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NI-CAN User Manual - National Instruments

1. Ts mR Ao T a K a Ece fecal Toonas 02 iu gh ae el a VS Sa jaa em ea ay 4 v g Pg Se O 2 Product Name 1 Power Supply Jumper J6 3 Serial Number 5 Power Supply Jumper J5 4 Assembly Number NI CAN User Manual Figure D 5 PCI CAN 2 Parts Locator Diagram ni com Appendix D Cabling Requirements for High Speed CAN For port one of the PXI 8461 power is configured with jumper J5 For port two of the PXI 8461 power is configured with jumper J6 The location of these jumper is shown in Figure D 6 i NATIONAL INSTRUMENTS CORP yw ASSY185316A PXI TE pa 1998 oocooog a Hs R100 z ROK Eal so La 6 2 pie O POR rf EF j s o Bs o a a Ol 7 gt Ti 2 As gt Q Q Loool b 5O Sce zo EEA E eses aaee 1 Power Supply Jumper J6 3 Assembly Number 5 Serial Number 2 Power Supply Jumper J5 4 Product Name Figure D 6 PXI 8461 Parts Locator Diagram Connecting pins 1 and 2 of a jumper configure
2. rt gt NATIONAL INSTRUMENTS CORP m ASSY185316A PX 1 8460 8461 8470 o 1998 Goooooog y 20 i HPR oo i 7 R t oF Ol as e i 4 J3 JO a gt J us e ta a 8 fg p dl ES Te O w BIEGI z L eU 39 oro MEA gt gt inne P w Ta wee US 5 H a Bs glk O eweme Eg E ra aoe e R25 T use o QO se b o J l g gt mm 1 Power Supply Jumper J6 3 Assembly Number 5 Serial Number 2 Power Supply Jumper J5 4 Product Name 6 Termination Resistor Sockets NI CAN User Manual Figure E 4 PXI 8460 Parts Locator Diagram Connecting pins 1 and 2 of a jumper configures the CAN physical layer to be powered externally from the bus cable power In this configuration the power must be supplied on the V and V pins on the port connector Connecting pins 2 and 3 of a jumper configures the CAN physical layer to be powered internally from the board In this configuration the V signal serves as the reference ground for the isolated signals Even if the CAN physical layer is powered internally the fault tolerant CAN transceiver still requires bus power to be supplied in order for it to monitor the power supply battery voltage E 4 ni com Appendix E Cabling Requirements for Low Speed CAN Figure E 5 shows how to configure your jumpers for internal or external power supplies INT EXT INT EXT ag a Internal Power Mode b External Power Mode Figure E 5 Pow
3. Your Application NI CAN Language Interface y nican dll y NI CAN Device Driver y CAN Hardware nican nfw Figure 1 5 Interaction of NI CAN Software Components RTSI Bus Overview The RTSI Solution NI CAN User Manual RTSI is an acronym for Real Time System Integration It is the National Instruments timing bus that connects CAN and DAQ boards directly This is done via connectors on top of the PCI CAN and AT CAN series boards and the PXI trigger bus on the PXI 846x series boards for precise synchronization of functions A common problem with interface boards is that you cannot easily synchronize several functions across multiple boards to a common trigger or timing event CAN boards use the RTSI bus to solve this problem For PCI CAN and AT CAN series boards the RTSI bus consists of connecting the National Instruments RTSI bus interface with RTSI ribbon cable to route timing and trigger signals between the CAN board and other 1 16 ni com Chapter 1 Introduction National Instruments RTSI equipped hardware Refer to RTSI Bus Appendix G in this manual for detailed information about the PCI CAN and AT CAN series RTSI interfaces For the PXI 846x series CAN boards the RTSI bus consists of using the National Instruments PXI trigger bus to route timing and trigger signals between the PXI 846x series board and other National Instruments RTSI equipped PXI boards Regarding
4. Figure E 10 Preparing Lead Wires of Replacement Resistors 3 Insert the replacement resistors into the empty sockets Refer to the Installation Guide CAN Hardware and the NI CAN Software for Windows 2000 NT Me 9x in the jewel case of your program CD to complete the hardware installation National Instruments Corporation E 11 NI CAN User Manual Appendix E Cabling Requirements for Low Speed CAN Replacing the Termination Resistors on Your PCMCIA CAN LS Cable Follow these steps to replace the termination resistors on your PCMCIA CANILS cable after you have determined the correct value in the section Determining the Necessary Termination Resistance for Your Board 1 Remove the two termination resistors on your PCMCIA CAN LS cable by loosening the pluggable terminal block mounting screws for pins and 2 RTL and pins 6 and 7 RTH 2 Bend and cut the lead wires of the two resistors you want to install as shown Figure E 11 gt 03i lt 7 62 mm Figure E 11 Preparing Lead Wires of PCMCIA CAN LS Cable Replacement Resistors 3 Mount RTL by inserting the leads of one resistor into pins 1 and 2 of the pluggable terminal block and tightening the mounting screws Mount RTH by inserting the leads of the second resistor into pins 6 and 7 of the pluggable terminal block and tightening the mounting screws 4 Refer to the Installation Guide CAN Hardware and the NI CA
5. National Instruments Corporation E 7 NI CAN User Manual Appendix E Cabling Requirements for Low Speed CAN As the formula indicates the 510 Q 5 shipped on your board will work with properly terminated networks having a total RTH and RTL termination of 125 to 500 Q or individual devices having an RTH and RTL termination of 500 to 16 KQ For communication with a network having an overall RTH and RTL termination of 100 to 125 Q you will need to replace the 510 Q resistors with the 15 kQ resistors in the kit Please refer to the next section Replacing the Termination Resistors on Your PCI CAN LS Board The PCMCIA CANILS cable ships with screw terminal mounted RTH and RTL values of 510 Q 5 per port The PCMCIA CANILS cable also internally mounts a pair of 15 8 KQ 1 resistors in parallel with the external 510 Q resistors for each port This produces an effective RTH and RTL of 494 Q per port for the PCMCIA CANILS cable After determining the termination of your existing network or device you can use the formula below to indicate which configuration should be used on your PCMCIA CANILS cable to produce the proper overall RTH and RTL termination of 100 to 500 Q upon connection of the cable aT RTH overall 1 1 a a Reru of PCMCIA CAN LS Reta of existing network or device RRTH overall Should be between 100 and 500 Q RRTH of PCMCIA CANILS 494 Q 510 Q 5 external in parallel with 15 8KQ 1 internal or 15 8KQ 1 intern
6. static NCTYPE STATUS _NCFUNC_ PncRead NCTYPE OBJH ObjHandle NCTYPE UINT32 DataSize NCTYPE_ANY P DataPtr PncOpenObject NCTYPE STATUS _NCFUNC_ NCTYPE STRING NCTYPE OBJH P Get ProcAddress NicanLib LPCSTR ncOpenObject PneCloseObject NCTYPE STATUS _NCFUNC_ NCTYPE OBJH Get ProcAddress NicanLib LPCSTR ncCloseObject PncRead NCTYPE STATUS _NCFUNC_ NCTYPE OBJH NCTYPE UINT32 NCTYPE ANY P ib LPCSTR ncRead Get ProcAddress Nicanl National Instruments Corporation 2 3 NI CAN User Manual Chapter 2 Developing Your Application If Get ProcAddress fails it returns a NULL pointer The following code fragment illustrates how to verify that none of the calls to Get ProcAddress failed if PncOpenObject NULL PncCloseObject NULL PncRead NULL FreeLibrary NicanLib printf GetProcAddress failed Your application needs to de reference the pointer to access an NI CAN function as illustrated by the following code NCTYPE STATUS status NCTYPE OBJH MyObjh status PncOpenObject CANO amp MyObjh if status lt 0 printf ncOpenObject failed Before exiting your application you need to free nican d11 with the following command FreeLibrary NicanLib For more information on direct entry refer to the Microsoft Win32 SDK Software Development Kit online help Choosing Which NI CAN Objects to Us
7. This appendix describes the cabling requirements for the low speed CAN hardware Cables should be constructed to meet these requirements as well as the requirements of the other CAN devices in the network Connector Pinouts The low speed CAN hardware has DB 9 D Sub connector s The 9 pin D Sub follows the pinout recommended by CiA DS 102 Figure E 1 shows the pinout for this connector No Connection Optional Ground V CAN_L CAN_H V No Connection No Connection V Shield Figure E 1 Pinout for 9 Pin D Sub Connector National Instruments Corporation E 1 NI CAN User Manual Appendix E Cabling Requirements for Low Speed CAN NI CAN User Manual CAN_H and CAN_L are signal lines that carry the data on the CAN network These signals should be connected using twisted pair cable The V and V pins are used to supply bus power to the CAN physical layer if external power is required for the CAN physical layer If internal power for the CAN physical layer is used the V pin serves as the reference ground for CAN_H and CAN_L See the next section Power Supply Information for the Low Speed CAN Ports for more information Figure E 2 shows the end of a PCMCIA CANILS cable The arrow points to pin of the 7 pin screw terminal block All of the signals on the 7 pin pluggable screw terminal except RTL and RTH are connected directly to the corresponding pins on the 9 pin D Sub F
8. e Code 24 The CAN interface is not present or the Device Manager is unaware that the CAN interface is present To solve this problem select the interface in the Device Manager and click on the Remove button Next click the Refresh button At this point the system rescans the installed hardware and the CAN interface should show up without any problems If the problem persists contact National Instruments e Code 27 Windows Me 98 95 was unable to assign the CAN interface any resources To solve this problem free up system resources by disabling other unnecessary hardware so that enough resources are available for the CAN interface The resources required for a single CAN interface are an Interrupt Request level and an 8 KB physical Memory Range such as D0000 to DIFFF hex Troubleshooting Diagnostic Utility Failures The following sections explain common error messages generated by the NI CAN Diagnostic utility Memory Resource Conflict This error occurs if the memory resource assigned to a CAN interface conflicts with the memory resources being used by other devices in the system Resource conflicts typically occur when your system contains legacy boards that use resources that have not been reserved properly with the Device Manager If a resource conflict exists write down the memory National Instruments Corporation A 3 NI CAN User Manual Appendix A Windows Me 98 95 Troubleshooting and Common Questions resource th
9. 2 9 ncConfig function 2 9 ncCreateNotification function 2 10 nceGetAttribute function 3 4 ncOpenObject function 2 9 ncRead function 2 10 ncWaitForState function 2 10 NI Developer Zone I 1 NI CAN configuration and diagnostic utilities failures Windows 2000 C 3 Windows Me 98 95 A 3 Windows NT B 1 missing CAN interface in Windows NT B 1 overview 1 14 5 1 starting LabVIEW RT 5 3 Windows 2000 NT 5 2 Windows Me 98 95 5 1 NI CAN Diagnostic utility 5 1 NI CAN error cluster table 2 11 NI CAN hardware AT CAN series board 1 9 overview 1 9 PCI CAN DS series board 1 9 PCMCIA CAN series card 1 9 processor embedded processor 1 10 PXI 846x series boards 1 9 National Instruments Corporation Index 5 Index NI CAN object hierarchy 1 12 applying NI CAN objects figure 1 13 simple CAN device network application figure 1 12 NI CAN software See also programming C C language interfaces 2 2 components driver and utilities 1 14 firmware image files 1 15 determining version installed Windows 2000 C 4 Windows Me 98 95 A 5 Windows NT B 3 error cluster table 2 11 independent design 1 11 object hierarchy applying NI CAN objects figure 1 13 simple CAN device network application figure 1 12 object oriented design 1 11 overview 1 11 problem encountered See also troubleshooting and common questions Windows 2000 C 4 Windows Me 98 95 A 5 Windows NT B 3 status code table 2 12
10. PCI CAN and PXI 846x series boards the power source for the CAN physical layer is configured with a jumper For the AT CAN and port one of the AT CAN 2 power is configured with jumper J3 For port two of the AT CAN 2 power is configured with jumper J4 The location of these jumpers is shown in Figure D 4 O f rs ya Wes e eo 1997 a NATIONAL INSTRUMENTS j4 318MHz AIE a fz pra pizat El QatSa fis k Ze gt Os O wai Ea ag o E A T a 5 7TA frz 8 o o a fl o gt p z m n A i Le bead E 1 Power Supply Jumper J3 3 Assembly Number 5 Product Name 2 Serial Number 4 Power Supply Jumper J4 Figure D 4 AT CAN 2 Parts Locator Diagram National Instruments Corporation D 3 NI CAN User Manual Appendix D Cabling Requirements for High Speed CAN For the PCI CAN and port one of the PCI CAN 2 power is configured with jumper J6 For port two of the PCI CAN 2 power is configured with jumper J5 These jumpers are shown in Figure D 5 COPYRIGHT 1337 pdi SRE Pai pars w wi O bi
11. The CAN hardware communicates with the NI CAN driver through on board shared memory and an interrupt 1 10 ni com Chapter 1 Introduction NI CAN Software Overview Independent Design The NI CAN Application Programming Interface API like most National Instruments APIs is largely independent of operating system and programming language You can use NI CAN in a wide variety of programming environments including LabVIEW and C programming environments such as LabWindows CVI Applications written for NI CAN are also portable across different operating systems such as Windows 2000 NT and Windows Me 98 95 In addition to being independent of operating system and programming language NI CAN is designed to be largely independent of a specific device network protocol Device network independence means that where possible terminology specific to CAN alone is avoided so that the API can be expanded later to support higher level protocols based on CAN Examples of such protocols include DeviceNet Smart Distributed System SDS and CANopen Device network independence largely applies to terminology such as function names and in no way limits access to the CAN network For example the function provided to read data from a CAN frame is called ncRead as opposed to a name specific to CAN such as ncReadCanFrame Object Oriented Design NI CAN often uses object oriented terminology and concepts Object oriented terminology provides an exc
12. ssesseeseeesseersreetsresrrststrstssestesterestestntenterretestesesersrstest 4 1 NI CAN User Manual viii ni com Contents Chapter 5 NI CAN Configuration and Diagnostic Utilities OVERVIEW TA a ah ao haga N ETE A sea cone atc oko ese oh anne 5 1 Starting the NI CAN Configuration Utility in Windows Me 98 95 s es 5 1 Starting the NI CAN Configuration Utility in Windows 2000 NT ss cc 5 2 Starting the NI CAN Remote Configuration Utility for LabVIEW RT eee 5 3 Starting the NI CAN Diagnostic Utility 0 ceceeceeeeecsseeseeeceseeseenaeseeeeseeaees 5 3 Appendix A Windows Me 98 95 Troubleshooting and Common Questions Appendix B Windows NT Troubleshooting and Common Questions Appendix C Windows 2000 Troubleshooting and Common Questions Appendix D Cabling Requirements for High Speed CAN Appendix E Cabling Requirements for Low Speed CAN Appendix F Cabling Requirements for Dual Speed CAN Appendix G RTS Bus Appendix H Specifications Appendix Technical Support Resources National Instruments Corporation ix NI CAN User Manual Contents Glossary Index Figures Figure 1 1 Example of CAN Arbitration cece ceeeseeseeeseeeeeeseceeeseeeenees 1 3 Figure 1 2 Standard and Extended Frame Formats 0 ecceceseeceesseseeeeeseeeeeeees 1 3 Figure 1 3 Simple CAN Device Network Application cece eeeeeeeeeeeeeeees 1 12 Figure 1 4 Applying NI CAN Objects to the Example in Figure 1 3 1 13 Figure 1 5 Intera
13. 846x series boards G 3 power requirements for the high speed CAN physical layer for bus powered versions table D 6 power requirements for the low speed CAN physical layer for bus powered versions table E 5 power source jumpers figure D 6 E 5 power supply bus power supply requirements high speed CAN D 6 low speed CAN E 5 information high speed CAN ports D 3 low speed CAN ports E 3 power requirements high speed CAN physical layer bus powered versions table D 6 low speed CAN physical layer bus powered versions table E 5 power source jumpers figure D 6 E 5 problem solving See troubleshooting and common questions processor embedded processor 1 10 programming accessing NI CAN software C C language interfaces 2 2 direct entry access 2 3 LabVIEW function library 2 1 application examples 4 1 CAN Network Interface Object using with CAN Objects 3 2 checking status of function calls C and C 2 12 LabVIEW 2 11 ni com choosing NI CAN Objects CAN Network Interface Objects 2 4 CAN Objects 2 5 detecting state changes 3 4 interaction of NI CAN software with your application figure 1 16 LabVIEW RT 2 1 model for NI CAN applications closing objects 2 10 communicating using objects 2 9 configuring objects 2 9 general program steps figure 2 8 opening objects 2 9 reading data 2 10 starting communication 2 9 waiting for available data 2 10 queues disabling queues 3 2 empty queues 3
14. Arbitration ID Handled by an Open CAN Object CAN Object Uses Frame i y No CAN Network Interface Object Data Frame Ignored Frame No g y Yes Standard or Extended Frame Standard Extended Extended Comparator Disabled NC_CAN_ARBID_NONE Standard Comparator Disabled NC_CAN_ARBID_NONE Frame Ignored Frame Ignored y No y No Apply Standard Mask Apply Extended Mask j Masked Arbitration ID Equal to Extended Comparator Masked Arbitration ID Equal to Standard Comparator Place Frame Into Read Queue of CAN Network Interface Object Figure 3 1 Flowchart for CAN Frame Reception Yes Frame Ignored Frame Ignored National Instruments Corporation 3 3 NI CAN User Manual Chapter 3 NI CAN Programming Techniques The decisions in Figure 3 1 are generally performed by the on board CAN communications controller chip Nevertheless if you intend to use CAN Objects as the sole means of accessing the CAN bus it is best to disable all frame reception in the CAN Network Interface Object by setting the comparator attributes to NC_CAN ARBID_ NONE hex CFFFFFFF By doing this the CAN communications controller chip is best able to filter out all incoming frames except those handled by CAN Objects Detecting State Changes NI CAN User Manual You can detect state changes for an object using one of the following schemes e Call ncW
15. CAN NI CAN User Manual Bus Off State If the transmit error counter increments above 255 the CAN device transitions into the bus off state A device in the bus off state does not transmit or receive any frames and thus cannot have any influence on the bus The bus off state is used to disable a malfunctioning CAN device which frequently transmits invalid frames so that the device does not adversely impact other devices on the network When a CAN device has transitioned to bus off it can be placed back into error active state with both counters reset to zero only by manual intervention For sensor actuator types of devices this often involves powering the device off then on For NI CAN network interfaces communication can be started again using a function such as ncAction Low speed CAN is commonly used to control comfort devices in an automobile such as seat adjustment mirror adjustment and door locking It differs from high speed CAN in that the maximum baud rate is 125K and it utilizes CAN transceivers that offer fault tolerant capability This enables the CAN bus to keep operating even if one of the wires is cut or short circuited because it operates on relative changes in voltage and thus provides a much higher level of safety The fault tolerance feature means that communications capability is maintained even if any of the ISO 11519 wiring failures occur The transceiver solves many common and frequent wiring problem
16. CAN Configuration and Diagnostic utilities you can use to configure and diagnose the objects of the NI CAN software The Windows Me 98 95 NI CAN Configuration utility is integrated into the Windows Device Manager The Windows 2000 NT NI CAN Configuration utility is integrated into the Windows 2000 NT Control Panel For each CAN interface in your system you can use the NI CAN Configuration utility to configure each CAN port as a CAN Network Interface Object For example you can configure the two ports of a PCI CAN 2 as CANO and CAN1 You can use the NI CAN Diagnostic utility installed with your NI CAN software to test the hardware and software installation The utility verifies that your hardware and software are functioning properly and that the configuration of your CAN interfaces does not conflict with anything else in your system Starting the NI CAN Configuration Utility in Windows Me 98 95 To start the NI CAN Configuration utility on Windows Me 98 95 follow these steps 1 Double click on the System icon in the Control Panel which you can open from the Settings selection of the Start menu 2 Select the Device Manager tab in the System Properties dialog box that appears 3 Click on the View devices by type button at the top of the Device Manager tab and double click on National Instruments CAN Interfaces National Instruments Corporation 5 1 NI CAN User Manual Chapter 5 NI CAN Configuration and Diagnostic Util
17. CAN Interfaces YW PCI CAN 2 EF Network adapters m ia D E Figure C 1 CAN Interface That Is Not Working Properly This problem can occur for several reasons If you encounter this problem the Device Manager should list troubleshooting information To launch the troubleshooter for a particular interface select the name of the interface and click on the Properties button to go to the General tab for that CAN interface Click on the Troubleshooter button to diagnose and solve the problem If a CAN interface has not been properly recognized by the NI CAN driver software it will appear in the Device Manager under Other Devices as a PCI Simple Communication Controller as shown in Figure C 2 NI CAN User Manual C 2 ni com Appendix C Windows 2000 Troubleshooting and Common Questions Ser EF Network adapters Other devices Gl PCI Simple Communications Controller H PCMCIA adapters Met D 6 fenn Figure C 2 CAN Interface That has Not Been Recognized Properly This problem is likely to occur if you upgraded from a previous version of NI CAN that did not support Windows 2000 without uninstalling the CAN hardware To fix this problem select the device and click the Uninstall button then Scan for Hardware Changes Windows 2000 should identify the device as a National Instruments CAN interface Troubleshooting Diagnostic Utility Failures The following sections explain common error
18. Error Confinement To provide for error confinement each CAN device must implement a transmit error counter and a receive error counter The transmit error counter is incremented when errors are detected for transmitted frames and decremented when a frame is transmitted successfully The receive error counter is used for received frames in much the same way The error 1 6 ni com Chapter 1 Introduction counters are increased more for errors than they are decreased for successful reception transmission This ensures that the error counters will generally increase when a certain ratio of frames roughly 1 8 encounter errors By maintaining the error counters in this manner the CAN protocol can generally distinguish temporary errors such as those caused by external noise from permanent failures such as a broken cable For complete information on the rules used to increment decrement the error counters refer to the CAN specification ISO 11898 With regard to error confinement each CAN device may be in one of three states error active error passive and bus off Error Active State When a CAN device is powered on it begins in the error active state A device in error active state can normally take part in communication and transmits an active error flag when an error is detected This active error flag sequence of dominant 0 bits causes the current frame transmission to abort resulting in a subsequent retransmission A CAN d
19. Powered Versions ccccsscccccessssseeccessssscesceeessseeeeeeessaeeees ISO 11898 Specifications for Characteristics of a CAN_H and CAN L Pair of Wifes eissor tunine aaae a aiat DeviceNet Cable Length Specifications eee eee eeeeeeseeeeeeeeeeeees Power Requirements for the Low Speed CAN Physical Layer for Bus Powered VersionsS ccssccsseeesceeeceeeneeeeeeeeaee ISO 11519 2 Specifications for Characteristics of a CAN_H and CAN_L Pair of Wires ccccccceccccscccccccccceceseeeesesesesssessnsssteseeees Pins Used By the PXI 846x Series Boards eee eee eeeeeseteeeeeeeees Contents National Instruments Corporation xi NI CAN User Manual About This Manual This manual describes the features of the CAN Hardware and NI CAN software It assumes that you are already familiar with the operating system you are using How To Use the Manual Set Conventions Use the Installation Guide CAN Hardware and the NI CAN Software for Windows 2000 NT Me 9x in the jewel case of your program CD to install and configure your CAN hardware and the NI CAN software Use this NI CAN User Manual to learn the basics of CAN and how to develop an application program Use the NI CAN Programmer Reference Manual for specific information about each NI CAN function and object such as format description and and parameters 3 bold italic monospace The following conventions appear in this manual The symbol lea
20. Your Application Within your LabVIEW Block Diagram wire the Error in and Error out terminals of all NI CAN functions together in succession When an error is detected in any NI CAN function status parameter true all subsequent NI CAN functions are skipped except for ncClose The ncClose function executes regardless of whether the incoming status is true or false This ensures that all NI CAN objects are closed properly when execution stops due to an error When a warning occurs in an NI CAN function execution proceeds normally To detect suspected warnings in your application you can write code in your block diagram to examine the code parameter or you can use the Probe Data tool onan Error out terminal during execution Checking Status in C or C For applications written in C or C each NI CAN function returns a status code as a signed 32 bit integer Table 2 2 summarizes NI CAN s use of this status Table 2 2 NI CAN Status Code Status Code Meaning Negative Error Function did not perform expected behavior Positive Warning Function performed as expected but a condition arose that may require your attention Zero Success Function completed successfully Your application code should check the status returned from every NI CAN function If an error is detected you should close all NI CAN handles then exit the application If a warning is detected you can display a message for debugging pu
21. all requirements of the Canadian Interference Causing Equipment Regulations Cet appareil num rique de la classe A respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Class B Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class B digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference in a residential installation This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instructions may cause harmful interference to radio communications However there is no guarantee that interference will not occur in a particular installation If this equipment does cause harmful interference to radio or television reception which can be determined by turning the equipment off and on the user is encouraged to try to correct the interference by one or more of the following measures e Reorient or relocate the receiving antenna Increase the separation between the equipment and receiver e Connect the equipment into an outlet on a circuit different from that to which the receiver is connected e Consult the dealer or an experienced radio TV technician for help Canadian Department of Communications This Class B digital apparatus meets all requirements of the Canadian Interference Causing Equipment Regulations Cet
22. and actuators are connected on a common serial bus This network of devices can be thought of as a scaled down real time low cost version of networks used to connect personal computers Any device on a CAN network can communicate with any other device using a common pair of wires As CAN implementations increased in the automotive industry CAN was standardized internationally as ISO 11898 and CAN chips were created by major semiconductor manufacturers such as Intel Motorola and Phillips With these developments many manufacturers of industrial automation equipment began to consider CAN for use in industrial applications Comparison of the requirements for automotive and industrial device networks showed many similarities including the transition away from dedicated signal lines low cost resistance to harsh environments and high real time capabilities Because of these similarities CAN became widely used in industrial applications such as textile machinery packaging machines and production line equipment such as photoelectric sensors and motion National Instruments Corporation 1 1 NI CAN User Manual Chapter 1 Introduction controllers By the mid 1990s CAN was specified as the basis of many industrial device networking protocols including DeviceNet CANopen and Smart Distributed System SDS With its growing popularity in automotive and industrial applications CAN has been increasingly used in a wide variety of diverse
23. appareil num rique de la classe B respecte toutes les exigences du R glement sur le mat riel brouilleur du Canada Compliance to EU Directives Readers in the European Union EU must refer to the Manufacturer s Declaration of Conformity DoC for information pertaining to the CE Mark compliance scheme The Manufacturer includes a DoC for most every hardware product except for those bought for OEMs if also available from an original manufacturer that also markets in the EU or where compliance is not required as for electrically benign apparatus or cables To obtain the DoC for this product click Declaration of Conformity at ni com hardref nsf This website lists the DoCs by product family Select the appropriate product family followed by your product and a link to the DoC appears in Adobe Acrobat format Click the Acrobat icon to download or read the DoC Certain exemptions may apply in the USA see FCC Rules 15 103 Exempted devices and 15 105 c Also available in sections of CFR 47 The CE Mark Declaration of Conformity will contain important supplementary information and instructions for the user or installer Contents About This Manual How To Use the Manual Set c cceccceccssecssseceesseeceesneeceseeeeeseecsseeeneeeesseeeeesseeeessaeeens xiii CONVENTIONS e heck oaks tne a a a a a xiii Related Documentation sses eee EE A E E R RR xiv Chapter 1 Introduction CAN O VOV E tise ie ee las Bee A ae Avia Mee
24. components installed The uninstall program removes only items that the installation program installed If you add anything to a directory that was created by the installation program the uninstall program does not delete that directory because the directory is not empty after the uninstallation You will need to remove any remaining components yourself A 6 ni com Windows NT Troubleshooting and Common Questions This appendix describes how to troubleshoot problems with the NI CAN software for Windows NT and answers some common questions Missing CAN Interface in the NI CAN Configuration Utility The NI CAN Configuration utility contains configuration information for all of the CAN hardware it is aware of that is installed in your system To start the NI CAN Configuration utility double click on NI CAN Configuration under Start Settings Control Panel If the CAN interface you are looking for is not listed under National Instruments CAN Interfaces the CAN interface is not properly installed For National Instruments CAN hardware this problem indicates that the interface is not physically present in the system If the interface is firmly plugged into its slot and the problem persists contact National Instruments Troubleshooting Diagnostic Utility Failures The following sections explain common error messages generated by the NI CAN Diagnostic utility No Resources Assigned This error occurs if you have not ass
25. diagnostic resources include frequently asked questions knowledge bases product specific troubleshooting wizards manuals drivers software updates and more Web support is available through the Technical Support section of ni com NI Developer Zone The NI Developer Zone at ni com zone is the essential resource for building measurement and automation systems At the NI Developer Zone you can easily access the latest example programs system configurators tutorials technical news as well as a community of developers ready to share their own techniques Customer Education National Instruments provides a number of alternatives to satisfy your training needs from self paced tutorials videos and interactive CDs to instructor led hands on courses at locations around the world Visit the Customer Education section of ni com for online course schedules syllabi training centers and class registration System Integration If you have time constraints limited in house technical resources or other dilemmas you may prefer to employ consulting or system integration services You can rely on the expertise available through our worldwide network of Alliance Program members To find out more about our Alliance system integration solutions visit the System Integration section of ni com National Instruments Corporation l 1 NI CAN User Manual Appendix Technical Support Resources Worldwide Support National Instrum
26. error 1 6 customer education I 1 Cyclic Redundancy Check CRC field 1 4 D Data Bytes field 1 4 data length code DLC field 1 4 detecting state changes 3 4 National Instruments Corporation Index Device Manager problems Windows 2000 C 1 Windows Me 98 95 A 1 device network independence of NI CAN software 1 11 DeviceNet cable length specifications table D 7 DeviceNet protocol 1 11 direct entry access to NI CAN software 2 3 DLC Data Length Code field 1 4 documentation conventions used in manual xiii how to use manual set xiii related documentation xiv drivers NI CAN 1 14 dual speed CAN cabling requirements F 1 E embedded processor 1 10 End of Frame field 1 5 error cluster table 2 11 error confinement bus off state 1 8 error active state 1 7 error passive state 1 7 error detection acknowledgement error 1 6 bit error 1 6 CRC error 1 6 form error 1 6 stuff error 1 6 F firmware image files 1 15 form error 1 6 frames See CAN frames function calls checking See status of function calls checking NI CAN User Manual Index functions LabVIEW RT GetProcAddress 2 3 as a programming method 2 1 ncAction 2 9 using NI CAN configuration and ncConfig 2 9 diagnostic utilities 5 3 ncCreateNotification 2 10 language interface files 1 15 2 2 ncGetAttribute 3 4 low speed CAN ncOpenObject 2 9 cabling requirements E 1 ncRead 2 10 port characteristics for
27. set the read queue length of the CAN Object to zero during configuration so that it only holds the most recent data bytes Then you can use the ncRead function as needed to obtain the most recent data bytes received Step 4b Read Data Read the data bytes using ncRead For CAN Objects that receive data frames ncRead returns a timestamp of when the data was received followed by the actual data bytes the number of which you configured in step 1 Steps 4a and 4b should be repeated for each data value you want to read from the CAN device Step 5 Close Objects When you are finished accessing the CAN devices close all objects using the ncCloseObject function before you exit your application Checking Status of Function Calls NI CAN User Manual Each NI CAN function returns a value that indicates the status of the function call Your application should check this status after each NI CAN function call The following sections describe the NI CAN status and how you can check it in your application 2 10 ni com Chapter 2 Developing Your Application B Note The NI CAN status format changed from version 1 4 to version 1 5 If you are developing a new NI CAN application this change will not affect your development If you have an existing NI CAN application that was developed prior to July 2001 you can either 1 run a utility to enable backward compatibility for NI CAN status or 2 adapt code to the current NI CAN status For
28. the object to configure along with a list of configuration attribute settings Step 2 Open Objects You must call the ncOpenObject function to open each object you use within your application The ncOpenObject function returns a handle for use in all subsequent NI CAN calls for that object When you are using the LabVIEW function library this handle is passed through the upper left and right terminals of each NI CAN function used after the open Step 3 Start Communication You must start communication on the CAN network before you can use your objects to transfer data If you configured your CAN Network Interface Object to start on open that object and all of its higher level CAN Objects are started automatically by the ncOpenObject function so nothing special is required for this step If you disabled the start on open attribute when your application is ready to start communication use the CAN Network Interface Object to call the ncAction function with the Opcode parameter set to NC_OP_ START This call is often useful when you want to use ncWrite to place outgoing data in write queues prior to starting communication This call is also useful in high bus load situations because it is more efficient to start communication after all objects have been opened If you want to reset the CAN hardware completely to clear a pending Error Passive state you can use the CAN Network Interface Object to call the ncAction function with the O
29. this edition The reader should consult National Instruments if errors are suspected In no event shall National Instruments be liable for any damages arising out of or related to this document or the information contained in it EXCEPT AS SPECIFIED HEREIN NATIONAL INSTRUMENTS MAKES NO WARRANTIES EXPRESS OR IMPLIED AND SPECIFICALLY DISCLAIMS ANY WARRANTY OF MERCHANTABILITY OR FITNESS FOR A PARTICULAR PURPOSE CUSTOMER S RIGHT TO RECOVER DAMAGES CAUSED BY FAULT OR NEGLIGENCE ON THE PART OF NATIONAL INSTRUMENTS SHALL BE LIMITED TO THE AMOUNT THERETOFORE PAID BY THE CUSTOMER NATIONAL INSTRUMENTS WILL NOT BE LIABLE FOR DAMAGES RESULTING FROM LOSS OF DATA PROFITS USE OF PRODUCTS OR INCIDENTAL OR CONSEQUENTIAL DAMAGES EVEN IF ADVISED OF THE POSSIBILITY THEREOF This limitation of the liability of National Instruments will apply regardless of the form of action whether in contract or tort including negligence Any action against National Instruments must be brought within one year after the cause of action accrues National Instruments shall not be liable for any delay in performance due to causes beyond its reasonable control The warranty provided herein does not cover damages defects malfunctions or service failures caused by owner s failure to follow the National Instruments installation operation or maintenance instructions owner s modification of the product owner s abuse misuse or negligent acts and power failure or surges fire floo
30. 1 5 NI CAN User Manual Chapter 1 Introduction NI CAN User Manual e Form error e Acknowledgment error Bit Error During frame transmissions a CAN device monitors the bus on a bit by bit basis If the bit level monitored is different from the transmitted bit a bit error is detected This bit error check applies only to the Data Length Code Data Bytes and Cyclic Redundancy Check fields of the transmitted frame Stuff Error Whenever a transmitting device detects five consecutive bits of equal value it automatically inserts a complemented bit into the transmitted bit stream This stuff bit is automatically removed by all receiving devices The bit stuffing scheme is used to guarantee enough edges in the bit stream to maintain synchronization within a frame A stuff error occurs whenever six consecutive bits of equal value are detected on the bus CRC Error A CRC error is detected by a receiving device whenever the calculated CRC differs from the actual CRC in the frame Form Error A form error occurs when a violation of the fundamental CAN frame encoding is detected For example if a CAN device begins transmitting the Start Of Frame bit for a new frame before the End Of Frame sequence completes for a previous frame does not wait for bus idle a form error is detected Acknowledgment Error An acknowledgment error is detected by a transmitting device whenever it does not detect a dominant Acknowledgment Bit ACK
31. 1 NI CAN User Manual Chapter 2 NI CAN User Manual Developing Your Application C C Language Interfaces You can use an NI CAN C language interface if your application is written in Microsoft Visual C C 5 0 or later Borland C C 5 0 or later or LabWindows CVI 4 0 or later with Microsoft C For other programming languages or development environments you must access nican d11 directly To use a C C language interface include the nican h header file in your code then link the appropriate NI CAN language interface file with your application You can then call the NI CAN functions without any extra effort For C applications files with c extension include nican h by adding the following line to the beginning of your code include nican h For C applications files with cpp extension include nican h by adding the following lines to the beginning of your code define cplusplus include nican h The cplusplus define allows nican h to properly handle the transition from C to the C language NI CAN functions For Microsoft Visual C 5 0 or later link your application with the NI CAN language interface for Microsoft C C nicanmsc 1ib For Borland C C 5 0 or later link your application with the NI CAN language interface for Borland C C nicanbor 1ib For Borland C C 4 5 you must use direct entry access for NI CAN For LabWindows CVI your application is linked with the NI CAN langu
32. 11 acts as the interface between all CAN applications and the NI CAN device driver e The NI CAN Configuration utility is used to modify the configuration of the NI CAN software Under Windows Me 98 95 this utility is integrated into the Windows Device Manager Under Windows 2000 NT this utility is a control panel application e The NI CAN Diagnostic utility is used to verify that the CAN hardware and software have been installed properly e The NI CAN Remote Configuration utility is used to configure and test NI CAN software on a remote LabVIEW Real Time system This utility communicates with a LabVIEW Real Time RT System PXI chassis using TCP IP Ethernet The utility is used to configure 1 14 ni com Chapter 1 Introduction the NI CAN software and verify that the CAN hardware and software have been installed properly This utility is used only for LabVIEW RT systems To configure and diagnose NI CAN installations on Windows use the NI CAN Configuration utility and NI CAN Diagnostic utility Firmware Image Files All National Instruments CAN hardware products contain an on board microprocessor This microprocessor is used so that all time critical aspects of the NI CAN software can be executed separately from your Windows application The firmware image which runs on the on board microprocessor nican nfw is loaded and executed automatically when your NI CAN application starts Language Interface Files e A documentation
33. 2 full queues 3 2 read and write queues 3 1 state transitions 3 1 synchronizing RTSI bus with NI DAQ 1 17 PXI CompactPCI and RTSI G 3 PXI 8460 fault reporting capabilities G 3 parts locator diagram figure E 4 port characteristics for bus powered ports H 2 replacing termination resistors E 10 termination resistors location of figure E 11 preparing lead wires of figure E 11 PXI 8461 fault reporting capabilities G 3 parts locator diagram figure D 5 port characteristics H 2 National Instruments Corporation Index 7 Index PXI 8462 fault reporting capabilities G 3 PXI 846x series boards and RTSI interface 1 10 G 3 hardware overview 1 9 pins used by G 3 Q questions See troubleshooting and common questions queues disabling queues 3 2 empty queues 3 2 full queues 3 2 read and write queues 3 1 state transitions 3 1 R reading data 2 10 Real Time System Integration RTSI See RTSI related documentation xiv Remote Transmit Request RTR field 1 4 resistance determining termination E 7 resistor termination high speed CAN figure D 8 location on PCI CAN LS2 board figure E 9 low speed CAN figure E 6 preparing lead wires of replacement PCI CAN LS2 figure E 10 PCMCIA CAN LS cable figure E 12 replacing low speed CAN E 10 PCI CAN LS board E 9 PCMCIA CAN LS cable E 12 NI CAN User Manual Index RTSI AT CAN series RTSI connector pinout G 1 bus defi
34. AN Object is located Your application can use multiple CAN Objects in conjunction with their associated CAN Network Interface Object National Instruments Corporation 2 5 NI CAN User Manual Chapter 2 Developing Your Application NI CAN User Manual The CAN Object provides high level access to a specific arbitration ID You can configure each CAN Object for different forms of background access For example you can configure a CAN Object to transmit a data frame every 100 milliseconds or to periodically poll for data by transmitting a remote frame and receiving the data frame response The arbitration ID direction of data transfer data length and when data transfer occurs periodic or unsolicited are all preconfigured for the CAN Object When you have configured and opened the CAN Object data transfer is handled in the background using read and write queues For example if the CAN Object periodically polls for data the NI CAN driver automatically handles the periodic transmission of remote frames and stores incoming data in the read queue of the CAN Object for later retrieval by the ncRead function For CAN Objects that receive data frames the ncRead function provides a timestamp of when the data frame arrived and the data bytes of the frame For CAN Objects that transmit data frames the ncWrite function provides the outgoing data bytes Some possible uses for CAN Objects include the following e You can configure a CAN Object t
35. AN for High Speed Communication ANSI ISO Standard 11519 1 2 Road Vehicles Low Speed Serial Data Communications Part 1 and 2 CAN Specification Version 2 0 1991 Robert Bosch Gmbh Postfach 500 D 7000 Stuttgart 1 CiA Draft Standard 102 Version 2 0 CAN Physical Layer for Industrial Applications CompactPCI Specification Revision 2 0 PCI Industrial Computers Manufacturers Group DeviceNet Specification Version 2 0 Open DeviceNet Vendor Association PXI Specification Revision 1 0 National Instruments Corporation LabVIEW Online Reference Measurement and Automation Explorer MAX Online Reference Microsoft Win32 Software Development Kit SDK online help xiv www ni com Introduction This chapter gives an overview of CAN and the NI CAN hardware and NI CAN software CAN Overview History and Use of CAN In the past few decades the need for improvements in automotive technology has led to increased use of electronic control systems for functions such as engine timing anti lock brake systems and distributorless ignition With conventional wiring data is exchanged in these systems using dedicated signal lines As the complexity and number of devices has increased using dedicated signal lines has become increasingly difficult and expensive To overcome the limitations of conventional automotive wiring Bosch developed the Controller Area Network CAN in the mid 1980s Using CAN devices controllers sensors
36. AN interface the Resources button opens a dialog box you can use to specify hardware resources for the CAN interface and the Settings button opens a dialog box you can use to assign a name to each CAN port Windows 2000 is fully Plug and Play so the resources are read only Therefore the Resources button is disabled in Windows 2000 After you have finished configuring your CAN interfaces click on the OK button to close the dialog box NI CAN User Manual 5 2 ni com Chapter 5 NI CAN Configuration and Diagnostic Utilities Starting the NI CAN Remote Configuration Utility for LabVIEW RT To start the NI CAN Remote Configuration Utility select Start National Instruments NI CAN NI CAN Remote Configuration Use the NI CAN Remote Configuration Utility to configure and diagnose CAN interfaces in a remote PXI chassis running LabVIEW RT You run the utility on your Windows machine and it communicates over Ethernet to configure the remote PXI chassis When you start the NI CAN Remote Utility the first dialog box prompts you for the IP address non DHCP or machine name DHCP of the remote PXI chassis If you do not know this information you can select the Launch MAX button to start Measurement and Automation Explorer MAX You can use Remote Systems in MAX to find a remote machine s IP address and name After selecting OK in the initial dialog box use the main dialog to configure and diagnose CAN interfaces in a manner similar t
37. ARE USED TO DEVELOP AN APPLICATION INSTALLATION ERRORS SOFTWARE AND HARDWARE COMPATIBILITY PROBLEMS MALFUNCTIONS OR FAILURES OF ELECTRONIC MONITORING OR CONTROL DEVICES TRANSIENT FAILURES OF ELECTRONIC SYSTEMS HARDWARE AND OR SOFTWARE UNANTICIPATED USES OR MISUSES OR ERRORS ON THE PART OF THE USER OR APPLICATIONS DESIGNER ADVERSE FACTORS SUCH AS THESE ARE HEREAFTER COLLECTIVELY TERMED SYSTEM FAILURES ANY APPLICATION WHERE A SYSTEM FAILURE WOULD CREATE A RISK OF HARM TO PROPERTY OR PERSONS INCLUDING THE RISK OF BODILY INJURY AND DEATH SHOULD NOT BE RELIANT SOLELY UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE TO AVOID DAMAGE INJURY OR DEATH THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT AGAINST SYSTEM FAILURES INCLUDING BUT NOT LIMITED TO BACK UP OR SHUT DOWN MECHANISMS BECAUSE EACH END USER SYSTEM IS CUSTOMIZED AND DIFFERS FROM NATIONAL INSTRUMENTS TESTING PLATFORMS AND BECAUSE A USER OR APPLICATION DESIGNER MAY USE NATIONAL INSTRUMENTS PRODUCTS IN COMBINATION WITH OTHER PRODUCTS IN A MANNER NOT EVALUATED OR CONTEMPLATED BY NATIONAL INSTRUMENTS THE USER OR APPLICATION DESIGNER IS ULTIMATELY RESPONSIBLE FOR VERIFYING AND VALIDATING THE SUITABILITY OF NATIONAL INSTRUMENTS PRODUCTS WHENEVER NATIONAL INSTRUMENTS PRODUCTS ARE INCORPORATED IN A SYSTEM OR APPLICATION INCLUDING WITHOUT LIMITATION THE APPROPRIATE DESIGN PROCESS AND SAFETY LEVEL OF SUCH SYSTEM OR APPLICATION Complian
38. CAN NI CAN User Manual Wy NATIONAL May 2001 Edition p INSTRUMENTS Part Number 370290B 01 Worldwide Technical Support and Product Information ni com National Instruments Corporate Headquarters 11500 North Mopac Expressway Austin Texas 78759 3504 USA Tel 512 794 0100 Worldwide Offices Australia 03 9879 5166 Austria 0662 45 79 90 0 Belgium 02 757 00 20 Brazil 011 284 5011 Canada Calgary 403 274 9391 Canada Montreal 514 288 5722 Canada Ottawa 613 233 5949 Canada Qu bec 514 694 8521 Canada Toronto 905 785 0085 China Shanghai 021 6555 7838 China ShenZhen 0755 3904939 Denmark 45 76 26 00 Finland 09 725 725 11 France 01 48 14 24 24 Germany 089 741 31 30 Greece 30 1 42 96 427 Hong Kong 2645 3186 India 91805275406 Israel 03 6120092 Italy 02 413091 Japan 03 5472 2970 Korea 02 596 7456 Malaysia 603 9596711 Mexico 5 280 7625 Netherlands 0348 433466 New Zealand 09 914 0488 Norway 32 27 73 00 Poland 0 22 528 94 06 Portugal 351 1 726 9011 Singapore 2265886 Spain 91 640 0085 Sweden 08 587 895 00 Switzerland 056 200 51 51 Taiwan 02 2528 7227 United Kingdom 01635 523545 For further support information see the Technical Support Resources appendix To comment on the documentation send e mail to techpubs ni com Copyright 1996 2001 National Instruments Corporation All rights reserved Important Information Warranty The NI CAN is warranted against defects in materials and workmansh
39. CMCIA CAN and PCMCIA CAN 2 cables and port two is identical to port two of the PCMCIA CAN LS2 cable The PCI CAN DS board PXI 8462 board and PCMCIA CAN DS cable allow simultaneous communication with both a high speed and low speed bus each with its own specific cabling and termination requirements For cabling requirements and port information for the high speed CAN port please refer to Appendix D Cabling Requirements for High Speed CAN in this manual For cabling requirements and port information for the low speed CAN port please refer to Appendix E Cabling Requirements for Low Speed CAN in this manual National Instruments Corporation F 1 NI CAN User Manual RTSI Bus This appendix describes the RTSI interface on your CAN board RTSI AT and PCI Figure G 1 shows the RTSI connector pinout for the AT CAN series boards Figure G 2 shows the RTSI connector pinout for the PCI CAN series boards Poa one eae oe ee ee ee oll pre mono oo e888 oo oe n od Connector AT CAN Series Trigger AT CAN Series Pin Number RTSI Trigger lt 0 gt 15 RTSI Trigger lt 1 gt 13 RTSI Trigger lt 2 gt 11 RTSI Trigger lt 3 gt 9 RTSI Trigger lt 4 gt 7 RTSI Trigger lt 5 gt 5 RTSI Trigger lt 6 gt 3 RTSI Oscillator 1 GND 2 4 6 8 10 12 14 Figure G 1 AT CAN Series RTS Connector Pinout National Instruments Corporation G 1 NI CAN User Manual Appendix G RTS Bus PCB eee OQ OBoOe
40. Contact National Instruments for assistance e Code 12 The CAN interface was not assigned a physical memory range If your computer does not have 8 KB of available memory Windows Me 98 95 might configure your CAN interface without a physical memory assignment The NI CAN software cannot function without 8 KB of physical memory Another way to verify this problem A 2 ni com Appendix A Windows Me 98 95 Troubleshooting and Common Questions is to look at the Resource settings list on the Resources tab to verify that the CAN interface was not assigned a Memory Range To solve this problem free up an 8 KB Memory Range such as D0000 to D1FFF hex that is being used by another device in the system e Code 15 The CAN interface was not assigned an Interrupt Request level If your computer does not have any available Interrupt Request levels Windows Me 98 95 might configure your CAN interface without an Interrupt Request level The NI CAN software cannot function without an Interrupt Request level Another way to verify this problem is to look at the Resource settings list on the Resources tab to verify that the CAN interface was not assigned an Interrupt Request level To solve this problem free up an Interrupt Request level that is being used by another device in the system e Code 22 The CAN interface is disabled To enable the CAN interface check the appropriate configuration checkbox in the Device Usage section of the General tab
41. I C4N 2 SNOQADE 47D PORT1 PCI CAN 2 SNOQADE 47D PORT2 Passed Passed Passed Passed Test All Test One Details Exit Help NI CAN Software for Windows95 98 version 1 3 0 Figure 5 1 NI CAN Diagnostic Utility after Testing You can get details about any tested CAN interface by selecting the interface and clicking the Details button For each failed CAN interface select it and click the Details button to get a description of the failure Use that information and the information in Appendix A Windows Me 98 95 Troubleshooting and Common Questions Appendix B Windows NT Troubleshooting and Common Questions or Appendix C Windows 2000 Troubleshooting and Common Questions to troubleshoot the problem Troubleshooting information is also available in the online help for the NI CAN Diagnostic utility which you can access by clicking on the Help button ni com Windows Me 98 95 Troubleshooting and Common Questions This appendix describes how to troubleshoot problems with the NI CAN software for Windows Me 98 95 and answers some common questions Troubleshooting Windows Device Manager Problems The Windows Device Manager contains configuration information for all of the CAN hardware it is aware of that is installed in your system To start the Windows Device Manager double click on the System icon under Start Settings Control Panel In the System Properties box that appears select the Device Manager tab and clic
42. Masta 1 1 History and Use 6f CAN seccion oniinn iann e e E tegteu lua Seevecebvess 1 1 CAN Identifiers and Message Priority essessesessessesssesreresrsrrsresrrsrsrrsrsresreresese 1 2 CAN Frame Scene a Seek A Ries ee A Re ee 1 3 Start of Frame SOP ccccscccssssccssstecessneesssnesesseeeesseeessseseessanenees 1 3 Arbitration ID 2 225 si nies ie debi evi ides nit eves sein asi elon 1 4 Remote Transmit Request RTR 0 ce ceeeeeeseeeseeeseeeeeeceneeeeaeeeeeesees 1 4 Identifier Extension IDE sincsen aeie e oere EE 1 4 Data Length Code DLC aii sea a a e n 1 4 Data Byles nie r E E EE EE E EA EER 1 4 Cyclic Redundancy Check CRC ooo eee ceeeeeeseeesetseeeeeeseenseesees 1 4 Acknowledgment Bit ACK ceeseesceeseecesecenreeeeeeeeenneceaeeeeeesaes 1 5 Bndof Brame 3 3 s3icesidtiseidnd caniiek Base ection ee 1 5 CAN Error Detection and Confinement ccccccessceseseceseseeeesseeeeeneeeeseeees 1 5 Error Detect Onines scenon enn had a ates ceean asian anaes 1 5 Error Confinement s erte e re e eerie tea Sees Bad 1 6 Low Speed CAN sripit aacra e aair saves depen cebdebeseacapsevezasvasedeas 1 8 NI CAN Hardware Overview enea e a a EE E E RN 1 9 NI CAN Software Overview cccccccssccssseccesseeeesseceseeeessceeessneeceeeeenseeesseeesseeeenneeeees 1 11 Independent Designates recien aon Si sei dh daca sta sa cea ee ccea EE E a T eas 1 11 Object Oriented Desig sssri risiini isasi stats veascds idea
43. N Software for Windows 2000 NT Me 9x in the jewel case of your program CD to complete the hardware installation NI CAN User Manual E 12 ni com Appendix E Cabling Requirements for Low Speed CAN Cabling Example Figure E 12 shows an example of a cable to connect two low speed CAN devices For the PCMCIA CANILS cables only V CAN_L and CAN _H are required to be connected to the bus 7 Pin 9 Pin 9 Pin 7 Pin Combicon D Sub D Sub Combicon CAN_H Pin 6 Pin 7 Pin 7 Pin 6 CAN_L Pin 2 Pin 2 Pin 2 Pin 2 Pin 4 Pin 5 SHIELD Pin 5 Pin 4 Pin 5 Pin 9 Pin9 Pin5 V f Pin 3 Pin 3 Pin 3 Pin 3 Power Connector v gt Figure E 12 Cabling Example National Instruments Corporation E 13 NI CAN User Manual Cabling Requirements for Dual Speed CAN This section describes the cabling requirements for the dual speed CAN hardware Port Identification The PCI CAN DS board PXI 8462 board and PCMCIA CAN DS cable each provide a high speed CAN port port one and a low speed CAN port port two Port one of the PCI CAN DS is identical to port one of the PCI CAN and PCI CAN 2 and port two is identical to port two of the PCI CAN LS2 Port one of the PXI 8462 is identical to port one of the PXI 8461 one port and PXI 8461 two port boards Port two of the PXI 8462 is identical to port two of the PXI 8460 two port board Port one of the PCMCIA CAN DS cable is identical to port one of the P
44. N board Figure E 7 shows the location of the termination resistor sockets on a PCI CAN LS 2 board COPYRIGHT 1997 x 5 O PE pagan ie ted Sell ut r x ol O J o Prasat J t INSTRUMENTS 7 7 Pe w us uss 9 5 H HI CE 700444 02 ere Ter ze E Sl Sf SER ERO g x as J E F J ary Bio a z foley a Mini MiTE Pe1 ea oo o 2 oe Sa OO of pesca gee QO tO 5 L 7 Lo LI S N 1 Port 1 Termination Resistors 2 Port 2 Termination Resistors Figure E 7 Location of Termination Resistors on PCI CAN LS2 Board National Instruments Corporation E 9 NI CAN User Manual Appendix E Cabling Requirements for Low Speed CAN 2 Cut and bend the lead wires of the resistors you want to install Refer to Figure E 8 Figure E 8 Preparing Lead Wires of Replacement Resistors 3 Insert the replacement resistors into the empty sockets 4 Refer to the Installation Guide CAN Hardware and the NI CAN Software for Windows 2000 NT Me 9x in the jewel case of your program CD to complete the hardware installation Replacing the Termination Resistors on Your PXI 8460 Board Follow these steps to r
45. NC_ST_WRITE SUCCESS state transitions from false to true when the write queue is empty and NI CAN has successfully transmitted the last data item onto the network The NC_ST_WRITE_ SUCCESS state remains true until you write another data item into the write queue National Instruments Corporation 3 1 NI CAN User Manual Chapter 3 NI CAN Programming Techniques Empty Queues Full Queues Disabling Queues For both read and write queues the behavior for reading an empty queue is similar When you read an empty queue the previous data item is returned again For example if you callncRead whenNC_ST_READ AVAILIis false the data from the previous call to ncRead is returned again along with the CanWarnOldData warning If no data item has yet arrived for the read queue a default data item is returned which consists of all zeros You should generally wait for NC_ST_READ AVAIL prior to the first call to ncRead For both read and write queues the behavior for writing a full queue is similar When you write a full queue NI CAN returns the CanErrOverflowWrite error codes For example if you write too many data items to a write queue the ncWrite function eventually returns the overflow error If you do not need a complete history of all data items you can disable the read queue and or write queue by setting its length to zero Zero length queues are typically used only with CAN objects not the CAN Network Interface Object Using zero leng
46. a CAN_H and CAN_L pair of wires table D 7 cable termination high speed CAN D 8 low speed CAN E 6 cabling example high speed CAN figure D 9 low speed CAN figure E 13 cabling requirements dual speed CAN F 1 high speed CAN D 1 low speed CAN E 1 CAN See also NI CAN arbitration 1 2 error confinement 1 6 NI CAN User Manual Index error detection 1 5 history and use 1 1 low speed 1 8 CAN frame reception flowchart figure 3 3 CAN frames definition 1 3 fields Acknowledgment Bit ACK 1 5 Arbitration ID 1 4 Cyclic Redundancy Check CRC 1 4 Data Bytes 1 4 Data Length Code DLC 1 4 End of Frame 1 5 Identifier Extension IDE 1 4 Remote Transmit Request RTR 1 4 Start of Frame SOP 1 3 reading and writing 2 5 standard and extended formats figure 1 3 CAN hardware determining type installed Windows 2000 C 4 Windows Me 98 95 A 5 Windows NT B 3 overview 1 9 problem encountered in Windows Me 98 95 A 5 CAN identifiers 1 2 CAN interface cables 5 pin Combicon style pluggable screw terminal figure D 2 cable lengths D 7 cable termination high speed CAN D 8 low speed CAN E 6 cabling example high speed CAN figure D 9 low speed CAN figure E 13 NI CAN User Manual Index 2 connector pinouts high speed D 1 low speed E 1 RTSI G 1 connector pinouts RTSI G 2 DeviceNet cable length specifications table D 7 dual speed F 1 high speed D 1 low speed E 1 PCMCIA CAN c
47. able figure D 2 PCMCIA CANILS cable figure E 2 termination resistors E 12 pinout for 9 pin D sub connector high speed figure D 1 specifications D 7 ISO 11898 specifications for characteristics of aCAN_H and CAN_L pair of wires table D 7 termination resistor placement figure D 8 low speed CAN E 6 CAN interfaces See also missing CAN interfaces number of configurable interfaces Windows 2000 C 4 Windows Me 98 95 A 5 Windows NT B 3 CAN Network Interface Objects communication starting 2 9 using objects 2 9 possible uses 2 4 using with CAN Objects flowchart for CAN frame reception figure 3 3 ni com CAN Objects choosing NI CAN Objects CAN Network interface Objects 2 4 CAN Objects 2 5 closing 2 10 configuration methods for 2 9 definition 1 2 NI CAN object hierarchy 1 12 opening 2 9 using 2 5 CAN software See NI CAN software CANopen protocol 1 11 checking status of function calls See status of function calls checking class definition 1 11 closing CAN Objects 2 10 common questions See troubleshooting and common questions communicating with CAN network starting 2 9 using objects 2 9 CompactPCI PXI and RTSI G 3 configuring objects See also NI CAN Configuration utility calling ncConfig function 2 9 connector pinouts high speed D 1 low speed E 1 RTSI G 1 connector pinouts RTSI G 1 G 2 Controller Area Network See CAN NI CAN conventions used in manual xiii CRC
48. action For a given connection the minimum amount of time between subsequent attempts to transmit frames on the connection Some protocols use minimum intervals to guarantee a certain level of overall network performance A physical connection in which multiple devices communicate with one another along a single cable A node s physical connection onto a network Device driver and or firmware that implement all the specifics of a CAN network interface Within NI CAN this software implements the CAN Network Interface Object as well as all objects above it in the object hierarchy A physical assembly linked to a communication line cable capable of communicating across the network according to a protocol specification Also known as device Glossary 5 NI CAN User Manual Glossary notification 0 object object oriented P PC PCI PCMCIA peer to peer periodic PLC polled protocol PXI R RAM remote NI CAN User Manual Within NI CAN an operating system mechanism that the NI CAN driver uses to communicate events to your application You can think of a notification of as an API function but in the opposite direction See instance A software design methodology in which classes instances attributes and methods are used to hide all of the details of a software entity that do not contribute to its essential characteristics Personal Computer Peripheral Component Interconnect Personal Com
49. age interface for LabWindows CVI nican 1ib This library is installed automatically based on the installed compatible compiler For detailed information on how to compile and link your NI CAN application refer to the readme txt file in the NI CAN examples directory 2 2 ni com Chapter 2 Developing Your Application Direct Entry Access You can directly access nican d11 from any programming environment that allows you to request addresses of functions that a DLL exports To use direct entry access you must first load nican d11 The following C language code fragment illustrates how to call the Win32 LoadLibrary function and check for an error include lt windows h gt include nican h HINSTANCE NicanLib NULL NicanLib LoadLibrary nican d1ll if NicanLib NULL return FALSE Next your application must use the Win32 Get ProcAddress function to get the addresses of the NI CAN functions your application needs to use For each NI CAN function used by your application you must define a direct entry prototype For the prototypes for each function exported by nican d11 refer to the NJ CAN Programmer Reference Manual The following code fragment illustrates how to get the addresses of the ncOpenObject ncCloseObject and ncRead functions static NCTYPE STATUS _NCFUNC_ PncOpenObject NCTYPE STRING ObjName NCTYPE OBJH_P ObjHandlePtr static NCTYPE STATUS _NCFUNC_ PncCloseObject NCTYPE OBJH ObjHandle
50. agnostic utility detects that it is unable to communicate correctly with the CAN hardware using the installed NI CAN software If you get this error shut down your computer restart it and run the NI CAN Diagnostic utility again If the problem persists try reinstalling the NI CAN software Missing CAN Interface If a National Instruments CAN interface is physically installed in your system but is not listed in the NI CAN Diagnostic utility check to see if the NI CAN Configuration utility has detected the hardware For more information refer to the Missing CAN Interface in the NI CAN Configuration Utility section earlier in this appendix CAN Hardware Problem Encountered NI CAN User Manual This error occurs if the NI CAN Diagnostic utility detects a defect in the CAN hardware If you get this error write down the numeric code shown with the error and contact National Instruments Depending on the cause of the hardware failure National Instruments may need to upgrade your CAN interface B 2 ni com Appendix B Windows NT Troubleshooting and Common Questions Common Questions How can I determine which type of CAN hardware I have installed Run the NI CAN Configuration utility To run the utility select Start Settings Control Panel NI CAN Configuration If any CAN hardware is correctly installed it is listed under National Instruments CAN Interfaces How can I determine which version of the NI CAN software I have inst
51. aitForState to wait for one or more states to occur e UsencCreateNotification in C C to register a callback for one or more states e Use ncCreateOccurrence in LabVIEW to create an occurrence for one or more states e Call ncGetAttribute to get the NC_ATTR_STATE attribute Use the ncWaitForState function when your application must wait for a specific state before proceeding For example if you call ncWrite to write a frame and your application cannot proceed until the frame is successfully transmitted you can call ncWaitForState to wait for NC_ST_ WRITE SUCCESS Use the ncCreateNotification function in C C when your application must handle a specific state but can perform other processing while waiting for that state to occur The ncCreateNotification function registers a callback function which is invoked when the desired state occurs For example a callback function forNC_ST_READ AVAILcan call ncRead and place the resulting data in a buffer Your application can then perform any tasks desired and process the CAN data only as needed Use the ncCreateOccurrence function in LabVIEW when your application must handle a specific state but can perform other processing while waiting for that state to occur The ncCreateOccurrence function creates a LabVIEW occurrence which is set when the desired state occurs Occurrences are the mechanism used in LabVIEW to provide multithreaded execution Use the ncGetAttribute function when yo
52. al only TRRTH Ret As the formula indicates the 510 Q 5 in parallel with 15 8 KQ 1 shipped on your cable will work with properly terminated networks having a total RTH and RTL termination of 125 to 500 Q or individual devices having an RTH and RTL termination of 500 to 16 KQ For communication with a network having an overall RTH and RTL termination of 100 to 125 Q you will need to disconnect the 510 resistors from the 7 pin pluggable screw terminal This will make the RTH and RTL values of the PCMCIA CANILS cable equal to the internal resistance of 15 8 KQ 1 To produce RTH and RTL values between 494 and 15 8 KQ on the PCMCIA CANILS cable use the following formula R Externat RTH of PCMCIA CAN LSt gt es eae ee NI CAN User Manual R Desired RTH of PCMCIA CAN LS Rinternal RTH of PCMCIA CAN LS E 8 ni com Appendix E Cabling Requirements for Low Speed CAN 5 R Internal RTH of PCMCIA CANILS 15 8 KQ 1 TRRTH Retr For information on replacing the external RTH and RTL resistors on your PCMCIA CANILS cable refer to Replacing the Termination Resistors on Your PCMCIA CAN LS Cable Replacing the Termination Resistors on Your PCI CAN LS Board Follow these steps to replace the termination resistors on your PCI CAN LS board after you have determined the correct value in the previous section Determining the Necessary Termination Resistance for Your Board 1 Remove the termination resistors on your low speed CA
53. alled Run the NI CAN Diagnostic utility To run the utility select NI CAN Diagnostics under Start Programs National Instruments NI CAN The NI CAN Diagnostic utility displays information about the version of the NI CAN software currently installed What do I do if the NI CAN Diagnostic utility fails with an error Refer to the Troubleshooting Diagnostic Utility Failures section of this appendix for specific information about what might cause the NI CAN Diagnostic utility to fail If you have already completed the troubleshooting steps contact National Instruments How many CAN interfaces can I configure for use with my NI CAN software for Windows NT The NI CAN software can be configured to communicate with up to 10 CAN interfaces Are interrupts required for the NI CAN software for Windows NT Yes one interrupt per card is required How do I use an NI CAN language interface For information about using NI CAN language interfaces refer to Chapter 2 Developing Your Application How do I use NI CAN from within LabVIEW For information about using NI CAN from within LabVIEW refer to Chapter 2 Developing Your Application National Instruments Corporation B 3 NI CAN User Manual Appendix B Windows NT Troubleshooting and Common Questions Why does the uninstall program leave some components installed The uninstall program removes only items that the installation program installed If you add anything to a directory
54. an example consider a CAN device network in which the network interface of a host computer is physically connected to two devices a pushbutton and an LED as shown in Figure 1 3 LED i Pushbutton Device C Device Arbitration ID 13 Data Frame Arbitration ID 5 Data Frame Arbitration ID 13 Remote Frame Network Interface User Application NI CAN User Manual Figure 1 3 Simple CAN Device Network Application The pushbutton device transmits the state of the button in a CAN data frame with standard arbitration ID 13 The frame data consists of a single byte zero if the button is off one if the button is on For an NI CAN application to obtain the current state of the pushbutton it transmits a CAN remote frame with standard arbitration ID 13 The pushbutton device responds to this remote transmission request by transmitting the button state in its CAN data frame 1 12 ni com Chapter 1 Introduction The LED device expects to obtain the state of the LED from a CAN data frame with standard arbitration ID 5 It expects the frame data to consist of a single byte zero to turn the light off one to turn the light on Figure 1 4 shows how NI CAN objects encapsulate access to this CAN device network The ovals in Figure 1 4 indicate NI CAN objects and the dotted lines indicate what each object
55. ansmit a sequence of CAN frames in quick succession This is useful for applications in which you need to simulate a specific sequence of CAN frames to verify proper device operation e You can read and write CAN frames for access to configuration settings within a device Because such settings generally are not accessed during normal device operation a dedicated CAN Object is not appropriate e For higher level protocols based on CAN you can use sequences of write read transactions to initialize communication with a device In these protocols specific sequences of CAN frames often need to be exchanged before you can access the data from a device In such cases you can use the CAN Network Interface Object to set up communication then use CAN Objects for actual data transfer with the device In general you use CAN Network Interface Objects for situations in which you need to transfer arbitrary CAN frames Using CAN Objects When a network frame is transmitted on a CAN based network it always begins with what is called the arbitration ID This arbitration ID is primarily used for collision resolution when more than one frame is transmitted simultaneously but you can also use it as a simple mechanism to identify data The CAN Object encapsulates a specific CAN arbitration ID and its associated data Every CAN Object is always associated with a specific CAN Network Interface Object used to identify the physical interface on which the C
56. anual If the CAN physical layer is powered from a bus power supply the power supply should be a DC power supply with an output of 10 to 30 V The power requirements for the CAN ports for Bus Powered configurations are shown in Table D 1 You should take these requirements into account when determining requirements of the bus power supply for the system Table D 1 Power Requirements for the CAN Physical Layer for Bus Powered Versions Characteristic Specification Voltage requirement V 10 30 VDC Current requirement 40 mA typical 100 mA maximum D 6 ni com Appendix D Cabling Requirements for High Speed CAN Cable Specifications Cables should meet the physical medium requirements specified in ISO 11898 shown in Table D 2 Belden cable 3084A meets all of those requirements and should be suitable for most applications Table D 2 ISO 11898 Specifications for Characteristics of a CAN_H and CAN_L Pair of Wires Characteristic Value Impedance 108 Q minimum 120 Q nominal 132 Q maximum Length related resistance 70 mQ m nominal Specific line delay 5 ns m nominal Cable Lengths The allowable cable length is affected by the characteristics of the cabling and the desired bit transmission rates Detailed cable length recommendations can be found in the ISO 11898 CiA DS 102 and DeviceNet specifications ISO 11898 specifies 40 m total cable length with a maximum stub le
57. aonewmwneaneaeaenaoaeae ae By Connector PCI CAN Series Trigger PCI CAN Series Pin Number RTSI Trigger lt 0 gt 20 RTSI Trigger lt 1 gt 22 RTSI Trigger lt 2 gt 24 RTSI Trigger lt 3 gt 26 RTSI Trigger lt 4 gt 28 RTSI Trigger lt 5 gt 30 RTSI Trigger lt 6 gt 32 RTSI Oscillator 34 GND 19 21 23 25 27 29 31 33 NI CAN User Manual Figure G 2 PCI CAN Series RTSI Connector Pinout Using the National Instruments RTSI bus with your CAN board consists of connecting it to other RTSI equipped boards with RTSI ribbon cable to route timing and trigger signals between the boards Using the RTSI bus your CAN board can be synchronized with multiple National Instruments DAQ boards in your computer The RTSI bus can also be used to synchronize multiple CAN boards The AT CAN AT CAN 2 PCI CAN and PCI CAN 2 boards allow for the connection of four RTSI input signals and four RTSI out put signals In order to fully support the fault reporting capabilities of the low speed transceivers used on the PCI CAN LS PCI CAN LS2 and PCI CAN DS three RTSI lines on those boards are reserved for low speed CAN fault reporting This allows for the connection of three RTSI input signals and two RTSI output signals to the boards providing them the real time synchronization benefits of RTSI without sacrificing low speed CAN fault reporting G 2 ni com Appendix G RTS Bus RTSI PXI and CompactPCI Using PXI compatible
58. applications Use in systems such as agricultural equipment nautical machinery medical apparatus semiconductor manufacturing equipment and machine tools testify to the incredible versatility of CAN CAN Identifiers and Message Priority NI CAN User Manual When a CAN device transmits data onto the network an identifier that is unique throughout the network precedes the data The identifier defines not only the content of the data but also the priority A CAN identifier along with its associated data is often referred to as a CAN Object When a device transmits a message onto the CAN network all other devices on the network receive that message Each receiving device performs an acceptance test on the identifier to determine if the message is relevant to it If the received identifier is not relevant to the device such as RPM received by an air conditioning controller the device ignores the message When more than one CAN device transmits a message simultaneously the identifier is used as a priority to determine which device gains access to the network The lower the numerical value of the identifier the higher its priority Figure 1 1 shows two CAN devices attempting to transmit messages one using identifier 647 hex and the other using identifier 6FF hex As each device transmits the 11 bits of its identifier it examines the network to determine if a higher priority identifier is being transmitted simultaneously If an identi
59. at caused the conflict and refer to the Microsoft Windows User s Guide for instructions on how to use the Device Manager to reserve memory resources for legacy boards After the conflict has been resolved run the NI CAN Diagnostic utility again Interrupt Resource Conflict This error occurs if the interrupt resource assigned to a CAN interface conflicts with the interrupt resources being used by other devices in the system Resource conflicts typically occur when your system contains legacy boards that use resources that have not been reserved properly with the Device Manager If a resource conflict exists write down the interrupt resource that caused the conflict and refer to the Microsoft Windows User s Guide for instructions on how to use the Device Manager to reserve interrupt resources for legacy boards After the conflict has been resolved run the NI CAN Diagnostic utility again NI CAN Software Problem Encountered This error occurs if the NI CAN Diagnostic utility detects that it is unable to communicate correctly with the CAN hardware using the installed NI CAN software If you get this error shut down your computer restart it and run the NI CAN Diagnostic utility again If the problem persists try reinstalling the NI CAN software Missing CAN Interface If a National Instruments CAN interface is physically installed in your system but is not listed in the NI CAN Diagnostic utility check the Windows Device Manager to see
60. aving from two to 32 nodes as specified by Philips including the port on the PCI CAN LS or PXI 8460 as anode You can also use the PCI CAN LS or PXI 8460 to communicate with individual low speed CAN devices It is important to determine the overall termination of your existing network or the termination of your individual device before connecting it to a PCI CAN LS or PXI 8460 port Philips recommends an overall RTH and RTL termination of 100 to 500 Q each for a properly terminated low speed network The overall network termination may be determined as follows 1 1 1 1 1 R R RTH overall RTH node 1 R RTH node 2 R RTH node 3 R RTH node n Philips also recommends an individual device RTH and RTL termination of 500 to 16 kQ The PCI CAN LS or PXI 8460 board ships with mounted RTH and RTL values of 510 Q 5 per port The PCI CAN LS or PXI 8460 kit also includes a pair of 15 KQ 5 resistors for each port After determining the termination of your existing network or device you can use the following formula to indicate which value should be placed on your PCI CAN LS or PXI 8460 board in order to produce the proper overall RTH and RTL termination of 100 to 500 Q upon connection of the board 1 RTH overall 1 1 Reru of low speed CAN interface R RTH of existing network or device RRTH overal Should be between 100 and 500 Q RETH of low speed CAN interface gt 10 Q 5 mounted or 15 KQ 5 in kit TRery Retr
61. bus powered ncWaitForState 2 10 ports H 2 preparing lead wires of figure E 11 replacing termination resistors E 10 G termination resistors E 6 GetProcAddress function 2 3 termination resistors location of figure E 11 H M hardware overview 1 9 manual See documentation high speed CAN memory resource conflict cabling requirements D 1 Windows Me 98 95 A 3 port characteristics H 2 Windows NT B 2 how to use manual set xiii methods definition 1 11 missing CAN interfaces Windows 2000 l no National Instruments CAN Identifier Extension IDE field 1 4 Interface C 1 instance definition 1 11 not listed in NI CAN Diagnostic interrupt requirements utility C 3 Windows 2000 C 4 physically absent interface C 2 Windows Me 98 95 A 5 Windows Me 98 95 Windows NT B 3 no National Instruments CAN ISO 11898 standard 1 1 Interface A 1 not listed in NI CAN Diagnostic utility A 4 L physically absent interface A 2 LabVIEW Windows NT application examples 4 1 NI CAN configuration and function library 2 1 diagnostic utilities B 1 status checking in 2 11 not listed in NI CAN Diagnostic utility B 2 NI CAN User Manual Index 4 ni com National Instruments CAN interfaces See CAN interfaces missing CAN interfaces National Instruments Web support I 1 NC_ERR_OLD_DATA status code 3 2 NC_ERR_OVERFLOW status code 3 2 NC_ST_READ_AVAIL state 3 1 NC_ST_READ_MULT state 3 1 NC_ST_WRITE_SUCCESS state 3 1 ncAction function
62. ce FCC Canada Radio Frequency Interference Compliance Determining FCC Class The Federal Communications Commission FCC has rules to protect wireless communications from interference The FCC places digital electronics into two classes These classes are known as Class A for use in industrial commercial locations only or Class B for use in residential or commercial locations Depending on where it is operated this product could be subject to restrictions in the FCC rules In Canada the Department of Communications DOC of Industry Canada regulates wireless interference in much the same way Digital electronics emit weak signals during normal operation that can affect radio television or other wireless products By examining the product you purchased you can determine the FCC Class and therefore which of the two FCC DOC Warnings apply in the following sections Some products may not be labeled at all for FCC if so the reader should then assume these are Class A devices FCC Class A products only display a simple warning statement of one paragraph in length regarding interference and undesired operation Most of our products are FCC Class A The FCC rules have restrictions regarding the locations where FCC Class A products can be operated FCC Class B products display either a FCC ID code starting with the letters EXN Trade Name Model Number or the FCC Class B compliance mark that appears as shown here on the right FE Tested
63. ction of four RTSI input signals and four RTSI output signals In order to fully support the fault reporting capabilities of the low speed transceivers used on the PXI 8460 one port PXI 8460 two port and PXI 8462 three RTSI lines on those boards are reserved for low speed CAN fault reporting This allows for the connection of three RTSI input signals and two RTSI output signals to the boards providing them the real time synchronization benefits of RTSI without sacrificing low speed CAN fault reporting Table G 1 Pins Used By the PXI 846x Series Boards PXI Pin Name PXI J2 Pin Number PXI Star D17 PXI Trigger lt 0 gt B16 PXI Trigger lt 1 gt A16 PXI Trigger lt 2 gt A17 National Instruments Corporation G 3 NI CAN User Manual Appendix G RTS Bus Table G 1 Pins Used By the PXI 846x Series Boards Continued PXI Pin Name PXI J2 Pin Number PXI Trigger lt 3 gt A18 PXI Trigger lt 4 gt B18 PXI Trigger lt 5 gt C18 PXI Trigger lt 7 gt E16 RTSI Cables National Instruments offers a variety of RTSI bus cables for connecting your CAN board to other CAN or DAQ hardware For more specific information about these cables you can refer to the National Instruments catalog or our Web site ni com or call the National Instruments office nearest you listed in the Worldwide Support section of Appendix I Technical Support Resources RTSI Programming For more info
64. ction of NI CAN Software Components 0 0 0 0 cece eeeeeeeeeeeeeeee 1 16 Figure 2 1 General Program Steps Using NI CAN Functions eee 2 8 Figure 3 1 Flowchart for CAN Frame Reception ee eeeeseeseceeceeeeeeeeeeeees 3 3 Figure 5 1 NI CAN Diagnostic Utility after Testing o oo ee eeeeeeeeeeeeees 5 4 Figure A 1 CAN Interface That Is Not Working Properly eee cece A 2 Figure C 1 CAN Interface That Is Not Working Properly eee eee eects C 2 Figure C 2 CAN Interface That has Not Been Recognized Properly 0 C 3 Figure D 1 Pinout for 9 Pin D Sub Connector cee eseeseeseeneceseeseeeseeneeaes D 1 Figure D 2 Pinout for 5 Pin Combicon Style Pluggable Screw Terminal D 2 Figure D 3 PCMCIA CAN Cable c cs gsssescceesessesteess eanna i D 2 Figure D 4 AT CAN 2 Parts Locator Diagram ou eee eee eseeeeeeeeeeeeseeneeeseenes D 3 Figure D 5 PCI CAN 2 Parts Locator Diagram eee eee eeeeseceeeeeeneeeseeeeeees D 4 Figure D 6 PXI 8461 Parts Locator Diagram 00 eee ees eeeeseeeeeeeeeneeeseeeeenees D 5 Figure D 7 Power Source JUMpers 0 eee ec eeceseeseeeseeseeesesseeesecseeesecseeseeeaeenseeaes D 6 Figure D 8 Termination Resistor Placement 0 0 0 0 eee eeeeeeceesseeeeeeeeseeeeeeseeeeeeaes D 8 Figure D 9 Cabling Example siisc scescccccevscscsesssestscaes cctsessanesguse case setscdssnaesrpiedvcasvase D 9 Figure E 1 Pinout for 9 Pin D Sub Connector cece eeseeseeseeeseeneeeseeneenaes E 1 Figur
65. d accident actions of third parties or other events outside reasonable control Copyright Under the copyright laws this publication may not be reproduced or transmitted in any form electronic or mechanical including photocopying recording storing in an information retrieval system or translating in whole or in part without the prior written consent of National Instruments Corporation Trademarks CVI LabVIEW National Instruments NI NI CAN ni com PXI and RTSI are trademarks of National Instruments Corporation Product and company names mentioned herein are trademarks or trade names of their respective companies Patents The product described in this manual may be protected by one or more U S patents U S Patent No 5 938 754 WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS 1 NATIONAL INSTRUMENTS PRODUCTS ARE NOT DESIGNED WITH COMPONENTS AND TESTING FOR A LEVEL OF RELIABILITY SUITABLE FOR USE IN OR IN CONNECTION WITH SURGICAL IMPLANTS OR AS CRITICAL COMPONENTS IN ANY LIFE SUPPORT SYSTEMS WHOSE FAILURE TO PERFORM CAN REASONABLY BE EXPECTED TO CAUSE SIGNIFICANT INJURY TO A HUMAN 2 IN ANY APPLICATION INCLUDING THE ABOVE RELIABILITY OF OPERATION OF THE SOFTWARE PRODUCTS CAN BE IMPAIRED BY ADVERSE FACTORS INCLUDING BUT NOT LIMITED TO FLUCTUATIONS IN ELECTRICAL POWER SUPPLY COMPUTER HARDWARE MALFUNCTIONS COMPUTER OPERATING SYSTEM SOFTWARE FITNESS FITNESS OF COMPILERS AND DEVELOPMENT SOFTW
66. d Frame Format S 7 R A o 11 Bit slp i f Arbitration ID DLC 0 8 Data bytes 15 Bit CRC End of Frame F R E K Extended Frame Format s Ji R A High 11 Bits Low 18 Bits F of Arbitration ID E of Arbitration ID a DLC 0 8 Data bytes 15 Bit CRC k End of Frame Start of Frame SOF Figure 1 2 Standard and Extended Frame Formats Start of Frame is a single bit 0 that marks the beginning of a CAN frame National Instruments Corporation 1 3 NI CAN User Manual Chapter 1 Introduction NI CAN User Manual Arbitration ID The arbitration ID fields contain the identifier for a CAN frame The standard format has one 11 bit field and the extended format has two fields which are 11 and 18 bits in length In both formats bits of the arbitration ID are transmitted from high to low order Remote Transmit Request RTR The Remote Transmit Request bit is dominant 0 for data frames and recessive 1 for remote frames Data frames are the fundamental means of data transfer on a CAN network and are used to transmit data from one device to one or more receivers A device transmits a remote frame to request transmission of a data frame for the given arbitration ID The remote frame is used to request data from its source device rather than waiting for the data source to transmit the data on its own Identifier Extension IDE The Identifier Extension b
67. ds you through nested menu items and dialog box options to a final action The sequence File Page Setup Options directs you to pull down the File menu select the Page Setup item and select Options from the last dialog box This icon denotes a note which alerts you to important information Bold text denotes items that you must select or click on in the software such as menu items and dialog box options Bold text also denotes parameter names Italic text denotes variables emphasis a cross reference or an introduction to a key concept This font also denotes text that is a placeholder for a word or value that you must supply Text in this font denotes text or characters that you should enter from the keyboard sections of code programming examples and syntax examples This font is also used for the proper names of disk drives paths directories National Instruments Corporation xiii NI CAN User Manual About This Manual programs subprograms subroutines device names functions operations variables filenames and extensions and code excerpts Platform Text in this font denotes a specific platform and indicates that the text following it applies only to that platform Related Documentation The following documents contain information that you may find helpful as you read this manual NI CAN User Manual ANSI ISO Standard 11898 1993 Road Vehicles Interchange of Digital Information Controller Area Network C
68. dware How can I determine which version of the NI CAN software I have installed Run the NI CAN Diagnostic utility To run the utility select NI CAN Diagnostics under Start Programs National Instruments NI CAN The NI CAN Diagnostic utility displays information about the version of the NI CAN software currently installed What do I do if the NI CAN Diagnostic utility fails with an error Refer to the Troubleshooting Diagnostic Utility Failures section of this appendix for specific information about what might cause the NI CAN Diagnostic utility to fail If you have already completed the troubleshooting steps contact National Instruments How many CAN interfaces can I configure for use with my NI CAN software for Windows Me 98 95 The NI CAN software for Windows Me 98 95 can be configured to communicate with up to 10 CAN interfaces Are interrupts required for the NI CAN software for Windows Me 98 95 Yes one interrupt per interface is required National Instruments Corporation A 5 NI CAN User Manual Appendix A Windows Me 98 95 Troubleshooting and Common Questions NI CAN User Manual How do I use an NI CAN language interface For information about using NI CAN language interfaces refer to Chapter 2 Developing Your Application How do I use NI CAN from within LabVIEW For information about using NI CAN from within LabVIEW refer to Chapter 2 Developing Your Application Why does the uninstall program leave some
69. e NI CAN User Manual An application written for NI CAN communicates on the network by using various objects Which NI CAN objects to use depends largely on the needs of your application The following sections discuss the objects provided by NI CAN and reasons why you might use each class of object Using CAN Network Interface Objects The CAN Network Interface Object encapsulates a physical interface to a CAN network usually a CAN port on an AT PCI PCMCIA or PXI interface You use the CAN Network Interface Object to read and write complete CAN frames As a CAN frame arrives from over the network it can be placed into the read queue of the CAN Network Interface Object You can retrieve CAN frames from this read queue using the ncRead or ncReadMult function For CAN Network Interface Objects the read 2 4 ni com Chapter 2 Developing Your Application functions provide a timestamp of when the frame was received the arbitration ID of the frame the type of frame data or RTSI event the data length and the data bytes You can also use the CAN Network Interface Object to write CAN frames using the ncWrite function Some possible uses for the CAN Network Interface Object include the following e You can use the read queue to log all CAN frames transferred across the network This log is useful when you need to view preceding CAN traffic to verify that all CAN devices are functioning properly e You can use the write queue to tr
70. e Relative humidity eee Storage environment Temperature ceeceeeceseesneeeneeeee Relative humidity 0 0 0 0 eeeeeeeeee PCMCIA CAN Series DIMENSIONS 20 00 00 ccc cece ceeeeeeseseseseeeeeteeeeees Power requireMent ec eeeeeeeeeeseeeeeeees T O COMNE COOL cee eeececeeeeeeeeeessteeeseseeess Operating environment Component temperature 0 Relative humidity 0 ee Storage Environment Temperature ceeeeseeseeeneeeneeeee Relative humidity 0 0 0 0 eee High Speed CAN Port Characteristics BUS POWT aner hoida ce vesvees CAN H CANCL inona aeiia Low Speed CAN Port Characteristics Bus POWEL cccceceseseesssesssesessseceeeseeess CAN H CAN L eiccennais NI CAN User Manual H 2 0 to 55 C 10 to 90 noncondensing 20 to 70 C 5 to 90 noncondensing 8 56 by 5 40 by 0 5 cm 3 4 by 2 1 by 0 4 in 500 mA typical Cable with 9 pin D Sub and pluggable screw terminal for each port 0 to 55 C 10 to 90 noncondensing 20 to 70 C 5 to 90 noncondensing 0 to 30 V 40 mA typical 100mA maximum 8 to 18V DC or peak CATI 8 to 27 V 40 mA typical 100 mA maximum 10 to 27V DC or peak CATI ni com Technical Support Resources Web Support National Instruments Web support is your first stop for help in solving installation configuration and application problems and questions Online problem solving and
71. e E 2 PCMCIA CAN LS Cable occ ececceeeeeesseceseeseeeseeeeesecseenseeseenaes E 2 Figure E 3 PCI CAN LS2 Parts Locator Diagram 00 eee ese eeeereeseeeeeeseeeees E 3 Figure E 4 PXI 8460 Parts Locator Diagram 0 0 eee eee eseeeeeneceeeeseeeeeeeeeees E 4 Figure E 5 Power Source Jumpers 0 cece eeceeeccesceseeseeeseeseceseeseesseeseeeseeseesseeaeenaes E 5 Figure E 6 Termination Resistor Placement for Low Speed CAN nsss E 6 Figure E 7 Location of Termination Resistors on PCI CAN LS2 Board E 9 Figure E 8 Preparing Lead Wires of Replacement ReSistors 0 eee E 10 Figure E 9 Location of Termination Resistors on a PXI 8460 oe eee E 11 Figure E 10 Preparing Lead Wires of Replacement ReSistors 0 cece E 11 NI CAN User Manual X ni com Figure E 11 Figure E 12 Figure G 1 Figure G 2 Tables Table 2 1 Table 2 2 Table D 1 Table D 2 Table D 3 Table E 1 Table E 2 Table G 1 Preparing Lead Wires of PCMCIA CAN LS Cable Replacement Resistors eee eee eeeeseeseeereeeeeeeenseeseenseenaes Cabling Example ici 23 sec e a EA ear vacua EE ER E RER AT CAN Series RTSI Connector Pinout 000 cc ceccccsseseeeeesesereeees PCI CAN Series RTSI Connector Pinout eccceseeseeeeeeeseeeeees NECAN Error CIUStet saaana ok A eee a NI CAN Status Code cccccccecccceesssscccssccsesescecesceceeeeesesessssesssesetseeess Power Requirements for the CAN Physical Layer for Bus
72. eeseceeeeseeneeeeeeeees 2 4 Using CAN Network Interface Objects 0 0 ee ee eeeeseeeeeeseeseeeeees 2 4 Using CAN Objects in morain e i iets alae 2 5 Programming Model for NI CAN Applications cc eceeeecesseeeseeseeeeeeseeseeeasenseeneeaes 2 7 Step 1 Configure Objects cc ha eh dedi 2 9 Step 2 Open ODjectss soree eE oE TE E EEE E E 2 9 Step 3 Start Communication eee eee eeseeseceeeseeeeeeeseeeseeenees 2 9 Step 4 Communicate Using Objects eee eeceeeeeeeseceeeeeeeeees 2 9 Step 5 Close ODjectss s esi acai Goeieile daseiielieineda deme a 2 10 Checking Status of Function Calls occ cecesesseesscesecseeeseeseeesecsesssessesesessessseeseeaee 2 10 Checking Status in LabVIEW uu eeeesecseceeeeeeeeeeaecneeeseseeeeaesseeeaeeeees 2 11 Checking Status Con Cars ois Sat shalt iia ater Ales 2 12 Chapter 3 NI CAN Programming Techniques Using QUEUES enre r A Ea EE ca sibsdvacd EE A AEE E E AOE E EERST 3 1 State Transitions d a tiad e EA RRE E E R 3 1 Empty Queues a R AE davai E a ES 3 2 F l QUEUES neien ea e aches A ONAE EEN 3 2 Disabling Queues orinn held Sais MAR E AEE E E 3 2 Using the CAN Network Interface Object with CAN Objects eseseseeereeesesreesreees 3 2 Detecting State Changes 0 0 select awe onia ae E ela EEE EARS 3 4 Chapter 4 Application Examples Tab VIEW EXam ples c icccecci ie E EE eck ea een cesiech E AE teins costae OA 4 1 C C Examples rr ar ae aid aaa r E aie Aiea E A AN 4 1 Other Programming Languages
73. ellent model for describing device networks in terms that are easy to understand In object oriented terminology the term class describes a classification of an object and the term instance refers to a specific instance of that object The term object is generally used as a synonym for instance For example NI CAN defines a class called the CAN Network Interface Object which encapsulates any network interface port on a National Instruments CAN hardware product Specific instances of the CAN Network Interface Object are referenced with names like CANO and CAN1 Each instance of a particular class has attributes that define its externally visible qualities as well as methods that are used to perform actions For example each instance of the CAN Network Interface Object has an attribute for the baud rate bits per second used for communication as well as a method used to transmit CAN frames onto the network National Instruments Corporation 1 11 NI CAN User Manual Chapter 1 Introduction For more information on object oriented and CAN terminology refer to the Glossary NI CAN Object Hierarchy The basic model of the NI CAN software architecture is a hierarchical collection of objects instances each of which has attributes and methods The hierarchy shows relationships between various objects In general a given object in the hierarchy has an is used to access relationship with all objects above it in the hierarchy As
74. encapsulates LED Pushbutton Device Device Arbitration ID 13 Data Frame Arbitration ID 5 A Data Frame Arbitration ID 13 Remote Frame A Network ee Interface A l CAN Object CAN Object for Arbitration A for Arbitration ID 5 ID 13 CAN Network Interface Object User Application Figure 1 4 Applying NI CAN Objects to the Example in Figure 1 3 The CAN Network Interface Object encapsulates the entire CAN network interface Its attributes configure settings that apply to the network interface as a whole For example the CAN Network Interface Object contains an attribute you can use to set the baud rate that the network interface hardware uses for communication You can also use the CAN Network Interface Object to communicate on the CAN device network For example you can use the write function to transmit a CAN remote frame to the pushbutton device then use the read function to retrieve the resulting CAN data frame Because the CAN Network Interface Object provides direct access to the National Instruments Corporation 1 13 NI CAN User Manual Chapter 1 Introduction network interface the write and read functions require all information about the CAN frame to be specified including arbitration ID whether the frame i
75. ents has offices located around the world to help address your support needs You can access our branch office Web sites from the Worldwide Offices section of ni com Branch office Web sites provide up to date contact information support phone numbers e mail addresses and current events If you have searched the technical support resources on our Web site and still cannot find the answers you need contact your local office or National Instruments corporate Phone numbers for our worldwide offices are listed at the front of this manual NI CAN User Manual l 2 ni com Glossary Prefix Meaning Value m milli 10 3 k kilo 103 Symbols degrees Q ohms percent A amperes AC action actuator ANSI Application Programming Interface API arbitration ID AT compatible National Instruments Corporation Glossary 1 alternating current See method A device that uses electrical mechanical or other signals to change the value of an external real world variable In the context of device networks actuators are devices that receive their primary data value from over the network examples include valves and motor starters Also known as final control element American National Standards Institute A collection of functions used by a user application to access hardware Within NI CAN you use API functions to make calls into the NI CAN driver An 11 or 29 bit ID transmitted as the firs
76. eplace the termination resistors after you have determined the correct value in the previous section Determining the Necessary Termination Resistance for Your Board 1 Remove the termination resistors on your PXI 8460 Figure E 9 shows the location of the termination resistor sockets on a PXI 8460 NI CAN User Manual E 10 ni com Appendix E Cabling Requirements for Low Speed CAN HO NATIONAL INSTRUMENTS CORP m ASSY185316A PX1 8460 8461 8470 Oo 1998 OOOO 000 A o0 1 32 HPR00 Y i ate pO 4 e Je G i J JO s a u3 e i fT Cl l 3 o ME CRG TF uz Ba A E 2 8 ve ol _ a wr Ep F OC O ay Of tO 8 rome Geros f mfi O e mtu Tas ues J O SRAN 6a sl wo ue o z Oi hs u27 p Ol E z H Ea SRAM sanie ee cy p b Sme i 5 O 20 9 gt Et 1 Port 1 Termination Resistors 2 Port 2 Termination Resistors Figure E 9 Location of Termination Resistors on a PXI 8460 2 Cut and bend the lead wires of the resistors you want to install Refer to Figure E 10 0 5 in lt 13 mm gt 0 165 in 4 mm
77. er Source Jumpers The CAN physical layer is still isolated regardless of the power source chosen Bus Power Supply Requirements If the CAN physical layer is powered from a bus power supply the power supply should be a DC power supply with an output of 8 to 27 V The power requirements for the CAN ports for Bus Powered configurations are shown in Table E 1 You should take these requirements into account when determining requirements of the bus power supply for the system Table E 1 Power Requirements for the Low Speed CAN Physical Layer for Bus Powered Versions Characteristic Specification Voltage requirement V 8 27 VDC Current requirement 40 mA typical 100 mA maximum Cable Specifications Cables should meet the physical medium requirements specified in ISO 11519 2 shown in Table E 2 National Instruments Corporation E 5 NI CAN User Manual Appendix E Cabling Requirements for Low Speed CAN Table E 2 ISO 11519 2 Specifications for Characteristics of a CAN_H and CAN_L Pair of Wires Characteristic Value Length related resistance 90 mQ m nominal Length related capacitance 30 pF m nominal CAN_L and ground CAN_H and ground CAN_L and CAN_H Belden cable 3084A meets all of those requirements and should be suitable for most applications Number of Devices The maximum number of devices depends on the electrical characteristics of the devices on the netwo
78. ered C 3 common questions C 4 missing CAN interface C 2 NI CAN Diagnostic utility failures C 3 NI CAN software problem encountered C 3 problem shown in Device Manager C 2 Windows 2000 Device Manager C 1 Windows Me 98 95 CAN hardware problem encountered A 4 common questions A 5 interrupt resource conflict A 4 memory resource conflict A 3 ni com missing CAN interface A 2 NI CAN software problem encountered A 4 problem shown in Device Manager A 2 Windows Me 98 95 Device Manager A 1 Windows Me 98 95NI CAN configuration and diagnostic utilities failures A 3 Windows NT CAN hardware problem encountered B 2 common questions B 3 interrupt resource conflict B 2 memory resource conflict B 2 missing CAN interface B 2 missing CAN interface in NI CAN configuration and diagnostic utilities B 1 NI CAN configuration and diagnostic utilities failures B 1 NI CAN software problem encountered B 2 no resources assigned B 1 U uninstalling NI CAN software some components left installed A 6 B 4 C 5 using this manual set xiii utilities See NI CAN configuration and diagnostic Utilities NI CAN NI CAN configuration and diagnostic utilities W waiting for available data 2 10 Web support from National Instruments I 1 National Instruments Corporation Index Windows 2000 troubleshooting and common questions CAN hardware problem encountered C 3 common questions C 4 missing CAN inter
79. evice is usually a sensor or actuator and the requesting master device is usually a controller Also known as master slave Hardware settings used by National Instruments CAN hardware including an interrupt request level IRQ and an 8 KB physical memory range such as D0000 to D1FFF hex Real Time System Integration bus The National Instruments timing bus that connects CAN and DAQ boards directly via connectors on top of the PCI CAN and AT CAN series boards and the PXI trigger bus on the PXI 846x series boards for precise synchronization of functions seconds A device that measures electrical mechanical or other signals from an external real world variable in the context of device networks sensors are devices that send their primary data value onto the network examples include temperature sensors and presence sensors Also known as transmitter An 11 bit arbitration ID Frames that use standard IDs are often referred to as CAN 2 0 Part A standard IDs are by far the most commonly used Any event that causes or starts some form of data capture Connections that transmit data on the network sporadically based on an external event Also known as nonperiodic sporadic and event driven Glossary 7 NI CAN User Manual Glossary V V volts VDC volts direct current W W Watts watchdog timeout A timeout associated with a connection that expects to receive network data at a specific rate If data is not received be
80. evice remains in the error active state as long as the transmit and receive error counters are both below 128 In a normally functioning network of CAN devices all devices are in the error active state Error Passive State If either the transmit error counter or the receive error counter increments above 127 the CAN device transitions into the error passive state A device in error passive state can still take part in communication but transmits a passive error flag when an error is detected This passive error flag sequence of recessive bits generally does not abort frames transmitted by other devices Since passive error flags cannot prevail over any activity on the bus line they are noticed only when the error passive device is transmitting a frame Thus if an error passive device detects a receive error on a frame which is received successfully by other devices the frame is not retransmitted One special rule to keep in mind is that when an error passive device detects an acknowledgment error it does not increment its transmit error counter Thus if a CAN network consists of only one device for example if you do not connect a cable to your National Instruments CAN interface and that device attempts to transmit a frame it retransmits continuously but never goes into bus off state although it eventually reaches error passive state National Instruments Corporation 1 7 NI CAN User Manual Chapter 1 Introduction Low Speed
81. face C 2 C 3 NI CAN Diagnostic utility failures C 3 problem shown in device manager C 2 uninstalling CAN software C 5 Windows 2000 NT NI CAN driver and utilities 1 14 starting NI CAN configuration and diagnostic utilities 5 1 Windows Me 98 95 NI CAN driver and utilities 1 14 starting NI CAN configuration and diagnostic utilities 5 1 troubleshooting and common questions CAN hardware problem encountered A 4 common questions A 5 interrupt resource conflict A 4 memory resource conflict A 3 missing CAN interface A 2 A 4 NI CAN configuration and diagnostic utilities failures A 3 problem shown in device manager A 2 uninstalling CAN software A 6 Windows NT troubleshooting and common questions CAN hardware problem encountered B 2 common questions B 3 interrupt resource conflict B 2 memory resource conflict B 2 missing CAN interface B 2 NI CAN User Manual Index missing CAN interface in NI CAN Configuration utility B 1 NI CAN configuration and diagnostic utilities failures B 1 NI CAN software problem encountered B 2 no resources assigned B 1 uninstalling CAN software B 4 worldwide technical support I 2 NI CAN User Manual Index 10 ni com
82. fier collision is detected the losing device s immediately cease transmission and wait for the higher priority message to complete before automatically retrying Because the highest priority identifier continues its transmission without interruption this scheme is referred to as nondestructive bitwise arbitration and CAN s identifier is often referred to as an arbitration ID This ability to resolve collisions and continue with high priority transmissions is one feature that makes CAN ideal for real time applications 1 2 ni com CAN Frames Chapter 1 Introduction Device A 1 ID 11001000111 647 hex S Device B a ID 11011111111 6FF hex S S Start Frame Bit Device B Loses Arbitration Device A Wins Arbitration and Proceeds Figure 1 1 Example of CAN Arbitration In a CAN network the messages transferred across the network are called frames The CAN protocol supports two frame formats as defined in the Bosch version 2 0 specifications the essential difference being in the length of the arbitration ID In the standard frame format also known as 2 0A the length of the ID is 11 bits In the extended frame format also known as 2 0B the length of the ID is 29 bits The ISO 11898 specification supports only the standard frame format Figure 1 2 shows the essential fields of the standard and extended frame formats and the following sections describe each field Standar
83. file readme txt contains information about the NI CAN language interface files e A32 bit C language include file nican h contains NI CAN function prototypes host data types and various predefined constants e A 32 bit C language interface file nicanmsc 1ib is used by Microsoft C C applications to access the NI CAN DLL e A32 bit C language interface file nicanbor 1ib is used by Borland C C 5 0 or greater applications to access the NI CAN DLL e A 32 bit C language interface file nican 1ib is used by LabWindows CVI applications to access the NI CAN DLL This file is installed in your LabWindows CVI environment e NI CAN function panels for LabWindows CVI nican fp enable you to develop a CAN application with LabWindows CVI These function panels are installed in your LabWindows CVI environment e A32 bit LabVIEW function library nican 11b is used by LabVIEW applications to access the NI CAN DLL This library and the associated palettes are installed in your LabVIEW environment Application Examples The NI CAN software includes several sample applications For a description of the sample application files refer to Chapter 4 Application Examples National Instruments Corporation 1 15 NI CAN User Manual Chapter 1 Introduction Interaction of Software Components with Your Application Figure 1 5 shows the interaction between your application and the NI CAN software components User Mode Kernel Mode
84. fore the watchdog timeout expires the connection is normally stopped You can use watchdog timeouts to verify that the remote node is still operational NI CAN User Manual Glossary 8 ni com Index Numbers 5 pin Combicon style pluggable screw terminal figure D 2 9 pin D sub connector pinout high speed figure D 1 9 pin D sub connector pinout low speed figure E 1 A Acknowledgment Bit ACK field 1 5 acknowledgment error 1 6 application development See programming application examples 4 1 C C languages 4 1 LabVIEW 4 1 other programming languages 4 1 arbitration example of CAN arbitration figure 1 3 nondestructive bitwise 1 2 arbitration ID definition 1 2 using CAN Objects 2 5 Arbitration ID field 1 4 AT CAN series board 1 9 and RTS 1 10 AT CAN 2 parts locator diagram figure D 3 power supply information for high speed CAN ports D 3 specifications H 1 attributes definition 1 11 National Instruments Corporation Index 1 bit error 1 6 bus off state 1 8 bus power supply requirements high speed D 6 low speed E 5 C C C languages accessing NI CAN software 2 2 application examples 4 1 status checking 2 12 cable lengths D 7 cable lengths DeviceNet cable length specifications table D 7 cable specifications D 7 E 5 ISO 11519 2 specifications for characteristics of a CAN_H and CAN_L pair of wires table E 6 ISO 11898 specifications for characteristics of
85. from a remote node the RTR bit is set and the data length indicates the amount of data desired but no data bytes are included CAN in Automation A set of objects that share a common structure and a common behavior Glossary 2 ni com connection controller D DC device device network DLL DMA E EMI error active error counters error passive extended arbitration ID National Instruments Corporation Glossary 3 Glossary An association between two or more nodes on a network that describes when and how data is transferred A device that receives data from sensors and sends data to actuators in order to hold one or more external real world variables at a certain level or condition A thermostat is a simple example of a controller direct current See node Multi drop digital communication network for sensors actuators and controllers dynamic link library direct memory access electromagnetic interference A CAN node is in error active state when both the receive and transmit error counters are below 128 Every CAN node keeps a count of how many receive and transmit errors have occurred The rules for how these counters are incremented and decremented are defined by the CAN protocol specification A CAN node is in error passive state when one or both of its error counters increment above 127 This state is a warning that a communication problem exists but the node is still participat
86. if Windows Me 98 95 has detected the hardware For more information refer to the Troubleshooting Windows Device Manager Problems section earlier in this appendix CAN Hardware Problem Encountered This error occurs if the NI CAN Diagnostic utility detects a defect in the CAN hardware If you get this error write down the numeric code shown with the error and contact National Instruments Depending on the cause of the hardware failure National Instruments may need to upgrade your CAN interface NI CAN User Manual A 4 ni com Appendix A Windows Me 98 95 Troubleshooting and Common Questions Common Questions What do I do if my CAN hardware is listed in the Windows Device Manager with a circled X or exclamation point overlaid on it Refer to the Problem Shown in Device Manager section of this appendix for specific information about what might cause this problem If you have already completed the troubleshooting steps contact National Instruments How can I determine which type of CAN hardware I have installed Run the NI CAN Configuration utility To run the utility select Start Settings Control Panel System Select the Device Manager tab in the System Properties dialog box Click on the View devices by type radio button at the top of the sheet If any CAN hardware is correctly installed a National Instruments CAN Interfaces icon appears in the list of device types Double click this icon to see a list of installed CAN har
87. igned resources to the CAN interface Use the Resources button of the NI CAN Configuration utility to select valid resources for your CAN interface National Instruments Corporation B 1 NI CAN User Manual Appendix B Windows NT Troubleshooting and Common Questions Memory Resource Conflict This error occurs if the memory resource assigned to a CAN interface conflicts with the memory resources being used by other devices in the system Resource conflicts typically occur when your system contains legacy boards that use the resources you assigned using the NI CAN Configuration utility If a resource conflict exists use the Resources button in the NI CAN Configuration utility to assign a different memory resource to the CAN interface After the conflict has been resolved run the NI CAN Diagnostic utility again Interrupt Resource Conflict This error occurs if the interrupt resource assigned to a CAN interface conflicts with the interrupt resources being used by other devices in the system Resource conflicts typically occur when your system contains legacy boards that use the resources you assigned using the NI CAN Configuration utility If a resource conflict exists use the Resources button in the NI CAN Configuration utility to assign a different interrupt resource to the CAN interface After the conflict has been resolved run the NI CAN Diagnostic utility again NI CAN Software Problem Encountered This error occurs if the NI CAN Di
88. igure E 2 PCMCIA CAN LS Cable E 2 ni com Appendix E Cabling Requirements for Low Speed CAN Power Supply Information for the Low Speed CAN Ports For the PCI CAN LS and port one of the PCI CAN LS2 power is configured with jumper J6 For port two of the PCI CAN LS2 power is configured with jumper J5 These jumpers are shown in Figure E 3 Sialic a OAN Z gt E i OG ce 6 n een i 1 Power Supply Jumper J6 3 Serial Number 5 Power Supply Jumper J5 2 Product Name 4 Assembly Number 6 Termination Resistor Sockets Figure E 3 PCI CAN LS2 Parts Locator Diagram For port one of the PXI 8460 power is configured with jumper J5 For port two of the PXI 8460 power is configured with jumper J6 These jumpers are shown in Figure E 4 National Instruments Corporation E 3 NI CAN User Manual Appendix E Cabling Requirements for Low Speed CAN
89. ing in network traffic A 29 bit arbitration ID Frames that use extended IDs are often referred to as CAN 2 0 Part B the specification that defines them NI CAN User Manual Glossary FCC frame ft hex HMI IEEE in instance IRQ ISA ISO K KB NI CAN User Manual Federal Communications Commission A unit of information transferred across a network from one node to another the protocol defines the meaning of the bit fields within a frame Also known as packet feet hexadecimal Human Machine Interface Hertz Institute of Electrical and Electronic Engineers inches An abstraction of a specific real world thing for example Mike is an instance of the class Human Also known as object interrupt request Industry Standard Architecture International Standards Organization Kilobytes of memory Glossary 4 ni com LED local Low speed CAN m MB method minimum interval multi drop network interface NI CAN driver node National Instruments Corporation Glossary Light emitting Diode Within NI CAN anything that exists on the same host personal computer as the NI CAN driver Implementation of CAN as defined in ISO 11519 meters Megabytes of memory An action performed on an instance to affect its behavior the externally visible code of an object Within NI CAN you use NI CAN functions to execute methods for objects Also known as service operation and
90. ip for a period of 90 days from the date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace equipment that proves to be defective during the warranty period This warranty includes parts and labor The media on which you receive National Instruments software are warranted not to fail to execute programming instructions due to defects in materials and workmanship for a period of 90 days from date of shipment as evidenced by receipts or other documentation National Instruments will at its option repair or replace software media that do not execute programming instructions if National Instruments receives notice of such defects during the warranty period National Instruments does not warrant that the operation of the software shall be uninterrupted or error free A Return Material Authorization RMA number must be obtained from the factory and clearly marked on the outside of the package before any equipment will be accepted for warranty work National Instruments will pay the shipping costs of returning to the owner parts which are covered by warranty National Instruments believes that the information in this document is accurate The document has been carefully reviewed for technical accuracy In the event that technical or typographical errors exist National Instruments reserves the right to make changes to subsequent editions of this document without prior notice to holders of
91. it differentiates standard frames from extended frames Because the IDE bit is dominant 0 for standard frames and recessive 1 for extended frames standard frames are always higher priority than extended frames Data Length Code DLC The Data Length Code is a 4 bit field that indicates the number of data bytes in a data frame In a remote frame the Data Length Code indicates the number of data bytes in the requested data frame Valid Data Length Codes range from zero to eight Data Bytes For data frames this field contains from 0 to 8 data bytes Remote CAN frames always contain zero data bytes Cyclic Redundancy Check CRC The 15 bit Cyclic Redundancy Check detects bit errors in frames The transmitter calculates the CRC based on the preceding bits of the frame and all receivers recalculate it for comparison If the CRC calculated by a receiver differs from the CRC in the frame the receiver detects an error 1 4 ni com Chapter 1 Introduction Acknowledgment Bit ACK All receivers use the Acknowledgment Bit to acknowledge successful reception of the frame The ACK bit is transmitted recessive 1 and is overwritten as dominant 0 by all devices that receive the frame successfully The receivers acknowledge correct frames regardless of the acceptance test performed on the arbitration ID If the transmitter of the frame detects no acknowledgment it could mean that the receivers detected an error such as a CRC error
92. ities 4 In the list of installed interfaces immediately below National Instruments CAN Interfaces double click on the particular interface type you want to configure If you have only one National Instruments CAN interface in your computer only one interface type appears in the list If an exclamation point or an X appears next to the interface there is a problem and you should refer to the Problem Shown in Device Manager section of Appendix A Windows Me 98 95 Troubleshooting and Common Questions in this manual to resolve your problem before you continue Use the Resources tab to provide information about the hardware resources assigned to the CAN interface and use the Settings tab to assign a name to each CAN port Starting the NI CAN Configuration Utility in Windows 2000 NT To start the NI CAN Configuration utility on Windows 2000 NT open your Windows 2000 NT Control Panel and double click on NI CAN Configuration Because you can use the NI CAN Configuration utility to modify the configuration of the NI CAN kernel drivers you must be logged on to Windows 2000 NT as the Administrator to make any changes If you start the NI CAN Configuration utility without Administrator privileges it runs in read only mode you can view the settings but you cannot make changes The main dialog box of the NI CAN Configuration utility for Windows 2000 NT contains a list of all National Instruments CAN interfaces in your computer For each C
93. k the View devices by type radio button at the top of the tab If there is no National Instruments CAN Interfaces item and you are certain you have a CAN interface installed refer to the No National Instruments CAN Interfaces section of this appendix If the National Instruments CAN Interfaces item exists but the CAN interface you are looking for is not listed there refer to the Missing CAN Interface section of this appendix If the CAN interface you are looking for is listed but has a circled X or exclamation mark over its icon refer to the Problem Shown in Device Manager section of this appendix No National Instruments CAN Interfaces If you are certain you have a Plug and Play CAN interface installed but no National Instruments CAN Interfaces item appears in the Device Manager the interface is probably incorrectly listed under Other Devices Double click on the Other Devices item in the Device Manager and one by one remove each National Instruments CAN interface listed there by selecting its name and then clicking the Remove button After all of the National Instruments Corporation A 1 NI CAN User Manual Appendix A Windows Me 98 95 Troubleshooting and Common Questions National Instruments CAN interfaces have been removed from Other Devices click the Refresh button At this point the system rescans the installed hardware and the CAN interface should show up under National Instruments CAN Interfaces without any prob
94. l Instruments CAN hardware covered in this manual includes the AT CAN and AT CAN 2 Windows Me 9x only PCI CAN PCI CAN 2 PCI CAN LS low speed CAN PCI CAN LS2 PCI CAN DS dual speed CAN PCMCIA CAN PCMCIA CAN 2 PXI 8460 low speed one or two port PXI 8461 high speed one or two port and PXI 8462 dual speed port one high speed port two low speed The AT CAN series boards are fully software configurable and compliant with the Plug and Play ISA standard With an AT CAN or AT CAN 2 board you can make your PC AT compatible computer communicate with and control CAN devices The PCI CAN PCI CAN LS and PCI CAN DS series boards are completely software configurable and compliant with the PCI Local Bus Specification With a PCI CAN PCI CAN LS or PCI CAN DS series board you can make your PC compatible computer with PCI Local Bus slots communicate with and control CAN devices The PCMCIA CAN series cards are Type II PC Cards that are completely software configurable and compliant with the PCMCIA standards for 16 bit PC Cards With a PCMCIA CAN series card you can make your PC compatible notebook with PCMCIA sockets communicate with and control CAN devices The PXI 8460 PXI 8461 and PXI 8462 are software configurable and compliant with the PXI Specification and CompactPCI Specification With a PXI 846x board you can make your PXI or CompactPCI chassis communicate with and control CAN devices The CAN hardware supports a wide va
95. layer and the V BAT pin of the low speed transceiver are powered internally This cable also requires that only the V CAN_L and CAN_H be connected to the bus 4 PCMCIA CAN DS cables The high speed port port 1 physical layer is powered internally The low speed port port 2 physical layer is identical to the PCMCIA CAN LS cable The PXI 846x PCI CAN and AT CAN series boards use the Real Time System Integration RTSI bus to solve the problem of synchronizing several functions across multiple boards to a common trigger or timing event For PCI CAN and AT CAN the RTSI bus consists of the National Instruments RTSI bus interface and ribbon cable to route timing and trigger signals between the CAN hardware and National Instruments DAQ IMAQ or additional CAN hardware For the PXI 846x the RTSI bus is implemented by using the National Instruments PXI trigger bus to route timing and trigger signals between the CAN hardware and National Instruments DAQ IMAQ or additional CAN hardware Although the PXI 846x series board with RTSI bus is available in a PXI chassis there important issues to consider when using it in a compactPCI chassis Refer to Appendix G RTSI Bus in this manual for detailed information about the RTSI interface Also see the RTSI Bus Overview and The RTSI Solution sections later in this chapter All of the CAN hardware uses the Intel 386EX embedded processor to implement time critical features provided by the NI CAN software
96. lems If the problem persists contact National Instruments Missing CAN Interface If the National Instruments CAN Interfaces item exists but the CAN interface you are looking for is not listed there the CAN interface is not properly installed For National Instruments CAN hardware this problem indicates that the interface is not physically present in the system Problem Shown in Device Manager NI CAN User Manual If a CAN interface is not working properly its icon has a circled X or exclamation mark overlaid on it as shown in Figure A 1 E E wurm A Mouse National Instruments CAN Interfaces 89 Network adapters D Dara ICNhA t IDT H E Figure A 1 CAN Interface That Is Not Working Properly This problem can occur for several reasons If you encounter this problem the Device Manager should list an error code that indicates why the problem occurred To see the error code for a particular interface select the name of the interface and click on the Properties button to go to the General tab for that CAN interface The Device Status section of the General tab shows the error code Locate the error code in the following list to find out why your CAN interface is not working properly e Code 8 The NI CAN software was incompletely installed To solve this problem reinstall the NI CAN software e Code 9 Windows Me 98 95 had a problem reading information from the CAN interface
97. me for its arbitration ID You can use this configuration to simulate a device which responds to remote frames In general you use CAN Objects for data transfer for a specific arbitration ID especially when that data transfer needs to occur periodically Programming Model for NI CAN Applications The following steps demonstrate how to use the NI CAN functions in your application The steps are shown in Figure 2 1 in flowchart form National Instruments Corporation 2 7 NI CAN User Manual Chapter 2 Developing Your Application START Configure Object Are All Objects Configured y Yes Open Object ncOpenObject No Are All Objects Open y Yes Start Communication ncAction Communicate Using Objects e Wait for Data Available ncWaitForState ncCreateNotification e Read Data ncRead e Write Data ncwrite and so on Finished CAN Programming y Yes Close Object ncCloseObject Are All Objects Closed No NI CAN User Manual Figure 2 1 General Program Steps Using NI CAN Functions 2 8 ni com Chapter 2 Developing Your Application Step 1 Configure Objects Prior to opening the objects used in your application you must configure the objects with their initial attribute settings Each object is configured within your application by calling the ncConfig function This function takes the name of
98. ments Corporation 2 13 NI CAN User Manual NI CAN Programming Techniques Using Queues This chapter describes techniques for using the NI CAN functions in your application For more detailed information about each NI CAN function refer to the NI CAN Programmer Reference Manual State Transitions To maintain an ordered history of data transfers NI CAN supports the use of queues also known as FIFO first in first out buffers The basic behavior of such queues is common to all NI CAN objects There are two basic types of NI CAN queues the read queue and the write queue NI CAN uses the read queue to store incoming network data items in the order they arrive You access the read queue using ncRead to obtain the data NI CAN uses the write queue to transmit network frames one at a time using the network interface hardware You access the write queue using ncWrite to store network data items for transmission TheNC_ST_READ_ AVAIL state transitions from false to true when NI CAN places a new data item into an empty read queue and remains true until you read the last data item from the queue and the queue is empty The NC_ST_READ_ MULT state transitions from false to true when the number of items in a queue exceeds a threshold The threshold is set using the NC_ATTR_NOTIFY_MULT_LENattribute The NC_ST_ READ MULT state and ncReadMu1t function are useful in high traffic networks in which data items arrive quickly The
99. messages generated by the NI CAN Diagnostic utility NI CAN Software Problem Encountered This error occurs if the NI CAN Diagnostic utility detects that it is unable to communicate correctly with the CAN hardware using the installed NI CAN software If you get this error shut down your computer restart it and run the NI CAN Diagnostic utility again If the problem persists try reinstalling the NI CAN software Missing CAN Interface If a National Instruments CAN interface is physically installed in your system but is not listed in the NI CAN Diagnostic utility check the Windows Device Manager to see if Windows 2000 has detected the hardware For more information refer to the Troubleshooting Windows Device Manager Problems section in this appendix CAN Hardware Problem Encountered This error occurs if the NI CAN Diagnostic utility detects a defect in the CAN hardware If you get this error write down the numeric code shown with the error and contact National Instruments Depending on the cause of the hardware failure National Instruments may need to upgrade your CAN interface National Instruments Corporation C 3 NI CAN User Manual Appendix C Windows 2000 Troubleshooting and Common Questions Common Questions NI CAN User Manual What do I do if my CAN hardware is listed in the Windows Device Manager with a circled X or exclamation point overlaid on it or if CAN hardware is listed under Other Devices Refer t
100. more information refer to the errors txt in the NI CAN Installation directory Checking Status in LabVIEW For applications written in LabVIEW status checking is basically handled automatically For all NI CAN functions the lower left and right terminals provide status information using LabVIEW Error Clusters LabVIEW Error Clusters are designed so that status information flows from one function to the next and function execution stops when an error occurs For more information refer to the Error Handling section in the LabVIEW online help The LabVIEW Error Clusters returned by NI CAN functions use the same format as other National Instruments products You can wire Error out from any NI CAN function to the standard LabVIEW error functions such as Simple Error Handler The message returned by Simple Error Handler will describe the error including possible solutions Table 2 1 summarizes NI CAN s use of each Error Cluster parameter Table 2 1 NI CAN Error Cluster Code Status Source Meaning Negative True Name of function Error Function did where error not perform occurred expected behavior Positive False Name of function Warning Function where warning performed as occurred expected but a condition arose that may require your attention Zero False Empty string Success Function completed successfully National Instruments Corporation 2 11 NI CAN User Manual Chapter 2 Developing
101. ndix No National Instruments CAN Interfaces If you are certain you have a Plug and Play CAN interface installed but no National Instruments CAN Interfaces item appears in the Device Manager the interface is probably incorrectly listed under Other Devices Double click on the Other Devices item in the Device Manager and one by one remove each National Instruments CAN interface listed there by selecting its name and then clicking the Uninstall button After all of the National Instruments Corporation C 1 NI CAN User Manual Appendix C Windows 2000 Troubleshooting and Common Questions National Instruments CAN interfaces have been removed from Other Devices click the Scan for Hardware Changes button At this point the system rescans the installed hardware and the CAN interface should show up under National Instruments CAN Interfaces without any problems If the problem persists contact National Instruments Missing CAN Interface If the National Instruments CAN Interfaces item exists but the CAN interface you are looking for is not listed there the CAN interface is not properly installed For National Instruments CAN hardware this problem indicates that the interface is not physically present in the system Problem Shown in Device Manager If a CAN interface is not working properly its icon has a circled X or exclamation mark overlaid on it as shown in Figure C 1 _ 4 prens gt a Monitors National Instruments
102. ngth of 0 3 m for a bit rate of 1 Mb s The ISO 11898 specification says that significantly longer cable lengths may be allowed at lower bit rates but each node should be analyzed for signal integrity problems Table D 3 lists the DeviceNet cable length specifications Table D 3 DeviceNet Cable Length Specifications Bit Rate Thick Cable Thin Cable 500 kb s 100 m 100 m 250 kb s 200 m 100 m 100 kb s 500 m 100 m National Instruments Corporation D 7 NI CAN User Manual Appendix D Cabling Requirements for High Speed CAN Number of Devices The maximum number of devices depends on the electrical characteristics of the devices on the network If all of the devices meet the requirements of ISO 11898 at least 30 devices may be connected to the bus Higher numbers of devices may be connected if the electrical characteristics of the devices do not degrade signal quality below ISO 11898 signal level specifications If all of the devices on the network meet the DeviceNet specifications 64 devices may be connected to the network Cable Termination NI CAN User Manual The pair of signal wires CAN_H and CAN_L constitutes a transmission line If the transmission line is not terminated each signal change on the line causes reflections that may cause communication failures Because communication flows both ways on the CAN bus CAN requires that both ends of the cable be terminated However this requiremen
103. nition and overview 1 16 cable G 4 definition of 1 10 interface description G 1 G 3 low speed CAN G 2 PCI CAN series RTSI connector pinout G 2 pins used by PXI 846x series boards table G 3 programming G 4 synchronization to a common trigger 1 10 synchronizing with NI DAQ 1 17 S Smart Distributed System SDS 1 11 SOF Start of Frame field 1 3 software overview 1 11 specifications AT CAN series board H 1 DeviceNet cable length specifications table D 7 PCI CAN series board H 1 PCMCIA CAN series card H 2 standard for CAN 1 1 Start of Frame SOF field 1 3 state changes detecting 3 4 state transitions queues 3 1 status of function calls checking C and C 2 12 LabVIEW 2 11 status code table 2 12 stuff error 1 6 system integration by National Instruments I 1 NI CAN User Manual Index 8 T technical support resources I 1 termination resistance determining E 7 termination resistor location on PCI CAN LS2 board figure E 9 placement figure D 8 placement for low speed CAN figure E 6 preparing lead wires PCMCIA CANILS cable replacement figure E 12 preparing lead wires of replacement PCI CANILS figure E 10 replacing PCI CANILS board E 9 PCMCIA CANILS cable E 12 termination resistors location of low speed CAN figure E 11 preparing lead wires of low speed CAN figure E 11 troubleshooting and common questions Windows 2000 CAN hardware problem encount
104. nterface For information about using NI CAN language interfaces refer to Chapter 2 Developing Your Application C 4 ni com Appendix C Windows 2000 Troubleshooting and Common Questions How do I use NI CAN from within LabVIEW For information about using NI CAN from within LabVIEW refer to Chapter 2 Developing Your Application Why does the uninstall program leave some components installed The uninstall program removes only items that the installation program installed If you add anything to a directory that was created by the installation program the uninstall program does not delete that directory because the directory is not empty after the uninstallation You will need to remove any remaining components yourself National Instruments Corporation C 5 NI CAN User Manual Cabling Requirements for High Speed CAN This section describes the cabling requirements for high speed CAN hardware Cables should be constructed to meet these requirements as well as the requirements of the other CAN or DeviceNet devices in the network Connector Pinouts Depending on the type of CAN interface you are installing the CAN hardware has DB 9 D Sub connectors s or Combicon style pluggable screw terminal connector s or both The 9 pin D Sub follows the pinout recommended by CiA DS 102 Figure D 1 shows the pinout for this connector No Connection Optional Ground V CAN_L CAN_H y No Connection No Connecti
105. o periodically transmit a data frame for a specific arbitration ID The CAN Object transmits the same data bytes repetitively until different data is provided using ncWrite This configuration is useful for simulation of a device that periodically transmits its data such as simulation of an automotive sensor This configuration is also useful for devices that expect to periodically receive data for a particular arbitration ID to respond with data using a different arbitration ID such as a device containing analog inputs and outputs e You can configure a CAN Object to watch for unsolicited data frames received for its arbitration ID then store that data in the CAN Object s read queue A watchdog timeout is provided to ensure that incoming data is received periodically This configuration is useful when you want to apply a timeout to data received for a specific arbitration ID and store that data in a dedicated queue If you do not need to apply a timeout for a given arbitration ID it is preferable to use the CAN Network Interface Object to receive that data e You can configure a CAN Object to periodically poll for data by transmitting a remote frame and receiving the data frame response This configuration is useful for communication with devices that require a remote frame to transmit their data 2 6 ni com Chapter 2 Developing Your Application e You can configure a CAN Object to transmit a data frame whenever it receives a remote fra
106. o the Problem Shown in Device Manager section of this appendix for specific information about what might cause this problem If you have already completed the troubleshooting steps contact National Instruments How can I determine which type of CAN hardware I have installed Run the NI CAN Configuration utility To run the utility select Start Settings Control Panel NI CAN Configuration If any CAN hardware is correctly installed it is listed under National Instruments CAN Interfaces How can I determine which version of the NI CAN software I have installed Run the NI CAN Diagnostic utility To run the utility select NI CAN Diagnostics under Start Programs National Instruments NI CAN The NI CAN Diagnostic utility displays information about the version of the NI CAN software currently installed What do I do if the NI CAN Diagnostic utility fails with an error Refer to the Troubleshooting Diagnostic Utility Failures section of this appendix for specific information about what might cause the NI CAN Diagnostic utility to fail If you have already completed the troubleshooting steps contact National Instruments How many CAN interfaces can I configure for use with my NI CAN software for Windows 2000 The NI CAN software can be configured to communicate with up to 10 CAN interfaces Are interrupts required for the NI CAN software for Windows 2000 Yes one interrupt per card is required How do I use an NI CAN language i
107. o the Windows utilities Use the Test All and Text One buttons to diagnose proper installation and operation If you want to change the NI CAN interface name associated with a port double click on the port name The resulting dialog box provides an Interface Name drop down box you can use to select CANO CAN1 and so on Changing the NI CAN interface name is normally done only when you have multiple cards in your system After you finish configuring your CAN interfaces click on the Exit button to close the utility Starting the NI CAN Diagnostic Utility To run the utility select the NI CAN Diagnostic item under Start Programs National Instruments CAN NI CAN When you have started the NI CAN Diagnostic utility test your CAN interfaces by clicking on the Test All button You can also test one CAN interface by highlighting it and clicking on the Test One button If the NI CAN Diagnostic is successful it puts a checkmark next to the interface and changes its status from Untested to Passed If the NI CAN Diagnostic fails it puts an X next to the interface and changes its status National Instruments Corporation 5 3 NI CAN User Manual Chapter 5 NI CAN Configuration and Diagnostic Utilities NI CAN User Manual from Untested to Failed Figure 5 1 shows the NI CAN Diagnostic utility after it has tested some CAN interfaces Y NI CAN Diagnostic 4T CAN 2 SNOOOO0000 PORT1 AT CAN 2 SNOO000000 PORT2 PC
108. on V Shield Figure D 1 Pinout for 9 Pin D Sub Connector National Instruments Corporation D 1 NI CAN User Manual Appendix D Cabling Requirements for High Speed CAN The 5 pin Combicon style pluggable screw terminal follows the pinout required by the DeviceNet specification Figure D 2 shows the pinout for this connector CAN_L Shield CAN_H V Q On Ow On on Figure D 2 Pinout for 5 Pin Combicon Style Pluggable Screw Terminal CAN_H and CAN_L are signal lines that carry the data on the CAN network These signals should be connected using twisted pair cable The V and V pins are used to supply bus power to the CAN physical layer if external power is required for the CAN physical layer If internal power for the CAN physical layer is used the V pin serves as the reference ground for CAN_H and CAN_L See the next section Power Supply Information for the High Speed CAN Ports for more information Figure D 3 shows the end of a PCMCIA CAN cable The arrow points to pin 1 of the 5 pin screw terminal block All of the signals on the 5 pin Combicon style pluggable screw terminal are connected directly to the corresponding pins on the 9 pin D Sub Figure D 3 PCMCIA CAN Cable NI CAN User Manual D 2 ni com Appendix D Cabling Requirements for High Speed CAN Power Supply Information for the High Speed CAN Ports For the AT CAN
109. pcode parameter set to NC_OP_RESET This reset must be done prior to starting communication Step 4 Communicate Using Objects After you open your objects and start communication you are ready to transfer data on the CAN network The manner in which data is transferred depends on the configuration of the objects you are using For this example assume that you are communicating with a CAN device that periodically National Instruments Corporation 2 9 NI CAN User Manual Chapter 2 Developing Your Application transmits a data frame To receive this data assume that a CAN Object is configured to watch for data frames received for its arbitration ID and store that data in its read queue Step 4a Wait for Available Data To wait for the arrival of a data frame from the device you can call ncWaitForState with the DesiredState parameter set to NC_ST_READ AVAIL The NC_ST_READ AVAIL state tells you that data for the CAN Object has been received from the network and placed into the object s read queue Another way to wait for the NC_ST_READ AVAIL state is to call the ncCreateNotification function so you receive a callback when the state occurs For more information on ncWaitForState and ncCreateNotification refer to the NJ CAN Programmer Reference Manual When receiving data from the device if your only requirement is to obtain the most recent data you are not required to wait for the NC_ST_READ AVAIL state If this is the case you can
110. products with standard CompactPCI products is an important feature provided by the PXI Specification Revision 1 0 If you use a PXI compatible plug in device in a standard CompactPCI chassis you will be unable to use PXI specific functions but you can still use the basic plug in device functions For example the RTSI bus on your PXI 846x series board is available in a PXI chassis but not in a CompactPCI chassis The CompactPCI specification permits vendors to develop sub buses that coexist with the basic PCI interface on the CompactPCI bus Compatible operation is not guaranteed between CompactPCI devices with different sub buses nor between CompactPCI devices with sub buses and PXI The standard implementation for CompactPCI does not include these sub buses Your PXI 846x device will work in any standard CompactPCI chassis adhering to the PICMG 2 0 R2 1 CompactPCI core specification using the 64 bit definition for J2 PXI specific features are implemented on the J2 connector of the CompactPCI bus Table G 1 lists the J2 pins your PXI 846x series board uses Your PXI board is compatible with any CompactPCI chassis with a sub bus that does not drive these lines Even if the sub bus is capable of driving these lines the board is still compatible as long as those pins on the sub bus are disabled by default and not ever enabled Damage may result if these lines are driven by the sub bus The PXI 8461 one port and two port boards allow for the conne
111. puter Memory Card International Association Network connection in which data is transmitted from the source to its destination s without need for an explicit request Although data transfer is generally unidirectional the protocol often uses low level acknowledgments and error detection to ensure successful delivery Connections that transfer data on the network at a specific rate Programmable Logic Controller Request response connection in which a request for data is sent to a device and the device sends back a response with the desired value A formal set of conventions or rules for the exchange of information among nodes of a given network PCI eXtensions for Instrumentation Random access Memory Within NI CAN anything that exists in another node of the device network not on the same host as the NI CAN driver Glossary 6 ni com Remote Transmission Request RTR bit request response resource RTSI bus sensor standard arbitration ID T trigger U unsolicited National Instruments Corporation Glossary This bit follows the arbitration ID in a frame and indicates whether the frame is the actual data of the CAN Object CAN data frame or whether the frame is a request for the data CAN remote frame Network connection in which a request is transmitted to one or more destination nodes and those nodes send a response back to the requesting node In industrial applications the responding slave d
112. riety of transfer rates up to 1 Mb s CAN interfacing is accomplished using the Intel 82527 CAN controller chip The high speed CAN physical layer fully conforms to the ISO 11898 physical layer specification for CAN and is optically isolated to 500 V The low speed CAN physical layer conforms to the ISO 11519 2 physical layer specification for CAN and is also optically isolated to 500 V AT CAN PCI CAN and PXI 8461 series boards are available with two physical connector types DB 9 D Sub and Combicon style pluggable National Instruments Corporation 1 9 NI CAN User Manual Chapter 1 Introduction NI CAN User Manual screw terminals Low speed PCI CAN LS PCI CAN DS PXI 8460 and PXI 8462 boards are available with DB 9 D Sub connectors PCMCIA CAN PCMCIA CAN LS and PCMCIA CAN DS cables include both a DB 9 D Sub and a pluggable screw terminal The CAN physical layer on AT CAN PCI CAN and PXI 846x series cards can be powered either internally from the card or externally from the bus cable power The power source for the CAN physical layer for each port is configured with a jumper There are four types of cables available for the PCMCIA CAN cards 1 PCMCIA CAN bus powered transceiver cables The CAN physical layer is powered externally from the bus cable power 2 PCMCIA CAN internally powered transceiver cables The CAN physical layer is powered internally from the card 3 PCMCIA CANILS cables The low speed CAN physical
113. rk If all of the devices meet the requirements of ISO 11519 2 at least 20 devices may be connected to the bus Higher numbers of devices may be connected if the electrical characteristics of the devices do not degrade signal quality below ISO 11519 2 signal level specifications Low Speed Termination Every device on the low speed CAN network requires a termination resistor for each CAN data line Rgry for CAN_H and Ret for CAN_L Figure E 6 shows termination resistor placement in a low speed CAN network Low speed Low speed Low speed CAN Device CAN Device CAN Device RTL CAN_L RTH CAN_H RTL CAN_L RTH CAN_H RTL CAN_L RTH CAN_H can H i CAN_L l C l NI CAN User Manual Figure E 6 Termination Resistor Placement for Low Speed CAN E 6 ni com Appendix E Cabling Requirements for Low Speed CAN The following sections explain how to determine the correct resistor values for your low speed CAN board and how to replace those resistors if necessary Determining the Necessary Termination Resistance for Your Board Unlike high speed CAN low speed CAN requires termination at the low speed CAN transceiver instead of on the cable The termination requires one resistor RTH for CAN_H and RTL for CAN_L This configuration allows the Philips fault tolerant CAN transceiver to detect any of seven network faults You can use your PCI CAN LS or PXI 8460 to connect to a low speed CAN network h
114. rmation on RTSI programming refer to the NI CAN Programmer Reference Manual Refer to RTSI Bus Overview in Chapter 1 of this manual for more information on the RTSI bus NI CAN User Manual G 4 ni com Specifications This appendix describes the physical characteristics of the CAN hardware along with the recommended operating conditions AT CAN Series DiMEeNSIONS cce cece eeceeeeseseseseseeeeeeeees Power requirement ee eeeeeseeeseeeeees TO Connector nnsa iets avis Operating environment Component temperature 0 Relative humidity eee Storage environment Temperature ee neonsininen Relative humidity cece PCI CAN Series DiMEeNSIONS 0 ceecceeceeeeeesesesessteteeeeees Power requirement ec ceeeeeseeseeeeeees T O CONNECHOL cee eeeececeeseseseseeessnseeeees National Instruments Corporation H 1 10 67 by 16 51 cm 4 2 by 6 5 in 5 VDC 500 mA typical 9 pin D Sub for each port standard or 5 pin Combicon style pluggable DeviceNet screw terminal 0 to 55 C 10 to 90 noncondensing 20 to 70 C 5 to 90 noncondensing 10 67 by 17 46 cm 4 2 by 6 88 in 5 VDC 775 mA typical 9 pin D Sub for each port standard or 5 pin Combicon style pluggable DeviceNet screw terminal high speed CAN only NI CAN User Manual Appendix H Specifications Operating environment Ambient temperature ee
115. rposes or simply ignore the warning To assist with debugging NI CAN provides a function you can use to display a message that describes the error warning including possible solutions This ncStatusToString function takes a status code as input then returns a descriptive string For more information on ncStatusToString refer to the NJ CAN Programmer Reference Manual NI CAN User Manual 2 12 ni com Chapter 2 Developing Your Application The following piece of code shows an example of handling NI CAN status during application debugging status ncOpenObject CANO amp MyObjHandle PrintStat status ncOpen CANO where the function PrintStat has been defined at the top of the program as void PrintStat NCTYPE STATUS status char source char statusString 512 if status 0 ncStatusToString status sizeof statusString StatusString printf n s nSource s n statusString source if status lt 0 ncCloseObject MyObjHandle exit 1 In some situations you may want to check for specific errors in your code For example when ncWaitForState times out you may want to continue communication rather than exit the application To check for specific errors use the constants defined in nican h These constants have the same names as described in the NI CAN Programmer Reference Manual For example to check for a function timeout if status CanErrFunctionTimeout National Instru
116. s a CAN data frame or a CAN remote frame the number of data bytes and the frame data assuming a CAN data frame The CAN Object encapsulates a specific arbitration ID along with its data In addition to providing the ability to transmit and receive frames for a specific arbitration ID CAN Objects also provide various forms of background access For example you can configure a CAN Object for arbitration ID 13 the pushbutton to automatically transmit a CAN remote frame every 500 ms and to store the data of the resulting CAN data frame for later retrieval After the CAN Object is configured in this manner you can use the read function to obtain a single data byte that holds the most recent state of the pushbutton NI CAN Software Components NI CAN User Manual The following section highlights important components of the NI CAN software and describes the function of each component NI CAN Driver and Utilities e A documentation file readme txt contains important information about the NI CAN software and a description of any new features Before you use the software read this file for the most recent information e A 32 bit multitasking aware device driver is used to interface with National Instruments CAN hardware Under Windows Me 98 95 this is a dynamically loadable Plug and Play aware virtual device driver VxD Under Windows 2000 NT this is a native Windows 2000 NT kernel driver e A Win32 dynamic link library nican d
117. s such as poor connectors and also overcomes short circuits of either transmission wire to ground or battery voltage or the other transmission wire The transceiver resolves the fault situation without involvement of external hardware or software On the detection of a fault the transceiver switches to a one wire transmission mode and automatically switches back to differential mode if the fault is removed Special resistors are added to the circuitry for the proper operation of the fault tolerant transceiver The values of the resistors depend on the number of nodes and the resistance values per node For guidelines on selecting the resistor refer to Appendix E Cabling Requirements for Low Speed CAN in this manual Because the low speed transceiver switches to a fault tolerant mode on fault detection and continues to maintain communications NI CAN provides a special attribute NC_ATTR_LOG_COMM_ERRS which when set toNC_TRUE enables the reporting of such warnings in the Read queue of the Network interface rather than in the Status returned from a function call The default value of this attribute is NC_FALSE which enables the reporting of low speed transceiver warnings in the Status returned from a function call 1 8 ni com Chapter 1 Introduction Refer to the CAN network interface object attributes section in the NI CAN Programmer Reference Manual for details on how to use this attribute NI CAN Hardware Overview The Nationa
118. s the CAN physical layer to be powered externally from the bus cable power In this configuration the power must be supplied on the V and V pins on the port connector Connecting pins 2 and 3 of a jumper configures the CAN physical layer to be powered internally from the board In this configuration the V signal serves as the reference ground for the isolated signals National Instruments Corporation D 5 NI CAN User Manual Appendix D Cabling Requirements for High Speed CAN Figure D 7 shows how to configure your jumpers for internal or external power supplies INT EXT INT EXT fg 2 1 3 2 1 a Internal Power Mode b External Power Mode Device Net Figure D 7 Power Source Jumpers The CAN physical layer is still isolated regardless of the power source chosen The PCMCIA CAN series cards are available with two types of cable The DeviceNet bus powered cable requires that the CAN physical layer be powered from the bus cable power The internal powered cable supplies power to the CAN physical layer from the host computer The V pin is not connected to any internal signals but the corresponding pins on the 9 pin D Sub and the 5 pin Combicon style connectors are still connected The V pins serves as the reference ground for the isolated signals The CAN physical layer is isolated from the computer in both types of cable Bus Power Supply Requirements NI CAN User M
119. sing the NI CAN functions Choosing Your Programming Method Choosing a Method to Access the NI CAN Software Applications can access the NI CAN dynamic link library nican d11 either by using an NI CAN language interface or by direct entry access LabVIEW Function Library For applications written in LabVIEW 5 1 or later the NI CAN function library for LabVIEW nican 11b provides a LabVIEW function to access each NI CAN function easily For a description of each NI CAN function for LabVIEW refer to the NI CAN Programmer Reference Manual LabVIEW Real Time RT NI CAN applications developed with LabVIEW RT 6 0 3 or later provide greater determinism than a Windows environment can guarantee LabVIEW RT combines the user friendliness of LabVIEW with the power of real time systems so you can use graphical programming to create deterministic applications Using a host PC or PXI system running a Windows operating system you can create LabVIEW RT Virtual Instruments VIs by using the same NI CAN function library nican 11b you use to create NI CAN VIs in LabVIEW for Windows The host PC is used to download applications to an RT Series device such as a PXI controller running LabVIEW RT VIs downloaded to the RT device run in real time Refer to the LabVIEW Real Time Help available by selecting Help LabVIEW Real Time Help from the LabVIEW RT development environment for more information National Instruments Corporation 2
120. t does not mean that every device should have a termination resistor If multiple devices are placed along the cable only the devices on the ends of the cable should have termination resistors See Figure D 8 for an example of where termination resistors should be placed in a system with more than two devices CAN CAN CAN Device Device Device CANH CRN 1200 cant ery Device Figure D 8 Termination Resistor Placement The termination resistors on a cable should match the nominal impedance of the cable ISO 11898 requires a cable with a nominal impedance of 120 Q therefore a 120 Q resistor should be used at each end of the cable Each termination resistor should be capable of dissipating 0 25 W of power D 8 ni com Appendix D Cabling Requirements for High Speed CAN Cabling Example Figure D 9 shows an example of a cable to connect two CAN devices For the internal power configuration no V connection is required 5 Pin 9 Pin 9 Pin 5 Pin Combicon D Sub D Sub Combicon CAN_H Pin 4 Pin 7 Pin 7 Pin 4 1209 1209 3 CAN_L 9 g Pin 2 Pin 2 Pin 2 Pin 2 Pin 3 Pin 5 SHIELD Pin 5 Pin 3 Pin 5 Pin 9 L Pin 9 Pin 5 V Pin 1 Pin 3 Pin 3 Pin 1 Power Connector V gt v gt Figure D 9 Cabling Example National Instruments Corporation D 9 NI CAN User Manual Cabling Requirements for Low Speed CAN
121. t field of a CAN frame The arbitration ID determines the priority of the frame and is normally used to identify the data transmitted in the frame compatible with the 16 bit Industry Standard Architecture NI CAN User Manual Glossary attribute bus off C s CAN CAN data frame CAN DS CAN frame CAN LS CAN Network Interface Object CAN Object CAN remote frame CiA class NI CAN User Manual The externally visible qualities of an object for example an instance Mike of class Human could have the attributes Sex and Age with the values Male and 31 Also known as property bits bytes A CAN node goes into the bus off state when its transmit error counter increments above 255 The node does not participate in network traffic because it assumes that a defect exists that must be corrected Celsius Controller Area Network Frame used to transmit the actual data of a CAN Object The RTR bit is clear and the data length indicates the number of data bytes in the frame Dual speed CAN In addition to fields used for error detection correction a CAN frame consists of an arbitration ID an Identifier Extension SOF and EOF bits the RTR bit a four bit Data Length Code and zero to eight bytes of data See Low speed CAN Within NI CAN an object that encapsulates a CAN network interface on the host computer A CAN identifier along with its associated data Frame used to request data for a CAN Object
122. th queues generally saves memory and often results in better performance When a new data item arrives for a zero length queue it overwrites the previous item without indicating an overflow The NC_ST_ READ AVAIL and NC_ST_ WRITE SUCCESS states still behave as usual but you can ignore them if you want only the most recent data For example when NI CAN writes a new data item to the read buffer the NC_ST_ READ AVAIL state becomes true until the data item is read If you only want the most recent data you can ignore the NC_ST_READ_ AVAIL State as well as the CanWarnOldData warning returned by ncRead Using the CAN Network Interface Object with CAN Objects NI CAN User Manual For many applications it is desirable to use a CAN Network Interface Object in conjunction with higher level CAN Objects For example you can use CAN objects to transmit data or remote frames periodically and use the CAN Network Interface Object to receive all incoming frames For more information on the different uses of NI CAN objects refer to the 3 2 ni com Chapter 3 NI CAN Programming Techniques Choosing Which NI CAN Objects to Use section in Chapter 2 Developing Your Application When one or more CAN Objects are open the CAN Network Interface Object cannot receive frames which would normally be handled by the CAN Objects The flowchart in Figure 3 1 shows the steps performed by NI CAN when a CAN frame is received Frame Received
123. that was created by the installation program the uninstall program does not delete that directory because the directory is not empty after the uninstallation You will need to remove any remaining components yourself NI CAN User Manual B 4 ni com Windows 2000 Troubleshooting and Common Questions This appendix describes how to troubleshoot problems with the NI CAN software for Windows 2000 and answers some common questions Troubleshooting Windows Device Manager Problems The Windows Device Manager contains configuration information for all of the CAN hardware it is aware of that is installed in your system To start the Windows Device Manager double click on the System icon under Start Settings Control Panel In the System Properties box that appears select the Hardware tab and click the Device Manager button If there is no National Instruments CAN Interfaces item and you are certain you have a CAN interface installed refer to the No National Instruments CAN Interfaces section of this appendix If the National Instruments CAN Interfaces item exists but the CAN interface you are looking for is not listed there refer to the Missing CAN Interface section of this appendix If the CAN interface you are looking for is listed but has a circled X or exclamation mark over its icon or if it appears under Other Devices as a PCI Simple Communication Controller refer to the Problem Shown in Device Manager section of this appe
124. the ACK bit was corrupted or there are no receivers for example only one device on the network In such cases the transmitter automatically retransmits the frame End of Frame Each frame ends with a sequence of recessive bits After the required number of recessive bits the CAN bus is idle and the next frame transmission can begin CAN Error Detection and Confinement One of the most important and useful features of CAN is its high reliability even in extremely noisy environments CAN provides a variety of mechanisms to detect errors in frames This error detection is used to retransmit the frame until it is received successfully CAN also provides an error confinement mechanism used to remove a malfunctioning device from the CAN network when a high percentage of its frames result in errors This error confinement prevents malfunctioning devices from disturbing the overall network traffic Error Detection Whenever any CAN device detects an error in a frame that device transmits a special sequence of bits called an error flag This error flag is normally detected by the device transmitting the invalid frame which then retransmits to correct the error The retransmission starts over from the start of frame and thus arbitration with other devices is again possible CAN devices detect the following errors which are described in the following sections e Bit error e Stuff error e CRC error National Instruments Corporation
125. the RTSI interface on your PXI 846x series board there are important issues to consider when using it ina CompactPCI chassis Refer to RTSI Bus Appendix G in this manual for detailed information about the PXI 846x series RTSI interface The RTSI bus allows you to synchronize a CAN board with multiple National Instruments DAQ IMAQ or additional CAN boards in your computer The RTSI bus can also synchronize CAN bus events between multiple CAN boards The trigger lines on the RTSI bus provide a flexible interconnection scheme between CAN boards as well as between National Instruments DAQ IMAQ and CAN boards Synchronizing with NI DAQ Recent advances in test applications in the automotive industry for example have demanded tighter integration of DAQ and CAN measurements The physical quantity being measured by DAQ and CAN devices must be done close together synchronized in time to correlate the data This synchronization can be done in software but the latency of the operating system introduces delays that may not be acceptable for some test applications National Instruments CAN DAQ boards are equipped with an RTSI bus that allows routing of timing trigger signals between them In a system coupled using the RTSI bus a CAN or DAQ board can be the Master driving the timing trigger signals while other DAQ or CAN boards are Slaves to this timing signal and base their actions on this signal Because the RTSI timing signals are handled in hard
126. to Comply with FCC Standards Consult the FCC web site http www fcc gov for more information FCC DOC Warnings This equipment generates and uses radio frequency energy and if not installed and used in strict accordance with the instructions in this manual and the CE Mark Declaration of Conformity may cause interference to radio and television reception Classification requirements are the same for the Federal Communications Commission FCC and the Canadian Department of Communications DOC Changes or modifications not expressly approved by National Instruments could void the user s authority to operate the equipment under the FCC Rules Class A Federal Communications Commission This equipment has been tested and found to comply with the limits for a Class A digital device pursuant to part 15 of the FCC Rules These limits are designed to provide reasonable protection against harmful interference when the equipment is operated in a commercial environment This equipment generates uses and can radiate radio frequency energy and if not installed and used in accordance with the instruction manual may cause harmful interference to radio communications Operation of this equipment in a residential area is likely to cause harmful interference in which case the user will be required to correct the interference at his own expense FOR HOME OR OFFICE USE Canadian Department of Communications This Class A digital apparatus meets
127. u need to determine the current state of an object 3 4 ni com Application Examples This chapter describes how to explore the sample applications provided with your NI CAN software LabVIEW Examples The NI CAN examples for LabVIEW are located in the LabVIEW examples nican folder For LabVIEW 6 0 you can access the NI CAN example information at Help Examples Other NI Products Controller Area Network CAN Other versions of LabVIEW include similar help The help describes each example and includes a link you can use to open the VI C C Examples The NI CAN examples for C C are in the examples folder of your NI CAN directory The default path is C Program Files National Instruments NI CAN examples These examples are also in the CVI samples nican folder if you have CVI on your system The readme txt file in the examples folder describes each example including the names of the associated files You can build the examples using LabWindows CVI Microsoft Visual C C or Borland C C Other Programming Languages Although the NI CAN software does not include examples for other programming languages you may find assistance on the National Instruments Web site ni com For more information see Appendix I Technical Support Resources in this manual National Instruments Corporation 4 1 NI CAN User Manual NI CAN Configuration and Diagnostic Utilities Overview This chapter describes the NI
128. uninstalling some components left installed A 6 B 4 C 5 NI DAQ synchronizing with RTSI bus 1 17 no resources assigned error Windows NT B 1 nondestructive bitwise arbitration 1 2 number of devices high speed CAN ISO 11898 requirements D 8 low speed CAN ISO 11519 2 requirements E 6 NI CAN User Manual Index 0 object hierarchy in NI CAN software applying NI CAN objects figure 1 13 simple CAN device network application figure 1 12 object oriented design of NI CAN software 1 11 objects See also CAN Objects synonymous with instance 1 11 opening objects 2 9 operating system independence of NI CAN software 1 11 P PCI CAN series board and RTSI 1 10 PCI CAN 2 parts locator diagram figure D 4 power supply information for high speed CAN ports D 3 power source jumpers figure D 6 specifications H 1 PCI CAN DS series board 1 9 PCI CANILS series board 1 9 power supply information for low speed CAN ports E 3 PCI CAN LS2 series board 1 9 parts locator diagram figure E 3 power source jumpers E 5 power supply information for low speed CAN ports E 3 PCMCIA CAN series card 1 9 description of cable types 1 10 PCMCIA CAN cable figure D 2 specifications H 2 PCMCIA CANILS series card PCMCIA CANILS cable figure E 2 replacing termination resistors E 12 NI CAN User Manual Index 6 pinout for 9 pin D sub connector high speed figure D 1 low speed figure E 1 pins used by PXI
129. uss dasesisedtas 1 11 NI CAN Object Hierarchy ss ccicc iees caste secpl ca iuaesess cece vasnassoseesvnevesencoyua ceadeucbvees 1 12 NI CAN Software Components 20 00 00 eceeeeeesecseeeeeseeeseceeceaeenesesesseeeaeenees 1 14 NI CAN Driver and Utilities cee 1 14 Firmware Image Piles iiccctsscciessscises fsscasedicsastssdtebcabigsesessonaeedoasseveioas 1 15 Language Interface Files cee eseeseeseceecneeeseseeeesesneesseeeeeeaees 1 15 Application Examples cece seeeseseeeeeeseeesecsecesecseeeseeseensersees 1 15 Interaction of Software Components with Your Application 1 16 REST Bus OVEtview is sssfetevsiciee hs E acai E oss eesti EE ces esd 1 16 The RESIS oltition 2 22054 20 etediogha inci ate eh a e esis E aa 1 16 Synchronizing with NI DAQ ooo ceecneeeeesecsecnseeseeeaeesessaeeseeeaeeneens 1 17 National Instruments Corporation vii NI CAN User Manual Contents Chapter 2 Developing Your Application Choosing Your Programming Method 00 cece eee eseeeeeseeseeeseceeeseseeeeaesseseseeeeenees 2 1 Choosing a Method to Access the NI CAN Software occ eeeeeeeeeeees 2 1 LabVIEW Function Library ceeceesessccesceceneceseeeseeeeseeeneeeeaees 2 1 LabVIEW Real Time RT ceececessesesseeseeneeseeseeseeseescesseeeseeseeeees 2 1 C C Language Interfaces cece eeeeseceeeseeceseseecnaeeeeeeseeenees 2 2 Direct Entry ACCESS Tenisie tie nis dane see E AA REER 2 3 Choosing Which NI CAN Objects to Use oo eee eee esscee
130. ware the host software running on the PC does not interact in the acquisition or transmission other than retrieving the data when it has being acquired or writing new data Before using RTSI between CAN and DAQ you must decide which board to use as the Master NI CAN software allows easy configuration of the Network Interface or CAN Objects as a Master or Slave Note that both configurations can exist on the same board but not on the same object The software attribute that configures the object as a Master or Slave is the RTSI Mode The following RTSI Modes are available in NI CAN e Disable RTSI National Instruments Corporation 1 17 NI CAN User Manual Chapter 1 Introduction e OnRTSI Input Transmit CAN Frame e OnRTSI Input Timestamp RTSI event e RTSI Output on Receiving CAN Frame e RTSI Output on Transmitting CAN Frame e RTSI Output on ncAction call The second and third modes listed above configure the object Network Interface or CAN Object as a Slave that takes an action on the RTSI signal The last three modes configure the object Network Interface or CAN Object as a Master For more information on these modes refer to the NJ CAN Programmer Reference Manual For information on how to access examples in both LabVIEW and C C that use RTSI refer to Chapter 4 Application Examples NI CAN User Manual 1 18 ni com Developing Your Application This chapter explains how to develop an application program u

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