PCAN-Router FD - User Manual - PEAK
Contents
1. The figures do not show the original size 282. CAN FD channel 1 High RS 232 TxD alternative digital input Din2 Power supply 8 30 V DC Function 5 Volt supply external device optional see below CAN FD channel 2 Low GND Shield CAN FD channel 2 High Digital input Dino digital output Dout 600 mA Power supply 8 30 V DC 1 For the corresponding hardware configuration see section 3 3 on page 13 PCAN Router FD User Manual PEAK System 2 2 Screw terminal strip CIPEH 002215 Terminal Identifier Function 1 Power supply 8 30 V DC 2 GND Ground 3 CAN FD channel 1 Low 4 CAN FD channel 1 High 5 CAN FD channel 2 Low 6 CAN FD channel 2 High 7 Activation CAN bootloader High level 8 Digital input Dino digital output Dout 600 mA 9 RS 232 RxD alternative digital input Din1 10 TxD Din2 RS 232 TxD alternative digital input Din2 2 For the corresponding hardware configuration see section 3 3 on page 13 PCAN Router FD User Manual System 3 Hardware Configuration For special applications several settings can be done on the circuit board of the PCAN Router FD by using solder jumpers 4 bit coding of the hardware for polling by the firmware Supply of external devices with 5 Volts via the D Sub connector only IPEH 002214 Use of two additional digital inputs Din1 Din2 instead of the serial RS 232 interface Termination of the CAN busses with 120 Q Proceed as follows to perform soldering on the circuit board Atten
3. Ingress protection IP20 IEC 60529 26 PCAN Router FD User Manual System Appendix A CE Certificate PCAN Router FD IPEH 002214 15 EC Declaration of Conformity PEAK System Technik GmbH Notes on the CE Symbol The following applies to the PCAN Router FD product with the item number s IPEH 002214 15 EC Directive This product fulfills the requirements of EU EMC Directive 2004 108 EC Electromagnetic Compatibility and is designed for the following fields of application as for the CE marking Electromagnetic Immunity Emission DIN EN 61326 1 publication date 2013 07 Electrical equipment for measurement control and laboratory use EMC requirements Part 1 General requirements IEC 61326 1 2012 German version EN 61326 1 2013 Declarations of In accordance with the above mentioned EU directives the EC Conformity declarations of conformity and the associated documentation are held at the disposal of the competent authorities at the address below PEAK System Technik GmbH Mr Wilhelm Otto Roehm Strasse 69 64293 Darmstadt Germany Phone 49 0 6151 8173 20 Fax 49 0 6151 8173 29 E mail info peak system com Mh bi Signed this 12 day of August 2015 27 PCAN Router FD User Manual Nan System Appendix B Dimension Drawings 78 7 mm 70 2 mm ee 55 0 mm 55 0 mm
4. Din1 Din2 i L LJrs232 3 D Sub connectors see section 2 1 on page 7 Screw terminal strip see section 2 2 on page 9 13 PCAN Router FD User Manual _ System 3 4 Termination of the CAN Busses If the PCAN Router FD is connected to one end of a CAN bus and if there s no termination of the CAN bus yet an internal termination with 120 Q between the lines CAN_H and CAN_L can be activated Termination is possible independently for both CAN channels Term CAN2 Position of the solder fields for the termination of the CAN bus CAN1 on the left CAN2 on the right Without termination CAN Channel Default With termination CANI CANI CAN1 E E N N z zZ amp amp CAN2 2 2 Ls gop 14 PCAN Router FD User Manual System 4 Startup Procedure The PCAN Router FD is activated by applying the supply voltage to the respective connectors see chapter 2 Connectors on page 7 The firmware in the flash memory is subsequently run On delivery the PCAN Router FD is equipped with an example firmware which forwards CAN messages 1 1 between both CAN FD channels CAN FD ISO 500 kbit s nominal 4 Mbit s data An inco ming CAN message causes a change between green and orange of the LED status indication for the respective CAN channel The source code for the example firmware 1_ROUTING and further examples is included on the supplied DVD in the following directory branch Develop Microcontroller hardware PCAN
5. Router FD Example 15 PCAN Router FD User Manual System 5 Software This chapter covers the installation of the GNU ARM toolchain for Windows and gives notes about the software library and the firmware examples Software source code and additional information are included on the supplied DVD in the following directory branch Develop Microcontroller hardware PCAN Router FD 5 1 Installing the GNU ARM Toolchain To compile the code examples and the custom firmware code under Windows install the supplied GNU ARM toolchain on your compu ter The toolchain is collection of tools to develop applications for ARM processors and corresponding microcontrollers on Windows platforms The collection includes a compiler for C and C as well as Make utilities System requirement Windows 10 8 1 7 Vista 32 64 bit D Proceed as follows to install the toolchain 1 From the directory branch on the provided DVD mentioned above change to the Compiler subdirectory 2 Start the setup program for GCC ARM Embedded gcc arm none eabi exe and follow its instructions Make sure that you enable the option Add path to environment variable on the last page 3 Afterwards start the setup program for PEAK System Make Utilities PEAK MakeUtils exe and follow its instructions 16 PCAN Router FD User Manual System In the system environment the installation programs create search paths for the executable files
6. Router FD with the new firmware 24 PCAN Router FD User Manual System 7 Technical Specifications Functionality Microcontroller Add on memory CAN CAN bit rates Transceiver RS 232 Digital inputs Din Digital output Dout Status indication Connectors Power supply Supply voltage U Current consumption Measures Size Weight Microcontroller NXP LPC4078 ARM Cortex M4 with FPU 120 MHz 4 kByte EEPROM 4 MByte SPI Flash 2 x CAN FD ISO non ISO CAN 2 0 Arbitration phase 25 kbit s 1 Mbit s Data field CAN FD 25 kbit s 12 Mbit s NXP TJA1044GT RxD and TxD serial connections with RS 232 levels Low active max level U Low side max 600 mA 2 duo LEDs IPEH 002214 2 x D Sub connector 9 pin assignment according to specification CiA 102 IPEH 002215 1 x screw terminal strip 10 pole pitch 3 81 mm Phoenix Contact MC 1 5 10 ST 3 81 1803659 8 30V DC max 150 mA at 8 V max 100 mA at 12 V max 50 mA at 30 V Casing 70 x 55 x 24 mm LxWxH Circuit board 65 x 51 mm L x W See also dimension drawings in Appendix A on page 27 IPEH 002214 D Sub 100 g IPEH 002215 Phoenix 89g 25 PCAN Router FD User Manual n System Environment Operating temperature 40 85 C 40 185 F Temperature for storage 40 100 C 40 212 F and transport Relative humidity 15 90 not condensing EMC EN 61326 1 2013 07 EC directive 2004 108 EG
7. 0 0100 1000 Decimal equivalent 1 2 4 8 More information about the firmware upload in chapter 6 on page 19 11 PCAN Router FD User Manual _ System 3 2 Supply of External Devices via the D Sub Connector Only product model IPEH 002214 D Sub connectors On the circuit board of the PCAN Router FD a 5 Volt supply can optionally be routed to each pin 1 of the D Sub connectors CAN1 and CANZ2 Thus devices with low power consumption e g bus converters can be directly supplied via the CAN connector The current consumption may not exceed 100 mA per connector Position of the solder fields for the supply of external devices for D Sub connector CAN1 on the left for CAN2 on the right 5 Volt supply D Sub connector None Pin 1 Default ext ext CAN1 left a7 ae Supp Supp CAN2 right Supp SUPP 12 PCAN Router FD User Manual System 3 3 Two Additional Digital Inputs Instead of the preset serial RS 232 interface for the serial data transmission two additional digital inputs Din1 Din2 can be assigned to the corresponding pins or screw terminals This is done by moving two 0 Ohm resistors alternatively solder jumpers Position of the solder fields for switching between RS 232 and Din pre equipped with 0 Ohm resistors Positions of the solder jumpers Function for pins screw terminals p or 0 Ohm resistors pin IT 1 RS 232 RxD RS 232 TxD Default lalla PIF RS232 Dinlallal
8. 4 7 2 2 Screw terminal strip CIPEH 002215 9 3 Hardware Configuration 10 3 1 4 Bit Coding 10 3 2 Supply of External Devices Via the D Sub Connector 12 3 3 Two Additional Digital Inputs 13 3 4 Termination of the CAN Busses 14 4 Startup Procedure 15 5 Software 16 5 1 Installing the GNU ARM Toolchain 16 5 2 Library 17 5 3 Firmware Examples 17 5 3 1 Compiling a Firmware Example 18 6 Uploading Firmware via CAN 19 6 1 System Requirements 19 6 2 Preparing Hardware and Software 19 6 3 Sending the Firmware 2r 7 Technical Specifications 25 PCAN Router FD User Manual System Appendix A CE Certificate 27 Appendix B Dimension Drawings 28 PCAN Router FD User Manual System 1 Introduction The PCAN Router FD has two CAN channels that support the new CAN FD standard in addition to the conventional CAN 2 0 specifica tion The module behavior and the data exchange between the two channels are freely programmable Thus for example a conversion of CAN to CAN FD and vice versa is possible and new CAN FD applications can be integrated into existing CAN 2 0 networks Using the programming library and the GNU compiler for C and C a firmware is created and then transferred to the module via CAN On delivery the PCAN Router FD is using a demo firmware whose source code is contained as example in the scope of supply 1 1 Properties at a Glance Microcontroller NXP LPC4078 ARM Cortex M4 with FPU 120 MHz 4 kByte On Chip EEPRO
9. M 4 MByte SPI Flash Two CAN FD channels protocols CAN FD ISO CAN FD non ISO CAN 2 0 A B CAN bit rates from 25 kbit s up to 1 Mbit s CAN FD bit rates for the data field max 64 bytes from 25 kbit s up to 12 Mbit s NXP CAN transceiver TJA1044GT Status indication with two dual color LEDs Connections via two 9 pin D Sub connectors or a 10 pin screw terminal strip Phoenix PCAN Router FD User Manual RS 232 interface for serial data transmission 1 I O pin digital output digital input 2 additional digital inputs as an alternative to RS 232 Supply voltage from 8 to 30 V DC Extended operating temperature range of 40 to 85 C 40 to 185 F New firmware can be loaded via CAN interface 1 2 Prerequisites for Operation Power supply in the range of 8 to 30 V DC For uploading a new firmware via CAN e CAN interface of the PCAN series for the computer e g PCAN USB e Operating system Windows 10 8 1 7 Vista 32 64 bit 1 3 Scope of Supply PCAN Router FD in aluminum casing optionally with DIN rail mounting IPEH 002215 mating connector Phoenix Windows development software toolchain with GCC ARM Embedded flash program Library with programming examples Manual in PDF format PCAN Router FD User Manual System 2 connectors Depending on the model the PCAN Router FD has the following connectors IPEH 002214 two 9 pin D Sub connectors m IPEH 002215 one 10 pole screw terminal str
10. PCAN Router_FD Universal programmable Converter for CAN FD and CAN User Manual PEAK Document version 1 0 0 2015 11 11 System PCAN Router FD User Manual System Products taken into account Product Name Model Part number PCAN Router FD 2 D Sub connectors IPEH 002214 PCAN Router FD Screw terminal strip Phoenix IPEH 002215 CANopen and CiA are registered community trade marks of CAN in Automation e V All other product names mentioned in this document may be the trademarks or registered trademarks of their respective companies They are not explicitly marked by uTM and Copyright 2015 PEAK System Technik GmbH Duplication copying printing or other forms and the electronic distribution of this document is only allowed with explicit permission of PEAK System Technik GmbH PEAK System Technik GmbH reserves the right to change technical data without prior announcement The general business conditions and the regulations of the license agreement apply All rights are reserved 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 0 2015 11 11 PCAN Router FD User Manual System Contents 1 Introduction 5 1 1 Properties at a Glance 5 1 2 Prerequisites for Operation 6 1 3 Scope of Supply 6 2 Connectors 7 2 1 D Sub Connectors CIPEH 00221
11. PCI Channel 1 500 kBit s Overruns 0 PCAN Flash Display of a connection in the status bar on the bottom 22 PCAN Router FD User Manual PEAK System If not click the Connect button in order to change the selection in the according dialog box Available PCAN hardware BW PCAN PCI at PCI Bus 3 Device 0 Channel 1 BW PCAN PCI at PCI Bus 3 Device 0 Channel 2 Bit rate 500 kBit s Bus timing register value Hex 001C 9 Click the s Detect button in order to detect the PCAN Router FD connected to the CAN bus An entry for the PCAN Router FD appears in the main window Application PCAN Module Help Har hl 4 ee WFC LO ModuleNo Hardware Type Flash Type Version Date 15 PCAN Router FD FLASH_ROUTER_FD 1 00 23 6 2015 Detecting ae finished Connected to PCAN USB Hub Channel 1 500 kBit s Overruns 0 10 Select the entry for the PCAN Router FD 23 PCAN Router FD User Manual System 11 Click the Program button in order to start uploading the new firmware to the PCAN Router FD Observe the status indication at the bottom of the window The process was successful if the last message to appear is Flashing of module s finished 12 Disconnect the power supply from the PCAN Router FD 13 At the PCAN Router FD disconnect the connection between Boot and the power supply U U or U You can now use the PCAN
12. These new search paths are effective only for programs and command prompts that are started afterwards 5 2 Library The development of applications for the PCAN Router FD is suppor ted by the library 1ibPCAN Router FD a stands for version number a binary file You can access all resources of the PCAN Router FD by means of this library Die library is documented in the header files h which are located in the inc subdirectory of each example directory 5 3 Firmware Examples On the DVD the Example subdirectory contains source code for several firmware examples that you can use and test directly and that you can reuse for custom firmware On delivery the PCAN Router FD is equipped with the example firmware 1 ROUTING which forwards CAN messages 1 1 between both CAN FD channels CAN FD ISO 500 kbit s nominal 4 Mbit s data An incoming CAN message causes a change between green and orange of the LED status indication for the respective CAN channel 17 PCAN Router FD User Manual Sedal System Compiling a Firmware Example Do the following to compile a firmware example under Windows 1 From the provided DVD copy the subdirectory of the desired example from the Example directory to the local hard disk Open a command prompt by using the Windows Start menu Alternatively you can press the key combination A R and enter cmd exe as program to be executed At the command prompt change to the prev
13. a connection ts established between the Boot and U U or U connections of the PCAN Router FD details see above Switch on the PCAN Router FD by applying a supply voltage Due to the High level at the Boot connection the PCAN Router FD starts the CAN bootloader This can be deter mined by the status LEDs LED State Color CAN1 quickly blinking orange CAN2 on orange Run the program PcanFlash exe under Windows from the local hard drive Click on the Options button in order to call up the dialog box From the Hardware Profile dropdown list select the PCAN Router FD entry 21 PCAN Router FD User Manual PEAK System Hardware Profile Filename bin mams Block size bytes 512 E Erase all Status timeout ms 6000 Auto reset processe 0 Reserved area Upload adress Start adress End adress Start adress End adress 800000 FFFFFF 000000 TFFFFF from Bin File Flash offset address 000000 CRC mede CRC array address 000000 Skip Delete Sector C Skip Sectors Sectors e g 1 3 Dependent on Flash Types Flash Type MB90F497G oe Cr 6 Click on the button next to the File name field in order to select the desired firmware file bin to be uploaded 7 Click on the OK button 8 Make sure that the PCAN Flash program is connected with 500 kbit s to the available CAN interface at the computer Connected to PCAN
14. iously copied directory Execute the following command in order to clean up the target directories e g out from files that have been generated earlier make clean Execute the following command to compile the firmware example make all If the compiler has finished without errors Errors none you can find the firmware file with the extension bin in the subdirectory out This file is then used for firmware upload to the PCAN Router FD 18 PCAN Router FD User Manual System 6 Uploading Firmware via CAN The microcontroller in the PCAN Router FD is equipped with new firmware via CAN The scope of supply includes the Windows program PCAN Flash to transfer the firmware from the computer to the PCAN Router FD 6 1 System Requirements The following prerequisites must be given so that the PCAN Router FD can be updated with new firmware CAN interface of the PCAN series for the computer e g PCAN USB CAN cabling between the CAN interface and the PCAN Router FD with proper termination 120 Q on each end of the CAN bus Operating system Windows 10 8 1 7 Vista 32 64 bit If you want to update several PCAN Router FD connected to the same CAN bus you must assign a unique ID to each router See section 3 1 4 Bit Coding on page 10 6 2 Preparing Hardware and Software Perform the following steps for preparation of the hardware 1 Switch the PCAN Router FD off by disconnecting it from the p
15. ip Besides the primary functions voltage supply CAN FD incl CAN 2 0 there are miscellaneous functions that can be used as needed RS 232 interface for serial data transmission 1 I O pin digital output digital input 2 additional digital inputs as an alternative to RS 232 must be configured via hardware see chapter 3 on page 10 Boot input for activation of the CAN bootloader for firmware upload see chapter 6 on page 19 The following subsections describe each connector assignment 2 1 D Sub Connectors CIPEH 002214 The two D Sub connectors are used for the CAN FD channels CAN1 and CAN2 The CAN lines CAN_H CAN_L are laid out correspon ding to the CiA 102 specification The power supply of the PCAN Router FD can be done via both D Sub connectors The supply connections U and U are connected internally in a non reactive configuration This means that also different power sources can be connected PCAN Router FD CAN1 Pin O dOI N oI A BR OIN CAN2 Pin OoN OoOO AJON Identifier 5V opt CAN1_L GND RxD Din1 Shield Boot CAN1_H TxD Din2 Up Identifier 5V opt CAN2_L GND Shield CAN2_H DinO Dout Un2 User Manual O System Pin distribution D Sub connector Function 5 Volt supply external device optional see below CAN FD channel 1 Low Ground RS 232 RxD alternative digital input Din1 Shield Activation CAN bootloader High level
16. ower supply 19 PCAN Router FD User Manual System 2 Establish a connection between Boot and the power supply U U or U at the connectors of the PCAN Router FD Connection at D Sub connector CAN1 Connection at the screw terminal between the pins 6 and 9 strip between terminals 1 and 7 This measure later applies the Boot connection with a High level 3 Connect a CAN bus of the PCAN Router FD with a CAN A interface connected to the computer Pay attention to the proper termination of the CAN cabling 2 x 120 Q Attention Risk of short circuit A CAN cable with D Sub connectors must not have a connection on pin 6 as it can be seen on 1 1 cables for example At other CAN nodes e g a CAN interface of the PCAN series this line may be applied to the mass Damage or destruction of the electronics is a possible consequence Perform the following steps for preparation of the software 1 On the supplied DVD change to the following directory Develop Microcontroller hardware PCAN Router FD 2 Copy the subdirectory PcanFlash to the local hard disk The contained Windows software that copies the Firmware via CAN PcanFlash exe can only be started from a data carrier that is writable 20 PCAN Router FD User Manual 6 3 System Sending the Firmware The process of uploading new firmware to the PCAN Router FD is as follows 1 Ensure that
17. tion Electrostatic discharge ESD can damage or destroy components on the circuit board Take precautions to avoid ESD when handling the circuit board 1 Remove the screws from both sides of the PCAN Router FD casing With the D Sub version in addition remove the screws besides one of the D Sub connectors 2 Pull the circuit board out of the casing profile 3 Set the solder jumper s on the circuit board according to the desired settings During this procedure take especially care not to produce unwanted short circuits on the board 4 Afterwards assemble the components in reverse order 3 1 4 Bit Coding The circuit board of the PCAN Router FD has four coding solder fields IDO to ID3 in order to allocate a permanent status to the 10 PCAN Router FD User Manual System corresponding input ports of the microcontroller A bit is set 1 if the corresponding solder field is open Position of the coding solder fields The status of the ports is relevant in the following cases The loaded firmware is programmed so that it reads the status at the corresponding ports of the microcontroller For example the activation of certain functions of the firmware or the coding of an ID is conceivable here For a firmware upload via CAN the PCAN Router FD is identified by a 4 bit ID which is determined by the solder jumpers default setting ID15 all solder fields open Solder field IDO ID1 ID2 ID3 Binary digit 0001 001
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