 Table 62: Data of the USB device interface .................. 97 Table 63: Data of the CAN interface ..................... 98 Table 64: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....109 Table 65: Order information hardware ..................122 Table 66: Available Manuals ......................
  • Page 11 Figure 2: PROFINET device to CAN FD ..................12 Figure 3: Block circuit diagram ...................... 12 Figure 4: Connecting diagram of CAN-PN/2 (C.2924.02) .............. 15 Figure 5: LEDs of CAN-PN/2 (C.2924.02) ..................16 Figure 6: CAN-PN/2-FD with name plate (example) ..............18 Figure 7: CAN-PN/2-FD with LED/Connector label (example) ............

  • Page 12: Figure 1: Profinet Device To Can

    PROFINET IO device with a process image of 1440 bytes input data and 1440 bytes output data on the PROFINET bus. The CAN-PN/2 variant (C.2924.02) supports Classical CAN (2.0A/B) with a bit rate of up to 1 Mbit/s. Furthermore, the CAN-PN/2-FD variant (C.2924.62) can connect PROFINET IO with CAN FD. It supports CAN FD with up to 64 bytes in data field and 8 Mbit/s bit rate.
  • Page 13 CAN bus status, bus load and the bus statistic. Configurable for your needs The CAN-PN/2 is configurable in a simple manner exactly to fit your needs. From simple incoming and outgoing CAN frames to more advanced application, the gateway can be configured to tailor your application.
  • Page 14 Organization Block Operating System Process Data Object Processor Realtime Unit Remote Transmission Request Software Development Kit Service Data Object Universal Serial Bus Extensible Markup Language Page 14 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 15: Figure 4: Connecting Diagram Of Can-Pn/2 (C.2924.02)

    Overview 1.4 View with Connectors Figure 4: Connecting diagram of CAN-PN/2 (C.2924.02) The connecting diagram also applies accordingly for the CAN-PN/2-FD. See also from page 99 for connector assignments and for conductor connection and conductor cross section. NOTICE Read chapter “ Installing and Uninstalling Hardware” on page 19, before you start with the installation of the hardware! Manual Doc.

  • Page 16: Table 1: Description Of Profinet Io Leds

    1.5.1 Position of the LEDs Figure 5: LEDs of CAN-PN/2 (C.2924.02) The names and positions of the LEDs are identical for the CAN-PN/2-FD. 1.5.2 PRIOFINET IO LEDs The PROFINET IO LEDs of PORT 1 and PORT 2 are integrated in the RJ-45 sockets. The LEDs indicate the status of the corresponding port.

  • Page 17: Table 2: Indicator States Of The Status Leds

    Request of the PROFINET IO controller for the Blinking identification of the unit Table 3: Description of Status LEDs See also chapter 3 on page 20 for a description of the status LEDs during Start-Up. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 17 of 122...

  • Page 18: Figure 6: Can-Pn/2-Fd With Name Plate (Example)

    Figure 6: CAN-PN/2-FD with name plate Figure 7: CAN-PN/2-FD with LED/Connector (example) label (example) The name plate (Figure 5) shows among others the name, MAC-ID, esd order No. (PN) and the serial number (SN). Name plate Classical CAN variant CAN FD variant...

  • Page 19: Table 4: Hardware Installation

    CAN-PN/2 is to be integrated. → The CAN-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
  • Page 20 Start-Up 3 Start-Up After switching on the supply voltage, the CAN-PN/2 starts automatically. During start up the ‘R’ LED (CAN Status) turns on. When the device is started successfully ‘PWR’ LED (Power) turns on and ‘R’ LED (CAN Status) turns off again. This process takes about 10s.

  • Page 21: Figure 8: Basic Functionality Of The Firmware

    PROFINET to the PLC and updated in the PLC Address Space. The following figure represents the basic functionality of the firmware for incoming and outgoing frames. Figure 8: Basic functionality of the firmware Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 21 of 122...
  • Page 22 The device comes with an installer called CAN-PN/2(-FD)_X_X_X.exe. The installation of the installer is mandatory for firmware updates and CAN monitoring. However, to use the base functionality of the device, it is also possible to just download the GSDML file from the esd website. This installer provides the following packages:...

  • Page 23: Table 5: Manual Installation Of The Rndis Driver

    Mini-USB interface with the computer. When the installation has been successful, a new network adapter called RNDIS based ESD Device should be displayed in the Device Manager. If this is not the case, install the driver manually with the following steps:...

  • Page 24: Table 6: Configuration Quick Start Guide

    CAN-PN (C.2920.02) is still fully supported and compatible with both variants. NOTICE It is not possible to use the GSDML file of the CAN FD variant (CAN-PN/2-FD) for the Classical CAN variant (CAN-PN/2, C.2924.02). Although it is possible to configure both CAN-PN/2 variants with the GSDML file of the predecessor CAN-PN, this does not apply vice versa.

  • Page 25: Figure 9: Manage Gsdml Files

    Devices onto Devices & networks as shown in the following figure. → The so-called Network view opens. The CAN-PN/2 can now be added from the Hardware Catalog. Select your device variant CAN-PN/2 or CAN-PN/2-FD under Other field devices → Gateway → esd electronics gmbh →...

  • Page 26: Figure 11: Not Assigned Can-Pn/2 (Example)

    All CAN nodes in the CAN network need to have the same bitrate to work properly. 4.3.5 Assign the PROFINET Network First the CAN-PN/2 must be assigned to a PROFINET network. To accomplish this, go to the Network view, press the button Not assigned and click on one of the available PROFINET networks.

  • Page 27: Figure 13: Assign Ip Address And Device Name Of The Configuration

    4.3.6 Assign IP Address and PROFINET Device Name The IP address and the PROFINET device name of the configuration must match those persistently stored in the CAN-PN/2 gateway to work correctly. Both can be configured separately. NOTICE Each IP Address and PROFINET device name can only be assigned once per PROFINET network.

  • Page 28: Figure 14: Assign Ip Address And Device Name Of The Gateway

    Assign IP address or Assign PROFINET device name. Insert the new parameter and press the Assign IP address or Assign name button. Figure 14: Assign IP address and device name of the gateway Page 28 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 29: Figure 15: Adding Modules To The Can-Pn/2

    Device overview. There are multiple module types which are separated in different folders and are explained in chapter 4.4. Figure 15: Adding modules to the CAN-PN/2 NOTICE It is allowed to leave gaps between two modules. However, leaving large gaps is not recommended as this may affect the clarity of the configuration.

  • Page 30: Figure 16: Compile Hardware And Software (Detail)

    A new dialog opens in which the PLC can be chosen. Figure 17: Download hardware and software to device (detail) The configuration is now successfully passed to the device. Page 30 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 31: Figure 18: Toolbar With Go Online Button

    (see Figure 19). If this is not the case, something is wrong. Read chapters 4.3.9, 4.5 and 8 for further information. Figure 19: Toolbar Online device overview Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 31 of 122...

  • Page 32: Table 7: Configuration Errors

    Delete all modules of this type except configured multiple times. one. Bus Status, RX-FIFO, TX-FIFO, Communication Window CAN-PN/2-FD only: CAN Interface The CAN Data-Phase bitrate is invalid. The CAN Data-Phase bitrate must be (always Slot 0) the same or higher than the CAN bitrate. CAN-PN/2-FD only:...

  • Page 33: Figure 20: Module Parameters

    PLC address space. The exact position is shown in the Device overview and can be changed if necessary (see Figure 21). Figure 21: PLC Address Space of the Modules (detail) Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 33 of 122...

  • Page 34: Table 8: Can Interface Parameter

    PLC. Table 8: CAN Interface Parameter Figure 22: CAN Interface Parameter Additional CAN FD Parameters (CAN-PN/2-FD only): The CAN-PN/2-FD has some additional parameters, that can be configured as follows: Parameter Description CAN FD This parameter enables the CAN FD interface and is necessary to use a CAN FD module.

  • Page 35: Table 10: Input Parameter

    Configures the CAN identifier filter mask in range of 0 to 2047 for 11-bit CAN Mask identifiers and a range of 0 to 536870911 for 29-bit CAN identifiers. Table 10: Input Parameter Figure 24: Input Parameter Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 35 of 122...

  • Page 36: Table 11: Can Fd Input Parameter

    Additional CAN FD Parameters (CAN-PN/2-FD only): The CAN-PN/2-FD gateway with CAN FD capability also supports CAN frames with the lengths of 12, 16, 20, 24, 32, 48 and 64 bytes. For these modules the range of the parameter Format is increased to full 64-bit value.

  • Page 37: Table 12: Output Parameter

    This parameter defines whether the CAN frame is only sent in the time Frame only in interval or also when the data is changed or respectively the Out-Counter is Cyclic Interval increased. Table 12: Output Parameter Figure 26: Output Parameter Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 37 of 122...

  • Page 38: Table 13: Can Fd Output Parameter

    Additional CAN FD Parameters (CAN-PN/2-FD only): The CAN-PN/2-FD gateway with CAN FD capability also supports CAN frames with the lengths of 12, 16, 20, 24, 32, 48 and 64 bytes. For these modules the range of the parameter Format is increased to full 64-bit value.

  • Page 39: Table 14: Static Output Parameter

    For CAN FD frames with a length of up to 8 bytes, the module described above can be used with the corresponding bit in the parameter DLC and Flags. For longer CAN frames with lengths up to 64 bytes, the CAN-PN/2-FD module has to be used. It defines additional parameters for Byte 8...Byte 63.

  • Page 40: Table 15: Can Frame Structure

    Data Byte 7 Table 15: CAN Frame Structure Additional CAN FD Parameters (CAN-PN/2-FD only): For CAN FD the CAN frame structure looks similar, but instead of 8 data bytes there are 64 data bytes. To distinguish between Classical CAN and CAN FD frames, the DLC and Flags parameter should be used.

  • Page 41: Table 16: Rx-Fifo General Parameter

    This parameter configures the CAN identifier filter mask in the range of 0 to Mask 2047 for 11-bit CAN identifiers and a range of 0 to 536870911 for 29-bit CAN identifiers. Table 17: RX-FIFO CAN Identifier Parameter Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 41 of 122...

  • Page 42: Table 18: Rx-Fifo Inputs

    116 ... 129 CAN Frame Structure 9 130 ... 143 CAN Frame Structure 10 Table 18: RX-FIFO Inputs Output Byte Content Out-Counter (0xFF for Reset) Table 19: RX-FIFO Outputs Page 42 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 43: Table 20: Can Fd Rx-Fifo Inputs

    Software Additional CAN FD Parameters (CAN-PN/2-FD only): For CAN FD the input data are slightly different because CAN FD supports larger CAN frame lengths: Input Byte Content In-Counter Number of received frames Number of remaining frames Number of missed frames 4 ...

  • Page 44: Table 21: Tx-Fifo Parameter

    CAN Frame Structure 7 100 ... 113 CAN Frame Structure 8 114 ... 127 CAN Frame Structure 9 128 ... 141 CAN Frame Structure 10 Table 23: TX-FIFO Outputs Page 44 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 45: Table 24: Can Fd Tx-Fifo Inputs

    Software Additional CAN FD Parameters (CAN-PN/2-FD only): For CAN FD the output data are slightly different, because CAN FD supports larger CAN frame lengths: Output Byte Content Out-Counter (0xFF for Reset) Number of frames to be send 2 ... 71 CAN FD Frame Structure 1 (see chapter 4.4.4.1)

  • Page 46: Table 25: Can Bus States

    These modules provide a counter of the incoming and outgoing CAN frames (4 byte). The data is in the big-endian format. The modules do not need to be configured and have 4-byte input data. Page 46 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 47: Table 27: Communication Window Inputs

    It was introduced with the predecessor, the CAN-PN (C.2920.02) and is also included in the CAN-PN/2(-FD) for compatibility reasons. It does not have any CAN FD functionality. If possible, use the FIFO modules.

  • Page 48: Table 28: Communication Window Outputs

    Out-Counter (has to be incremented in pulse with Organization Block OB1 in order to synchronize the gateway with the OB1 cycle) (see chapter 4.4.7.1) Sub command (always set to ‘0’) Command (defined throughout this chapter) Table 28: Communication Window Outputs Page 48 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 49: Table 29: Communication Window Commands

    The bits 30 and 31 of the identifier should be zero. The number of bytes to be sent should be specified in byte 12 of the Communication Window. A valid value range is 0 ... 8. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 49 of 122...
  • Page 50 This command clears all CAN frames, stored in the FIFO of the Communication Window. This FIFO contains up to 255 CAN frames. In-Counter and Out-Counter The functionality of the counters is described in chapter 4.4.7.1. Page 50 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 51: Figure 33: Example In-Counter And Out-Counter

    The counting range of the counters is always 0 to 254. The value 255 of the counter is reserved for other functionalities and should not be used as counter. Example Figure 33: Example In-Counter and Out-Counter Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 51 of 122...

  • Page 52: Table 30: In-Counter And Out-Counter Pseudo Code

    Counter of the module. Otherwise, set it to ‘0’. Go on with the PLC cycle (next counter comparison in the next PLC cycle) Table 30: In-Counter and Out-Counter Pseudo Code Page 52 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 53: Table 31: Dlc And Flags

    Classical CAN and CAN FD. Classical CAN: Frame Length Table 32: DLC Classical CAN CAN FD (CAN-PN/2-FD only): Frame Length Table 33: DLC CAN FD NOTICE CAN RTR frames are only defined for Classical CAN frames and always have a frame length of 0 independent of the DLC value.

  • Page 54: Table 35: Can Id Filter

    The resulting CAN Identifier is 0x07X, where X stands for do not care. That means that for example the CAN identifier 0x071 as well as 0x07F would be applied to this frame. Page 54 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 55: Table 37: Can Format Parameter 1

    NOTICE The parameter Format must be set to ‘0’ if byte swapping is unwanted. Additional CAN FD Parameters (CAN-PN/2-FD only): Because CAN FD frames can have a maximum length of 64 byte, a single bit of Format is not big enough.

  • Page 56: Table 39: Can-Pn/2 Alarms

    TX buffer is full. This is normally not a problem, because the application tries to send the data with the next cycle. Table 39: CAN-PN/2 Alarms Page 56 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0...
  • Page 57 (ChannelErrorType: 0x06 = Line Break 0x09 = General Error) cet1 0x06 After an alarm has been resolved the gateway sends the following alarm telegram. Only the different entries are displayed. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 57 of 122...
  • Page 58 Sequence number: 0..2047 (here 1, incremented by one) dddssmra 0x10 (Direction: 0 = unspecified Specifier: 2 = Disappears MaintenanceDemanded:0 MaintenanceRequired:0 Accumulative:0 cet0 0x00 (ChannelErrorType = 0x00 = no error) Page 58 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 59: Table 40: Can-Pn/2 Read Records

    Read multiple CAN FD frame (only supported on the CAN FD variant of the gateway) 0x305 Read current timestamp of the gateway * Record length depends on the number of CAN frames Table 40: CAN-PN/2 Read Records Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 59 of 122...

  • Page 60: Table 41: Can-Pn/2 Write Records

    Clear all CAN frames received with the record handle * Record length depends on the number of CAN frames ** Record length depends on the record mode Table 41: CAN-PN/2 Write Records Page 60 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0...

  • Page 61: Table 42: Read Record Read Can Statistic (0X30/0X31)

    Data Type Number of remaining frames in the record 0x00 ... 0xFF unsigned8 handle Table 43: Read Record Read Number of Remaining Frames in the Record Handle (0x300) Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 61 of 122...

  • Page 62: Table 44: Read Record Read Can Frame From The Record Handle (0X301)

    Structure Table 44: Read Record Read CAN Frame from the Record Handle (0x301) NOTICE All required CAN Identifiers need be enabled with the record 0x107 (see chapter 4.6.2.8). Page 62 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 63: Table 45: Read Multiple Can Frames From The Record Handle (0X302)

    Structure Table 45: Read multiple CAN Frames from the Record Handle (0x302) NOTICE All required CAN identifiers need to be enabled with the record 0x107 (see chapter 4.6.2.8). Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 63 of 122...

  • Page 64: Table 46: Read Record Read Can Fd Frame From The Record Handle (0X303)

    4.6.1.5 Read CAN FD Frame from the Record Handle (0x303) NOTICE This record is only supported by CAN-PN/2-FD. This read record reads one CAN frame from the record handle. The record is similar to 0x301 but has an increased buffer for CAN FD frames. It can also read non-FD CAN frames. To distinguish between Classical CAN and CAN FD frames, check the DLC and Flags field (see chapter 4.4.7.2).

  • Page 65: Table 47: Read Record Read Multiple Can Fd Frames From The Record Handle (0X304)

    4.6.1.6 Read multiple CAN FD Frames from the Record Handle (0x304) NOTICE This record is only supported by CAN-PN/2-FD. This read record reads up to 40 CAN FD frames from the record handle. The record is similar to 0x302 but has an increased buffer for CAN FD frames. The number of CAN frames that can be read per records depends on the buffer size.
  • Page 66 Software 4.6.2 Write Records 4.6.2.1 Reset CAN Statistic (0x10) This write record resets the CAN statistic. It does not need any input data. Page 66 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 67: Table 48: Write Record Add Can Identifier To Rx-Fifo (0X20)

    5000 will be ignored. The only exception is when all identifiers of one type are added or when a range of CAN identifiers is added. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 67 of 122...

  • Page 68: Table 49: Write Record Delete Can Identifier To Rx-Fifo (0X21)

    CAN ID Filter (see chapter 4.4.7.3) Number of CAN Identifiers that should be added, started from the first CAN Identifer (Byte 1-4). Table 49: Write Record Delete CAN Identifier to RX-FIFO (0x21) Page 68 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 69: Table 50: Write Record Send Can Frame (0X101)

    Structure CAN Frame 15 ... 546 CAN Frame Structure 2-39 Structure CAN Frame 547..560 CAN Frame Structure 40 Structure Table 51: Write Record Send multiple CAN Frame (0x101) Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 69 of 122...

  • Page 70: Table 52: Write Record Send Can Fd Frame (0X103)

    4.6.2.6 Send CAN FD Frame (0x103) NOTICE This record is only supported by CAN-PN/2-FD. This write record can be used to send one CAN FD frame. The record is similar to 0x101 but has an increased buffer for CAN FD frames. It can also write non-FD CAN frames. To distinguish between Classical CAN and CAN FD frames, set the respective bit in the DLC and Flags field (see chapter 4.4.7.2).

  • Page 71: Table 53: Write Record Send Multiple Can Fd Frame (0X104)

    4.6.2.7 Send multiple CAN FD Frames (0x104) NOTICE This record is only supported by CAN-PN/2-FD. This write record can be used to send up to 40 CAN FD frames. The number of CAN FD frames that can be send depends on the number of output bytes as well as the number of frames defined in byte 0 of the output data.

  • Page 72: Table 54: Read Record Plc Parameter

    LEN. Table 54: Read Record PLC Parameter NOTICE The parameter REQ is not edge-triggered. If the input is not reset accordingly, the operation will be repeated permanently. Page 72 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 73: Table 55: Write Record Plc Parameter

    Data to be transmitted Table 55: Write Record PLC Parameter NOTICE The parameter REQ is not edge-triggered. If the input is not reset accordingly, the operation will be repeated permanently. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 73 of 122...

  • Page 74: Table 56: Firmware Update

    To install a firmware update, the following steps need to be done: Step Action Install the installer provided with the CAN-PN/2 (see chapter 4.2) with all packages. Connect the CAN-PN/2 via Mini-USB with a Windows computer. Make sure that CAN-PN/2 is detected correctly, and a network adapter called ‘RNDIS based ESD Device’...

  • Page 75: Table 57: Can Monitoring

    Install it with all packages (see chapter 4.2). Connect the CAN-PN/2 via Mini-USB with a Windows computer. Make sure that CAN-PN/2 is detected correctly, and a network adapter called ‘RNDIS based ESD Device’ shows up in the Device Manager (see chapter 4.2).

  • Page 76: Figure 35: Monitoring The Can Bus With Canreal

    File→Save frames…. In support cases this is useful to track the issue. .csplog The log file has the extension NOTICE CAN-PN/2-FD only: Currently it is not possible to monitor CAN FD frames. Page 76 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 77 Compatibility 7 Compatibility The CAN-PN/2 (C.2924.02) and the CAN-PN/2-FD (C.2924.62) are successors of the CAN-PN (C.2920.02). As such the new gateways are still compatible with the predecessor. That means, it is possible to use both new gateways as replacement for a CAN-PN (C.2920.02) without any changes to the configuration.

  • Page 78: Figure 36: Invalid Can Data-Phase Bitrate

    • Check if the PROFINET wiring is correct. • Check if the correct GSDML file is used. It is not possible to configure the CAN-PN/2 (C.2924.02) with the GSDML file of the CAN-PN/2-FD. • CAN-PN/2-FD only: Check if the CAN Data-Phase Bitrate is equal or higher than the CAN Bitrate (see Figure 36).

  • Page 79: Figure 37: Faulty Can Bus

    Check whether the CAN bus is terminated. • Check that the CAN bus wiring is correct (see chapter 12). • Check the error code of the CANopen Manager module. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 79 of 122...

  • Page 80: Figure 38: Duplicates Unique Modules

    Bus Statistic Modules Figure 38: Duplicates unique Modules • CAN-PN/2-FD only: Check if a FIFO module is configured although CAN FD is not enabled on the module CAN- PN/2-FD (see Figure 39: Enable CAN FD). Figure 39: Enable CAN FD Page 80 of 122 Manual Doc.

  • Page 81: Support By Esd

    Troubleshooting 8.4 Support by esd When you have a problem with the CAN-PN/2 please make sure to check the troubleshooting chapter 8 and chapter Fehler! Verweisquelle konnte nicht gefunden werden. first. If you still cannot find the solution to the problem, don’t hesitate to contact our support team for help.
  • Page 82 CAN-PN/2 with the installer. There are two projects, one for the CAN-PN/2 and one for the CAN-PN/2-FD. The example shows some more detailed information about the FIFO modules as well as the record functionality of the gateway.
  • Page 83 This change will send a CAN frame on the 29-bit identifier 0x123 and a length of 5 bytes with the data bytes 0x11, 0x22, 0x33, 0x44 and 0x55. When the In-Counter and the Out-Counter are equal again, the CAN frame is processed. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 83 of 122...
  • Page 84 Change the data in the Communication Window Output to for example send a CAN frame (application based). Increment the Byte 13 of the Communication Window Output. Go on with the PLC cycle (next counter comparison in the next PLC cycle) Page 84 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 85 This change will send a CAN frame on the identifier 0x12 with a length of 8 bytes with the data bytes 0x00, 0x01, 0x02, 0x03, 0x04, 0x05, 0x06, 0x07. When the In-Counter and the Out-Counter are equal again, the transmission job is processed. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 85 of 122...
  • Page 86 Command (Enable CAN identifier for data reception) 0x04 This change will enable the CAN identifier 0x123 for reception. When the In-Counter and the Out- Counter are equal again, the job is processed. Page 86 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 87 0xAA, 0xBB, 0xCC, 0xDD, 0xEE, 0xFF was received. On top of that, the 0x02 in byte 14 means, that there are two more frames pending in the FIFO of the Communication Window that can be processed in the next cycle. Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 87 of 122...
  • Page 88 Counter are equal again, the job is processed. All remaining CAN frames with this identifier, that are already in the RX-FIFO of the Communication Window will still be sent to the PLC. Page 88 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 89 DATA_BLOCK "timer0" {InstructionName := 'IEC_TIMER'; LibVersion := '1.0'; S7_Optimized_Access := 'TRUE' } AUTHOR : Simatic FAMILY : IEC NAME : IEC_TMR VERSION : 1.0 NON_RETAIN IEC_TIMER BEGIN END_DATA_BLOCK Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 89 of 122...

  • Page 90: Figure 40: Default Tag Table

    Displays the first cycle of the PLC in_window "COMM_WINDOW" The input window in the input memory of the PLC out_window "COMM_WINDOW" The output window in the output memory of the PLC Page 90 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 91 ELSE #out_window.id[0] := ULINT_TO_BYTE(SHR(IN := #id_local, N := 8) AND 16#0ff); #out_window.id[1] := ULINT_TO_BYTE(SHR(IN := #id_local, N := 0) AND 16#0ff); #out_window.id[2] := 0; #out_window.id[3] := 0; END_IF; Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 91 of 122...
  • Page 92 #comm_data.rx_data[#ptr].dat[#l] := #in_window.data[#l]; ELSE #comm_data.rx_data[#ptr].dat[#l] := 0; END_IF; END_FOR; #comm_data.rx_data[#ptr].rtr := false; #comm_data.rx_inptr := (#comm_data.rx_inptr + 1) AND 31; ELSE #comm_data.rx_lost := #comm_data.rx_lost + 1; END_IF; END_IF; END_IF; END_IF; END_FUNCTION Page 92 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 93 #comm_data.cmd_data[#ptr].dat[4] := 0; #comm_data.cmd_data[#ptr].dat[5] := 0; #comm_data.cmd_data[#ptr].dat[6] := 0; #comm_data.cmd_data[#ptr].dat[7] := 0; #comm_data.cmd_data[#ptr].cmd := 4; #comm_data.cmd_inptr := ((#ptr + 1) AND 31); #canIdAdd := true; RETURN ; END_FUNCTION Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 93 of 122...
  • Page 94 IF ((#l < #len) AND (#rtr = false)) THEN #comm_data.cmd_data[#ptr].dat[#l] := #data[#l]; ELSE #comm_data.cmd_data[#ptr].dat[#l] := 0; END_IF; END_FOR; #comm_data.cmd_data[#ptr].cmd := 1; #comm_data.cmd_inptr := ((#ptr + 1) AND 31); #canTx := true; RETURN; END_FUNCTION Page 94 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 95 #status := "canTx"(id := 16#11223344, len := 7, rtr := false, data := #can_tx_data, ext := true, comm_data := "my_comm_data"); ELSE #status := false; END_CASE; IF (#status = true) THEN "State" := "State" + 1; END_IF; END_ORGANIZATION_BLOCK Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 95 of 122...

  • Page 96: Table 58: General Data Of The Module

    Table 58: General Data of the module 10.2 CPU and Memory ARM Cortex A9, 1 GHz, AM4377, 32-bit SDRAM 1 Gbyte EEPROM 256 kBit NOR Flash 512 Mbit Table 59: CPU and Memory Page 96 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 97: Table 60: Connectors, Accessible From Outside

    Standard USB Specification Rev. 2.0 Bit rate Max. 480 Mbit/s (Hi-speed) Controller Integrated in CPU Connector Mini-USB socket type B Table 62: Data of the USB device interface Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 97 of 122...

  • Page 98: Table 63: Data Of The Can Interface

    Physical CAN Layer High-speed CAN interface according to ISO 11898-2:2016, CAN-PN/2 (C.2924.02): Bit rate up to 1 Mbit/s CAN-PN/2-FD (C.2924.62): Bit rate up to 8 Mbit/s Electrical isolation Separation by means of optocouplers and DC/DC-converters voltage over CAN isolation (CAN to slot bracket/EARTH;...
  • Page 99 9-pin DSUB- connector and the cable plug designed according to CiA 303 part 1. 1) For further technical data see Phoenix Contact website, PCB Connectors, Product list PCB connectors Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 99 of 122...
  • Page 100 Connector Pin Assignments 11.2 24 V Power Supply Voltage DANGER The CAN-PN/2 is a device of protection class III according to DIN EN IEC 61010-2-201 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.
  • Page 101 NOTICE Cables of category CAT5 or higher must be used to grant the function in networks with 100 Mbit/s. esd grants the EU conformity of the product if the wiring is carried out with shielded twisted pair cables. Manual Doc. No.: C.2924.21 / Rev 1.0...
  • Page 102 Signal Signal Description: VBUS ... +5 V power supply voltage D+, D-... Data USB 2.0, differential pair +/- Reserved (ID for USB-type). Do not connect! GND... Reference potential Page 102 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 103 2 conductors with same cross section, stranded, 0.5 mm² … 1.5 mm² not allowed TWIN ferrules with plastic sleeve, min./max. Technical Data from Phoenix Contact website, printed circuit board connector, plug component Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 103 of 122...
  • Page 104 Therefore, the maximum achievable number of nodes, bus lengths and stub lengths may differ from the theoretically possible number! esd has limited its recommendations for CAN wiring to the specifications of ISO 11898-2. A description of the special features of the derived specifications CANopen, ARINC825, DeviceNet,...

  • Page 105: General Rules

    12.2.1 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 12.3 ensures the EU Conformity as well.

  • Page 106: Termination Resistor

    In principle the CAN bus must be realized in a line. The nodes are connected to the main • CAN bus line via short cable stubs. This is normally realised by so called T-connectors. esd offers the CAN-T-Connector (Order No.: C.1311.03) If a mixed application of single twisted and double twisted cables cannot be avoided, •...

  • Page 107: Heavy Industrial Environment (Double Twisted Pair Cable)

    6 Select a working combination of bit rate and cable length. 7 Keep away CAN cables from disturbing sources. If this cannot be avoided, double shielded cables are recommended. Figure 43: CAN wiring for heavy industrial environment Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 107 of 122...

  • Page 108: Device Cabling

    CAN bus line via short cable stubs. This is usually realised via so called T-connectors. When using esd's CAN-T-Connector (order no.: C.1311.03) in heavy industrial environment and with four-wire twisted cables, it must be noted that the shield potential of the conductive DSUB housing is not looped through this type of T-connector.

  • Page 109: Electrical Grounding

    Table 64: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) Optical couplers are delaying the CAN signals. esd modules typically achieve a wire length of 37 m at 1 Mbit/s within a proper terminated CAN network without impedance disturbances, such as those caused by cable stubs >...

  • Page 110: Examples For Can Cables

    CiA 106: “Connector pin-assignment recommendations ”. 12.6 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.

  • Page 111: Can Troubleshooting Guide

    If the determined value is higher than 70 Ω, please make sure that: • All CAN_H and CAN_L lines are correctly connected. • Two terminating resistors of 120 Ω each are connected to your CAN network (one at each end). Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 111 of 122...

  • Page 112: Electrical Grounding

    Measure the DC voltage between CAN_L and CAN_GND, measuring point (See “Simplified diagram of a CAN network” on previous page). Expected result: The measured voltage should be between 2.0 V and 3.0 V. Page 112 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 113: Can Transceiver Resistance Test

    Another indication of a defective CAN transceiver is a very high deviation of the two measured input resistances (>> 200 %). 13.5 Support by esd If you have followed the troubleshooting steps in this troubleshooting guide and still cannot find a solution to your problem, our support team can help.
  • Page 114 References 14 References (1) IEEE Standard for Ethernet, IEEE Std 802.3™-2015, IEEE Standards Association, New York, USA, Page 114 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 115: Software Licenses

    15 Software Licenses NOTICE The software used for the CAN-PN/2 from esd and from third parties is subject to licenses. You must read and accept these license conditions before the installation! The license terms of esd (esd electronics License Conditions) and of 3rd parties (3rd Party Licenses) are displayed and installed on your system during installation via the installation program (CAN- PN/2(-FD)_X_X_X.exe (see chapter 4.2).
  • Page 116 PACKAGE VERSION: 6.3 RECIPE NAME: procps 5.4.28+gitAUTOINC+c3dd64420d 5.4.28+gitAUTOINC+c3dd64420d 5.4.28+gitAUTOINC+c3dd64420d RECIPE NAME: ncurses LICENSE: GPL-2.0-or-later & RECIPE NAME: linux-ti-staging-rt RECIPE NAME: linux-ti-staging-rt RECIPE NAME: linux-ti-staging-rt PACKAGE NAME: libsolv LICENSE: MIT LGPL-2.0-or-later Page 116 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...
  • Page 117 PACKAGE VERSION: 2.37.4 PACKAGE NAME: util-linux- PACKAGE VERSION: 2.37.4 RECIPE NAME: util-linux RECIPE NAME: util-linux addpart RECIPE NAME: util-linux fsfreeze RECIPE NAME: util-linux LICENSE: GPL-2.0-or-later & LICENSE: GPL-2.0-or-later & Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 117 of 122...

  • Page 118: Others

    RECIPE NAME: util-linux LICENSE: GPL-2.0-or-later & Clause & BSD-4-Clause 15.2.2 Others NAME: U-Boot NAME: PROFINET Stack- VERSION: v2020.01 Lizenzbedingungen LICENSE: GPL-2.0-or-later VERSION: 2011-08-01 LICENSE: License Conditions for Siemens Profinet Stack Page 118 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 119: Declaration Of Conformity

    Declaration of Conformity 16 Declaration of Conformity Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 119 of 122...

  • Page 120: Pno Certificates

    PNO Certificates 17 PNO Certificates 17.1 CAN-PN/2 (C.2924.02) Page 120 of 122 Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2...

  • Page 121: Can-Pn/2-Fd (C.2924.62)

    PNO Certificates 17.2 CAN-PN/2-FD (C.2924.62) Manual Doc. No.: C.2924.21 / Rev 1.0 CAN-PN/2 Page 121 of 122...

  • Page 122: Order Information

    NTCAN-API, Part 2: Driver Installation Guide Table 66: Available Manuals Printed Manuals If you need a printout of the manual additionally, please contact our sales team (sales@esd.eu) for a quotation. Printed manuals may be ordered for a fee. Page 122 of 122 Manual Doc.

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