esd 产品介绍 · supports msi (message signaled interrupts)!can interfaces electrically...

esd 产品介绍

上海雁德电气技术有限公司电话：+86-21-68670702

网址：www.esdshanghai.com

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关于德国 esd electronics

简介

esd 公司由 Schulze 和 Detering 于 1984 年创立，其在工

业自动化领域具有相当丰富的经验和技术。如今 esd 公司

已经发展成为了一家拥有 60 多名员工，致力于产品研发，

生产和销售的专业工程公司。

服务

作为一家具有丰富经验的系统集成商，我们能根据客户需

求来研发硬件和软件产品，也能满足一些特殊的要求（如

恶劣环境，宽温条件，防爆等）。

工程

作为一家在工业领域内的优秀供应商，我们能根据客户的

需求为客户提供完整的系统，特别是在测试和仿真系统方

面具有世界先进水平。

CAN/CAN FD/CANopen/DeviceNet

esd 公司是一家领先的 CAN 模块供应商。支持包括如

PCI, PCI Express®, CompactPCI®, CompactPCI® Serial, PMC/XMC, PCI-104, AMC/MicroTCA®, VME, USB, Ethernet, EtherCAT®, PROFIBUS® 和 Wireless 等系统

接口。几乎所有板卡都支持更高层的 CAN 通讯协议如

CANopen 和 DeviceNetTM。此外，公司还提供任意转换

的独立网关，特别是 Ethernet。

从 1990 起，esd 公司就开始研发 CAN 产品。esd 是 CiA®

（CAN in Automation e.V.）协会创始成员之一，是一个

积极称职的合作伙伴，也是 ODVATM（Open DeviceNet Vendor Assoc.）成员。

VME / CompactPCI

作为一家硬件生产商，esd 公司为全世界客户提供完整

系列的 VME 和 CompactPCI 产品，以及 XMC 和 PMC板卡。esd 公司是 VITATM 组织（VMEbus International Trade Association）的活跃成员，也是 PCI-SIG® 成员（PCI Special Interest Group）。请关注我们的 CompactPCI 和

VME 产品。

嵌入式系统

esd 公司能为客户提供客制化的解决方案，包括提供软

硬件开发以及生产，甚至小批量生产。esd 公司在基于

MPC4xxx/52xx 和 Multicore QorIQTM 的 PowerPCTM 方面

有着多年的工程研发经验。在基于 ARM 处理器（ARM CortexTMe.g. A8, A9, M3），Intel Atom 6XX 和 8/16-bit微控制器方面也同样具有很强的设计能力。整合 CAN, PROFIBUS®, PROFINET®, EtherCAT® 以及无线功能是

esd 主要的专业领域。

操作系统

esd 公司能支持实时多任务操作系统 VxWorks®, QNX®, RTX, OS-9® 和 On Time RTOS-32，以及各种 UNIX® 和 Linux®

系统，当然也包括 Windows® 2K/XP/Vista/7/8.1/10。除了

为用户提供编程服务以外，esd 还提供聚焦实时应用程序

相关的各种操作系统的培训课程。

培训

esd 公司为不同的客户提供客制化支持，如培训、研讨会，

以及为软件，硬件，通讯协议和新技术领域提供工程服务。

在中国的销售

成立于 2006 年的上海雁德电气技术有限公司是德国 esd 公司在中国的唯一合作伙伴，为客户提供完整的售前和售后服务，

在中国就可以立即联系 esd 公司。

资料获取

您可以到 www.esd.eu 网站上免费获取产品的详细参数表和说明书。

esd 公司取得了 TÜV NORD CERT GmbH，基于管理体系 DIN EN ISO 9001:2015 的证书。已在如下领域建立并应用了质

量管理体系：为电子控制，自动化和仿真系统提供软硬件开发，生产，分销和技术服务。

CiA® 和 CANopen® 是协会注册商标。 EtherCAT® 是注册商标和专利技术。

PROFIBUS® 和 PROFINET® 是 PROFIBUS and PROFINET International (PI) 注册商标。商标所有权归各自所有者所保留。

3

Product Overview/Contents

3Product data sheets and manuals can be downloaded free of charge at www.esd.eu.

! USB module with 2 Classical CAN or 2 CAN FD interfaces

! USB 2.0 High Speed interface with 480 Mbit/s

! Powered by esd Advanced CAN Core(esdACC) implemented in an FPGA

! CAN interface electrically isolated, designedacc. to ISO 11898-2, bit rate up to 1 Mbit/s

! Advanced diagnostics and timestamping

! Analog and digital IRIG-B inputs available

! USB 2.0 CAN interface

! USB 2.0 High Speed interface with 480 Mbit/s

! Microcontroller ARM 7, 60 MHz, ISO 11898-1


! Power supply via USB

! Aluminium case: 55 x 55 x 25 mm

Order Numbers

CAN-USB/2 USB 2.0, 1x CAN C.2066.02

Order Numbers

CAN-USB/400 USB 2.0, 2x CAN C.2069.04

CAN-USB/400-FD USB 2.0, 2x CAN-FD C.2069.64

CAN-USB/400-IRIG-B

USB 2.0, 2x CAN,IRIG-B input

C.2069.06

Interface Boards Page

CAN-USB/400 (-FD) CAN-USB/400-IRIG-B

USB 2.0, 2x CAN/CAN FDUSB 2.0, 2x CAN/CAN FD, IRIG-B 3

CAN-USB/2 USB 2.0, 1x CAN 3

CAN-USB-Micro USB 2.0, 1x CAN 4

CAN-PCIe/402CAN-PCIe/402-FD PCI Express, 1-4x CAN/CAN FD 4

CAN-PCIe/400 PCI Express, 2-4x CAN 4

CAN-PCIeMini/402-2CAN-PCIeMini/402-2-FD PCI Express Mini, 2x CAN/CAN FD 4

CAN-PCI/402,CAN-PCIe/402-FD PCI, 1-4x CAN/2x CAN FD 4

CAN-PCI104/200CAN-PC104/200 PCI104 board, 1-2x CAN 5

AMC-CAN4 MicroTCA board, 4x CAN 5

CPCI-CAN/402-4 CPCI board, 4x CAN 5

CPCIserial-CAN/402-2 CPCI Serial board, 2x CAN 5

CPCIserial-CAN/402-4-FD CPCI Serial board, 4x CAN FD 5

PMC-CAN/402-4-FD PMC board, 4x CAN/CAN FD 6

XMC-CAN/402-4-FD XMC board, 4x CAN/CAN FD 6

VME-CAN4 VMEbus board, 1-4x CAN 6

EtherCAN/2 CANoverEthernet, 1x CAN 6

CAN-CBM-Bridge CAN-CAN gateway 6

PLC Interfaces and Gateways Page

CAN-EtherCAT CAN / EtherCAT gateway 7

CAN-DP/2, CANopen-DP/2,CAN-CBM-DP

CAN/CANopen / PROFIBUS-DP slave gateways 7

DN-DP, DN-CBM-DP DeviceNet / PROFIBUS-DP slave gateways 7

CAN-PN, CANopen-PN CAN/CANopen / PROFINET-IO device gateways 7

CAN-CBX-I/O Series Page

CAN-CBX-Series Summary 8

CAN-CBX-CPU5201 Smart Realtime Controller 8

CAN-CBX-DIO8 8 digital I/Os 8

CAN-CBX-REL4 4 relay outputs 8

CAN-CBX-AI420 4 analog inputs, 20 bit 8

CAN-CBX-AI814 4 analog inputs, 14 bit 9

CAN-CBX-AO412 4 analog outputs, 12 bit 9

CAN-CBX-THERMO 4 thermocouple inputs 9

CAN-CBX-Pt100 4 temperature sensor inputs 9

CAN-CBX-COM2 2 serial interfaces 9

CAN-I/O Modules Page

CAN-Clock Radio controlled clock 10

CAN Wireless Page

CAN-CBX-AIR/3 Wireless CAN bridge with USBinterface 10

Accessories Page

CAN-Repeater Improved wiring 10

CAN Wiring CAN cables and connectors 10

Software Page

CAN-API NTCAN-API supported operatingsystems overview 11

CANopen, DeviceNet,SAE-J1939, ARINC 825 Higher layer protocols 11

CAN interface driver support and CAN higher layer protocol supportsee summary at page 11.

Interface Boards: USB

CAN-USB/400, CAN-USB/400-FD, CAN-USB/400-IRIG-B USB

CAN-USB/2 USB

产品简介 / 目录

接口卡页系列页

模块页

接口和网关页

关于 CAN 驱动软件支持和 CAN 高层协议支持的简介请参见第 11 页

软件页

附件页

页

接口卡：USB

产品数据手册和说明书可以从 www.esd.eu 网站上免费下载。

● 带有CAN接口的USB2.0模块

● USB 2.0 High Speed接口，速率达480Mbit/s

●ARM 7微控制器，60 MHz，ISO 11898-1

●CAN接口的电气隔离，设计参考ISO11898-2，比特率最高可达1 Mbit/s

●通过USB供电

●铝制外壳：55 x 55 x 25 mm

● USB 模块有2个Classical CAN接口，或者2个CAN FD接口。

● USB 2.0 High Speed接口，速率达480Mbit/s

● 配备了实现在 F P G A 内的高级 C A N 核心(esdACC)


● 高级的诊断和时间戳

● 具有模拟和数字IRIG-B输入。

无线模块

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4

Interface Boards: USB, PCI Express, PCI

4 Visit us at www.esd.eu for more detailed information !

! USB - CAN interface

! USB 2.0 Full Speed interface with 12 Mbit/s

! Microcontroller ARM Cortex-M3, ISO 11898- 1


! Power supply via USB

! Small DSUB9 metal housing: 35 x 15 x 45 mm

Order Numbers

CAN-USB/Micro USB 2.0, 1x CAN C.2068.02

! PCI Express board with up to 4 Classical CANor up to 2 CAN FD interfaces

! CAN FD version: CAN bit rates from 10 kbit/sup to 5 Mbit/s with the same CAN transceiver

! esd Advanced CAN Core (esdACC)

! Error simulation support

! Advanced CAN diagnostic

! CAN interfaces with or without electricalisolation, ISO 11898-2

! PCI - CAN interface with 1, 2 or 4 ClassicalCAN or 2 CAN FD interfaces

! esd Advanced CAN Core (esdACC)technology (ISO11898-1)



! CAN interfaces electrically isolated, designedacc. to ISO 11898-2, CAN FD: bit rate up to 5 Mbit/s

! PCI Express-CAN interface with 2 or 4 CAN


! Bus mastering and local data management



! CAN interfaces electrically isolated, designedacc. to ISO 11898-2, bit rate up to 1 Mbit/s

! PCI Express Mini Card with 2 Classical CAN or 2 CAN FD interfaces



! Supports MSI (Message Signaled Interrupts)


Order Numbers

CAN-PCIe/402-1 1x CAN, ISO 11898-2 C.2045.02

CAN-PCIe/402-2 2x CAN, ISO 11898-2 C.2045.04

CAN-PCIe/402-4/2 Slot

4x CAN at DSUB9,ISO 11898-2

C.2045.06

CAN-PCIe/402-2-FD

2x CAN-FD, ISO 11898-2 C.2045.64

More hardware versions of CAN-PCIe/402 are listed atwww.esd.eu .

Order Numbers

CAN-PCI/402-1 1x CAN, ISO 11898-2 C.2049.02

CAN-PCI/402-2 2x CAN, ISO 11898-2 C.2049.04

CAN-PCI/402-4/2 Slot


C.2049.06

CAN-PCI/402-B4/1 Slot


C.2049.08

More hardware versions of CAN-PCI/402 are listed atwww.esd.eu .

Order Numbers

CAN-PCIe/400-2 2x CAN, ISO 11898 C.2043.04

CAN-PCIe/400-44xCAN/2Slot

4x CAN, ISO 11898 (2x CAN via onboardDSUB9 + 2x CAN viaDSUB9 at a separate slotbracket)

C.2043.06

Order Numbers

CAN-PCIeMini/402-2

2x CAN, ISO 11898 C.2044.04

CAN-PCIeMini/402-2-FD

2x CAN FD, ISO 11898 C.2044.64

CAN-PCIeMini/402-DSUB9

Adapter with 1x DSUB9connector,incl. cable, length: 150 mm

C.2044.10

CAN-USB/Micro USB

CAN-PCIe/402, CAN-PCIe/402-FD PCI Express

CAN-PCIe/400 PCI Express

CAN-PCIeMini/402-2, CAN-PCIeMini/402-2-FD PCI Express Mini

CAN-PCI/402, CAN-PCI/402-FD PCI

接口卡：USB，PCI Express，PCI

● USB转CAN接口

● USB 2.0 Full Speed 接口，速率达12 Mbit/s

●ARM Cortex-M3微控制器，ISO 11898-1


●透过USB供电

●小型DSUB9金属外壳：35 x 15 x 45 mm

●最多带4个Classical CAN接口或者带2个CAN FD接口的PCI Express接口卡

● CAN FD版本：使用相同的CAN收发器时， CAN的比特率从10 kbit/s 到5 Mbit/s

●esd高级CAN核心 (esdACC)

●支持错误模拟

●高级CAN诊断

●CAN接口带或者不带电气隔离，ISO11898-2

●带2个或者4个CAN接口的PCI Express接口卡

●esd高级CAN核心 (esdACC)技术 (ISO11898-1）

●总线主控和本地数据管理


●高级CAN诊断

●CAN接口的电气隔离，设计参考ISO 11898-2，比特率最高可达1 Mbit/s

●带2个Classical CAN接口或者2个CAN FD 接口的PCI Express Mini接口卡



●支持MSI (Message Signaled Interrupts)

●CAN接口的电气隔离，设计参考ISO 11898-2， CAN FD: 比特率最高可达5 Mbit/s

●带1,2或者4个Classical CAN接口，或者带2个CAN FD接口的PCI接口卡



●高级CAN诊断

●CAN接口的电气隔离，设计参考ISO11898-2， CAN FD: 比特率最高可达5 Mbit/s

请访问 www.esd.eu 获取更多详细的信息！

更多有关CAN-PCIe/402的硬件版本信息，请参见www.esd.eu网站

更多有关CAN-PCI/402的硬件版本信息，请参见www.esd.eu网站

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5

Interface Boards: PCI104, MicroTCA, CPCI, CPCI Serial


Order Numbers

CAN-PCI104/200-1 1x CAN, ISO 11898 C.2046.02

CAN-PCI104/200-2 2x CAN, ISO 11898 C.2046.04

CAN-PCI104/200-2-T 2x CAN, ISO 11898, -40 /C...+85 /C

C.2046.08

CAN-PC104/200-1xCAN2.0A/B Phil

1x CAN, ISO 11898,SJA1000

C.2013.04

CAN-PC104/200-1-MM 1x CAN, ISO 11898,AMP Micromatch

C.2013.09

Order Numbers

AMC-CAN4 4x CAN at RJ45 U.1002.01

AMC-CAN4-DSUB9-Adapter

Adapter cable from RJ45 to DSUB9 male

U.1002.10

Order Numbers

CPCI-CAN/402-4 4x CAN at DSUB25 I.2332.08

CAN/402-4-1C4 Adapter 1x DSUB25 to4x DSUB9

C.2047.19

Order Numbers

CPCIserial-CAN/402-2

2x CAN at DSUB9 I.3001.04

Order Numbers

CPCIserial-CAN/402-4-FD

2x CAN FD at DSUB25 I.3001.08


C.2047.19

! PCI-104 (PC104) to CAN interface with 1 or 2CAN

! CAN controller SJA1000 (ISO 11898-1)


! PC/104+ ISA connector available as an option

! Extended temperature range available (-40 /C...+85 /C)

! CompactPCI-CAN interface with 4 CAN atDSUB25



! Support of MSI (Message SignaledInterrupts)


! CompactPCI Serial (PCIe) - CAN interfacewith 2 CAN





! CompactPCI Serial (PCIe) - CAN interfacewith 4 CAN FD interfaces at DSUB25



! Supports MSI (Message Signaled Interrupts)


CAN-PCI104/200, CAN-PC104/200 PCI-104, PC/104

AMC-CAN4 MicroTCA

CPCI-CAN/402-4 CompactPCI

CPCIserial-CAN/402-2 CompactPCI Serial

CPCIserial-CAN/402-4-FD CompactPCI Serial

! MicroTCA-CAN interface with 4 CAN



! Error simulation support and advanced CANdiagnostic


! CAN connection via RJ45 sockets acc. to CiA 303-1

●带1个或者2个CAN接口的PCI-104(PC104)接口卡

● CAN控制器SJA1000 (ISO 11898-1)


●可选配PC/104+ ISA连接器

●温度范围可扩展到（-40℃ ... +85℃）

●带4个CAN接口的MicroTCA接口卡

● esd高级CAN核心 (esdACC)


●支持错误模拟和高级CAN诊断


●CAN的连接透过RJ45接口，参考CiA303-1

●通过DSUB25接口连接的，带4个CAN接口的CompactPCI接口卡





●带2个CAN接口的CompactPCI Serial (PCIe)接口卡





●通过DSUB25接口连接的，带4个CAN FD接口的CompactPCI Serial (PCIe)接口卡




●CAN接口的电气隔离，设计参考ISO11898-2， CAN FD: 比特率最高可达5 Mbit/s

接口卡：PCI104, MicroTCA, CPCI, CPCI Serial


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6

Interface Boards: PMC, XMC, VME, Ethernet, Gateways, Bridges


! Full CAN controller by integrated firmware forany identifier

! Each channel with separate microcontroller68331 and CAN controller, ISO 11898-1


! VMEbus compatibility IEEE 1014 rev. D

Order Numbers

VME-CAN4-NT 4x CAN, ISO 11898,NTCAN-API

V.1408.01

VME-CAN4 4xCAN (VME-32)

4x CAN, ISO 11898,incl. firmware

V.1408.02

VME-CAN4-2 2xCAN (VME-32)

2x CAN, ISO 11898,incl. firmware

V.1408.04

!

! CAN-10/100 BaseT Ethernet gateway

! TCP/IP, Modbus/TCP, or esd commonNTCAN-API as used on PCI interface boards


! Configuration by WEB browser

! Usage of esd's protocol stacks (CANopen,J1939, etc.) and esd’s CAN tools

Order Numbers

EtherCAN/2 CAN Ethernet gateway C.2051.02

EtherCAN/2-S7 CAN SIEMENS PLCgateway via UDP

C.2051.07

! Linking two CAN networks with data buffering

! 11 bit ID and 29 bit ID bridge (ISO 11898-1)

! Different bit rates for each CAN net possible

! Easy configuration via terminal (RS-232)


! Also available as ISO 11898-2 to Single WireCAN bridge

Order Numbers

CAN-CBM-Bridge/2 ISO 11898-2 CAN toISO11898-2 CANbridge, ISO11898-1

C.2853.02

! PMC-CAN interface with 4x CAN FDinterfaces via DSUB25





! XMC-CAN interface with with 4x CAN FDinterfaces via DSUB25





Order Numbers

PMC-CAN/402-4-FD 4x CAN FD at DSUB25 C.2028.68


C.2047.19

CAN/402-4-1C5 Adapter 1x DSUB25 to 4x DSUB9 (CAN) +1x DSUB9 (IRIG-B)

C.2047.18

Order Numbers

XMC-CAN/402-4-FD 4x CAN FD at DSUB25 C.2018.68


C.2047.19

CAN/402-4-1C5 Adapter 1x DSUB25 to 4x DSUB9 (CAN) +1x DSUB9 (IRIG-B)

C.2047.18

PMC-CAN/402-4-FD PMC

XMC-CAN/402-4-FD PMC

VME-CAN4 VME

EtherCAN/2, EtherCAN/2-S7 Ethernet

CAN-CBM-Bridge/2 CAN-CAN Gateway

接口卡： PMC, XMC, VME, 以太网 , 网关 , 网桥

●通过DSUB25接口连接的，带4个CAN FD接口的PMC接口卡

●esd高级CAN核心(esdACC)



●CAN接口带电气隔离，设计参考ISO11898-2， CAN FD: 比特率最高可达5 Mbit/s

●通过DSUB25接口连接的，带4个CAN FD接口的XMC接口卡

●esd高级CAN核心(esdACC)



●CAN接口带电气隔离，设计参考ISO11898-2， CAN FD: 比特率最高可达5 Mbit/s

●CAN控制器整合了支持任意ID的固件

●每个通道都带独立的微控制器68331和CAN控制器，ISO 11898-1

●CAN接口带电气隔离，设计参考ISO 11898-2，比特率最高可达1 Mbit/s

●兼容VMEbus IEEE 1014 rev. D

●连接2个CAN网络，带数据缓存

●支持11 bit ID和29 bit ID的桥接 (ISO 11898-1)

●每个CAN网络可以有不同的比特率

●透过terminal(RS-232)软件进行简易配置

●CAN接口带电气隔离，设计参考ISO11898-2，比特率最高可达1 Mbit/s

●也可用作ISO 11898-2和单线(Single Wire) CAN之间的桥接


●

●CAN-10/100 BaseT 以太网网关

●支持TCP/IP, Modbus/TCP, 或者用于PCI接口卡的esd通用NTCAN-API


●透过WEB浏览器配置

●能使用esd 各种协议栈(CANopen,J1939, etc.) 和esd的CAN工具

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7

PLC Interfaces and Gateways


! Fast and reliable linking any PROFIBUS-DPmaster to a CAN network with data buffering

! CAN-PLC link, e.g. SIEMENS S7-300 or S7-400

! DP-slave with up to 300 bytes data (CAN-DP/2: partitioning from up to 244 bytesinput and 56 bytes output to 244 bytes outputand 56 bytes input;CANopen-DP/2: 240 bytes input and 240bytes output in parallel )

! Configuration via the configuration tool of thePROFIBUS-DP master


! PROFIBUS-DP interface with automaticallybit rate detection and electrical isolation

! DIN rail-mountable housing (TS 35)

Order Numbers

CAN-DP/2 Gateway CAN/Profibus-DPslave, ARM Cortex M3controller, layer2,CAN 2.0B, GSD-file

C.2907.02

CANopen-DP/2 Gateway CANopen/Profibus-DP slave, GSD-file

C.2909.02

CAN-DP Gateway CAN/Profibus-DP slave, PowerPC 405, layer 2,CAN 2.0B, GSD-file

C.2905.02

CANopen-DP Gateway CANopen/Profibus-DP slave, GSD-file

C.2908.02

CANopen-DP-T Gateway CANopen/Profibus-DP slave, GSD-file, -40 /C ...+70 /C

C.2908.03

CAN-CBM-DP Gateway CANopen/Profibus-DP slave, layer 2, CAN 2.0A(11-bit CAN-ID), GSD-file

C.2844.03

! Fast and reliable linking any PROFIBUS-DPmaster to DeviceNet with data buffering

! DeviceNet-PLC link, e.g. SIEMENS S7-300 or S7-400

! No restriction on the number of DeviceNetparticipants by the module

! DeviceNet slave with up to 240 user databytes per direction, limited to 312 user databytes if using both directions. Up to 40DeviceNet slave devices can be addressed.

! On-board DeviceNet master and/or slave

! Configuration via the configuration tool of thePROFIBUS-DP master


Order Numbers

DN-DP Gateway DeviceNet/Profibus-DP slave

C.2930.02

DN-CBM-DP Gateway DeviceNet/Profibus-DP slave

C.2846.02

! Fast and reliable linking PROFINET-IO andCAN/CANopen with data buffering

! CAN-PLC link, e.g. to SIEMENS S7

! No limitation on the number of CAN nodes

! PROFINET-IO device with up to 256 bytesinput and 256 bytes output data (CAN-PN) or1440 bytes input and 1440 bytes output data(CANopen-PN)

! Configuration e.g. via SIMATIC Manager

Order Numbers

CAN-PN Gateway CAN/ PROFINET-IOdevice

C.2920.02

CANopen-PN Gateway CANopen/PROFINET-IO device

C.2921.02

! Fast and reliable linking EtherCAT and CANwith data buffering

! Operates as an EtherCAT slave with max.8 kbytes input or output data on EtherCAT bus

! CANopen (CiA 301)

! Configuration is done through EtherCATmaster

! CAN diagnostics and firmware updates arerealized via web interface

Order Numbers

CAN-EtherCAT Gateway CAN/EtherCAT,CANopen

C.2922.02

CAN-EtherCAT Gateway CAN/EtherCAT

CAN-DP, CANopen-DP, CAN-DP/2, CANopen-DP/2 Gateway CAN/PROFIBUS-DP Slave

DN-DP, DN-CBM-DP Gateway DeviceNet/PROFIBUS-DP Slave

CAN-PN, CANopen-PN Gateway CAN/PROFINET-IO Device

PLC 接口和网关

●快速且可靠地连接EtherCAT网络和CAN网络，带数据缓存

●在EtherCAT总线上作为EtherCAT从站进行操作，最大8 kbytes的数据输入或者输出

●支持CANopen (CiA 301)

●透过EtherCAT 主站进行配置

●透过web的界面实现CAN诊断和固件升级

●快速且可靠地连接任何PROFIBUS-DP主站和1个CAN网络，带数据缓存

●CAN-PLC连接，如西门子S7-300或者S7-400

●DP从站最大300 bytes数据 (CAN-DP/2: 数据分配范围从244 bytes输入和56 bytes输出，到244 bytes输出和56 bytes输入；CANopen-DP/2: 同时支持240 bytes输入和240 bytes输出)

●透过PROFIBUS-DP主站配置工具进行配置


●PROFIBUS-DP接口带自动比特率侦测和电气隔离

●支持DIN 导轨安装 (TS 35)

●快速且可靠地连接任何PROFIBUS-DP主站和DeviceNet，带数据缓存

●DeviceNet-PLC连接，如西门子S7-300或者S7-400

●模块没有限定DeviceNet的连接数

●DeviceNet从站在单向使用的用户数据最多240 bytes，如果双向一起使用用户数据最多312 bytes。最多能寻址到40个DeviceNet从站装置

●板载DeviceNet主站和/或从站

●透过PROFIBUS-DP 主站配置工具进行配置


●快速且可靠地连接PROFINET-IO和CAN/CANopen，带数据缓存

●CAN-PLC连接, 比如SIEMENS S7

●CAN节点数量无限制

●PROFINET-IO装置数据最大256 bytes输入和256 bytes输出(CAN-PN)，或者1440 bytes输入和1440 bytes输出(CANopen-PN)

●透过SIMATIC Manager进行配置


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CAN-CBX-I/O Series


Common Features of all CAN-CBX-Modules:

! Slim-line (22 mm) DIN rail mounting enclosure

! Interconnection via InRailBus connector(CAN, power)

! Replacing modules from InRailBus withoutinterrupting CAN or power feed

! Automatic function earth (FE) contact

! 2-wire or 3-wire connection of I/Os

! CAN interface: ISO11898, electrically isolated, 1 Mbit/s

! Coding switches for Node-ID and bitrate preselection,status display via LEDs


! CAN: ISO 11898, electrically isolated, 1 Mbit/s

! Environmental temperature range -20 /C...+70 /C

! CiA 301 CANopen profile, CiA 4xx CANopen I/O profile

! Firmware update via CAN

! PowerPC™ MPC5121 with FPU, 400 MHz

! 512 MB SDRAM, 1 GB NAND-Flash

! 2x High Speed CAN, 1x USB 2.0 Full-SpeedHost

! 100BASE-TX Ethernet

! Option: CODESYS® programming andrun-time system according to IEC 61131-3

! Option: EtherCAT-Master

! 8 digital I/Os, each selectable as input oroutput

! Input voltage: 24 V

! Output voltage: 24 V

! Output current: up to 1 A

! Ambient temperature range: -20 /C ... +85 /C

! CANopen profiles acc. to CiA 301, CiA 401

! Spring-cage connection

! 4 relay outputs: 2 monostable normally open contacts 2 monostable change over contacts

! Switching voltage: max. 250 VAC, 125 VDC

! Switching current: max. 8 A (AC and DC)

! Switching power: Max. resistive load: 2000 VA / 240 W Max. inductive load: 875 VA / 170 W


Order Numbers

CAN-CBX-REL4 CANopen output module,4 relay outputs

C.3012.02

! 4 analog Sigma-Delta A/D-converter inputs

! Resolution: 20 bit

! Input voltage range: ±10 V

! Easy control cabinet wiring due to 3-leadconnection

! Electrical isolation of analog inputs


Order Numbers

CAN-CBX-AI420 CANopen input module,4 analog inputs,resolution 20 bit

C.3030.02

Order Numbers

CAN-CBX-DIO8 CANopen I/O module, 8digital I/Os 24V

C.3010.02

Order Numbers

CAN-CBX-CPU5201-Linux

Linux PowerPCMPC5121 with FPU

C.3071.02

CAN-CBX-CPU5201-QNX

QNX PowerPCMPC5121 with FPU

C.3071.04

CAN-CBX-CPU5201-PLC

PLC PowerPCCODESYS,MPC5121 with FPU

C.3071.05

CAN-CBX-CPU5201/DP-Linux

Linux PowerPC,PROFIBUS-DP slave

C.3071.03

CBX Module Family - Common Features I/O Modules

CAN-CBX-CPU5201 Smart Realtime Controller

CAN-CBX-DIO8 Digital In/Outputs

CAN-CBX-REL4 Relay Outputs

CAN-CBX-AI420 Analog Inputs

CAN-CBX-I/O 系列

CBX 模块家族 - 共有功能所有CAN-CBX-Modules共有的功能：

●支持slim-line(22毫米)DIN 导轨安装

●透过InRailBus连接器相互连接 (CAN, 电源)

●从InRailBus上更换模块无需中断CAN或者供电

●自带接地连接触点

●2线或者3线的I/O连接

●CAN接口: ISO 11898, 电气隔离, 1 Mbit/s

●节点ID和比特率预置选项的编码开关，LED状态显示


●环境温度范围 -20℃...+70℃

●支持CiA 301 CANopen profile，CiA 4xx CANopen I/O profile

●透过CAN进行固件升级


●PowerPCTM MPC5121 with FPU, 400 MHz

●512 MB SDRAM, 1 GB NAND-Flash

●2个High Speed CAN接口，1个USB 2.0 Full-Speed Host接口

●100BASE-TX 以太网

●可选：CODESYSR ®编程和运行时系统，参考IEC 61131-3

●可选：EtherCAT主站

●8个数字I/O，每个I/O都可以设置为输入或者输出

●输入电压：24V

●输出电压：24V

●输出电流：最大1A

●环境温度范围：-20℃ ... +85℃

●CANopen profiles参考CiA 301, CiA 401

●外壳具有弹簧连接装置

●4个继电器输出： 2个单稳态常开继电器输出 2个单稳态常开常闭继电器输出

●触点电压：最大250VAC, 125VDC

●触点电流：最大8A (AC和DC)

●触点功率最大阻性负载：2000 VA/ 240 W 最大电感负载：875 VA/ 170 W

●CANopen profiles 参考CiA301, CiA401

●4个模拟Sigma-Delta A/D转换输入

●精度：20 bit

●输入电压范围：±10 V

●3头连接器简化控制柜接线

●模拟输入带电气隔离

●环境温度范围：-20℃ ... +70℃

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! 8 A/D-converter inputs

! Resolution: 14 bit

! Input voltage range: ±10.24 V

! Sample rate: up to 100 :s/8 channelssimultaneously

! Electrical isolation of analog inputs


Order Numbers

CAN-CBX-AI814 CANopen input module,8 analog inputs,resolution 14 bit

C.3020.02

! 4 D/A-converter outputs

! Resolution: 12 bit plus sign

! Output voltage range: ±10 V

! Electrical isolation of analog outputs



! Spring-cage connection

Order Numbers

CAN-CBX-AO412 CANopen output module,4 analog outputs,resolution 12 bit plus sign

C.3040.02

! 4 high resolution and accuracy thermocoupleinputs

! Support of J, K, B, E, N, R, S and Tthermocouples

! 4 E)-A/D-converters

! Automatic cold junction compensation

! Voltage-only measurement also available

! Electrical isolation of thermocouple interfaces

Order Numbers

CAN-CBX-THERMO CANopenthermocouple inputmodule, 4 inputs

C.3034.02

! 4 temperature sensor (RTD) inputs

! Wide range of supported sensor types: Pt100,Pt200, Pt500, Pt1000, Pt5000, Ni100, Ni200,Ni500, Ni1000 and Ni5000

! Two-wire or four-wire connection

! Selectable resolution of sensor resistor inputs:0.1 /C ... 0.0001 /C

! Electrical isolation of temperature sensorinputs

Order Numbers

CAN-Pt100 CANopen RTD input module, 4 inputs

C.3032.02

! Integration of two serial interfaces into aCANopen network

! Configuration of physical serial interfaces viapiggybacks

! 2x RS-232 or optional 1x RS-232 and 1x RS-485 serial interfaces

! ARM7 Microcontroller


Order Numbers

CAN-CBX-COM2 CANopen/serial module,2x RS-232 interfaces

C.3055.02

CAN-CBX-AI814 Analog Inputs

CAN-CBX-AO412 Analog Outputs

CAN-CBX-THERMO Thermocouple Inputs

CAN-CBX-Pt100 RTD Temperature Sensor Inputs

CAN-CBX-COM2 Serial Interfaces

CAN-CBX-I/O 系列

●8个A/D转换输入

●精度：14 bit

●输入电压范围：±10.24 V

●采样率：最大100微秒/同时8个通道

●模拟输入带电气隔离

●环境温度范围： -20℃ ... +70℃

●4个D/A转换输出

●精度：12 bit plus sign

●输出电压范围：±10 V

●模拟输出带电气隔离

●环境温度范围：-20℃ ... +70℃

●CANopen profiles参考CiA301, CiA401

●外壳具有弹簧连接装置

●4个高精度热电偶输入

●支持J, K, B, E, N, R, S 和 T 热电偶

●4 ΣΔ-A/D-转换器

●热电偶自动冷端补偿

●可进行纯电压测量

●热电偶接口带电气隔离

●4个温度传感器(RTD)输入

●支持多种传感器类型：Pt100, Pt200, Pt500, Pt1000, Pt5000, Ni100, Ni200, Ni500, Ni1000 和 Ni5000

●2线制或者4线制连接器●传感器电阻输入可选精度： 0.1℃ ... 0.0001℃

●温度传感器输入带电气隔离

●整合2个串口接口到1个CANopen网络

●透过piggybacks设备来配置物理串口接口

●2个RS-232接口，或者可选的1个RS-232和1个RS-485串口接口

●ARM7微控制器

●CANopen profiles参考CiA301, CiA302


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CAN-CBX-I/O Series


! CAN cables for your application:shielded field bus cables, UL approved cables,ribbon cables

! Wide range of standard cable length on stock:0.3 m, 0.5 m, 1.0 m, 2.0 m, 3.0 m, 4.0 m,5.0 m, 10.0 m, ...

! Customer-specific CAN cables

! Gender changer type termination connectors

! Termination connectors with earth connection

! CAN T-connectors to build short stubs

! Serial interface for external DCF77 or GPS (NMEA) receiver (RS-232)

! Integrated real time clock (RTC)

! CAN interface electrically isolated anddesigned acc. to ISO 11898-2

! CiA 401 CANopen I/O profile


Order Numbers

CAN-TERMINATION-DSUB9

DSUB9 female to maleconnector with integratedCAN termination 120R

C.1303.01

CAN-Termination

Termination resistor withPE connector, DSUB9 female

C.1301.01

C.1301.01 but DSUB9male

C.1302.01

CAN-T-Connector

2x DSUB9 female,1x DSUB9 male

C.1311.03

More CAN accessories are listed at www.esd.eu .

Order Numbers

CAN-CBM-Clock -Battery

CAN-Clock module withbattery

C.2836.03

! Linking two or three CAN networks

! Improve participant capacity on CAN

! With or without electrical isolation

! CAN interfaces differential, designed acc. to ISO 11898-2

! Bit rate up to 1 Mbit/s

! Repeater delay for determination of CANbit rate: ca. 14 m (design ‘-Opto’)

Order Numbers

Without electrical isolation:

CAN-Repeater-ICAN-Repeater-Y

2x CAN3x CAN

C.1330.02C.1330.03

With electrical isolation of one CAN interface:

CAN-Repeater-I OptoCAN-Repeater-Y Opto

2x CAN3x CAN

C.1330.06C.1330.07

! Wireless CAN bridge

! CAN telegram filtering

! In accordance with CiA specifications CiA 301 and CiA 457

! ISM band (2.4 GHz), external antennaincluded

! Transmission range, line-of-sight (LoS)distance: approx. 200 m

! USB 2.0 interface, High Speed (480 Mbit/s)

! CAN interface: ISO 11898-2, electricallyisolated, 1 Mbit/s

! Coupling CAN nets with different baud rates

Order Numbers

CAN-CBX-AIR/3-Bridge (2 modules) C.2052.04

CAN-CBX-AIR/3 (1 module) C.2052.02

CAN-CBM-Clock Radio Controlled Clock for CAN

CAN Wireless

CAN-CBX-AIR/3 Wireless CAN Bridge

Fig.: Application Example

Accessories

CAN-Repeater Improved Wiring

CAN Wiring CAN Cables, Connectors and Terminations


CAN-CBX-I/O 系列

●带可外接DCF77或者GPS(NMEA)接收器的串口接口(RS-232)

●整合实时时钟(RTC)

●CAN接口带电气隔离，设计参考ISO 11898-2

●支持CiA 401 CANopen I/O profile

●外壳支持DIN 导轨安装 (TS 35)

●无线CAN网桥

●CAN报文过滤

●遵循CiA规格CiA 301和CiA 457

●ISM频段(2.4 GHz), 包含外接天线

●传送范围，视线距离：大约200米

●USB 2.0接口，High Speed (480 Mbit/s)

●CAN接口：ISO 11898-2, 带电气隔离， 1 Mbit/s

●连接不同波特率的CAN网络

●连接2个或者3个CAN网络

●提高CAN网络参与者的容量

●带或者不带电气隔离

●CAN接口差异，参考ISO 11898-2

●比特率最高可达1 Mbit/s

●中继器确保CAN比特率稳定的延续长度：大约14米 (带"-Opto"后缀)

●CAN线缆：屏蔽现场总线线缆，UL认证的线缆，带状线缆

●各种长度的标准线缆：0.3 m, 0.5 m, 1.0 m, 2.0 m, 3.0 m, 4.0 m, 5.0 m, 10.0 m, ...

●客户特殊要求的CAN线缆

●公头母头转换的终端连接器

●带接地的终端连接器

●CAN T型连接器用来缩短连线

附件

更多的CAN附件产品请参见www.esd.eu网站

无线模块

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应用范例

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Software: CAN-API and Higher Layer Protocols


CAN Application Programming Interface (API)Common Operating System Independent NTCANAPI!Operating system (OS) and hardware

independent esd NTCAN API for developmentin C/C++

!Easy migration to another OS or CAN interface!Connect up to 256 CAN buses with an arbitrary

mix of heterogeneous CAN interfaces!Virtualized CAN ports allow a shared

simultaneous use by multiple tasks/threads onsingle as well as multicore CPU architectures

!OS independent interaction (local loopback) forTx messages

Basic Features! Event driven and polled CAN-I/O! Event based status and error indication! Flexible bitrate configuration! Sophisticated CAN message acceptance

filtering! High resolution timestamps for CAN messages

Extended Features on Windows! Support for e.g. Delphi, Python! Integration into the Microsoft .NET and

NI LABView environment

Premium Features*! Autobaud detection! Listen-Only Mode (Non destructive CAN bus

monitor)! High precision cyclic and scheduled

transmission! Extended bus diagnostic! Error injection! Smart ID-Filter

* Not supported by all esd CAN interfaces.

CAN Modules

Note: All CAN FD interfacescan be operated as ClassicalCAN interfaces as well !

Order no.

Operating Systems (NTCAN API)

Windows Unix Real Time2K/XP/Vista/

7/8.1/10 32 bitXP/Vista/

7/8.1/10 64 bit Linux Power MAXOS Solaris RTX RTX64 VxWorks QNX4 QNX6 On Time

RTOS32AMC-CAN4 U.1002.xx - - U - - - - - - - -CAN-AIR/3 C.2052.xx U U - - - - - - - - -CAN-PC104/200 C.2013.xx - - U - - - - U U*3 U -CAN-PCI104/200 C.2046.xx U U U - - - - U - U UCAN-PCI/402 C.2049.xx U U U - - U U U - U UCAN-PCIe/400 C.2043.xx U U U - - U*2 U*2 U - U UCAN-PCIe/402 C.2045.xx U U U - - U U U - U UCAN-PCIe/402-FD C.2045.xx U U - - - U U - - U -CAN-PCIeMini/402-2 C.2044.04 U U U - - U U U - U UCAN-PCIeMini/402-2-FD C.2044.64 U U U - - U U - - U -CPCI-CAN/402-4 I.2332.08 U U U - - U U U - U UCPCIserial-CAN/402-2 I.3001.04 U U U - - U U U - U UCPCIserial-CAN/402-4-FD I.3001.68 U U U - - U U - - U -EtherCAN/2 C.2051.xx U U U - - - - - - - -CAN-USB/400 C.2069.xx U U - - - - - - - - -CAN-USB/400-FD C.2069.64 U U U - - - - - - - -CAN-USB/2 C.2066.xx U U U*1 - - - - - - - UCAN-USB-Micro C.2068.xx U U U*1 - - - - - - - -PMC-CAN/402-4-FD C.2028.xx U U U - - U U - - U -XMC-CAN/402-4-FD C.2018.xx U U U - - U U - - U -VME-CAN4 V.1408.xx - - - U U - - U - - -xx OS support applies to all variants of this device.*1 Linux kernel $ 2.6 is supported via SocketCAN and NTCAN wrapper library. Please note that not all esd CAN-API function calls are supported.*2 The esd CAN RTX device driver requires an interrupt line which can only be shared with other RTX devices but not with Windows devices.*3 Only 11-bit CAN identifiers are supported (CAN 2.0A only).

Table: Supported operating systems for CAN layer 2 (NTCAN-API)

CPU Modules with CAN Order no. Local OS with CAN Support InquiriesLinux VxWorks QNX6 OS-9 Please inquire about drivers for further operating systems, since we permanently

work on new implementations!For any inquiry on Source or Object Code implementations, please state CPUtype to be used, CAN controller to be used, size of memory (RAM andEPROM/Flash) as well as operating system. We will react as soon as possible.

CAN-CBX-CPU5201 C.3071.xx U - U -CPCI-405 I.2306.xx U U U -CPCI-CPU5201 I.2404.xx U U U -Table: Operating systems on our embedded hardware with NTCAN-API

Higher Layer ProtocolsCANopenFor most esd CAN interfaces with esd NTCAN-APIsupport esd CANopen manager/slave protocollibraries are available. The libraries extend anapplication with CANopen manager/slavecapabilities or can be used for stand-alonemanager/slave devices.The CANopen slave library complies with theCiA 301 V4 with extensions defined in CiA 302 V3.

An application can use the library to create one ormore software CANopen slave nodes with individualobject dictionary layout, PDO configuration, NMTerror control mechanisms, etc.The CANopen manager library complies to theCiA 301 V4 and CiA 302 V3. An application can usethe library to perform the CiA 302 system boot-upand to control the remote nodes. The configurationmanager is based on DCF files acc. to CiA 306.

The manager library supports remote slave nodesthat comply with CiA 301 versions 3.x and 4.x.

DeviceNetesd offers Source Code or Object Code for aDeviceNet Master or so-called Master Stackimplementation as well as for DeviceNet Slaveimplementations.

CAN Layer 7 Protocols

Operating Systems (CAN protocol stacks)Windows Unix Real Time

2K/ XP/Vista/7/8.1/10 32 /64 bit Linux RTX, RTX64 VxWorks QNXCANopen master/slave U U U U U

DeviceNet U - - U -SAE-J1939 U U i i iARINC 825 U U i i ii Please contact esd to verify that your combination of operating system and/or CPU architecture is supported.

Table: Supported OS for CAN protocol stacks

SAE-J1939The SAE-J1939 is a higher layer protocol used inthe automotive industry and based on CAN 2.0Bwith 29 bit identifiers.

ARINC 825 ARINC 825 is a higher layer CAN protocol foraircraft applications.

Please contact us for detailed information on thesupported highler layer protocols.

CAN 应用程序设计接口 (API)与操作系统无关的NTCAN API● 与操作系统和硬件无关的使用C/C++开发的

esd NTCAN API

● 方便移植到另外一个操作系统或者CAN接口

● 能连接最多256个使用任意混合架构CAN接口组成的CAN总线

● 无论在单核或者多核的CPU架构下，虚拟化的CAN端口允许被多个任务/线程分享和同时使用

● 操作系统无关的Tx消息交互(本地回环)

基本功能● 事件驱动和轮询方式的CAN-I/O

● 基于事件的状态和错误提示

● 灵活的比特率配置

● 完备的CAN消息接受过滤机制

● CAN消息带有高精度的时间戳

Windows的扩展功能● 支持Delphi, Python

● 整合了Microsoft .NET和NI LABView环境

高级功能*● 自动波特率侦测

● 只听模式（非破坏性CAN总线监测器）

● 高精度周期性和定期性发送

● 扩展的总线诊断

● 错误注入

● 智能ID过滤

* 不是所有的esd CAN接口卡都支持。

所有CAN FD接口卡都可以当作Classical CAN接口卡来操作！

xx 操作系统的支持适用于此产品的所有型号。*1 如果Linux核心版本号大于或等于2.6，则透过SocketCAN 和 NTCAN wrapper库来支持。请注意不是所有esd CAN-API的函数调用都支持。*2 esd CAN RTX的设备驱动程序需要一个中断，此中断只能被其它RTX设备所分享，但不能被Windows设备分享。*3 只支持11-bit CAN ID(仅CAN 2.0A)。

表格：支持CAN第二层协议(NTCAN-API)的操作系统

带 CAN 的 CPU 模块支持 CAN 的本地操作系统询问请询问有关其它操作系统上的驱动软件，因为我们在不断地进行新的研发！任何询问有关源代码或者目标代码的实现问题，请描述使用的CPU类型，CAN控制器的类型，内存尺寸(RAM和EPROM/Flash)，以及操作系统。我们会尽快回应的。

表格：嵌入式硬件的操作系统与NTCAN-API支持列表

高层协议

对于大多数支持NTCAN-API的esd CAN接口卡都有esd CANopen manager/slave 协议库可使用。协议库能扩展应用程序，使其具备CANopen manager/slave的能力，或者可以被当作独立manager/slave装置使用。CANopen从站库遵照CiA 301 V4规范，以及一些定义在CiA 302 V3规范中的扩展。

应用程序可以使用此库来生成一个或者多个软件CANopen从站节点，每个节点都有各自的object dictionary布局，PDO配置，NMT错误控制机制等。CANopen manager库符合CiA301 V4和CiA 302 V3。应用程序可以使用此库来执行CiA 302的系统启动操作和控制远程节点。configuration manager遵照CiA 306规范，基于DCF 文件来配置。

The manager library 支持遵循CiA 301版本3.x和4.x的远程从站节点。

esd提供源代码或者目标代码，为DeviceNet主站或者所谓的主站软件栈，以及DeviceNet从站提供实现。

SAE-J1939是使用在自动化工业领域，基于CAN 2.0B (29 bit ID)的高层协议。

ARINC 825是航空应用领域的高层协议

更多有关所支持的高层协议方面的信息，请联系我们。

★请联系esd来核实你的操作系统和/或CPU架构的组合是否支持。

表格：CAN协议栈支持的操作系统

CAN 第七层协议

产品数据手册和说明书可以从 www.esd.eu 网站上免费下载。 11

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©2016 esd electronic system design gmbh, Hannover All data are subject to change without prior notice.I:\Texte\Doku\DBL\CAN\ENGLISCH\Blue\CAN-PCIe402_Datasheet_en_17.odt

CAN-PCIe/402PCI Express® Board with up to 4 CAN Interfaces

Single Lane PCIe Board with Altera® FPGA for up to 4x CAN

• 1x, 2x or 4x CAN interfaces according to ISO 11898-2

• Bus mastering and local data managementby FPGA

• PCIe® interface according to PCI Express Specification R1.0a

• Selectable CAN termination on board

• Supports MSI (Message Signaled Interrupts)

Wide Range of Operating System Supportand Advanced CAN Diagnostic

• Drivers and higher layer protocols for Windows®, Linux®, VxWorks®, QNX®, RTX,RTX64 and others

• CANopen®, J1939 and ARINC 825 protocollibraries are available

• esd Advanced CAN Core (esdACC) technology

Variety of Product Designs

• Product versions available with or without electrical isolation

• Low profile version for 1xCAN or 2xCAN

• 4x CAN via 1x DSUB37 connector

CAN-PCIe/402-2 (C.2045.04)

Wide Choice of Hardware DesignsThe CAN-PCIe/402 is a PC board designed for the PCIe bus that features one, two (CANPCIe/402-2) or four (CAN-PCIe/402-4/2Slot) electrically isolated CAN High-Speed interfaces according to ISO 11898-2. The CAN-PCIe/402-4/2Slot comes with two CAN interfaces via a separate slot bracket.These product versions are also available without electrical isolation.

In the CAN-PCIe402-B4/1Slot version all four CAN interfaces are connected via one 37-pin DSUB connector. Equipped with up to two CAN interfaces the board is available as low profile versions (CAN-PCIe/402-1-LP and -LP2).

CAN Data ManagementThe independent CAN nets according to ISO 11898-1 are driven by the esdACC (esd Advanced CAN Core) implemented in the Altera FPGA. The FPGA supports bus mastering (first-party DMA) to transfer data to the host memory. This results in a reduction of overall latency on servicing I/O transactions in particular at higher data ratesand a reduced host CPU load.

Due to the usage of MSI (Message SignaledInterrupts) the CAN-PCIe/402 can beoperated for example in Hypervisorenvironments.The CAN-PCIe/402 provides high resolution hardware timestamps.

Software Support1

CAN layer 2 (NTCAN-API) software drivers are available for Windows, Linux, VxWorks, QNX, RTX and RTX64. The CANopen software package is available for Windows, Linux, RTX, VxWorks and QNX.

Drivers for other operating systems are available on request.

Technical Specifications:

PCI Express Interface:

PCIe port PCI Express Spec. R1.0a, Link width 1x

CAN:

Interface 1x, 2x or 4x CAN high-speed interfaces according to ISO 11898-2, bit rate up to 1 Mbit/s, with or without electrical isolation

CAN controller esdACC in EP4CGX Altera FPGA, acc. to ISO 11898-1 (CAN 2.0 A/B)

General:

Ambient temp. 0 °C ... +75 °C

Rel. humidity Max. 90 % (non-condensing)

Power suppy 3.3 V: 2x CAN IMAX = 280 mA,4x CAN IMAX = 290 mA

12 V: 2x CAN IMAX = 180 mA,4x CAN IMAX = 230 mA

Connector PCIe: PCIe card edge connectorCAN: 1x 9-pin DSUB per CAN channel,

male (all except C.2045.08), 1x 37-pin DSUB, male (only C.2045.08)

Weight CAN-PCIe/402-2: 60g

Order Information:

Hardware Order No.

CAN-PCIe/402-1CAN-PCIe/402-1-DCAN-PCIe/402-2CAN-PCIe/402-2-DCAN-PCIe/402-4/2SlotCAN-PCIe/402-4/2Slot-DCAN-PCIe/402-B4/1 SlotCAN-PCIe/402-Slot2CAN-PCIe/402-Slot2-DCAN-PCIe/402-1-LPCAN-PCIe/402-1-LP-2

1x CAN (CAN 1 only)as C.2045.02 but without electr. isolation2x CAN (CAN 1, CAN2)as C.2045.04 but without electr. isolation4x CAN (C.2045.04, C.2045.10)as C.2045.06 but without electr. isolation4x CAN via 1x DSUB37, 1 Slot Adapter board, CAN 3,4, cableas C.2045.10 but without electr. isolationLow profile version, CAN 1Low profile version, CAN 2

C.2045.02C.2045.03C.2045.04C.2045.05C.2045.06C.2045.07C.2045.08C.2045.10C.2045.11C.2045.32C.2045.34

CAN layer 2 drivers for Windows and Linux are included in delivery.

Software Support1

Additional CAN layer 2 object licences including CD-ROM:CAN-DRV-LCD QNXCAN-DRV-LCD VxWorksCAN-DRV-LCD RTX (incl. RTX64)Higher CAN layer protocols including CD-ROM:CANopen-LCD Windows/Linux, RTX, QNX or VxWorksJ1939 stack for Windows or LinuxARINC 825-LCD for Windows/Linux, RTX, QNX or VxWorks

C.1101.32C.1101.55C.1101.35

C.1101.xxC.1130.xxC.1140.xx

1 For detailed information about driver availability for your operating system please contact our sales team.

CiA® and CANopen® are registered community trademarks of CAN in Automation e.V..All trademarks are reserved by their respective owners.

esd electronic system design gmbhVahrenwalder Str. 207

30165 Hannover / Germany

Phone: +49 (0) 511 3 72 98-0 Fax: +49 (0) 511 3 72 98-68

E-mail: [email protected]

esdACC

CAN3

CAN4

CAN1

CAN2

DSUB9

CiA pinning

Standard Version CAN-PCIe/402-2 (electrical isolation optional)

4x CAN Interface

DSUB37

CiA pinning

CAN-PCIe/402-B4 only

CAN Corewith Timestamp



Optional

ElectricalIsolation

DSUB9

CiA pinning

OptionalElectrical

Isolation

OptionalElectrical

Isolation


PCIeCard Edge Connector

Adapter Board CAN-PCIe/402-Slot2 (electrical isolation optional)

10-pin

post connector

CAN-adapter board

Ribbon

Cable

单通道PCIe板卡，带Altera®FPGA支持最多4个CAN接口●1x, 2x 或者4x CAN接口，遵循ISO 11898-2

●通过FPGA进行总线主控和本地数据管理

●PCIe®接口遵循PCI Express Specification R1.0a

●可选择的板载CAN终端电阻。

●支持MSI （Message Signaled Interrupts）

支持多种操作系统和高级CAN诊断功能●驱动软件和高层协议支持的操作系统：Windows®,

Linux®, VxWorks®, QNX®, RTX, RTX64等

●有CANopen®, J1939 and ARINC 825协议库可用

●esd高级CAN核心(esdACC)技术

多样化的产品设计●产品有带电气隔离的版本和不带电气隔离的版本

●1个CAN口或者2个CAN口的产品有PCIe low profile的版本

●4个CAN口可以透过1个DSUB37 连接器连接

硬件设计提供更多选择CAN-PCIe/402是为PCIe总线设计的PC板卡，遵循ISO 11898-2，带电气隔离的CAN高速接口分1口,2口

(CANPCIe/402-2)或4口(CAN-PCIe/402-4/2Slot)。CAN-PCIe/402-4/2Slot其中有2个CAN接口需置于另

外一个托槽内。这些产品均有不带电气隔离的版本。

CAN-PCIe402-B4/1Slot版本，所有4个CAN接口

都连接在1个37针DSUB连接器上。

Low profile版本的产品最多支持2个CAN接口(CAN-PCIe/402-1-LP and -LP2)

CAN数据管理独立的CAN网络遵循ISO 11898-1是由esdACC (esd 高级CAN核心)驱动 ,由Al te ra FPGA实

现。FPGA支持总线主控(first-party DMA)来传

输数据到主机内存内。这降低了处理I/O交互的总体延迟时间，特别在高速数据传输时，同时也减

少了主机CPU的负担。

由于支持MSI(Message Signaled Interrupts)，CAN-PCIe/402可以工作在Hyperv isor的环境下。

CAN-PCIe/402 提供高精度的硬件时间戳。

软件支持1

CAN 第二层协议(NTCAN-API)软件驱动所支持

的操作系统有Windows, Linux, VxWorks, QNX, RTX和RTX64。

CANopen软件包支持Windows,Linux,RTX, VxWorks和QNX。

如您需要其它操作系统的驱动软件，请联系我们。

PCI Express® 板卡，最多带 4 个 CAN 接口

技术规格:

常规:

订单信息：

环境温度

硬件

软件支持1

订货号

相对湿度电源

接口

重量

(非冷凝)

但不带电气隔离




以上产品包含支持Windows和Linux的CAN第二层协议驱动软件

光盘中包含有CAN第二层协议对象的授权。

光盘中包含有CAN高层协议。

如需了解有关驱动软件所支持操作系统的详细信息，请联系我们的销售团队。

CiA® 和 CANopen®是CAN in Automation注册协会的商标所有的商标由其所有者保留。

内容如有变更,不另行通知。

(包含 RTX64)

接口：

接口 1x, 2x或者4x的CAN高速接口，遵循ISO 11898-2，比特率最高1Mbit/s，带或者不带电气隔离

esdACC包含在EP4CGX Altera FPGA内，遵循ISO 11898-1规范(CAN 2.0 A/B)

控制器

同

同

同

同

13

!

Q

!

由 esdACC 驱动 ( 高级 CAN 核心 )

基本产品功能：

兼容CAN ISO 11898-1 协议

支持11-bit和29-bit CAN ID

支持比特率从10 kbit/s 到1 Mbit/s

接收缓存（64个CAN消息）

能完全访问CAN错误计数器(error counters)

可编程的错误警告限制

错误代码捕捉寄存器

为每个CAN总线错误提供错误中断

仲裁丢失产生带有详细的比特位置的中断

单次(Single-shot) 传输（没有重传）

只听模式（无回应acknowledge，无主动错误标志)

自动比特率侦测(硬件支持的比特率侦测）

接收过滤(4-byte code, 4-byte mask)

自接收模式 (接收“自己”的消息）

总线负载测量

根据ISO CAN一致性测试“ISO 16845:2004 Road vehicles - Controller area network (CAN) - Conformance test plan”测试和认证过

高级esdACC功能 1：高级esdACC功能（继续）1：

通过esd NTCAN-API，可实现独立于操作系统的编程硬件计时器提供精准的，高于操作系统精度的软件超时。

总线总控在RX方向，可以免除主机CPU的负载（需要具备总线总控能力的本地总线与主机之间的接口）

可选项，整合32-bit微控制器，进一步缓解主机CPU的压力

可选项，不同来源的时间戳（如IRIG-B）

使用FPGA技术提供为不同客户需求而裁剪任意功能的选项，包括可选的整合客户自身的FPGA内容

esdACC IP核心已经在Xilinx Spartan和Altera Cyclone的FPGA上验证通过。

为CAN需求而优化接口的32-bit寄存器

·方便编程

·用尽量少的寄存器访问，进行传输和接收CAN帧

TX FIFO （16个CAN帧的深度）

·提供方法来产生100%的总线负载，甚至在非实时操作系统内

·提供方法来实现真正的back-to-back传输

带有时间戳的Tx FIFO （16个 CAN 帧的深度）

·高优先级

·64比特时间戳

·为CAN传输提供Bit时间的准确性

以最小的延迟，精准地中止帧传输

·例如为驱动的超时

·遵照ISO11898-1·在FIFO内被中止的帧不会被低优先级的TX所阻止

RX和TX时间戳（64-bit宽，bit准度和精度受输入的时钟差异而有所差异，

在任何≤ 62.5 ns的情形，通常为20.833 ns）

·在带IRIG-B接口的硬件上，使用IRIG-B 时间作为时间戳

1 高级esdACC功能的存在会因操作系统的不同而有所不同。有关更多信息，请联系我们的销售团队。

有关esdACC IP核心的更多信息，请联系我们的销售团队。

·

·

·

·

·

·

·

·

14

©2016 esd electronic system design gmbh, Hannover All data are subject to change without prior notice.I:\Texte\Doku\DBL\Software\Englisch\Source\EtherCAT_Master_Datasheet_en_21.odt

EtherCAT® is registered trademark and patented technology. All other trademarks are reserved by their respective owners.

EtherCAT MasterEtherCAT® Master Stackfor several (Real-Time) OS

The EtherCAT Master Stack is written in ANSI-C designed with high performance, small resource usage and scalability in mind. The core components are operating system (OS) and CPU architecture independent. An adaptation to many preva-lent (real-time) operating systems is available from stock whichguarantees a cost efficient fast time-to-market integration into a custom application.

Key Features

• Configuration and management of EtherCAT networks with enhanced error detection and diagnostic.

• Cyclic exchange of process data. The cycle can be defined by the EtherCAT master or the application.

• Mailbox based communication with:

◦ CAN application protocol over EtherCAT (CoE) with support for Service Data Object (SDO) upload/download, SDO information services and CoE emergency messages.

◦ Ethernet over EtherCAT (EoE)

◦ File over EtherCAT (FoE)

◦ Servo Drive over EtherCAT (SoE)

• Sophisticated API common to all implementations as interface between the application and the EtherCAT master stack.

• The master can either be configured with standardized XML basedEtherCAT network information (ENI) files (OS independent XML parser included) or via the API if the OS doesn't support a file system. ENI configuration files may reside in ZIP/GZ archives.

• Allows application defined asynchronous communication in parallel to the cyclic data exchange (e.g. read the EtherCAT slaveEEPROM).

• Built-in detailed diagnostic and profiling functions.

• Slave-to-slave copy support (required for FSoE).

• Support for remote access to configure, control and monitor the network with the esd EtherCAT Workbench (separate product).

• Support for cable redundancy with 2nd Network Interface Controller(NIC) to handle single fault malfunctions (cable break, damaged plug, EMI, slave breakdown) without communication interruption or data loss.

• Support for Distributed Clock (DC) based slave synchronization with initial calculation of delay compensation parameter.

• Support for multi master mode to address independent slave segments via several physical NICs or via a VLAN tag enabled Ethernet switch with a single NIC.

• Support to handle binary EtherCAT Slave Information (ESI) data

• EtherCAT Master Class A according to ETG.1500.

• The well defined OS layer and interface to the NIC facilitates a simple adaption to platforms not yet supported.

• Comprehensive manual and example application in source code.

ApplicationsEasy and fast integration of EtherCAT Master support into industrial control and automation systems, testbed systems or production control systems.

Stack Architecture Overview

Switch based Multi Master Mode using single NICTechnical Specifications:

Hardware Requirements:

Standard Network Interface Controller (NIC)

Platform Support:

Operating System: CPU Architecture:

VxWorks 5.4.x / 5.5.x / 6.x x86 / PPC

QNX 6.5.x / 6.6.x x86 / PPC / ARM

RTX 2009 / 2011 / 2012RTX64 2014

x86x64

OS-9 5.2 PPC

Linux x86 / PPC / ARM

Windows XP/Vista/7/8/10 (32-Bit) x86

Order Information:

Designation Order No.

EtherCAT Master, single license P.4500.xx

EtherCAT Master, project license P.4501.xx

EtherCAT Master, demo versions* P.4502.xx

Please contact esd for platform specific order number details or further supported platforms.

* Demo versions are not available for all supported platforms.



Phone: +49 (0) 511 3 72 98-0 Fax: +49 (0) 511 3 72 98-68


EtherCAT 主站软件栈是用ANSI-C编写的，设计充分考虑到高效性，低资

源消耗和可扩展性。其核心部件是独立于操作系统和CPU架构的。其适配软

件适用于多种流行的实时操作系统，可以确保用户能将其有效且快速地整合到

客户应用软件内，从而提高产品进入市场的速度。

主要功能●EtherCAT网络的配置和管理，具备强大的错误侦测和诊断能力。

●过程数据的循环交换。周期可以由EtherCAT 主站或者应用程序所定义。

● 基于Mailbox的通讯：◦ CAN application protocol over EtherCAT (CoE)支持Service

Data Object (SDO)的上传与下载，SDO信息服务和CoE紧急消息服务。

◦ Ethernet over EtherCAT (EoE)◦ File over EtherCAT (FoE)◦ Servo Drive over EtherCAT (SoE)

● 提供了完备的API，通用于所有应用程序的实现，可作为应用程序和

EtherCAT 主站软件栈之间的接口。

●主站可以用标准的XML格式的EtherCAT network information (ENI)文件（包

含了独立于操作系统的XML解析器）来配置。也可以透过API来配置, 如果

操作系统不支持文件系统。ENI配置文件可以存在于ZIP/GZ打包文件内。

● 允许应用程序定义的异步通讯并行地进行循环数据交换（例如读取

EtherCAT从站的EEPROM)

●内置详细的诊断和分析功能。

●支持从站到从站的拷贝 (需要支持FSoE)

●esd EtherCAT Workbench(独立的产品)支持远程访问配置，控制和监控

网络。

●支持具有第二个网络接口控制器(NIC)的电缆冗余，来管理单一缺陷故障

（电缆断路，损坏的插头，电磁干扰，从站故障），而不会引起通讯中断

或者数据丢失。

●支持基于分布式时钟(DC)的从站同步，具有初始延迟补偿参数计算的

功能。

●多主站模式寻址多个独立从站网段，可通过多张物理网卡连接，或者通过

一张网卡来连接支持VLAN tag的以太网交换机的方式来实现。

●支持处理二进制EtherCAT从站信息(ESI)数据

●EtherCAT主站Class A遵循ETG.1500。

●定义好的操作系统分层和网络接口方便了对未支持平台的简单适配。

●详尽的操作手册和源文件形式的示例程序。

应用能简单而快速地把EtherCAT主站整合进工业控制和自动化系统，测试平

台系统或者产线控制系统。

EtherCAT®主站软件栈支持多个实时操作系统

硬件需求：订单信息：

平台支持：

标准网络接口控制器(NIC) 名称订货号

操作系统： CPU架构:

技术规格：

需了解特定平台的订货号详情, 或者更多支持的平台, 请联系esd。

不是所有支持的平台都有Demo版本。

EtherCAT®是注册商标和有专利权的技术。所有其它商标都由其拥有者所保留。

软件栈架构概观

用单网卡和路由器来实现多主站模式


General:

Header files: ANSI C

Build: Includes sample makefiles for gcc and project files for Visual Studio 10

Source Code Version:

Language: Completely written in ANSI C

Other: Little/big endian compatible

Resource usage*: RAM: approx. 5 kB (BSS/DATA/Heap) + 2 kB (Stack)

ROM: approx. 15 kB (CODE/CONST)

*EtherCAT slave application with 64 byte process data, CoE with 'SDO Information Service' support and approx. 30 objects total. (No EoE etc.)

©2016 esd electronic system design gmbh, Hannover All data are subject to change without prior notice.I:\Texte\Doku\DBL\Software\Englisch\Source\EtherCAT_SlaveStack_Datasheet_en_15.odt

EtherCAT Slave Stack

• Significantly reducing time to market for slave development

• Mailbox services CoE, EoE, FoE and VoE supported

• Cross-platform API allows Rapid Prototyping

The EtherCAT® Slave Stack is a software stack for the easydevelopment of embedded slave devices written in ANSI C. It's available as source code optimized for highperformance and low resource usage. With the cross-platform API the parallel development of theembedded device hardware and application software ispossible. The EtherCAT Slave Stack supports all necessaryprotocols and was tested successfully with several EtherCATSlave Controllers (ESC).

Easy and Fast EtherCAT Slave Device Development

• The EtherCAT Slave Stack provides in combination with anEtherCAT slave controller (ESC) all services for an EtherCATcompliant communication according to IEC 61158 / ETG.1000.

• The source code is written in ANSI-C, optimized for embeddedtargets with respect to performance and resource usage.

• It is available as binary version for various operating systems or assource code tested on different target architectures (x86,PowerPC™, ARM®) with and without operating system.

• An API based interface provides a clear separation betweenapplication and stack which makes a later change to an updatedstack revision or different hardware easy.

• All protocol complexity and hardware dependence is hidden. Thedeveloper can concentrate on application development whichsignificantly reduces the time to market.

• The stack comes with a comprehensive manual and a sampleapplication which makes a good starting point for the application.

Mailbox Protocols CoE, EoE, FoE and VoE

• CoE includes 'SDO Information Service', 'Segmented SDOService', dynamic PDO assignment and dynamic PDOconfiguration.

• EoE is implemented via callback for completely assembled frame(from EtherCAT) and a simple function to inject an Ethernet frameinto the EtherCAT slave stack which handles fragmentation etc.

• FoE offers callback for each data chunk etc.

• VoE is implemented by simple callback for each mailbox packet ofthat type.

Object Dictionary

• Comprehensive support for object dictionary and process data -application just accesses the objects and stack handles almosteverything, e.g. updates when they are PDO mapped,automatically.

• Dynamic dictionary, completely changeable during runtime.

• With automatic handling of important entries, such as PDOs andPDO assignment objects.

• Callbacks for important events, e.g. before and after SDODownload, etc.

Architecture overview Additional Features

• Includes functions to read/write ESC's EEPROM.

• ESC can be used in polling or IRQ mode.

• Supports multiple ESC by one application.

• Each version of the stack is tested for compliance by using thelatest EtherCAT Conformance Test Tool.

• The source code version allows compile time adaption of severalfeatures to optimize the resource usage.

• Source code version is based on a well defined HardwareAbstraction Layer (HAL) to adapt the stack to the target hardwarewith as little effort as possible.

Supported EtherCAT Slave Controllers (ESC)

• ET1100 and compatible ESCs.

• TI AM335X (Sitara™) Programmable Real Time Units.

• Renesas R-IN32M3-EC.

• Supports memory mapped or SPI based I/O.

Rapid Prototyping with esd PCIe Slave InterfaceIt is possible to start developing the application before yourembedded target hardware is available using the optional esdEtherCAT interface ECS-PCIe/1100 which comes with support forthe identical (cross-platform) API for Windows®/Linux®.

Additional Services (not scope of delivery)

• General EtherCAT technology seminars. If requested, the seminarcan also be held on-site.

• Workshop for detailed introduction to the EtherCAT slave stackcode with the possibility to adapt the code to the target device.

• Technical consulting before and during the development phase of the EtherCAT slave device. Our customers will benefit from our years of experience in EtherCAT hardware and software development.

Technical Specifications:

Order Information:

Designation Order no.

EtherCAT Slave Stack Source

EtherCAT Slave Stack ANSI-C source code version

P.4520.01

Optional Hardware for Rapid Prototyping

ECS-PCIe/1100 PCI Express board with EtherCAT E.1100.02slave controller ET1100, incl. driver, stack binary and documentation for Windows and Linux on CD

Related Products

EtherCAT Master single or project license or demo version

EtherCAT® is a registered trademark and patented technology.All other trademarks are reserved by their respective owners.



Phone: +49 (0) 511 3 72 98-0 Fax: +49 (0) 511 3 72 98-68


订单信息：

名称订货号

技术规格：

●显著地缩短从站开发的上市时间

●支持Mailbox服务 CoE, EoE, FoE和VoE●跨平台的API可以用来快速开发原型程序。

The EtherCAT® Slave Stack是一套为了方便地开发嵌入式从站装置的软件

栈，用ANSI C写成。它是以源文件形式存在，在高效和低资源消耗方面做了

优化。

通过跨平台的API，可以用来并行地开发嵌入式装置的硬件和应用软

件。EtherCAT Slave软件栈支持所有必要的协议，并且成功地在多个

EtherCAT从站控制器(ESC)上测试过。

简单而快速地开发EtherCAT 从站装置

●The EtherCAT Slave 软件栈提供遵循IEC 61158 / ETG.1000的，所有符

合EtherCAT标准的，EtherCAT从站控制器(ESC)所需的通讯服务。

●源文件由ANSI-C所写成，为嵌入式系统而优化，着重提高其效能

和资源利用。

● 软件栈分为二进制版本和源文件版本两种。二进制版本为各种操作系统

所准备。源文件版本已经在各种目标架构下（x86, PowerPC, ARM），

在有操作系统和无操作系统环境下都被测试过。

● 基于API的接口为应用程序和软件栈提供了清晰的分层，方便了后续软件

栈的升级和不同硬件的修改。

● 所有协议的复杂性和硬件相关的内容都被隐藏了。开发人员只需要关注

于应用程序的开发，此将大大减少了产品上市的时间。

● 软件栈带有详尽的说明书和一个示例程序为应用程序的开发提供了良好

的起始点。

Mailbox协议 CoE, EoE, FoE和VoE●CoE包括SDO信息服务,分段SDO服务, 动态PDO分配和动态PDO

配置。

●EoE的实现可以通过如下方式，用回调函数来处理完全整合好的

Frame(从EtherCAT), 和用一个简单函数将一个Ethernet帧注入到用

来处理分包(fragmentation)的EtherCAT从站软件栈中。

●FoE为每个数据块提供回调函数。

●VoE由简单的回调函数来实现。回调函数会处理此种类型的数据包。

对象字典

●广泛支持对象字典和过程数据-应用程序只需要存取对象，而软件栈

处理了几乎所有的事情，比如当收到PDO mapped对象时会自动更新。

●动态词典，运行时完全可更改。

●自动处理重要信息，比如PDO和PDO assignment对象。

●为重要事件生成的回调函数，如SDO下载前和下载后等。

额外功能

●包含读取/写入ESC EEPROM的功能。

●ESC可以在Polling或者IRQ模式下被使用。

●支持单个应用程序使用多个ESC。

●每个版本的软件栈都被最新的EtherCAT Conformance Test Tool所测试。

●源文件的版本允许编译时适配多个功能，来优化资源利用率。

●源文件的版本是基于定义完善的硬件抽象层(HAL)，让用户花费尽可能

少的精力完成软件栈与目标硬件的适配。

支持的EtherCAT 从站控制器 (ESC)●ET1100和与其兼容的ESC。

●TI AM335X (SitaraTM) 可编程实时单元。

●Renesas R-IN32M3-EC。

●支持内存映射或基于SPI的I/O。

使用esd PCIe从站接口卡快速进行原形程序的开发

如果使用esd EtherCAT PCIe接口卡 ESC-PCIe/1100及其支持的相同的

Windows/Linux下的API，可以在您嵌入式硬件设备未就绪之前，您就可

以开始着手开发您的应用程序了。

其它服务（未包含在此产品内）

●常规的EtherCAT技术研讨会。如果有需求，研讨会可以在客户现场

举办。

●提供Workshop，详细介绍EtherCAT从站软件栈代码，及其与目标设备

代码适配的可行性。

●在EtherCAT从站装置开发阶段前或者开发阶段中提供技术咨询。我

们的客户将受益于我们多年在EtherCAT软硬件开发方面的经验。

源文件版本：

语言：完全使用ANSI C写成

兼容Little/big endian其它：

资源使用情况*：

*EtherCAT 从站应用程序带有64 byte的进程数据，CoE支持"SDO Information Service"和总共大约30个objects (无EoE等)。


EtherCAT从站软件栈源文件

EtherCAT从站软件栈ANSI-C源文件版本

为快速开发原形程序提供可选的硬件

相关产品

EtherCAT主站单个或项目的许可证，或者Demo版本

EtherCAT®是注册商标和有专利权的技术。所有其它商标都由其拥有者所保留。

常规：

包含了为gcc准备的makefiles实例和为Visual Studio 10准备的project文件

带EtherCAT从站控制器ET1100的PCI Express板卡，CD内包括Windows和Linux的驱动，软件栈二进制版本和说明书

架构概观

作为esd软件开发工具包(SDK)的一部分，附加的免费工具可以用来快速地建立和分析CAN应用程序和网络。可使用在所有esd CAN和CAN FD硬件接口卡上（如CAN-PCI Express卡，CAN-USB, EtherCAN和更多其它接口卡）

CANreal●显示和记录CAN消息帧

●支持11-bit和29-bit CAN消息ID

●允许过滤消息ID

●在同一个或者不同的通道内，允许运行多个软件进程，从而增加了用户的方便性。

●支持发送用户自定义的CAN消息帧

CANplot●以图表形式显示在线/离线的CAN 数据

●在数据栏位和数据类型内选择各自的消息ID和位置

●支持Intel/Motorola的数据格式

●选择各自的数据图表和颜色编码

CANrepro●重播事先录制好的CAN 消息帧，透过esd CAN 接口

●根据原始的时间点和顺序复制数据

●选择各自的数据

CANscript●使用Python 脚本工具来操作CAN消息

●执行和管理Python脚本

●允许快速简便地生成用户自定义的且强大的CAN应用程序

●支持esd API，需搭配使用esd CAN硬件接口卡

●有用的运行时状态消息

●支持在状态窗口内输出用户自定义的文本消息和数据

COBview●有效的CANopen工具用来分析/诊断CANopen节点

●侦测和显示网络中的CANopen装置

●基本的CANopen NMT功能

●支持各自对象字典(object dictionaries)的读/写操作

板卡和模块● 所支持的硬件平台： PCI, PCI Express, CPCI, CPCI Serial, PMC, XMC, ISA/PC 104, VME及更多

●支持USB, 无线, 以太网及更多接口

●连接CANopen, DeviceNet到PROFIBUS-DP或各种以太网协议的网关

●嵌入式或者客制化解决方案，需提供您的设计需求

●驱动软件适用于不同操作系统(Windows 10/8/7/VISTA/XP/2000, Linux, RTX, VxWorks, QNX, On Time RTOS-32, 如需其他请提出您的需求)

esd 产品介绍 · supports msi (message signaled interrupts)!can interfaces electrically...

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