PCAN-PC/104-Plus Quad
Four-Channel CAN Interface for
PC/104-Plus
User Manual
V1.0.1
PCAN-PC/104-Plus Quad – User Manual
Products taken into account
Product Name
Model
Part Number
PCAN-PC/104-Plus Quad
Four CAN channels
IPEH-002099
On request you can get the card with stack-through connectors for the ISA bus.
CANopen® and CiA® are registered community trade marks of CAN in Automation
e.v.
All other product names mentioned in this manual may be the trademarks or
registered trademarks of their respective companies. They are not explicitly marked
by “™” and “®”.
© 2012 PEAK-System Technik GmbH
PEAK-System Technik GmbH
Otto-Roehm-Strasse 69
64293 Darmstadt
Germany
Phone: +49 (0)6151 8173-20
Fax:
+49 (0)6151 8173-29
www.peak-system.com
info@peak-system.com
Document version 1.0.1 (2012-07-09)
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PCAN-PC/104-Plus Quad – User Manual
Contents
1
1.1
1.2
1.3
2
Introduction
5
Properties at a Glance
System Requirements
Scope of Supply
Configuring and Installing the Card and the
Software
5
6
7
8
2.1 Configuring the Card
2.1.1
Setting the Position in the PC/104
Stack
2.2 Installing the Software and the Card
2.3 Notes for the ISA Bus Stack-through
Connection
8
10
3
13
Connecting the CAN Bus
3.1
3.2
8
12
D-Sub Connector
Supplying External Devices via the CAN
Connector
3.3 Cabling
3.3.1
Termination
3.3.2
Example of a Connection
3.3.3
Maximum Bus Length
15
17
17
17
18
4
19
Using the Software
4.1 CAN Monitor PCAN-View for Windows
4.1.1
Receive/Transmit Tab
4.1.2
Trace Tab
4.1.3
Status Bar
4.2 Linking Own Programs with PCAN-Basic
4.2.1
Features of PCAN-Basic
4.2.2
Principle Description of the API
4.2.3
Notes about the License
3
13
19
21
23
24
25
26
27
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PCAN-PC/104-Plus Quad – User Manual
5
Technical Specifications PCAN-PC/104-Plus Quad
29
Appendix A
CE Certificate
31
Appendix B
Dimension Drawing
32
Appendix C
Quick Reference
33
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PCAN-PC/104-Plus Quad – User Manual
1
Introduction
The PCAN-PC/104-Plus Quad card enables the connection of four
CAN networks to a PC/104-Plus system. Up to four cards can be
operated, with each piggy-backing on the next. The CAN bus is
connected using a 9-pin D-Sub plug on the slot brackets supplied.
There is galvanic isolation of up to 500 Volts between the computer
and CAN sides. Device drivers and a programming interface exist
for different operating systems, so programs can easily access a
connected CAN bus.
Tip: At the end of this manual (Appendix C) you can find a
Quick Reference with brief information about the installation
and operation of the PCAN-PC/104-Plus Quad card.
1.1
Properties at a Glance
Form factor PC/104
Use of the 120-pin connection for the PCI bus
Up to four cards can be used in one system
Bit rates up to 1 Mbit/s
Compliant with CAN specifications 2.0A (11-bit ID)
and 2.0B (29-bit ID)
Connection to CAN bus through D-Sub slot brackets,
9-pin (in accordance with CiA® 102)
NXP SJA1000-compatible CAN controller
(FPGA implementation)
NXP PCA82C251 CAN transceiver
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PCAN-PC/104-Plus Quad – User Manual
5-Volts supply to the CAN connection can be connected through
a solder jumper, e.g. for external bus converter
4 High-speed CAN channels (ISO 11898-2)
Galvanic isolation on the CAN connection up to 500 V, separate
for each CAN channel
Extended operating temperature range from -40 to 85 °C
(-40 to 185 °F)
Note: This manual describes the use of the PCAN-PC/104-Plus
Quad card with Windows. You can find device drivers for Linux
and the corresponding application information on the provided
DVD in the directory branch Develop and on our website under
www.peak-system.com/linux.
1.2
System Requirements
PC/104 stack with PCI-Bus (according to the specification PC/104Plus)
Operating system Windows 7/Vista/XP (32/64-bit)
or Linux (32/64-bit)
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1.3
Scope of Supply
PCAN-PC/104-Plus Quad card
Two Slot brackets with D-Sub connectors for the CAN bus
Device drivers for Windows 7/Vista/XP (32/64-bit)
and Linux (32/64-bit)
PCAN-View CAN monitor for Windows
PCAN-Basic programming interface consisting of an interface
DLL, examples, and header files for all common programming
languages
Manual in PDF format
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PCAN-PC/104-Plus Quad – User Manual
2
Configuring and Installing
the Card and the Software
This chapter covers the configuration for the PCAN-PC/104-Plus
Quad card and the software setup under Windows and the
installation of the card in the PC/104 stack.
Note: Under Windows the PCAN-PC/104-Plus Quad card is run
as a PCAN-PC/104-Plus card.
2.1
Configuring the Card
Before installing the PCAN-PC/104-Plus Quad card into a PC/104
stack, you must configure it using jumpers on the PCB.
Attention! Electrostatic discharge (ESD) can damage or destroy
components on the PCAN-PC/104-Plus Quad card. Take
precautions to avoid ESD when handling the card.
2.1.1
Setting the Position in the PC/104 Stack
The PCAN-PC/104-Plus Quad card must be adjusted to a specific
position in the stack by setting the appropriate jumpers. The
position number results from the distance to the host.
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PCAN-PC/104-Plus Quad – User Manual
Figure 1: Jumper fields IDx, CLKx, and INTx
on the PCAN-PC/104-Plus Quad card
Jumper
Signal
Position in the PC/104 stack in relation to the host
1
2
3
4
IDx
ID Select
0
1
2
3
CLKx
Clock Select
0
1
2
3
INTx
Interrupt Select
0
1
2
3
Because the PCI bus master operation is not used by the card, the
jumper fields REQx and GNTx remain empty.
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PCAN-PC/104-Plus Quad – User Manual
2.2
Installing the Software and the Card
Setup the driver before installing the PCAN-PC/104-Plus Quad card
in the PC/104 stack.
Do the following to setup the driver:
1.
Make sure that you are logged in as user with administrator
privileges (not needed for normal use of the card later on).
2.
Insert the supplied DVD into the appropriate drive of the
computer. Usually a navigation program appears a few
moments later. If not, start the file Intro.exe from the root
directory of the DVD.
3.
On the page English > Drivers activate the entry PCAN-PCI.
4.
Click on Install now. The setup program for the driver is
executed.
5.
Follow the instructions of the program.
Tip: If you don't want to install the CAN monitor PCAN-View for
Windows onto the hard disk together with the driver, you have
the option to start the program later directly from DVD without
prior installation.
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PCAN-PC/104-Plus Quad – User Manual
Do the following to install the card into the PC/104 stack:
1.
Plug a cable from the slot bracket to a 10-pin socket for each
CAN connection.
Figure 2: Position of the sockets for the CAN connection,
J4 for CAN channel 1 (upper right position),
J5 for CAN channel 2 (lower right position),
J6 for CAN channel 3 (upper left position),
J10 for CAN channel 4 (lower left position)
2.
Shut down the computer.
3.
Disconnect the computer from the power supply.
4.
Insert the card into the PC/104 stack at the position
configured before (1 to 4).
5.
Reconnect the power supply of the computer.
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PCAN-PC/104-Plus Quad – User Manual
Do the following to complete the initialization:
1.
Turn on the computer and start Windows. Make sure that
you are logged in as user with administrator privileges.
Windows notifies that new hardware has been detected.
2.
Windows XP only: A Wizard dialog box appears. Follow its
instruction. Deny the search for driver software at Windows
Update and select the automatic software installation during
the procedure
All Windows operating systems: The drivers are found and
installed by Windows.
3.
Afterwards you can work as user with restricted rights
again.
After the driver has been successfully set up you can find the entry
“PCAN-PC/104-Plus” in the branch “CAN-Hardware” of the
Windows Device Manager.
2.3
Notes for the ISA Bus Stack-through
Connection
If you want to use additional modules in the PC/104 stack being
connected via the ISA bus, the connections J1 and J2 must be
equipped with stack-through connectors. On request you get a
respective version of the PCAN-PC/104-Plus Quad card.
Taking the host as point of view, PC/104 modules with ISA bus must
be plugged onto the stack behind any module with PCI bus. The
signals of the ISA bus are connected through and not used by the
PCAN-PC/104-Plus Quad card.
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PCAN-PC/104-Plus Quad – User Manual
3
3.1
Connecting the CAN Bus
D-Sub Connector
A High-speed CAN bus (ISO 11898-2) is connected to the 9-pin
D-Sub connector. The pin assignment for CAN corresponds to the
specification CiA® 102.
Figure 3: Pin assignment High-speed CAN bus
(view onto a D-Sub connector of the slot bracket)
With the pins 1 and 9 devices with low power consumption (e.g.
external bus converters) can be directly supplied via the CAN
connector. At delivery these pins are not activated. You can find a
detailed description in section 3.2 on page 15.
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PCAN-PC/104-Plus Quad – User Manual
The pin assignment between a 10-pin socket on the PCAN-PC/104Plus Quad card and a D-Sub male connector is as follows:
Figure 4: Numbering at the 10-pin socket
Pin
Assignment
Assignment
D-Sub
1
+5 V (optional)
1
2
GND
6
3
CAN_L
2
4
CAN_H
7
5
GND
3
6
not connected
8
7
not connected
4
8
+5 V (optional)
9
9
not connected
5
10
not connected
Tip: You can connect a CAN bus with a different transmission
standard via a bus converter. PEAK-System offers different bus
converter modules (e.g. PCAN-TJA1054 for a Low-speed CAN
bus according to ISO 11898-3).
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PCAN-PC/104-Plus Quad – User Manual
3.2
Supplying External Devices via the CAN
Connector
A 5-Volt supply can optionally be routed to pin 1 and/or pin 9 of a DSub connector by setting solder bridges on the PCAN-PC/104-Plus
Quad card (independently for each connector). Thus external
devices with low power consumption (e.g. bus converters) can be
directly supplied via the CAN connector.
When using this option the 5-Volt supply is connected to the power
supply of the PC/104 stack and is not fused separately. By using
interconnected DC/DC converter the current output is limited to
100 mA.
Proceed as follows to activate the 5-Volt supply:
Set the solder bridges on the PCAN-PC/104-Plus Quad card
according to the desired settings. During this procedure take
especially care not to produce unwanted short circuits on the card.
Figure 5 shows the positions of the solder fields on the PCANPC/104-Plus Quad card. If a solder bridge is set, the 5-volt supply is
forwarded to the corresponding pin.
Note: The pin labels for the CAN connector are related to the 9pin D-Sub connector being connected via a cable to a socket on
the card.
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PCAN-PC/104-Plus Quad – User Manual
CAN1, Pin 1
CAN3, Pin 9
CAN1, Pin 9
CAN3, Pin 1
CAN2, Pin 1
CAN4, Pin 9
CAN2, Pin 9
CAN4, Pin 1
Figure 5: Positions of the solder fields on the board’s bottom side
for a 5-Volt supply at the CAN connection (D-Sub)
Attention! Risk of short circuit! If the option described in this
section is activated, you may only connect or disconnect CAN
cables or peripheral systems (e.g. bus converters) to or from
the PCAN-PC/104-Plus Quad card while the computer is deenergized.
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PCAN-PC/104-Plus Quad – User Manual
3.3
3.3.1
Cabling
Termination
A High-speed CAN bus (ISO 11898-2) must be terminated on both
ends with 120 Ohms. Otherwise, there are interfering signal
reflections and the transceivers of the connected CAN nodes (CANinterface, control unit) will not work.
The PCAN-PC/104-Plus Quad card does not have an internal termination. Use the card on a terminated CAN bus.
3.3.2
Example of a Connection
Figure 6: Simple CAN connection
In this example, the PCAN-PC/104-Plus Quad card is connected with
a control unit by a cable that is terminated at both ends.
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PCAN-PC/104-Plus Quad – User Manual
3.3.3
Maximum Bus Length
High-Speed-CAN networks may have bit rates of up to 1 Mbit/s. The
maximum bus length depends primarily on the bit rate.
The following table shows the maximum possible CAN bus length
at different bit rates:
Bit rate
Bus length
1 Mbit/s
40 m
500 kbit/s
110 m
250 kbit/s
240 m
125 kbit/s
500 m
50 kbit/s
1.3 km
20 kbit/s
3.3 km
10 kbit/s
6.6 km
5 kbit/s
13.0 km
The listed values have been calculated on the basis of an idealized
system and can differ from reality.
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PCAN-PC/104-Plus Quad – User Manual
4
Using the Software
This chapter covers the provided software PCAN-View and the
programming interface PCAN-Basic.
4.1
CAN Monitor PCAN-View for Windows
PCAN-View for Windows is a simple CAN monitor for viewing,
transmitting, and logging CAN messages.
Figure 7: PCAN-View for Windows
Do the following to start and initialize PCAN-View:
1.
If PCAN-View is already installed on the hard disk, open the
Windows Start menu, go to Programs > PCAN-Hardware,
and select the entry PCAN-View.
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PCAN-PC/104-Plus Quad – User Manual
If you haven’t installed PCAN-View together with the device
driver, you can start the program directly from the supplied
DVD. In the DVD navigation program (Intro.exe), go to
English > Tools, and under PCAN-View for Windows select
the link Start.
The dialog box for selecting the CAN hardware and for
setting the CAN parameters appears.
Figure 8: Selection of the CAN hardware and parameters
2.
From the list Available CAN hardware select the CAN
channel to be used.
3.
Select the bit rate that is used by all nodes on the CAN bus
from the dropdown list Bit rate.
4.
Under Filter settings you can limit the range of CAN IDs to
be received, either for standard frames (11-bit IDs) or for
extended frames (29-bit IDs).
5.
Finally confirm the settings in the dialog box with OK. The
main window of PCAN-View appears (see Figure 9).
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PCAN-PC/104-Plus Quad – User Manual
4.1.1
Receive/Transmit Tab
Figure 9: Receive/Transmit tab
The Receive/Transmit tab is the main element of PCAN-View. It
contains two lists, one for received messages and one for the
transmit messages. Representation of CAN data is in hexadecimal
format.
Do the following to transmit a CAN message with PCAN-View:
1.
Select the menu command Transmit > New Message
(alternatively
or Ins).
The dialog box New Transmit Message is shown.
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PCAN-PC/104-Plus Quad – User Manual
Figure 10: Dialog box New transmit message
2.
Enter the ID and the data for the new CAN message.
3.
The field Cycle Time indicates if the message shall be
transmitted manually or periodically. If you want to transmit
the message periodically, you must enter a value greater
than 0. For a manual-only transmission enter 0.
4.
Confirm the entries with OK.
The created transmit message appears on the
Receive/Transmit tab.
5.
You trigger selected transmit messages manually with the
menu command Transmit > Send (alternatively Space bar).
The manual transmission for CAN messages being
transmitted periodically is carried out additionally.
Tip: By using the menu command File > Save, you can save the
current transmit messages to a list and load them for reuse
later on.
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PCAN-PC/104-Plus Quad – User Manual
4.1.2
Trace Tab
Figure 11: Trace tab
On the Trace tab the data tracer of PCAN-View is used for logging
the communication on a CAN bus. During this process the CAN
messages are cached in the working memory of the PC. Afterwards
they can be saved to a file.
The tracer can be configured to run in linear or in ring buffer mode.
In linear buffer mode the logging is stopped as soon as the buffer is
filled completely. In ring buffer mode the oldest messages are
overwritten by incoming ones.
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PCAN-PC/104-Plus Quad – User Manual
4.1.3
Status Bar
Figure 12: Example for the status bar
The status bar shows information about the current CAN
connection, about error counters (Overruns, QXmtFull), and shows
error messages.
You can find further information about the use of PCAN-View in the
help which you can invoke in the program via the menu Help or the
F1 key.
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PCAN-PC/104-Plus Quad – User Manual
4.2
Linking Own Programs with PCAN-Basic
Figure 13: PCAN-Basic
On the provided DVD you can find files of the programming
interface PCAN-Basic in the directory branch Develop. This API
provides basic functions for linking own programs to CAN
interfaces by PEAK-System and can be used for the following
operating systems:
Windows 7/Vista/XP (32/64-bit)
Windows CE 6.x (x86/ARMv4)
The API is designed for cross-platform use. Therefore software
projects can easily be ported between platforms with low efforts.
PEAK-System has created examples for the following programming
languages: C++, C#, C++/CLR, Visual Basic, Delphi, Python, and
Java.
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PCAN-PC/104-Plus Quad – User Manual
4.2.1
Features of PCAN-Basic
Supports Windows 7/Vista/XP (32/64-bit) and Windows CE 6.x
operating system
Multiple PEAK-System applications and your own can be
operated on a physical CAN channel at the same time
Use of a single DLL for all supported hardware types
Use of up to 8 channels for each hardware unit (depending on
the PEAK CAN interface used)
Simple switching between channels of a PEAK CAN interface
Driver-internal buffering of 32,768 messages per CAN channel
Precision of time stamps on received messages up to 1 μs
(depending on the PEAK CAN interface used)
Access to specific hardware parameters, such as listen-only
mode
Notification of the application through Windows events when a
message is received
Extended system for debugging operations
Multilingual debugging output
Output language depends on operating system
Debugging information can be defined individually
An overview of the API functions is located in the header files. You
can find detailed information about the PCAN-Basic API on the
provided DVD in the text and help files (file name extensions .txt
and .chm).
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PCAN-PC/104-Plus Quad – User Manual
4.2.2
Principle Description of the API
The PCAN-Basic API is the interface between the user application
and device driver. In Windows operating systems this is a DLL
(Dynamic Link Library).
The sequence of accessing the CAN interface is divided into three
phases:
1. Initialization
2. Interaction
3. Completion
Initialization
A CAN channel must be initialized before using it. This is done by
the simple call of the CAN_Initialize function. Depending on the
type of the CAN hardware, up to eight CAN channels can be opened
at the same time. After a successful initialization the CAN channel is
ready for communication with the CAN hardware and the CAN bus.
No further configuration steps are required.
Interaction
For receiving and transmitting CAN messages the functions
CAN_Read and CAN_Write are available. Additional settings can be
made, e.g. setting up message filters to confine to specific CAN IDs
or setting the CAN controller to listen-only mode.
When receiving CAN messages, events are used for an automatic
notification of an application (client). This offers the following
advantages:
The application no longer needs to check for received messages
periodically (no polling).
The response time at reception is reduced.
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PCAN-PC/104-Plus Quad – User Manual
Completion
To end the communication the CAN_Uninitialize function is
called in order to release the reserved resources for the CAN
channel, among others. In addition the CAN channel is marked as
“Free” and is available to other applications.
4.2.3
Notes about the License
Device drivers, the interface DLL, and further files needed for linking
are property of the PEAK-System Technik GmbH and may be used
only in connection with a hardware component purchased from
PEAK-System or one of its partners. If a CAN hardware component
of third-party suppliers should be compatible to one of PEAKSystem, then you are not allowed to use or to pass on the driver
software of PEAK-System.
If a third-party supplier develops software based on the PCAN-Basic
and problems occur during the use of this software, consult the
software provider.
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5
Technical Specifications
PCAN-PC/104-Plus Quad
Connectors
PC/104-Plus
PCI bus (PC/104-Plus Version 2), 120-pin strip,
for 5-Volt systems
ISA bus: optionally equipped stack-through
connectors for the ISA signals
4 High-speed CAN
D-Sub (m), 9 pins
Pin assignment according to specification CiA® 102
CAN
Specification
ISO 11898-2; High-speed CAN
2.0A (standard format) and 2.0B (extended format)
Bit rates
5 kbit/s - 1 Mbit/s
Controller
NXP SJA1000-compatible (FPGA implementation)
Transceiver
NXP PCA82C251
Galvanic isolation
Up to 500 V, separate for each CAN channel
Supplying external
devices
D-Sub pin1 / 9; 5 V, max. 100mA
Not assigned at delivery
Termination
None
Supply
Supply voltage
5 V DC
Current consumption
max. 300 mA
Measures
Dimension
about 90 x 96 x 15 mm; (stacking height; component
height max. 11 mm)
See also dimension drawing in Appendix B on page 32
Weight
56 g
Continued on the next page
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Environment
Operating temperature
-40 – +85 °C (-40 – +185 °F)
Temperature for storage
and transport
-40 – +125 °C (-40 – +257 °F)
Relative humidity
15 – 90 %, not condensing
EMC
EN 55024:2003-10
EN 55022:2008-05
EC directive 2004/108/EG
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Appendix A
CE Certificate
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PCAN-PC/104-Plus Quad – User Manual
Appendix B
Dimension Drawing
Figure 14: Dimension drawing PCAN-PC/104-Plus Quad.
The figure doesn't show the actual size of the product.
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Appendix C
Quick Reference
Card Configuration
Position in the PC/104 stack in relation to the host
Jumper
Signal
1
2
3
4
IDx
ID Select
0
1
2
3
CLKx
Clock Select
0
1
2
3
INTx
Interrupt Select
0
1
2
3
Software/Hardware Installation under Windows
Before installing the PCAN-PC/104-Plus Quad card in the PC/104
stack, setup the corresponding software package from the supplied
DVD (with Administrator privileges). The card is recognized by
Windows and the driver is initialized. After the installation process
is finished successfully you can find the entry “PCAN-PC/104-Plus”
in the branch “CAN-Hardware” of the Windows Device Manager.
Getting started under Windows
Run the CAN monitor PCAN-View from the Windows Start menu as
a sample application for accessing the PCAN-PC/104-Plus Quad
card. For initialization of the card select the CAN connection and the
CAN bit rate.
High-speed CAN connector (D-Sub, 9 pins)
33