P.O.

Box 243, 3400AE IJsselstein

The Netherlands
Tel.: +31 30 68 69 111
E-mail: mail@Terberg-Control-Systems.nl
www.Terberg-Control-Systems.nl

Power systems

CAN Network

Documentation and users manual

 Terberg Control Systems
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Table of contents
TABLE OF CONTENTS.......................................................................................................................................................... 2

1. CAN NETWORK ON TERBERG CONTROL SYSTEMS ......................................................................................... 3

2. CAN NETWORK TRUNK CABLE ............................................................................................................................... 4

3. SPECIFICATION OF CAN CABLE.............................................................................................................................. 5

4. CAN NETWORK INTERNAL CABLE......................................................................................................................... 8

5. HOW TO CONNECT CAN NETWORK?..................................................................................................................... 9

6. CAN NETWORK TERMINATOR RESISTANCE .................................................................................................... 10

7. CAN NETWORK BIT RATE SETTING..................................................................................................................... 13

8. CAN ADDRESS SETTING ........................................................................................................................................... 14

9. SOFTWARE CONFIGURATION CAN NETWORK ................................................................................................ 15

10. FAILURE ON CAN NETWORK ................................................................................................................................. 16

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1. CAN network on Terberg Control Systems

Terberg Control Systems main SBC (Single Board Controller) has the availability of 3 separate
CAN network connections. They are called:

a. CAN network 1 = IO CAN

b. CAN network 2 = CPU CAN
c. CAN network 3 = MASTER CAN

The IO-CAN network is used to communicate between the digital and analogue In/Out-put
cards.

The CPU-CAN network is configured to communicate between protocol conversion boards

(CAN-COM) or the CAN-LCD 4 line display.

The MASTER-CAN is the network that is used as two wire connection between other SBCs.

Except on the MASTER-CAN network, all connected devices are configured as a slave. The
SBC will initiate the communication on the CAN bus and requesting information from the
slaves.
Due to the DAISY CHAIN (looks like in series) configuration of the CAN network, each device
needs to know that the broadcasted message is addressed to him.
This is done by the CAN ADDRESS dipswitch setting on each individual board.
The SBC will broadcast messages containing specific device address.
When a device (IO-board) recognise his address and reads the broadcast message, it will
acknowledge and send the requested information via the CAN network to the SBC. When all
devices are correct configured and all having different identification, only one device will
respond. In case a device has the same identification of other device in the same network,
they will both react at the same time to the SBC, resulting in a non readable message.
On the CAN-MASTER network, multi master communication is possible. The broadcasted
messages will be read by every connected SBC and the data will be processed.

The length of cable between the devices will introduce delay. This results in a maximum length
of cable, depending on bit rate and configuration.

Bit rate Distance

500 kB/s 100 m

250 kB/s 200 m
125 kB/s 500 m
050 kB/s 1000 m

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2. CAN NETWORK trunk cable

To connect a control panel with other panel, containing SBC IO boards or other SBC, a special
CAN cable needs to be used.

Trunk Cable

This cable consists of 2 times 0.34 mm isolated wire and a shield.

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3. Specification of CAN cable

UL/CSA approved

CAN (Controller Area Network) was originally developed for the

networking of automobiles, but is meantime being used more and
more in industrial and application technology fields.
CAN is internationally standardized in ISO 11898. Maximum bitrate: 1
MBit/s at 40m segment length. With increasing segment length, a
higher cable cross-section must be used (see recommended values of
ISO 11898)

SPECIFICATION

UNITRONIC-FDBUS P CAN UL/CSA Superfine wire strands of bare

copper wire, cores twisted into pairs and pairs into layers; wrapping;
screen braiding of copper wire; outer sheath of PUR-compound; flame-
retardant according to VDE 0472 part 804, test method B (IEC 332.1);
violet (RAL 4001).

TECHNICAL DATA

UNITRONIC BUS CAN-static: 8 x cable
diameter
Minimum bending radius:
UNITRONIC BUS CAN UL/CSA - flexing:
15 x cable diameter

Static: -30C to +70C

Temperature range:
flexing: -30C to +70C

peak: 250V (not for purposes of power/high

Working voltage:
voltage current)

Characteristic impedance
100+/-20 Ohms
(Ohms):

Source : http://www.lapplimited.co.uk/products/bus_systems/uni_buscan_ulcsa.htm

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Detail CAN Trunk Cable

Terberg Control Systems uses the brown wire for the H or + connection and the white for the
L or connection.

Connectors H-L

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The cable needs to be connected on the specified terminals in the control panels.
Exact location of terminals can be found in the AS BUILT drawings, provided with the panels.

Terminal Strip CAN

Check if the connected trunk cable is connected with the same wire colour as the internal
cabling, to trace unwanted twists.
The shield should be connected to the green/yellow terminal.

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4. CAN NETWORK internal cable

For internal CAN connections, a non shielded cable can be used.

Internal CAN Cable 1

This cable exists only of two wires, no shield.

Internal CAN Cable 2

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5. How to connect CAN network?

The CAN network system is a DAISY CHAINED system. Each connected device is connected
parallel but not in a star configuration. They have to be connected in series.

Faulty Star Connection

Correct Daisy Chain Connection

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6. CAN NETWORK terminator resistance

Each device or board has an internal terminator resistor of 120 Ohm. This resistor is to give
the network an impedance of 60 Ohm total, preventing unwanted reflection.
Only at the beginning and at the end of the network the terminator resistor must be active by
placing the jumper in ON position. This will result in the requested 60 Ohm impedance.
If an extra device has the resistor active, the total resistance will drop according to the Law of
Ohm.

The resistance can be switched on by placing the jumper, close to the CAN connector, into the
ON position.

CAN Connections SBC

To check correct setup and connections, shut down all 24 Vdc to the devices and measure
across the CAN terminal on the master SBC the resistance.

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CAN Connections Analogue Input

CAN Connections CAN DREL

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Connections Digital Input

Remark : On the left board, terminator is switched off. The right board has the jumper in ON
position, meaning this board is the last one in the chain.

CAN Connections CAN- Comm

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Note: This board has been setup wrong. The CAN cable is single, indicating end of the chain.
Jumper is switched off indicating NOT end of chain.

7. CAN NETWORK bit rate setting

The IO-CAN and CPU-CAN network bit rate is selected by the pair dipswitch on each device.
Each network can have a different bit rate, depending on the length of cable.
On the same network, the bit rate at all devices must be set the same.

1 2 Bit rate

OFF OFF 50
ON OFF 125
OFF ON 250
ON ON 500

Default, the bit rate will be 500 kBits/s.

Once the bit rate has been set on the hardware devices, the CAN setup on the SBC needs to
be set accordingly through the MMI screens (explained in Engine V1.0 Default Screens
chapter 7.11)

The CAN-3 bit rate is selectable by the pair dipswitch on the SBC and should be in multi
master configurations 125 kBits/s.

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CAN 3 setup on SBC

8. CAN address setting

Each device or SBC needs to be unique in a particular CAN network. This is done by a so
called ADDRESS and is converted into an ID. This ID will be transmitted in the broadcast
message to address the correct device.
The address is set by a 6 bit dipswitch, mounted on each device.

1 2 3 4 5 6 ADDRESS
X 1
X 2
X X 3
X 4
X X 5
X X 6
X X X 7
X 8
../.. ../.. ../.. ../.. ../.. ../.. ../..
X 16

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The address is also depending on the type of device. We use 5 different types of devices on
IO-CAN network, knows as:

1. DIGITAL IN 16
2. DIGITAL OUT 16
3. ANALOGUE IN 8
4. ANALOGUE OUT 4
5. CAN DREL 16

The DIGITAL IN 16 needs to start with address 1, next device with 2 and so on.

The DIGITAL OUT 16 and CAN-DREL 16 are the same type of devices for the CAN network.
Start address is 1 and increase for the next device.

ANALOGUE IN 8 starts with address 1.

ANALOGUE OUT starts also with address 1.

Both device type and device address determine device identification and
for each device on the same network they must be unique.

9. Software configuration CAN NETWORK

IO-CAN network setup.

After all hardware check up of the CAN networks, the panels can be energised when the other
pre-commissioning steps are done.
Connect the computer with the project specific application to COM 0 of the SBC.
Verify RUN LED is blinking.
Start the Terberg RUNWIN application from the project specific location like:
C:\sbc\dealername\projectname.engine_id

The software will configure automatically the CAN configuration for each configured IO point.
The first digital input card will cover inputs I0.0 to I1.7. As soon the next input I2.0 is
configured, CAN will be set up to activate and use a second input device.

To add an IO point, read the Engine control V2.0 I/O and Alarm Control chapter 2.1.

To check CAN performance, read Engine V1.0 Default Screens chapter 7.11.

Note :

Before the SBC controller and connected IO can be used, the CAN IO network needs to run
fault free.

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10. Failure on CAN network
Cause
Run LED on SBC is blinking,
CAN LED on SBC is OFF.
Run LED on SBC is blinking,
CAN LED on SBC is blinking at
1 second interval.
Run LED on SBC is blinking,
CAN LED on SBC is blinking at
1 second interval.
Run LED on SBC is blinking,
CAN LED is blinking and CAN
LED on a device is blinking
slowly.
CAN LED on device is RED and
a green spot in LED is blinking
fast.
CAN LED on a single device is
OFF. 24Vdc is available.
Input or output, read or write by
the SBC, are wrong or going to
two different devices
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Check
Check if there are devices
selected in FAST, MAST or
AUX task.
Check LAST ERROR field.
Faulty device will be displayed.
LAST ERROR field is blanc and
Network is in To Runstate
status.
Check the address of the
device. Check if device address
is configured in CAN.
A CAN network failure has
occurred. Check alarm historical
list. Check LAST ERROR.
Check with tester 24Vdc on
device.
Check the address dip switch
settings on the devices.
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Solve
Upload config files to SBC and
reset network.
Check address settings on
device.
Shutdown 24Vdc and check
resistance of CAN network.
Compare drawings and IO
setup. Correct config if
necessary.
If fault appears frequently,
check network shielding and
resistance. Colour LED can be
reset by pressing CAN reset.
Replace device.
Correct addresses. All devices
should have a unique
identification.
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C F
CAN 3 setup on SBC, 14 Faulty Star Connection, 9
CAN Connections Analogue Input, 11
CAN Connections CAN Comm, 12
CAN Connections CAN DREL, 11
I
CAN Connections Digital Input, 12 Internal CAN Cable 1, 8
CAN Connections SBC, 10 Internal CAN Cable 2, 8
CAN Trunk Cable, 4
Connectors H-L, 6
Correct Daisy Chain Connection, 9 R
Revisions, 18
D
Detail CAN Trunk Cable, 6 T
Terminal Strip CAN, 7

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Revisions:
Date chapter page Subject
03-01-2005 First released CAN network commissioning documentation

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