SafetyBUS p Fiberoptic Router

SBR-FX/RMD

User Manual

EMS

THOMAS WÜNSCHE

Sonnenhang 3

D-85304 Ilmmünster

Tel +49-8441-490260

Fax +49-8441-81860

User Manual SBR-FX/RMD

Documentation for SafetyBUS p Fiberoptic Router

SBR-FX/RMD

Document version: V1.5

Documentation date: April 17th, 2008

No part of this document or the software described herein may be reproduced in any form without prior written agreement from EMS Dr. Thomas Wünsche.

For technical assistance please contact:

EMS Dr. Thomas Wünsche

Sonnenhang 3

D-85304 Ilmmünster

Tel.

+49-8441- 490260

Fax +49-8441- 81860

Email: [email protected]

Our products are continuously improved. Due to this fact specifications may be changed at any time and without announcement.

WARNING: SBR-FX/RMD hardware and software may not be used in applications where damage to life, health or private property may result from failures in or caused by these components.

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SBR-FX/RMD User Manual

Content

1 Overview . . . . . . . . . . . . . . . . . . . . . . . . 1

1.1 Attributes . . . . . . . . . . . . . . . . . . . . . . 1

1.2 General Description . . . . . . . . . . . . . . . . 1

1.3 Ordering Information . . . . . . . . . . . . . . . . 2

2 Hardware . . . . . . . . . . . . . . . . . . . . . . . . 3

3 Software . . . . . . . . . . . . . . . . . . . . . . . . 5

3.1 General Configuration . . . . . . . . . . . . . . . 5

3.2 SafetyBUS p Startup Configuration. . . . . . . . . 8

4 Electrical Characteristics . . . . . . . . . . . . . . 11

4.1 Absolute Limiting Values . . . . . . . . . . . . . 11

4.2 Nominal Values . . . . . . . . . . . . . . . . . . 12

5 Operating Instructions . . . . . . . . . . . . . . . . 13

5.1 Connection Scheme. . . . . . . . . . . . . . . . 13

5.2 Router Correction Time and Cascading. . . . . . 14

5.3 ESD Precaution . . . . . . . . . . . . . . . . . . 15

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1 Overview

1.1 Attributes

•

Optical fiber based Ethernet/CAN router for the connection of SafetyBUS p subnetworks

•

Powerful 32 bit microcontroller Samsung S3C4510B with CAN controller

SJA1000

•

Abolition of the extension/datarate restrictions between two CAN bus segments

•

Optical fiber extensions up to 15/40 km possible (2 different device types)

•

Automatic detection of the used baudrate

1.2 General Description

The rail mountable router SBR-FX/RMD transmits data between SafetyBUS p networks using optical fiber. To achieve the connection two devices are linked back-to-back, the transmission protocol used on the optical fiber is the UDP/IP protocol. The use of UDP/IP abolishes the length/datarate restrictions between two CAN bus segments. Depending on the type of the device, extensions up to 15km or

40km are possible.

SBR-FX/RMD automatically detects the baud rate on the controlling side. The I/O side can be run with the baudrate detected on the controlling side or an independently customized baudrate.

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1.3 Ordering Information

12-20-500-20

SBR FX-15000/RMD

SafetyBUS p Fiberoptic

Router, rail mountable, range up to 15km

12-20-501-20

SBR FX-40000/RMD

SafetyBUS p Fiberoptic

Router, rail mountable, range up to 40km

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2 Hardware

SBR-FX/RMD includes a Samsung S3C4510B controller (ARM7 core) with 50Mhz clock and an embedded Linux operating system. In addition, the device has 16MB SDRAM and 2MB

Flash. The connection to the CAN bus is provided by a CAN controller of type Philips

SJA1000.

LED’s

Explanation of the different LED’s on

SBR-FX/RMD (only applicable LED states are listed):

SB Active: blinking: traffic on the CAN bus

FX Active: blinking: traffic on the optical link

FX Link: on: devices have been connected via the optical link

Status1: blinking: logical connection between devices in progress on: logical connection established

Status2: blinking: SafetyBUS initialization in progress on: SafetyBUS communication OK

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3 Software

3.1 General Configuration

To review or change the IP configuration, you can access SBR-FX/RMD using a terminal program connected to its RS232 port.

- Connect a serial cable to the RS232 port of

SBR-FX/RMD.

- Connect the other end to a free COM port of your PC.

Note: The serial cable should have the pins 2 and 3 crossed and pins 5 connected directly.

- Start your terminal software. Configure your software for a direct connection using the PC’s

COM port. See the communication parameters to use in the following image.

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Notice that the ‘flow control’ parameter within the serial monitor running on the PC has to be turned off. If this parameter can not be changed, supplemental bridges (between pins 4-6 and pins 7-8) have to be inserted on the PC sided connector of the serial cable described above.

- Power on SBR-FX/RMD

- On the terminal window you will see the output from the startup procedure. If the procedure was successful, you will see a prompt that enables you to input commands.

- Enter the command

fltool -r IP

to inquire the IP address.

- Enter the command

fltool -r HOSTNAME

to inquire the HOSTNAME.

- Enter the command

fltool -r NETMASK

to inquire the NETMASK.

- To change the IP configuration, you can use the same application, but with the parameter

‘-w’. Examples:

fltool -w IP 192.168.0.93

fltool -w HOSTNAME sbr1 fltool -w NETMASK 255.255.255.0

The IP configuration information is stored within the flash of SBR-FX/RMD. The parameters become valid after a reboot.

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The following command line parameters are available for the ‘fltool’:

fltool -r IP

inquire the IP address of the device

fltool -r HOSTNAME

inquire the hostname of the device

fltool -r NETMASK

inquire the netmask of the device

fltool -w IP xxx.xxx.xxx.xxx

change the IP address of the device

fltool -w HOSTNAME name

change the hostname of the device

fltool -w NETMASK xxx.xxx.xxx.xxx

change the netmask of the device

fltool -l

show a list of all active user commands

In addition, the user can specify certain actions by setting user specific parameters (including the quotation signs ):

fltool -w USER_x “command to execute”

where ‘x’ can be a number between 1 and 4

A user command specified by

fltool -w USER_x “command”

can be retrieved by a call to

fltool -r USER_x

To delete an action specified within one of the

USER_x slots you can use the ‘fltool’ command with just 2 quotation marks.

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Example:

fltool -w USER_x “”

3.2 SafetyBUS p Startup Configuration

The software running on SBR-FX/RMD devices is started upon boot time and normally needs no intervention from the user.

It is however possible to modify application start parameters. This is useful to change from automatic baudrate detection (default) to a fixed baudrate on the slave side.

When using the fixed baudrate feature, always choose the highest possible baudrate to avoid latency problems and consider the usage of the filtering algorithm to reduce the traffic on the slave segment.

Please notice that only the following baudrates are allowed with SafetyBUS p:

500kBaud, 250kBaud, 125kBaud, 50kBaud,

20kBaud.

Parameters using automatic baudrate detection:

Master: sdtpsrv - -dest-ip SLAVE_IP -w

Slave: sdtpsrv - -dest-ip MASTER_IP -w

Parameters using a fixed baudrate on the slave side:

Master: sdtpsrv - -dest-ip SLAVE_IP -w

Slave: sdtpsrv - -dest-ip MASTER_IP -w

-b BAUDRATE

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The start parameters can be changed using the ‘fltool’ program described within the preceding chapter.

The following parameters are available:

--dest-ip: the destination IP address

(notice the double hyphen)

-w:

-b: trigger the watchdog the fixed baudrate, only available on the slave side

-f: enable filtering, must be activated on both sides (master and slave)

Example for a master with IP 192.168.0.93

connecting to a slave with IP 192.168.0.94 and fixed baudrate:

Master fltool -w USER_1 \

“sdtpsrv --dest-ip 192.168.0.94 \

-w”

Slave fltool -w USER_1 \

“sdtpsrv --dest-ip 192.168.0.93 \

-b 500 -w”

Please notice that the commands have to be written into a single line (without the ‘\’).

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4 Electrical Characteristics

4.1 Absolute Limiting Values

Any (also temporary) stress in excess of the limiting values may cause permanent damage on SBR-FX/RMD. Exposure to limiting conditions for extended periods may affect the reliability and shorten the life time of the device.

Parameter

Storage temperature

Operating temperature

Supply voltage

Voltage on bus connections

Min.

Max.

Unit

–25

0

+70

+50

°C

°C

–100

–30

+35

+30

V

V

User Manual SBR-FX/RMD

4.2 Nominal Values

Parameter

Current consumption

Supply voltage

Optical damping

(SBR-FX15000)

Optical damping

(SBR-FX40000)

Admissible fiber length

(SBR-FX15000)

Admissible fiber length

(SBR-FX40000)

Min

–

20

-

4

–

–

Typ

80

24

13

28

15

40

Max

200

30

–

–

–

–

Unit

mA

V dB dB km km

All values, unless otherwise specified, refer to a supply voltage of 24V and an environmental temperature of 20°C. Fiber length specifications are valid for a fiber damping of

0,55dB/km without additional patch panels.

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5 Operating Instructions

5.1 Connection Scheme

SBR-FX/RMD includes a CAN segment which can be connected by a plug of type D-Sub9.

5

6

7

3

4

Pin

1

2

8

9

Name Function

– Reserved

CAN_L CAN_L signal line

(dominant low)

GND

–

Ground

Reserved

SHLD Shield

– Reserved

CAN_H CAN_H signal line

(dominant high)

VCC

–

Output 5V (max. 150mA)

Reserved

The device is supplied via a terminal block.

Pin 1

Pin 2

Pin 3

Pin 4

VCC

VCC

GND

GND

Supply 24V

Supply 24V

Ground

Ground

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A serial connector of the type D-Sub9 allows the configuration of SBR-FX/RMD.

3

4

5

6

Pin

2

Name

RXD

TXD

Function

Receiving data line

Sending data line

DTR (Currently not supported)

GND Ground

DSR (Currently not supported)

The optical connection is realized by a pair of single mode fibers (9/125

µ m diameter) connected via LC terminals.

5.2 Router Correction Time and Cascading

The values listed below are typical values and should fit most system configurations. The values to be used in a specific system may vary based on parameters like busload and numbers of nodes. The use of a router may require higher values for the Event Timeout settings.

If cascading is used, the Correction Time will increase by the values of the following table for each additional segment.

Baudrate

20 kb/s

50 kb/s

125 kb/s

250 kb/s

500 kb/s

Correction Time

25 ms

11 ms

5 ms

5 ms

5 ms

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5.3 ESD Precaution

As an ESD precaution the RS232 cable may only be connected during configuration of the device and not at normal operating time.

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