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