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ESD CAN-EtherCAT/2 Hardware Manual

Ethercat can fd or can cc gateway
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CAN-EtherCAT/2
EtherCAT CAN FD or CAN CC Gateway
EtherCAT/2-FD
(C.2932.62)
Hardware Manual
For Products C.2932.62, C.2932.02
Hardware Manual • Doc.-Nr.: C.2932.21 / Rev 1.0
CAN-EtherCAT/2
Page 1 of 96
esd electronics gmbh
Vahrenwalder Str. 207 • 30165 Hannover • Germany
http://www.esd.eu
Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68

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Summary of Contents for ESD CAN-EtherCAT/2

  • Page 1 Hardware Manual • Doc.-Nr.: C.2932.21 / Rev 1.0 CAN-EtherCAT/2 Page 1 of 96 esd electronics gmbh Vahrenwalder Str. 207 • 30165 Hannover • Germany http://www.esd.eu Phone: +49 (0) 511 3 72 98-0 • Fax: +49 (0) 511 3 72 98-68...
  • 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: Document Information

    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 version of the CAN-EtherCAT/2 manual 2025-04-29 Technical details are subject to change without further notice. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2...
  • 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. Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 4 of 96 CAN-EtherCAT/2...

  • Page 5: Safety Instructions

    ● The galvanic isolation of the CAN-EtherCAT/2 has only functional tasks and is not a protection against hazardous electrical voltage. ● The CAN-EtherCAT/2 is a device of protection class III according to DIN EN 61140 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

    Object 0x6000 CAN Rx Message Queue ............43 6.1.5.2 Object 0x6001 Extended CAN Rx Message Queue .......... 46 6.1.5.3 Object 0x6002 CAN FD Rx Message Queue (CAN-EtherCAT/2-FD only) ..47 6.1.5.4 Object 0x7000 CAN Tx Message Queue ............48 6.1.5.5 Object 0x7001 Extended CAN Tx Message Queue ..........
  • Page 8 IP Port Mode ......................63 6.2.3 Disabling EoE ......................63 FoE ..........................64 6.3.1 Firmware Update with the esd Workbench ............... 64 Firmware update with Beckhoff EtherCAT Configurator ..........66 Software Licenses........................68 Party Software License Terms ................... 68 7.1.1 Open-Source Software Copy ...................
  • Page 9 Table 20: Specification of the Ethernet port................... 70 Table 21: Specification of the EtherCAT ports ................71 Table 22: Recommended cable lengths at typical bit rates (with esd-CAN interfaces) ....83 Table 23: Order information hardware ................... 96 Table 24: Available Manuals ......................96 Hardware Manual •...
  • Page 10 Figure 2: Connecting diagram of CAN-EtherCAT/2 ............... 13 Figure 3: Connectors and LEDs ....................14 Figure 4: CAN-EtherCAT/2 product label (Example CAN CC variant) ........... 16 Figure 5: CAN-EtherCAT/2 connector label (Example both variants) ..........16 Figure 6: Basic function......................... 19 Figure 7: Installing ESI file with the Workbench ................

  • Page 11: Overview

    Overview Overview 1.1 About this Manual This manual describes the hardware variants of the CAN-EtherCAT/2. The product is available in a variant with and a variant without CAN FD capability: • EtherCAT CAN FD gateway: CAN-EtherCAT/2-FD • EtherCAT CAN CC gateway: CAN-EtherCAT/2 (successor of CAN-EtherCAT (C.2922.02))

  • Page 12: Glossary

    Overview Ports The CAN CC port of CAN-EtherCAT/2 is compliant with ISO 11898-2 and it supports bit rates from 10 kbit/s* up to 1 Mbit/s. CAN-EtherCAT/2-FD comes with a CAN FD port and supports bit rates up to 8 Mbit/s.

  • Page 13: Hardware Installation

    Hardware Installation 2 Hardware Installation 2.1 Connection Diagram Figure 2: Connecting diagram of CAN-EtherCAT/2 See also page from page 72 for signal assignment of the CAN connectors. For conductor connection and conductor cross section see page 77 NOTICE Read chapter “Installing and Uninstalling Hardware” from page 17, before you start with the installation of the hardware! Hardware Manual •...

  • Page 14: Leds

    EtherCAT link established, but no activity yellow or green Spare unused depending on the socket used Table 2: EtherCAT LED functionality (integrated in RJ45) Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 14 of 96 CAN-EtherCAT/2...

  • Page 15: Table 3: Led States (According To Etg.1300 Documents)

    Unable to retrieve ET1100 configuration from EEPROM EEPROM green Loaded * Successful retrieval of ET1100 configuration from EEPROM *Directly connected to the ET1100 Table 4: EtherCAT LED functionality Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 15 of 96...

  • Page 16: Side Views With Labels

    Figure 4: CAN-EtherCAT/2 product label Figure 5: CAN-EtherCAT/2 connector label (Example CAN CC variant) (Example both variants) The product label (Figure 4) shows among others the name, esd order No. (PN) and the serial number (SN). Module Variant CAN-EtherCAT/2-FD CAN-EtherCAT/2 (Example Figure 4)

  • Page 17: Installing And Uninstalling Hardware

    CAN-EtherCAT/2 is to be integrated. → The CAN-EtherCAT/2 is a device of protection class III according to DIN EN 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.

  • Page 18: Uninstalling The Hardware

    Make sure that all connected interfaces and power supply are switched off. Disconnect the CAN-EtherCAT/2 from the connected interfaces. Use a screwdriver to pull the movable snap-on foot of the CAN-EtherCAT/2 downwards while swivelling the module upwards until it comes loose.

  • Page 19: Configuration With An Ethercat Configurator

    ECS #1 Node #1 CAN-EtherCAT Gateway (#2) Node #2 ECS #3 Node #n Figure 6: Basic function The CAN-EtherCAT/2 gateway can take any position in an EtherCAT network. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 19 of 96...

  • Page 20: Configuration Sequence, Esd Ethercat Workbench

    First, the EtherCAT SubDevice information file (ESI) must be copied. The file can be copied from the EtherCAT-CD which is included in delivery of the CAN-EtherCAT/2. You can also download the ESI file from the CAN-EtherCAT/2 product page on our website: https://esd.eu/ Copy the following files to the corresponding folder: •...

  • Page 21: Figure 9: Recreating The Coe Dictionary (Detail)

    PDO 0x1600 contains the CAN Tx messages, as described in 6.1.3.6, 0x1a00 contains the Rx messages as described in 6.1.3.7. (The optional PDO 0x1a85 contains CAN Status information, see 6.1.3.8 and 6.1.5.11) Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 21 of 96...

  • Page 22: Setting The Bit Rate During Subdevice Initialization

    In the following dialog window click Select from objectdict. and select the bit rate object (0xF800:02) in the context menu that appears. Now the dialog should look like this: Figure 13: CoE init. command for bit rate object Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 22 of 96 CAN-EtherCAT/2...

  • Page 23: Export Eni

    > 5.2.2 Export ENI To export the ENI for the EtherCAT network and CAN-EtherCAT/2 you just configured click Export MDevice configuration file (ENI) in the File menu: (Or press “Ctrl+M” or click on the Export ENI tab in the Workbench's toolbar – they all do the same) Figure 15: Exporting the ENI Hardware Manual •...

  • Page 24: Configuration Sequence, Beckhoff Configurator

    CAN-FD-EtherCAT2_OD.xml Using the EtherCAT configurator the folder may be, for example: “C:\Program Files\EtherCAT Configurator\EtherCAT”. As soon as the EtherCAT configurator has recognized the CAN-EtherCAT/2, it will display it in the device tree view: Figure 16: CAN-EtherCAT/2 in device tree view Hardware Manual •...

  • Page 25: Figure 17: Object Dictionary

    Figure 17: Object dictionary The Process Data section will be initially empty. Click the Load PDO info from device button to read the data: Figure 18: Loading process data Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 25 of 96...

  • Page 26: Figure 19: Process Data Display

    Configuration with an EtherCAT Configurator The configurator will now display the process data: Figure 19: Process data display Figure 20: Process data (output PDOs chosen) Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 26 of 96 CAN-EtherCAT/2...

  • Page 27: Figure 21: Process Data (Input Pdos Chosen)

    Figure 21: Process data (input PDOs chosen) The CAN-EtherCAT/2 gateway will only go active on the CAN bus after the bit rate has been set (see chapter 6.1.5.12 from page 58). Consequently, it makes sense to set the bit rate right now.

  • Page 28: Figure 23: Startup - Sequence Example

    Figure 23: 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 24: Reload Devices Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 28 of 96 CAN-EtherCAT/2...

  • Page 29: Figure 25:Can Port Process Image

    Configuration with an EtherCAT Configurator The process image of the CAN port looks as follows: Figure 25:CAN port process image Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 29 of 96...

  • Page 30: Exporting Ethercat Network Information (Eni)

    Configuration with an EtherCAT Configurator 5.3.1 Exporting EtherCAT Network Information (ENI) To export the configuration file for an EtherCAT MDevice choose Export Configuration File…: Figure 26:Exporting configuration file Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 30 of 96 CAN-EtherCAT/2...

  • Page 31: Ethercat Communication

    The following explains the definition of a standard and an extended CAN message queue. For CAN-EtherCAT/2-FD there is also a CAN FD message queue. For proper operation one of the CAN message queues must be chosen. This can be accomplished by writing the CAN interface settings object (0x8000).

  • Page 32: Object Dictionary

    EtherCAT Communication 6.1.2 Object Dictionary The CAN-EtherCAT/2 gateway layer 2 implementation supports the following objects: Index Name 0x1000 Device type 0x1008 Device name 0x1009 Hardware version 0x100A Software version 0x1018 Identity object 0x1400 1. Receive PDO-Parameter 0x1600 1. Receive PDO-Mapping 0x1800 1.

  • Page 33: Standard Objects (0X1000

    6.1.3.3 Object 0x1009 Hardware Version Sub- Index Description Data Type Default Index STRING Hardware Version 0x1009 Variable Description CAN-EtherCAT/2 gateway hardware version. 6.1.3.4 Object 0x100A Software Version Sub- Index Description Data Type Default Index STRING Software Version 0x100A Variable Description CAN-EtherCAT/2 gateway software version.

  • Page 34: Object 0X1018 Identity

    CAN-EtherCAT/2 gateway identification characteristics. Vendor ID esd vendor-ID = 23 Product code CAN-EtherCAT/2 product code = 2 Revision CAN-EtherCAT/2 ESI revision number Corresponds to the SubDevice revision number stored in its EEPROM ESI – used to determine which .xml version of the ESI file the configuration tool (e.g.

  • Page 35: Object 0X1600 Rpdo-Map Can-Interface

    4. PDO Mapping entry (object 0x700z (CAN interface output), UINT32 entry 0x04 (Tx Message 1)) m. PDO Mapping entry (object 0x700z (CAN interface output), UINT32 entry m (Tx Message m-3)) Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 35 of 96...

  • Page 36: Object 0X1A00 Tpdo-Map Can-Interface

    5. PDO Mapping entry (object 0x6000 (CAN interface input), UINT32 entry 0x05 (Rx Message 1)) m. PDO Mapping entry (object 0x6000 (CAN interface input), UINT32 entry m (Rx Message m-4)) Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 36 of 96 CAN-EtherCAT/2...

  • Page 37: Object 0X1A85 Can Status Pdo

    Object 0xF108 sub-index 0x12 UINT32 Object 0xF108 sub-index 0x13 UINT32 Object 0xF108 sub-index 0x14 UINT32 Padding (12 Bit) UINT32 Object 0xF108 sub-index 0x21 UINT32 Object 0xF108 sub-index 0x22 UINT32 Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 37 of 96...

  • Page 38: Object 0X1C00 Sync Manager Type

    6.1.3.11 Object 0x1C13 TPDO-Assign Object 0x1C13 assigns the mapping of the CAN interface TPDOs. Sub- Data Index Description Default Index Type Number of sub-indices UINT8 0x1C13 CAN-Interface TPDO UINT16 0x1A00 Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 38 of 96 CAN-EtherCAT/2...

  • Page 39: Parameter Description

    (Minimum cycle time = 250000 ns (0x3D090)) At the time of writing, Sub-index 11,12 and 32 are not fully implemented and will always read 0 (SM-event_missed, Cycle_time_too_small, Sync_error) Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 39 of 96...

  • Page 40: Manufacturer Specific Objects (0X2000 - 0X5Fff)

    Reading this value reflects only the value that was last written – not the actual LED state. The state set by writing this object is overwritten whenever the CAN-EtherCAT/2 itself sets a state for the LED (i.e. the LED is usually turned off when the EtherCAT State changes) Hardware Manual •...

  • Page 41: Object 0X2010 Statistics

    0x3B CANDriver RX RTR Frames Ext. UINT32 0x3C CANDriver TX Frames UINT32 0x3D CANDriver TX RTR Frames UINT32 0x3E CANDriver TX Frames Ext. UINT32 0x3F CANDriver TX RTR Frames Ext. UINT32 Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 41 of 96...
  • Page 42 CAN Driver statistics: No. of standard RTR frames sent CANDriver TX Frames Ext. CAN Driver statistics: No. of extended frames sent CANDriver TX RTR Frames Ext. CAN Driver statistics: No. of extended RTR frames sent Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 42 of 96 CAN-EtherCAT/2...

  • Page 43: Profile Specific Objects (0X6000 - 0Xffff)

    Tx Transaction Number UINT16 Rx Message 1 OCTET-STRING[10] Rx Message 2 OCTET-STRING[10] Rx Message (m-4) OCTET-STRING[10] This object contains the CAN interface input messages with 11 Bit ID. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 43 of 96...

  • Page 44: Figure 28: Formatting Of The Can Data In The Ethercat Process Image

    Bit 5-15: CAN Identifier (11-bit CAN ID) Bit 16-79: CAN-Rx data Figure 28: Formatting of the CAN data in the EtherCAT process image (11-bit Rx and Tx) Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 44 of 96 CAN-EtherCAT/2...

  • Page 45: Figure 29: Chronological Sequence Of The Rx-Counters

    EtherCAT Communication Example Sequence Rx-Counter CAN-EtherCAT/2 EtherCAT- MDevice (SubDevice) EtherCAT-MDevice 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...

  • Page 46: Object 0X6001 Extended Can Rx Message Queue

    CAN Identifier (11- or 29-bit CAN identifier) Bit 46: RTR bit Bit 47: 0 = 11-bit CAN identifier 1 = 29-bit CAN identifier Bit 48-111: CAN Rx data Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 46 of 96 CAN-EtherCAT/2...

  • Page 47: Object 0X6002 Can Fd Rx Message Queue (Can-Ethercat/2-Fd Only)

    Rx Message (m-4) OCTET-STRING[70] This object can only be used with the CAN FD variant CAN-EtherCAT/2-FD. It contains the CAN FD interface input messages. See Figure 27 for the relationship of the CAN-Rx-Message-Queues. For CAN FD objects 0x6002 and 0x7002 are used instead of objects 0x6000 and 0x7000 accordingly.

  • Page 48: Object 0X7000 Can Tx Message Queue

    This object contains the CAN interface output messages with 11-bit ID. The maximum value of the sub-index (m), and thus the number of Tx messages (m-3), is defined in the RxPDO-Mapping-Object (object 0x1600). Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 48 of 96 CAN-EtherCAT/2...
  • Page 49 Bit 16-19: CAN message length (0…8 bytes) Bit 20: RTR bit Bit 21-31: CAN identifier (11-bit CAN ID) Bit 32-95: CAN Tx data See Figure 28 on page 44. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 49 of 96...

  • Page 50: Figure 31: Chronological Sequence Tx-Counter

    EtherCAT Communication Example Chronological Sequence Tx-Counter CAN-EtherCAT/2 EtherCAT- MDevice (SubDevice) EtherCAT-MDevice 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 MDevice sends CAN frames...

  • Page 51: Object 0X7001 Extended Can Tx Message Queue

    CAN Identifier (11- or 29-bit CAN ID) Bit 32-60: Bit 62: RTR bit Bit 63: 0 = 11-bit CAN identifier 1 = 29-bit CAN identifier Bit 64-127: CAN Tx data Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 51 of 96...

  • Page 52: Object 0X7002 Can Fd Tx Message Queue

    Tx Message (m-3) OCTET-STRING[72] This object can only be used with the CAN FD variant CAN-EtherCAT/2-FD. It contains the CAN FD interface output messages. See Figure 30 for the relationship of the CAN-Tx-Message-Queues. For CAN FD objects 0x6002 and 0x7002 are used instead of objects 0x6000 and 0x7000 accordingly.

  • Page 53: Object 0X8000 Can-Interface-Configuration

    0 = CAN CC message queue 1 = CAN FD message queue (CAN FD variant only) CAN-EtherCAT/2: For the CAN CC variant bit 15 is always = 0 CAN-EtherCAT/2-FD: Bit 15 can be set to 0 or 1 Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0...
  • Page 54 Maximum number of CAN TX messages which could be stored in the CAN interface, CAN CC: m = 0x80 (128), CAN FD: m = 0x20 (32) MAX_L MAX_L * Also limited by SM size/configuration Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 54 of 96 CAN-EtherCAT/2...

  • Page 55: Object 0X8001 Can-Rx-Filter-Table

    Identifier Area m Byte 0-3: First identifier to be assigned to the Rx queue Byte 4-7: Last identifier to be assigned to the Rx queue m = max. 0xFF (255) Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 55 of 96...

  • Page 56: Object 0Xf000 Modular Device Profile

    EtherCAT Communication 6.1.5.9 Object 0xF000 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 UINT16 0x10 (16) 0xF000 Maximum number of modules...

  • Page 57: Object 0Xf108 Can Status

    (Not served, always false) Ack error BOOL false (Not served, always false) 0xF108 Reserved BIT2 Reserved BIT8 Reserved (by esd) BIT1 Reserved (by esd) BIT1 Reserved (by esd) BIT1 Reserved (by esd) BIT1 Rx error counter (Read from CAN controller Rx error counter...

  • Page 58: Object 0Xf800: Can Bus Parameter Set

    Bustiming Register CAN FD UINT64 These reserved entries have no functionality, because the CAN-EtherCAT/2 gateway does not contain a CANopen MainDevice. The default values for these entries are defined in the specification. This object contains the CAN CC bit rate or the nominal and the data bit rate for CAN FD.

  • Page 59: Table 10: Parameters Can Fd Bit Rates

    EtherCAT Communication CAN FD bit rate (CAN-EtherCAT/2-FD only): This table shows the bit rate Index used for CAN FD. It defines the nominal CAN FD bit rate (Arbitration bit rate) and the CAN FD data bit rate. Parameter Bit rate...

  • Page 60: Table 12: Structure Of Parameter Bit Rate

    Self-test mode enabled: Transmit/receive without acknowledge from other CAN nodes Table Use the bit rate in pre-defined index CAN Controller specific bit timing register values: CAN-EtherCAT/2: CAN bit rate register of CAN_BR ccan , see Table 9 CAN-EtherCAT/2-FD: CAN bit rate register of...

  • Page 61: Table 14: Pre-Defined Bit Rate Table

    CAN bus NTCAN_USER_BAUDRATE 0x8000 0000 Configure BTR register NTCAN_LISTEN_ONLY_MODE 0x4000 0000 Configure listen only mode NTCAN_USER_BAUDRATE_NUM 0x2000 0000 Numerical baudrate NTCAN_SELF_TEST_MODE 0x1000 0000 Configure self-test mode Table 15: Constant Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 61 of 96...

  • Page 62: Object 0Xfa01 Rx/Tx Ethernet Telegrams

    When enabled, the gateway is able to send into an empty bus. If there is no ACK by any node, the no-ACK error is ignored. CAN CC variant CAN-EtherCAT/2: The ccan will receive its own sent messages (only). CAN FD variant...

  • Page 63: Eoe

    IP address, subnet mask and default gateway. The MAC-Id value is ignored, the name server is optional. In this mode the CAN-EtherCAT/2 also acts as DHCP server for a single DHCP client on its Ethernet port: The received IP configuration is offered to the DHCP client.

  • Page 64: Foe

    General. Now click on the button Bootstr. as described in Figure 33. The Current state: of the CAN-EtherCAT/2 gateway is switched to Bootstrap. You can also click on the button Bootstrap in tab FoE to put the device into bootstrap mode, see Figure 34.

  • Page 65: Figure 35: Can-Ethercat Coe Dictionary

    Figure 35: CAN-EtherCAT CoE Dictionary 9. Click on the button Reread all to ensure that the current objects are displayed. 10. Verify the current software version in object 0x100A, see Figure 35. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 65 of 96...

  • Page 66: Firmware Update With Beckhoff Ethercat Configurator

    6.4 Firmware update with Beckhoff EtherCAT Configurator NOTICE Do not interrupt the CAN-EtherCAT/2 gateway power supply during a firmware update as this might result in unforeseeable operating conditions. 1. Make sure the SubDevice is connected, etc. 2. Set SubDevice to “Bootstrap”, by button Bootstrap (Figure 36) Figure 36: Firmware update by FoE 3.

  • Page 67: Figure 38: Can-Ethercat Coe Dict., Software/Firmware Version Selected

    9. Verify the current version in object 0x100A,Figure 38. (Make sure you're seeing online data: uncheck Show Offline Data, and perhaps do Reload I/O Devices again, etc.) Figure 38: CAN-EtherCAT CoE dict., Software/Firmware version selected Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 67 of 96...

  • Page 68: Software Licenses

    7 Software Licenses NOTICE The software from esd and from third parties used in the CAN-EtherCAT/2 is subject to the license terms of the respective authors or rights holders. CAN-EtherCAT/2 may only be used in accordance with these license terms! By using the CAN-EtherCAT/2 you agree to the terms of these software licenses.

  • Page 69: Technical Data

    Technical Data 8 Technical Data 8.1 General Technical Data 16 V … 32 V DC, Nominal: 24 V Power supply voltage Power consumption CAN-EtherCAT/2-FD: Typical: 1.6 W Maximum: 2.16 W, CAN-EtherCAT/2: Typical: 1.1 W, Maximum: 1.68 W Current consumption CAN-EtherCAT/2-FD: I...

  • Page 70: Can Port

    CAN protocol According to ISO 11898-1 Physical CAN Layer High-speed CAN port according to ISO 11898-2, CAN-EtherCAT/2-FD: CAN FD bit rate 10 kbit/s * up to 8 Mbit/s CAN-EtherCAT/2: CAN CC bit rate 10 kbit/s * up to 1 Mbit/s...

  • Page 71: Ethercat Port

    Via transformer, integrated in RJ45 socket Name Port IN and Port OUT Connector Dual port RJ45 socket with integrated LEDs for status indication (Link/Activity) Table 21: Specification of the EtherCAT ports Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 71 of 96...

  • Page 72: Connector Assignments

    9 Connector Assignments 9.1 24V Power Supply Voltage DANGER The CAN-EtherCAT/2 is a device of protection class III according to DIN EN 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages. Device socket:...

  • Page 73: Can

    CiA 106. INFORMATION esd offers assembled CAN cables according to recommendations of CiA 303 part1 and CiA 106 as accessories, see Order Information, page 96. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 73 of 96...

  • Page 74: Can Port

    Use the mounting-rail bus connector (CAN-CBX-TBus) for the connection via the InRailBus, see Order Information InRailBus Accessories (page 88). Read and follow the instructions for connecting power supply and CAN signals via InRailBus (see from page 89)! Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 74 of 96 CAN-EtherCAT/2...

  • Page 75: Ethernet 100Base-Tx (Eth)

    Cables of category CAT5e 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 of category SF/UTP or better.

  • Page 76: Ethercat 100Base-Tx (In, Out)

    Permissible cable types: Cables of category 5e or higher must be used to grant the function in networks with up to 100 Mbits/s. esd grants the EU conformity of the product if the wiring is carried out with shielded twisted pair cables of class SF/UTP or better.

  • Page 77: Conductor Connection / Conductor Cross Section

    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 Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 77 of 96...

  • Page 78: Correct Wiring Of Galvanically Isolated Can Networks

    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, and NMEA2000 is omitted here.

  • Page 79: Light Industrial Environment (Single Twisted Pair Cable)

    10.2.1 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 10.3 ensures the EU Conformity as well.

  • Page 80: Cabling

    4. 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) ●...

  • Page 81: 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 42: CAN wiring for heavy industrial environment Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 81 of 96...

  • Page 82: 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 83: Electrical Grounding

    Table 22: 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 84: Examples For Can Cables

    CiA 106: “Connector pin-assignment recommendations ”. 10.6 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 85: 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). Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 85 of 96...

  • Page 86: 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. Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 86 of 96 CAN-EtherCAT/2...

  • Page 87: Can Transceiver Resistance Test

    Another indication of a defective CAN transceiver is a very high deviation of the two measured input resistances (>> 200 %). 11.5 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 88: Optional Inrailbus

    2 conductors with same cross section, stranded, TWIN ferrules with 0.5 mm² ... 0.5 mm² 0.5 mm² ... 0.5 mm² plastic sleeve, min./max. Technical Data from Phoenix Contact website, printed circuit board connector, plug component Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 88 of 96 CAN-EtherCAT/2...

  • Page 89: Connector Assignment 24V And Can Via Inrailbus (Option)

    12.3 Connector Assignment 24V and CAN via InRailBus (Option) DANGER The CAN-EtherCAT/2 is a device of protection class III according to DIN EN IEC 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.

  • Page 90: Using Inrailbus (Option)

    2. Hold the CAN-CBX module tilted backwards at a slight angle and place it on the bus connector so that the DIN rail guideway is placed on the top edge of the mounting rail. Figure 48: Mounting CAN-CBX modules Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 90 of 96 CAN-EtherCAT/2...

  • Page 91: Connecting Via The Inrailbus

    Insert the terminal plug from the right into the socket side of the outer mounting rail bus connector of the InRailBus, as shown in Figure 50. Then connect the CAN interface and the supply voltage via the terminal plug. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 91 of 96...

  • Page 92: Connection Of The Supply Voltage

    Switch off the power supply, before you connect it to the system. DANGER The CAN-EtherCAT/2 is a device of protection class III according to DIN EN IEC 61140 and may only be operated on supply circuits that offer sufficient protection against dangerous voltages.

  • Page 93: Connection Of The Power Supply Voltage Via 24 V Connector

    It must be ensured that the impedance of the connection is kept low. The functional earth contact of the module does not ensure electrical safety. Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 93 of 96...

  • Page 94: Connection Of Can

    INFORMATION It is possible to remove individual devices from the CBX station without interrupting the InRailBus connection, because the contact chain will not be disrupted. Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0 Page 94 of 96 CAN-EtherCAT/2...

  • Page 95: Declaration Of Conformity

    Declaration of Conformity 13 Declaration of Conformity Hardware Manual • Doc.-Nr.: C.2932.21 / 1.0 CAN-EtherCAT/2 Page 95 of 96...

  • Page 96: Order Information

    Table 24: 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. Hardware Manual • Doc.-Nr.: C.2932.21 / Rev. 1.0...

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