esd electronics, inc. H A R D W A R E • S O F T W A R E • E N G I N E E R I N G VME-CAN4 Intelligent Board for 4 CAN or DeviceNet Channels Intelligent CAN Controllers • Full CAN controller by integrated firmware for any identifier • Each channel with separate micro controller and its own CAN controller • Lossless data exchange with VMEbus via Shared RAM and FIFOs CAN Layer VME-CAN/4 • CAN layer according to ISO 11898 with 9-pole DSUBs or DeviceNet interface • Data transfer rate up to 1 Mbit/s High-Speed CAN Controller • Each channel opto- isolated CAN Protocol Support The included CAN controller of type SJA1000 supports the • CAL/CMS and CANopen • DeviceNet standard CAN protocol (11 bits identifier) as well as the ex- • SDS Smart Distributed System tended CAN protocol (29 bits identifier). The physical CAN layer • Multi-Net support is according to ISO 11898 for a maximum baud rate of up to 1 Mbit/s. The baud rate programming can range between 10 High Integration kbits/s and 1 Mbit/s via the VMEbus. The CAN channels are The VME-CAN4 includes on a VMEbus 6U board 4 complete, electrically isolated from each other as well as from the VME independent CAN interfaces to the VMEbus and needs one slot. section. Four DC/DC converters perform the local supply of the four channels. With electrical isolation as a standard, esd guar- Intelligent Control antees a transfer rate of 1 Mbit/s for a bus length of 37 m, if Each interface is equipped with its own micro controller of type the other CAN participants are equipped with equivalent CAN 68331 at 20 MHz clock frequency. Each micro controller has interfaces. a working memory of 256 kbytes available. After a RESET, the 9-pole DSUB female connectors at the front panel perform micro controller program code is loaded from the local Flash connection of the CAN nets. For other layers or connector stan- EPROM. Program updates can be loaded into the Flash EPROM dards, a piggyback interface is available. via the VMEbus. The CAN data transfer from and to the VMEbus is performed LED Display via a Shared RAM with a capacity of 512 kbytes and FIFOs. An LED display at the front panel shows the states of the CAN Received Rx data generates a local interrupt processed by the controller and of the micro controllers of the particular chan- belonging micro controller. It stores the data in the Shared RAM nels, as well as the general board state. and the identifier is stored in the FIFO (FIFO to master).Then Reliable CAN Protocol it generates a VMEbus interrupt. An individual interrupt vector The extremely error-tolerant CAN protocol (Hamming distance generates for each of the four CAN channels. = 6) is outstandingly suitable for the construction of decen- To transmit CAN data, the VMEbus master enters the data into tralized I/O nets, where a safe and manufacturer independent the Shared RAM. With this, automatically a pointer to the iden- tifier is stored in the FIFO (FIFO to slave). The belonging micro growing with the controller reads FIFO and RAM and starts the data transmis- sion. challenge Phone: 800-732-8006 • Fax: 800-732-8093 • Web: http://www.esd-electronics.us • Email: us-sales@esd-electronics.com esd electronics, inc. H A R D W A R E • S O F T W A R E • E N G I N E E R I N G communication protocol is necessary because of the variety SRAM: 256 kbytes of the applications. The CAN protocol includes a standardized FIFO to slave: 4 kbytes transfer frame and a high transfer rate. Flash EPROM: 256 kbytes, organization: 16 bits data width, (only 1x existing) contains program code of the micro Decentralized Communication controllers An essential advantage of the CAN protocol is its capability of CAN: self-arbitration and its multi master capability. With this the CAN controller: SJA1000 - CAN2.0A/CAN2.0B user can interconnect in a CAN net various sensors, actua- Physical layer: Differential, ISO 11898, option: DeviceNet tors, CAN I/O modules as well as VMEbus controllers, PCs, PLC Baud rate: Max. 1 Mbit/s, at a max. bus length of 37 m (ap- modules or stand-alone controllers. propriate interface required) Electrical Isolation: Against VMEbus and between channels, by opto- Software Support couplers and DC/DC converters The integrated firmware enables communication opportunities General: at OSI layer 2 or with higher layer CAN protocols. Temperature: 0...60o C The Shared RAM interface as well as the FIFO interface to the Humidity: Max. 90 %, non-condensing VMEbus section offers use of the board with various operating Connector types: P1, P2: DIN 41612-C96 systems at layer 2 can. P680, P780, P880, P980: DSUB9 connector or DeviceNet connectors (option) Drivers for VxWorks, LynxOS and Linux are available. Board size: 160 mm x 233 mm Basic functions, such as CAN monitoring or automatic interfac- VME dimensions: 6 U height, 1 slot width ing of CAN nets are easy to parameterize. Power supply: Each one DC-to-DC converter for power supply of one CAN channel The standardized higher layer protocols CAL/CMS and CANo- Power consump- P1: 5.0 A +5 V ±5 % pen are already available as master or slave package for nearly tion: all operating systems. Moreover, complete software packages for SDS master operation and for DeviceNet are available. The firmware interface of the VME-CAN4 is compatible to the firm- ware of the VMECAN2. Order Information: Designation Order no. Technical Specifications: VME-CAN4 Intelligent CAN interface board with 4 V.1408.02 independent CAN channels 11 and 29 VMEbus: bits CAN identifier (SJA 1000), integrated firmware with CAL/CMS and CANopen Access: A32, A24: D8, D16, D32, ADO, UAT, RMW support Base address: A16 - base address selectable via geographic VME-CAN4-2 As V.1408.02, but only 2 CAN channels V.1408.04 address (like VME64) or via coding switches, A24/ A32 base addresses programmable for A16/D16 VME-CAN4-1 As V.1408.02, but only 1 CAN channel V.1408.06 access, the board covers 2 Mbytes VME-CAN4-64 Option: P1 and P2 designed as 160-pole V.1408.12 Address modifier: Standard supervisory and non-privileged data VMEbus connector (like VME64) access, extended supervisory and non-privileged data access, short supervisory and non-privileged VME-CAN4- VxWorks object license V.1408.15 access VxWorks VME compatibility: IEEE 1014 rev. D VME-CAN4- Linux object license P.1408.58 Linux FIFO to master: 1 kwords VME-CAN4- LynxOS object licenses P.1408.53 Shared RAM: 512 kbytes, optionally 2 Mbytes, organization: 32 LynxOS bits data width VME-CAN4-Co CANopen master/slave obj. lic P.1408.60 Microcontroller sections of the four CAN channels: VME-CAN4-DN DeviceNet master object license P.1408.63 Microcontroller: MOTOROLA 68331, 20 MHz esd electronics, Inc. Phone: 800-732-8006 Fax: 800-732-8093 Web: http://www.esd-electronics.us Email: us-sales@esd-electronics.com