CAN-Bus

Startup
and
Service Information

Version 1.0

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Topology, Data Rate, Number of Stations

CAN is based on a linear topology. The number of stations per network is not limited by
the protocol but subject to the driver module used. The maximum network expansion
possible at a certain data rate is predominantly limited by the signal propagation time
necessary on the Bus media.

Length of Bus[m] data transfer rate[kBit]

7306 1) 10
3613 1) 20
1397 1) 50
658 100
510 125
215 250
67 500

1)
According to CIA (CAN in automation) the max. length of BUS amounts to 1000m.

It is mandatory to use a 4-core cable twisted in pairs as Bus cable.

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CAN Signals

Pin
CAN Signal Description Assignment
DSUB
CAN_GND CAN Ground 3
CAN_L CAN Low 2
(CAN_SHLD) Shield
CAN_H CAN High 7
CAN Supply 8 -
(CAN_V+)
15V, optional

See the corresponding HW-documentation for pin assignment of the CAN-terminal.

As all CAN-interfaces of B&R are served internally, CAN_V+ in CAN-nets without foreign devices must not
be connected.

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Tee Lines

When ever possible, tee lines should be avoided. However, if it is necessary to couple nodes with a
tee line to the Bus, the length of this line must not exceed 30cm.

Terminator

The wiring of a CAN-network is made following a tree-pattern, whereby the two bus ends are to be
wired to a terminator.

In the CAN-bus plug 7AC911.9 available from B&R the terminator is already integrated and it can be
connected or disconnected via a switch.

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 terminals for
bus line

OFF

switch for 9-pole DSUB plug-in

terminator ON

strain relief

bus lines

Message-oriented Protocol

The CAN-protocol is based on the designation of a transmitted message by a message identification

(CAN-Identifier). All network nodes check as per the identification of a received message, whether this is
of relevance for them. Therefore, messages can be taken over by either no station, or one, or several or
all stations. (Broadcast, Multicast).

Prioritization of Messages

As the identifier of a message determines at the same time its priority in relation to the bus access, it is
possible to enable a correspondingly fast buss access depending on the importance. Whenever high-
priority messages are being sent within a small time frame, they may block the Bus for low-priority
messages.

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Check List:

Wiring

Does the line quality of the network cable comply with the requirements of a
CAN-wiring with shielding, signal propagation times, surge impedance, …..?

See cable manufacturer’s specification.

Does the parameterized baud rate comply with the length of the line?

See table page 2.

Are the signals CAN_L, CAN_H and CAN_GND correctly connected at each station?

Is the terminator of 120 Ohm switched on at the first and last station?

� Loosen all CAN-connections to the devices and measure between CAN_L and
CAN_H using an ohmmeter. The reading is to be appr. 60 Ohm. There must be no
connection between CAN-L and GND, as well as between CAN-H and GND (high
ohmic).

System Settings (Port Setting, Uniform Baud Rate)

Baud rate with operation system Download Baud Rate in sysconf / interfaces / type CAN / parameter
Baud rate for CAN I/O / characteristics baud rate with CANopen() function baud rate with ACOPOS under
CAN I/O / characteristics.

CAN ID

No double assignment of CAN ID

�See table of CAN-IDs.

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 Uniform using of 11 BIT identifiers.

Warnings in the Site Log of the CPU

8841 CAN stuff error

8842 Baud rate error
8843 Ack-error
8845 Data bit-error

These entries point to line problems: Shielding, terminators, baud rate, …

Additional Possibilities of Diagnostics

An existing CAN-network can be checked precisely by means of suitable diagnostic instruments. This
includes pure hardware testing devices, e.g. CANckeck of IXXAT. These devices enable e.g.
. • Cable test when network is switched off and operational test when the network is in
operation

. • Wiring test: Test of resistances between all pins of CAN-plugs (assignment as per CIA),
evaluation as per pre-defined limit values

. • Test of terminator: Measuring of the resistance between CAN_H and CAN_L

. • Measuring of the signal levels: Absolute and differential signal level listed as per identifier

. • Length of cable: Definition of the cable length through the pulse run-time
. • Baud rate determination: Determination of the baud rate of the tested CAN-System

. • Identifier-Scan: Determination of all transmitted identifier and indication of the frequency

of receipts.

. • Bus load: Measuring of the actual Bus load of the CAN-system

. • Error frames: Indication of the error frames per time unit

So-called CAN analysers or also CAN monitors represent another possibility of diagnostics. These
devices are combinations of hardware, like USB-devices, parallel port-dongle or also PCI-cards and the

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relevant software belonging to it. The most simple devices/software record all packages located on the
Bus and furthermore offer the chance to send their own CAN messages. Indicated fault messages like e.g.
BusHeavy point to different baud rates in the CAN network. More comfortable devices offer the possibility
to show error frames and to assess the Bus load.

CAN-ID-MAP

To avoid ID-conflicts within a CAN-segment, the assignment of IDs is to be planned carefully. As a

standard B & R allocates certain ID-ranges for CAN-I/O-extensions or for network protocols, which can be
processed on the CAN-segment.

The following review may facilitate such planning of ID-allocation.

CAN-I/O

In the CAN-I/O the ID results from the node number set at the slave and the used elements. See the
B&R operation manuals 2003 for further details.

cust.-nr. dig. E dig. A analog E analog A alarms, commands

1 286 -289 414 -417 542 -557 1054 -1069 222 1566 1630
2 290 -293 418 -421 558 -573 1070 -1085 223 1567 1631
3 294 -297 422 -425 574 -589 1086 -1101 224 1568 1632
4 298 -301 426 -429 590 -605 1102 -1117 225 1569 1633
5 302 -305 430 -433 606 -621 1118 -1133 226 1570 1634
6 306 -309 434 -437 622 -637 1134 -1149 227 1571 1635
7 310 -313 438 -441 638 -653 1150 -1165 228 1572 1636
8 314 -317 442 -445 654 -669 1166 -1181 229 1573 1637
9 318 -321 446 -449 670 -685 1182 -1197 230 1574 1638
10 322 -325 450 -453 686 -701 1198 -1213 231 1575 1639

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 11 326 -329 454 -457 702 -717 1214 -1229 232 1576 1640
12 330 -333 458 -461 718 -733 1230 -1245 233 1577 1641
13 334 -337 462 -465 734 -749 1246 -1261 234 1578 1642
14 338 -341 466 -469 750 -765 1262 -1277 235 1579 1643
15 342 -345 470 -473 766 -781 1278 -1293 236 1580 1644
16 346 -349 474 -477 782 -797 1294 -1309 237 1581 1645
17 350 -353 478 -481 798 -813 1310 -1325 238 1582 1646
18 354 -357 482 -485 814 -829 1326 -1341 239 1583 1647
19 358 -361 486 -489 830 -845 1342 -1357 240 1584 1648
20 362 -365 490 -493 846 -861 1358 -1373 241 1585 1649
21 366 -369 494 -497 862 -877 1374 -1389 242 1586 1650
22 370 -373 498 -501 878 -893 1390 -1405 243 1587 1651
23 374 -377 502 -505 894 -909 1406 -1421 244 1588 1652
24 378 -381 506 -509 910 -925 1422 -1437 245 1589 1653

cust.-nr. dig. E dig. A analog E analog A alarms, commands

25 382 -385 510 -513 926 -941 1438 -1453 246 1590 1654
26 386 -389 514 -517 942 -957 1454 -1469 247 1591 1655
27 390 -393 518 -521 958 -973 1470 -1485 248 1592 1656
28 394 -397 522 -525 974 -989 1486 -1501 249 1593 1657
29 398 -401 526 -529 990 -1005 1502 -1517 250 1594 1658
30 402 -405 530 -533 1006 -1021 1518 -1533 251 1595 1659
31 406 -409 534 -537 1022 -1037 1534 -1549 252 1596 1660
32 410 -413 538 -541 1038 -1053 1550 -1565 253 1597 1661
33 1598 1662
34 1599 1663
35 1600 1664
36 1601 1665
37 1602 1666
38 1603 1667
39 1604 1668
40 1605 1669
41 1606 1670
42 1607 1671
43 1608 1672
44 1609 1673
45 1610 1674
46 1611 1675
47 1612 1676

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 48 1613 1677
49 1614 1678
50 1615 1679
51 1616 1680
52 1617 1681
53 1618 1682
54 1619 1683
55 1620 1684
56 1621 1685
57 1622 1686
58 1623 1687
59 1624 1688
60 1625 1689
61 1626 1690
62 1627 1691
63 1628 1692
64 1629 1693

Panel P127

The operating tableau P127 is addressed via one ID-pair, each. The ID-pair results from the node number.

cust.-nr. ID- pair

1 1054 -1055
2 1070 -1071
3 1086 -1087
4 1102 -1103
5 1118 -1119
6 1134 -1135
7 1150 -1151
8 1166 -1167
9 1182 -1183
10 1198 -1199
11 1214 -1215
12 1230 -1231

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 13 1246 -1247
14 1262 -1263
15 1278 -1279
16 1294 -1295
17 1310 -1311
18 1326 -1327
19 1342 -1343
20 1358 -1359
21 1374 -1375
22 1390 -1391
23 1406 -1407
24 1422 -1423
25 1438 -1439
26 1454 -1455
27 1470 -1471
28 1486 -1487
29 1502 -1503
30 1518 -1519
31 1534 -1535
32 1550 -1551

CAN-Net2000

In the CAN-NET2000-network the IDs are assigned in compliance with the following parameters:

BASIS-ID This parameter is equally assigned on each NET2000-station.

See NET2000.CAN.basis

nSTATION As to the number of the parameterized stations in the NET2000-

network, see NET2000.CAN.nnodes.

STATION-NR For station numbers of the respective station see

NET2000.station

STATION-P Station number of the station with which communication is to be made.

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1000 shall be used as Basis-ID.
If possible, the smallest station number should be 1 to avoid a gap between the basis-ID and the first used
ID. See ID calculation.

Example: BASIS-ID 1000

nSTATION 3
STATION-NR 1 -3

For the NET2000-network nSTATION * nSTATION Ids are assigned. ID-range 1000 -1008

Calculation of the individual IDs

ID = (BASIS-ID + (STATION-NR -1) * nSTATION + STATION-P -1)

Example: Station 1 transmits to station 2

ID = (1000 + ( 1 -1 ) * 3 + 2 -1 ) = 1001 station 2 transmits to

station 1 ID = (1000 + ( 2 -1 ) * 3 + 1 -1 ) = 1003. The higher

nSTATION is selected, the higher the occupied ID-range will

get, even if not all station numbers are covered.

INA2000

The INA2000-protocol occupies 3 IDs per CAN-node.

The calculation of the ID-ranges is based on the settings of the operating system. It goes without saying
that these settings have to be identical on all CAN-stations. The following examples base on standard
settings:

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Basis-ID: 1598
Number_Nodes: 32
ID-Range: 1598 -1693
Formula: Basis-ID + 3 * Number_Nodes -1

Calculation of individual IDs:

Frame Initiate Request ID1 Frame Initiate

Response ID2 Frame Data Segment ID3
Basis-ID + (node nr. -1)
Basis-ID + (max.nodes * 2) + (node nr. -1)
Basis-ID + max.nodes + (node nr. -1)

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