Tóm tắt nội dung
Giới thiệu giao thức CAN Bus
ICP DAS has been developing various CAN products for several years, including PCI interface, converter, PAC and slot module CAN products. ICP DAS holds CAN conference, exhibition and training course all of the world. We also help customers to resolve various CAN technology problems. In addition, we can provide CAN bus solution for our customers.
CAN Bus IntroductionCAN Bus FeaturesThe Controller Area Network (CAN) is a serial communication way, which efficiently supports distributed real-time control with a very high level of security. It provides the error process mechanisms and message priority concepts. These features can improve the network reliability and transmission efficiency. Furthermore, CAN supplies the multi-master capabilities, and is especially suited for networking “intelligent” devices as well as sensors and actuators within a system or sub-system.Multi-masterWhen the bus is free any unit may start to transmit a message. The unit with the message of highest priority to be transmitted gains bus access.SafetyIn order to achieve the utmost safety of data transfer, powerful measures for error detection, signaling and self-checking are implemented in every CAN node. When transmitting data, many measuring algorithms including Cyclic Redundancy Check, Message Frame Check and Bit Stuffing have been taken.Speed & Distance
| Baud (bit/sec) | Ideal Bus Length |
|---|---|
| 1M | 25 |
| 800K | 50 |
| 500K | 100 |
| 250K | 250 |
| 125K | 500 |
| 50K | 1000 |
| 20K | 2500 |
| 10K | 5000 |
Arbitration
If two or more nodes start transmitting messages at the same time, the arbitration mechanism is applied to guarantee that one of these messages can be sent successfully according to the priority.
Priorities
The CAN IDENTIFIER defines a static message priority during bus access.
CAN Bus Wire Solution
| Bus length [m] | Bus cable | Termination resistance [Ω] | Baudrate | |
|---|---|---|---|---|
| Length-related resistance [mΩ/m] | Wire cross-section [mm2] | |||
| 0 ~ 40 | 70 | 0.25 ~ 0.34 | 124 | 1000 at 40 m |
| 40 ~ 300 | <60 | 0.34 ~ 0.6 | 150 ~ 300 | >500 at 100 m |
| 300 ~ 600 | <40 | 0.5 ~ 0.6 | 150 ~ 300 | >100 at 500 m |
| 600 ~ 1000 | <26 | 0.75 ~ 0.8 | 150 ~ 300 | >50 at 1 km |
| Wire cross-section[mm2] | Maximum length [m] | ||
|---|---|---|---|
| Node = 32 | Node = 64 | Node = 100 | |
| 0.25 | 200 | 170 | 150 |
| 0.5 | 360 | 310 | 270 |
| 0.75 | 550 | 470 | 410 |
Example:
If user use Baudrate 100 kbit/s and wire cross-section 0.5 mm2, the maximum length can arrive to 500 m. But the maximum length is in inverse proportion to the node number. When the node number is up to 32, the maximum length will down to 360 m.
Bộ chuyển đổi CAN BUS sang Quang
ICP DAS CAN converters are used to establish a physical coupling of two or more communication interface, and are infrastructure components with which complex network structures can be implemented. They can be used to implement the data conversion between CAN and COM, USB or Ethernet interface. By selecting the necessary CAN converters, users can control and integrate the data exchange and transmission between multi-interfaces easily.
| Model | Fiber Converter | |||||||
|---|---|---|---|---|---|---|---|---|
| Module Name | I-2533CS-FD | I-2533T-FD | I-2533CS | I-2533CS-60 | I-2533CS-A
*note1 |
I-2533 | I-2532 | |
| I-2533CS-B
*note1 |
||||||||
| CAN Interface | ||||||||
| Module Type |  |
|
|
|
|
|
 |
|
| Baud Rate (bps) | CAN bit rates: 10 ~ 1000 kbps, CAN FD bit rates for data field: 100 ~ 3000 kbps | 10 k ~ 1 M and user-defined | 10 k ~ 1 M and user-defined | 10 k ~ 1 M and user-defined | 10 k ~ 1 M and user-defined | 10 k ~ 500 k | ||
| CAN Filter | Yes | Yes | Yes | Yes | Yes | No | ||
| 120Ω Terminal Resistor | Built-in | Built-in | Built-in | Built-in | Built-in | Built-in | ||
| Isolation | 3000 VDC for DC-to-DC, 2500 Vrms for photo-couple | |||||||
| Specification | ISO 11898-2, CAN 2.0A/B and FD | ISO 11898-2, CAN 2.0A and CAN 2.0B | ||||||
| Propagation Delay | 190μs *note2 | 190μs *note2 | 190μs *note2 | 190μs *note2 | 190μs *note2 | < 120 ns | ||
| Fiber Interface | ||||||||
| Type | SC Duplex type ; Single mode ; 100Base-FX; | ST Duplex type ; Multi-mode ; 100Base-FX; | SC Duplex type ; Single mode ; 100Base-FX; | SC type ; Single mode ; 100Base-FX; | ST (Multi-mode) | ST (Multi-mode) | ||
| Wave Length (nm) | 1310 | TX: 1310, RX: 1550 for I-2533CS-A TX: 1550, RX: 1310 for I-2533CS-B | 850 | 850 | ||||
| Fiber Cable (μm) | 8.3/125, 8.7/125, 9/125 or 10/125 | 50 / 125, 62.5 / 125 or 100 / 140 | 8.3/125, 8.7/125, 9/125 or 10/125 | 50 / 125, 62.5 / 125, 100 / 140 | 50 / 125, 62.5 / 125, 100 / 140 | |||
| Max. Fiber Distance (km) | 30 km | 2 km | 30 km | 60 km | 15 km | 2 km | 1.4 km | |
| Misc. | ||||||||
| Topology | One-to-One One-to-Many | One-to-One | One-to-One | |||||
| Work with Fiber Switch | Yes | Yes | Yes | No | No | |||
| Extend CAN bus Distance | Yes | Yes | Yes | Yes | No | |||
| Repeat CAN bus signal | Yes | Yes | Yes | Yes | No | |||
| Integrate two different networks | Yes | Yes | Yes | Yes | No | |||
| *note1: The I-2533CS-A and I-2533CS-B are a couple and must be used in pairs in CAN Bus applications. *note2: The propagation delay depends on the CAN Bus baud rate and the CAN message format. This value has been tested using a CAN baud rate of 1 Mbps, the CAN ID 0x12345678 and 8 bytes of data with a value of 0xFF. |
||||||||
Bộ lăp và cách ly tín hiệu CAN BUS
| Model | CAN Bus Repeater | ||||||
|---|---|---|---|---|---|---|---|
| Module Name | I-7531-FD-G | I-7531-G | I-7532-G | I-7532M-FD | I-2534 | I-5534-M | |
| I-7531-UT-G | |||||||
| CAN Interface | |||||||
| Module Type |  |
|
 |
|
|
|
|
| Connector | Screwed terminal block | Screwed terminal block | Screwed terminal block | Screwed terminal block | Screwed terminal block | 9-pin male D-Sub | |
| Channel number | 2 | 2 | 2 | 2 | 4 | 4 | |
| Baud Rate (bps) | CAN bus: 5 k ~ 800 k CAN FD: Arbitration rate up to 1000 k, data rate up to 8000 k |
5 k ~ 800 k | 5k ~ 1M bps and user-defined | CAN bit rates: 10 ~ 1000 kbps, CAN FD bit rates for data field: 100 ~ 3000 kbps |
5k ~ 1M bps and user-defined | 5k ~ 1M bps and user-defined | |
| CAN Filter | No | No | Yes | Yes | Yes | Yes | |
| Isolation | 3000 VDC for DC-to-DC, 2500 Vrms for digital isolation | 3000 VDC for DC-to-DC, 2500 Vrms for photo-couple | |||||
| 120Ω Terminal Resistor | Built-in | Built-in | Built-in | Built-in | Built-in | Built-in | |
| Propagation Delay | 175ns | 200 ns | 134 us ~ 30 ms *note1 | 142 μs ~ 13.8 ms *note2 | 240 us ~ 1360 us *note1 | 240 us ~ 1360 us *note1 | |
| Misc. | |||||||
| Extend CAN bus Distance | No | No | Yes | Yes | Yes | Yes | |
| Repeat CAN bus signal | Yes | Yes | Yes | Yes | Yes | Yes | |
| Integrate two CAN networks at different baud rate |
No | No | Yes | Yes | Yes | Yes | |
| *note1: The propagation delay depends on the CAN Bus baud rate and the CAN message format. The minimum delay is [ 11-bit ID and 8-byte data @ 1M bps ] The maximum delay is [ 29-bit ID and 8-byte data @ 5k bps ]*note2: The propagation delay depends on the CAN Bus baud rate and the CAN message format. The minimum delay is [ 11-bit ID and 8-byte data @ 1M bps ] The maximum delay is [ 29-bit ID and 8-byte data @ 10k bps ] |
|||||||
Bộ chuyển đổi CAN Bus sang USB, COM (RS-232/422/485), Ethernet
| Model | CAN to COM Converter series products | |||||||
|---|---|---|---|---|---|---|---|---|
| Module Name | I-7530-G | I-7530T-G | tM-7530 | tM-7530A | I-7530A-G | I-7530A-MR-G | I-7530-FT-G | |
| CAN Interface | ||||||||
| CAN Specification | ISO-11898-2 | ISO-11898-2 | ISO-11898-2 | ISO-11898-2 | ISO-11898-2 | ISO-11898-3 | ||
| Baud Rate (bps) | 10k ~ 1M bps | 10k ~ 1M bps | 10k ~ 1M bps and user-defined | 10k ~ 1M bps | 10k ~ 1M bps and user-defined |
10 k ~ 125 k | ||
| CAN Filter | Yes | Yes | Yes | Yes | Yes | Yes | ||
| CAN Isolation | 3000 VDC for DC-to-DC, 2500Vrms ~ 3750Vrms for photo-couple | None | ||||||
| Terminal Resistor | Built-in 120Ω | Built-in 120Ω | None | Yes | Built-in 120Ω | Built-in 120Ω | Built-in 1kΩ | |
| Max FPS (@1M bps) | 279 ~ 360 | 279 ~ 360 | 426 ~ 552 | 279 ~ 360 | 370 ~ 1250 | 279 ~ 360 | ||
| CAN FIFO | 1000 frames | 1000 frames | 256 frames | 1000 frames | 128 frames | 1000 frames | ||
| UART Interface | ||||||||
| UART | RS-232 | RS-232 | RS-232 | RS-232 / RS-485 / RS-422 (can’t be used simultaneously) |
RS-232 | |||
| Baud Rate (bps) | 110 ~ 115200 | 110 ~ 115200 | 110 ~ 230400 | 110 ~ 115200 | 110 ~ 230400 | 110 ~ 115200 | ||
| Connector | 9-pin female D-Sub | 9-pin female D-Sub | 9-pin female D-Sub | Screwed terminal block | Screwed terminal block | 9-pin female D-Sub | ||
| UART FIFO | 900 frames | 900 frames | 256 bytes | 900 frames | 256 bytes | 900 frames | ||
| Misc. | ||||||||
| UART / CAN Conversion | Half-Duplex | Half-Duplex | Full-Duplex | Half-Duplex | Full-Duplex | Half-Duplex | ||
| Propagation Delay | < 3.5 ms | < 3.5 ms | < 3.5 ms | < 3.5 ms | — | < 3.5 ms | ||
| UART Transparent Communication | One-to-One One-to-Many |
One-to-One One-to-Many |
One-to-One One-to-Many |
One-to-One One-to-Many |
One-to-One One-to-Many |
One-to-One One-to-Many |
||
| Modbus RTU Slave | No | No | No | No | Modbus RTU Slave | No | ||
| Model | CAN to Ethernet Converter series products | ||
|---|---|---|---|
| Module Name | I-7540D-G | I-7540D-MTCP-G | I-7540D-WF |
| I-7540D-UTA-G | I-7540DM-MTCP | ||
| I-7540DM-UTA | |||
| CAN Interface | |||
| CAN Connector | Screwed terminal block | Screwed terminal block | Screwed terminal block |
| Channel number | 1 | 1 | 1 |
| Baud Rate (bps) | 10k ~ 1M bps and user-defined |
10k ~ 1M bps and user-defined |
5k ~ 1M bps |
| CAN Filter | Yes | Yes | Yes |
| CAN Isolation | 1000 VDC for DC-to-DC 2500 Vrms for photo-couple |
1000 VDC for DC-to-DC 2500 Vrms for photo-couple |
3000 VDC for DC-to-DC 2500 Vrms for photo-couple |
| Terminal Resistor | Built-in 120Ω | Built-in 120Ω | Built-in 120Ω |
| Max FPS (@1Mbps) | 1852 ~ 2244 | 2118 ~ 2241 | 700 |
| CAN FIFO | 1000 frames | 200 frames | 256 frames |
| Ethernet Interface | |||
| Controller | 10/100Base-TX Ethernet Controller (Auto-negotiating, Auto_MDIX) | Wi-Fi (IEEE 802.11b/g) | |
| Protocol | TCP / UDP Socket | Modbus TCP Server | TCP Socket (Client / Server) |
| Socket clients | 25 | 24 | 3 |
| others | Support Virtual COM | Acts as Modbus RTU slave | Infrastructure & Ad-hoc mode |
| Misc. | |||
| CAN Transparent Communication | One-to-One One-to-Many |
One-to-One One-to-Many |
One-to-One One-to-Many |
| Model | USB to CAN Converter series products | |||||
|---|---|---|---|---|---|---|
| Module Name | I-7565M-HS | I-7565-H1-G | I-7565-H2-G | I-7565-G | tM-7565 | |
| CAN Interface | ||||||
| CAN Connector | 8-pin terminal-block | 9-pin male D-Sub | Screwed terminal block | 9-pin male D-Sub | Screwed terminal block | |
| Channel number | 2 | 1 | 2 | 1 | 1 | |
| Baud Rate (bps) | 10k ~ 1M bps and user-defined |
5k ~ 1M bps and user-defined |
5k ~ 1M bps and user-defined |
10k ~ 1M bps and user-defined |
10k ~ 1M bps and user-defined |
|
| CAN Filter | Yes | Yes | Yes | Yes | Yes | |
| CAN Isolation | 3000 VDC for DC-to-DC, 2500 Vrms for photo-couple | |||||
| Terminal Resistor | Built-in 120Ω | |||||
| Max FPS (@1Mbps) | 15000 fps for Tx/Rx | 3000 | 3000 (Total CAN ports) |
279 ~ 360 | 423~519 | |
| CAN FIFO | 512 data frames | 256 frames | 128 frames (for each CAN port) | 1000 frames | 256 frames | |
| USB Interface | ||||||
| USB Type | USB Type B | |||||
| USB Speed | 480Mbps | 12Mbps | 12Mbps | 110 ~ 921600 bps | 110 ~ 230400 bps | |
| Specification | USB 2.0 High Speed | USB 1.1 and USB 2.0 | ||||
| USB FIFO | – | 100 frames | 100 frames | 900 frames | 100 frames | |
| Power supply | USB | |||||
| Misc. | ||||||
| Send CAN with hardware timer | Yes | Yes | Yes | No | No | |
| Show Error Frame | Yes | Yes | Yes | No | No | |
| Adjustable Bit-Timing | No | Yes | Yes | No | No | |
| Supported OS | Windows 2K/XP/7/8/10 | Windows 2K/XP/Vista/7 (32 & 64 bit)/8.x, and Linux) | Windows 2K/XP/7/8/10 | |||
| Supported LabVIEW | No | Yes | Yes | LabVIEW UART driver | No | |
| Supported InduSoft | No | Yes | Yes | Yes | No | |
| Model | USB to CAN FD Converter series products |
|---|---|
| Module Name | I-7565M-FD |
| CAN Interface | |
| CAN Connector | 8-pin terminal-block |
| Channel number | 2 |
| Baud Rate (bps) | CAN bit rates: 10 ~ 1000 kbps, CAN FD bit rates for data field: 100 ~ 3000 kbps |
| CAN Filter | Yes |
| CAN Isolation | 3000 VDC for DC-to-DC 2500 Vrms for photo-couple |
| Terminator Resistor | Built-in 120Ω |
| Max FPS (@1Mbps) | 3000 fps for Tx/Rx (Total CAN ports) |
| CAN FIFO | 128 frames |
| USB Interface | |
| USB Type | USB Type B |
| USB Speed | 480Mbps |
| Specification | USB 2.0 High Speed |
| USB FIFO | – |
| Power supply | USB |
| Misc. | |
| Send CAN with hardware timer | Yes |
| Show Error Frame | Yes |
| Adjustable Bit-Timing | No |
| Supported OS | Windows 7/8.1/10 |
| Supported LabVIEW | No |
| Supported InduSoft | No |
Bộ chuyển đổi Gateway Can Bus sang Modbus TCP
| Model | Gateway | |
|---|---|---|
| Module Name | ECAN-240 | |
| CAN Interface | ||
| CAN Connector | 9-pin D-sub male | |
| Channel number | 2 | |
| Baud Rate (bps) | 10k ~ 1M bps and user-defined | |
| CAN Filter | Yes | |
| CAN Isolation | 3000 VDC for DC-to-DC, 2500 Vrms for photo-couple | |
| Terminal Resistor | Built-in 120Ω (Dip-Switch) | |
| Max. FPS (@1Mbps) | Modbus: 987~990 Pair Connection: 5700~5800 |
|
| CAN FIFO | 256 frame | |
| Ethernet Interface | ||
| Controller | 10/100Base-TX Ethernet Controller (Auto-negotiating, Auto_MDIX) | |
| Protocol | TCP/UDP Socket, Modbus TCP | |
| Socket clients | 8 | |
| others | Alternative Server/Client Mode | |
| Misc. | ||
| CAN Transparent Communication | One-to-One One-to-Many |
|
Bộ lập trình