National Instruments PXI-8460, PXI-8461, PXI-846x, PXI-8462 User Manual

CAN

Getting Started with
Your PXI-846x Series and
the NI-CAN™Software for
Windows NT

PXI-8460, PXI-8461, and PXI-8462

PXI-846x and NI-CAN for Windows NT

August 2000 Edition

Part Number 370294A-01

Support

Worldwide Technical Support and Product Information

ni.com

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For further support information, see the Technical Support Resources appendix. To comment on the
documentation, send e-mail to [e-mail]

© Copyright 1998, 2000 National Instruments Corporation. All rights reserved.

Important Information

Warranty

The PXI hardware is warranted against defects in materials and workmanship for a period of one year from the date of shipment, as
evidenced by receipts or other documentation. National Instruments will, at its option, repair or replace equipment that proves to be
defective during the warranty period. This warranty includes parts and labor.

The media on which you receive National Instruments software are warranted not to fail to execute programming instructions, due to
defects in materials and workmanship, for a period of 90 days from date of shipment, as evidenced by receipts or other documentation.
National Instruments will, at its option, repair or replace software media that do not execute programming instructions if National
Instruments receives notice of such defects during the warranty period. National Instruments does not warrant that the operation of the
software shall be uninterrupted or error free.

A Return Material Authorization (RMA) number must be obtained from the factory and clearly marked on the outside of the package
before any equipment will be accepted for warranty work. National Instruments will pay the shipping costs of returning to the owner
parts which are covered by warranty.

National Instrumentsbelieves that the information in this document is accurate. The document has beencarefully reviewedfor technical
accuracy. Inthe eventthat technicalor typographical errors exist, National Instruments reserves the right to make changes to subsequent
editions of this document without prior notice to holders of this edition. The reader should consult National Instruments if errors are
suspected. In no event shall National Instruments be liable for any damages arising out of or related to this document or the information
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E

XCEPT AS SPECIFIED HEREIN,NATIONAL INSTRUMENTS MAKES NO WARRANTIES, EXPRESS OR IMPLIED, AND SPECIFICALLY DISCLAIMS ANY WARRANTY

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OF THE POSSIBILITY THEREOF

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Trademarks

CVI™,LabVIEW™, Measurement Studio™, National Instruments™, NI-CAN™,ni.com™,andRTSI™are trademarks of
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Product and company names mentioned herein are trademarks or trade names of their respective companies.

WARNING REGARDING USE OF NATIONAL INSTRUMENTS PRODUCTS

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AND/OR SOFTWARE), UNANTICIPATED USES OR MISUSES, OR ERRORS ON THE PART OF THE USER OR
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UPON ONE FORM OF ELECTRONIC SYSTEM DUE TO THE RISK OF SYSTEM FAILURE. TO AVOID DAMAGE, INJURY,
OR DEATH, THE USER OR APPLICATION DESIGNER MUST TAKE REASONABLY PRUDENT STEPS TO PROTECT
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, PROFITS, USE OF PRODUCTS, OR INCIDENTAL OR CONSEQUENTIAL DAMAGES, EVEN IF ADVISED

Compliance

FCC/Canada Radio Frequency Interference Compliance*

Determining FCC Class

The Federal Communications Commission (FCC) has rules to protect wireless communications from interference.
The FCC places digital electronics into two classes. These classes are known as Class A (for use in industrial­commercial locations only) or Class B (for use in residential or commercial locations). Depending on where it is
operated, this product could be subject to restrictions in the FCC rules. (In Canada, the Department of
Communications (DOC), of Industry Canada, regulates wireless interference in much the same way.)

Digital electronics emit weak signals during normal operation that can affect radio, television, or other wireless
products. By examining the product you purchased, you can determine the FCC Class and therefore which of the two
FCC/DOC Warnings apply in the following sections. (Some products may not be labeled at all for FCC; if so, the
reader should then assume these are Class A devices.)

FCC Class A products only display a simple warning statement of one paragraph in length regarding interference and
undesired operation. Most of our products are FCC Class A. The FCC rules have restrictions regarding the locations
where FCC Class A products can be operated.

FCC Class B products display either a FCC ID code, starting with the letters EXN,
or the FCC Class B compliance mark that appears as shown here on the right.

Consult the FCC web site

http://www.fcc.gov

FCC/DOC Warnings

This equipment generates and uses radio frequency energy and, if not installed and used in strict accordance with the
instructions in this manual and the CE Mark Declaration of Conformity**, may cause interference to radio and
television reception. Classification requirements are the same for the Federal Communications Commission (FCC)
and the Canadian Department of Communications (DOC).

Changes or modifications not expressly approved by National Instruments could void the user’s authority to operate
the equipment under the FCC Rules.

Class A

Federal Communications Commission

This equipment has been tested and found to comply with the limits for a Class A digital device, pursuant to part 15
of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference when the
equipment is operated in a commercial environment. This equipment generates, uses, and can radiate radio frequency
energy and, if not installed and used in accordance with the instruction manual, may cause harmful interference to
radio communications. Operation of this equipment in a residential area is likely to cause harmful interference in
which case the user will be required to correct the interference at his own expense.

for more information.

Canadian Department of Communications

This Class A digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations.

Cet appareil numérique de la classe A respecte toutes les exigences du Règlement sur le matériel brouilleur du
Canada.

Class B

Federal Communications Commission

This equipment has been tested and found to comply with the limits for a Class B digital device, pursuant to part 15
of the FCC Rules. These limits are designed to provide reasonable protection against harmful interference in a
residential installation. This equipment generates, uses and can radiate radio frequency energy and, if not installed
and used in accordance with the instructions, may cause harmful interference to radio communications. However,
there is no guarantee that interference will not occur in a particular installation. If this equipment does cause harmful
interference to radio or television reception, which can be determined by turning the equipment off and on, the user
is encouraged to try to correct the interference by one or more of the following measures:

• Reorient or relocate the receiving antenna.

• Increase the separation between the equipment and receiver.

• Connect the equipment into an outlet on a circuit different from that to which the receiver is connected.

• Consult the dealer or an experienced radio/TV technician for help.

Canadian Department of Communications

This Class B digital apparatus meets all requirements of the Canadian Interference-Causing Equipment Regulations.

Cet appareil numérique de la classe B respecte toutes les exigences du Règlement sur le matériel brouilleur du
Canada.

European Union - Compliance to EEC Directives

Readers in the EU/EEC/EEA must refer to the Manufacturer's Declaration of Conformity (DoC) for information**
pertaining to the CE Mark compliance scheme. The Manufacturer includes a DoC for most every hardware product
except for those bought for OEMs, if also available from an original manufacturer that also markets in the EU, or
where compliance is not required as for electrically benign apparatus or cables.

* Certain exemptions may apply in the USA, see FCC Rules §15.103 Exempted devices,and§15.105(c).

Also available in sections of CFR 47.

** The CE Mark Declaration of Conformity will contain important supplementary information and instructions

for the user or installer.

Contents

About This Manual

How To Use the Manual Set..........................................................................................xi

Conventions ...................................................................................................................xii

Related Documentation..................................................................................................xiii

Chapter 1
Introduction

What You Need to Get Started ...................................................................................... 1-1

Hardware Overview.......................................................................................................1-1

NI-CAN Software Overview ......................................................................................... 1-2

Optional Programming Tools ........................................................................................1-3

Chapter 2
Installation and Configuration

Install the NI-CAN Software .........................................................................................2-1

Installation for Windows NT 3.51...................................................................2-1

Installing for Windows NT 4.0........................................................................2-1

Install the Hardware.......................................................................................................2-3

Check the Configuration of Your PXI-8460, PXI-8461 or PXI-8462 ............2-3

Install Your PXI-8460, PXI-8461 or PXI-8462 .............................................. 2-3

Connect the Cables..........................................................................................2-4

Configure the NI-CAN Software...................................................................................2-5

Chapter 3
Verify the Installation

Chapter 4
Begin to Use the NI-CAN Software

Using the NI-CAN Software..........................................................................................4-1

General Programming Considerations...........................................................................4-2

Appendix A
Uninstalling the Hardware and Software

Uninstalling the Hardware from Windows NT..............................................................A-1

Uninstalling the NI-CAN Software from Windows NT................................................A-1

© National Instruments Corporation vii PXI-846x and NI-CAN for Windows NT

Contents

Appendix B
Cabling Requirements for PXI-8460 Low-Speed CAN

Connector Pinouts ......................................................................................................... B-1

Power Supply Information for the Low-Speed CAN Ports........................................... B-2

Bus Power Supply Requirements .................................................................................. B-3

Cable Specifications ...................................................................................................... B-4

Number of Devices........................................................................................................ B-4

Low-Speed Termination................................................................................................B-5

Determining the Necessary Termination Resistance for Your Board............. B-5

Replacing the Termination Resistors ..............................................................B-7

Cabling Example ...........................................................................................................B-8

Appendix C
Cabling Requirements for PXI-8461 High-Speed CAN

Connector Pinouts ......................................................................................................... C-1

Power Supply Information for the High-Speed CAN Ports .......................................... C-2

Bus Power Supply Requirements .................................................................................. C-4

Cable Specifications ...................................................................................................... C-5

Cable Lengths................................................................................................................ C-5

Number of Devices........................................................................................................ C-6

Cable Termination......................................................................................................... C-6

Cabling Example ...........................................................................................................C-7

Appendix D
Cabling Requirements for PXI-8462 Dual-Speed CAN

Port Identification.......................................................................................................... D-1

Appendix E
RTSI Bus

RTSI, PXI and CompactPCI.......................................................................................... E-1

Appendix F
Troubleshooting and Common Questions

Missing Board in the NI-CAN Configuration Utility.................................................... F-1

Diagnostic Utility Failures ............................................................................................ F-1

Resource Errors............................................................................................... F-1

NI-CAN Software Problem Encountered ....................................................... F-2

Missing Board in Diagnostic Utility ............................................................... F-2

Hardware Problem Encountered ..................................................................... F-2

Common Questions ....................................................................................................... F-2

PXI-846x and NI-CAN for Windows NT viii ni.com

Appendix G
Specifications

Appendix H
Technical Support Resources

Glossary

Index

Figures

Figure 2-1. Add/Remove Programs Properties Dialog Box..................................... 2-2

Figure 2-2. Installing the PXI Hardware.................................................................. 2-4

Figure 2-3. PXI-8461 That Is Working Properly..................................................... 2-5

Figure 2-4. NI-CAN Hardware Settings Dialog Box...............................................2-6

Figure 3-1. NI-CAN Diagnostic Utility after Testing..............................................3-1

Figure A-1. Add/Remove Programs Properties Dialog Box..................................... A-2

Contents

Figure B-1. Pinout for 9-Pin D-Sub Connector ........................................................B-1

Figure B-2. PXI-8460 Parts Locator Diagram.......................................................... B-2

Figure B-3. Power Source Jumpers ..........................................................................B-3

Figure B-4. Termination Resistor Placement for Low-Speed CAN.........................B-5

Figure B-5. Location of Termination Resistors on a PXI-8460 ............................... B-7

Figure B-6. Preparing Lead Wires of Replacement Resistors ..................................B-7

Figure B-7. Cabling Example ...................................................................................B-8

Figure C-1. Pinout for 9-Pin D-Sub Connector ........................................................C-1

Figure C-2. Pinout for 5-Pin Combicon-Style Pluggable Screw Terminal ..............C-2

Figure C-3. PXI-8461 Part Locator Diagram ...........................................................C-3

Figure C-4. Power Source Jumpers ..........................................................................C-4

Figure C-5. Termination Resistor Placement ........................................................... C-6

Figure C-6. Cabling Example ...................................................................................C-7

© National Instruments Corporation ix PXI-846x and NI-CAN for Windows NT

Contents

Tables

Table B-1. Power Requirements for the Low-Speed CAN Physical Layer

for Bus-Powered Versions .................................................................... B-3

Table B-2. ISO 11519-2 Specifications for Characteristics of a CAN_H

and CAN_L Pair of Wires..................................................................... B-4

Table C-1. Power Requirements for the CAN Physical Layer

for Bus-Powered Versions .................................................................... C-4

Table C-2. ISO 11898 Specifications for Characteristics of a CAN_H

and CAN_L Pair of Wires..................................................................... C-5

Table C-3. DeviceNet Cable Length Specifications ............................................... C-5

Table E-1. Pins Used By the PXI-846x Series Boards ........................................... E-2

PXI-846x and NI-CAN for Windows NT x ni.com

About This Manual

This manual contains instructions to help you install and configure your
PXI-8460 (low speed; one port or two port), PXI-8461 (high speed; one
port or two port) or PXI-8462 (dual speed; port one high-speed, port two
low-speed) and the NI-CAN software for Windows NT. This guide uses
PXI-8460 or PXI-8461 to refer to both the one port and two port versions
of the boards.

This manual assumes that you are already familiar with Windows NT.

How To Use the Manual Set

Getting Started

Manual

Novice

Users

NI-CAN

User Manual

Application

Development

and Examples

Installation and

Configuration

Experienced

Users

NI-CAN Programmer

Reference Manual

Function

and Object

Descriptions

Use this getting started manual to install and configure your PXI-8460,
PXI-8461, or PXI-8462 and the NI-CAN software for Windows NT.

Use the NI-CAN User Manual to learn the basics of CAN and how to
develop an application program. The user manual also contains debugging
information and detailed examples.

© National Instruments Corporation xi PXI-846x and NI-CAN for Windows NT

About This Manual

Use the NI-CAN Programmer Reference Manual for specific information
about each NI-CAN function and object, including format, parameters, and
possible errors.

Conventions

The following conventions appear in this manual:

» The » symbol leads you through nested menu items and dialog box options

to a final action. The sequence File»Page Setup»Options directs you to
pull down the File menu, select the Page Setup item, and select Options
from the last dialog box.

This icon denotes a note, which alerts you to important information.

This icon denotes a caution, which advises you of precautions to take to
avoid injury, data loss, or a system crash.

bold Bold text denotes items that you must select or click on in the software,

such as menu items and dialog box options. Bold text also denotes
parameter names.

italic Italic text denotes variables, emphasis, a cross reference, or an introduction

to a key concept. This font also denotes text that is a placeholder for a word
or value that you must supply.

monospace

monospace italic

PXI-846x and NI-CAN for Windows NT xii ni.com

Text in this font denotes text or characters that you should enter from the
keyboard, sections of code, programming examples, and syntax examples.
This font is also used for the proper names of disk drives, paths, directories,
programs, subprograms, subroutines, device names, functions, operations,
variables, filenames and extensions, and code excerpts.

Italic text in this font denotes text that is a placeholder for a word or value
that you must supply.

Related Documentation

The following documents contain information that you may find helpful as
you read this manual:

• ANSI/ISO Standard 11898-1993, Road Vehicles—Interchange of

Digital Information—Controller Area Network (CAN) for High-Speed
Communication

• ANSI/ISO Standard 11519-2-1994, Road Vehicles—Low-Speed

Serial Data Communication—Part 2: Low-Speed Controller Area
Network (CAN)

• CAN Specification Version 2.0, 1991, Robert Bosch Gmbh.,
Postfach 500, D-7000 Stuttgart 1

• CiA Draft Standard 102, Version 2.0, CAN Physical Layer for
Industrial Applications

• CompactPCI Specification, Revision 2.0, PCI Industrial Computers
Manufacturers Group

• DeviceNet Specification, Version 2.0, Open DeviceNet Vendor
Association

• PXI Specification, Revision 1.0, National Instruments Corporation

About This Manual

© National Instruments Corporation xiii PXI-846x and NI-CAN for Windows NT

Introduction

This chapter lists what you need to get started, provides an overview of the
PXI hardware and the NI-CAN software for Windows NT, and describes
optional equipment you can order.

What You Need to Get Started

Make sure you have all of the following items before you attempt to install
the hardware and software:

❑

Windows NT 3.51 or later installed on your computer

– PXI-8460 one port

– PXI-8460 two port

– PXI-8461 one port

– PXI-8461 two port

– PXI-8462 two port

1

❑

3.5 in., high-density (1.44 MB) disks, which are included in your kit:

– NI-CAN Software for Windows 95/98/NT

Version 1.4
(Disk x of 4)

❑

CAN interface cables that meet the requirements in Appendix B,

Cabling Requirements for PXI-8460 Low-Speed CAN, Appendix C,
Cabling Requirements for PXI-8461 High-Speed CAN,or

Appendix D, Cabling Requirements for PXI-8462 Dual-Speed CAN.

Hardware Overview

The PXI-8460 or PXI-8461 (one port and two port) and PXI-8462 are
software configurable and compliant with the PXI Specification and
CompactPCI Specification. With a PXI-8460, PXI-8461, or PXI-8462
board, you can make your PXI or CompactPCI chassis communicate with
and control CAN devices.

© National Instruments Corporation 1-1 PXI-846x and NI-CAN for Windows NT

Chapter 1 Introduction

The PXI-8461 physical layer fully conforms to the ISO 11898 physical
layer specification for CAN and is optically isolated to 500 V. The
PXI-8460 physical layer conforms to the ISO 11519-2 physical layer
specification for CAN and is also optically isolated to 500 V. CAN
interfacing is accomplished using the Intel 82527 CAN controller chip.
The PXI-8461 supports a wide variety of transfer rates up to 1 Mb/s. The
PXI-8460 supports rates up to 125 kb/s. The PXI-8462 is a dual-speed
board, with port one configured as a high-speed port (ISO 11898), and port
two configured as a low-speed port (ISO 11519-2). The CAN physical
layer on the PXI-8460, PXI-8461, and PXI-8462 can be powered either
internally (from the board) or externally (from the bus cable power). The
power source for the CAN physical layer for each port is configured with
a jumper.

PXI-8461 boards are available with two physical connector types:

• DB-9 D-Sub

• Combicon-style pluggable screw terminals

PXI-8460 and PXI-8462 boards are available with DB-9 D-Sub connectors.

The PXI-846x series boards use the Real-Time System Integration (RTSI)
bus to solve the problem of synchronizing several functions across multiple
boards to a common trigger or timing event. The RTSI bus is implemented
by using the National Instruments PXI trigger bus to route timing and
trigger signals between the CAN hardware and National Instruments DAQ,
IMAQ, or additional CAN hardware. Although the PXI-846x series board
with RTSI bus is available in a PXI chassis, there are important issues
to consider when using it in a CompactPCI chassis. Please refer to
Appendix E, RTSI Bus, for detailed information about the PXI-846x series
RTSI interface.

The PXI-8460, PXI-8461 and PXI-8462 boards use the Intel 386EX
embedded processor to implement time-critical features provided by the
NI-CAN software. The PXI-8460, PXI-8461 and PXI-8462 communicate
with the NI-CAN driver through on-board shared memory and an interrupt.

NI-CAN Software Overview

The NI-CAN software includes a native, 32-bit multitasking Windows NT
kernel driver. The NI-CAN software is fully integrated into the
Windows NT operating system. You can configure it through the
Windows NT Control Panel and uninstall it through the Add/Remove
Programs applet of the Control Panel.

PXI-846x and NI-CAN for Windows NT 1-2 ni.com

The NI-CAN software for Windows NT supports the concurrent use of
multiple CAN boards. For example, you can use two PXI-8461 boards in
the same system at the same time.

The NI-CAN software, along with the PXI hardware, transforms your
computer into a CAN interface with complete communications and bus
management capability. The NI-CAN software includes the following
components:

• Firmware (runs on embedded Intel 386EX)

• Device driver

• Diagnostic test utility

• Configuration utility

• Language interface libraries for Microsoft Visual C/C++ 2.0 or later,

LabWindows/CVI 4.0 or later, and LabVIEW 4.0 or later

• Example programs that use NI-CAN functions

Optional Programming Tools

Your kit includes the NI-CAN software for Windows NT. In addition,
you can order the following software from National Instruments.

Chapter 1 Introduction

LabVIEW is a complete programming environment that departs from the
sequential nature of traditional programming languages and features a
graphical programming environment. It includes all the tools needed for
instrument control, data acquisition, analysis, and presentation. LabVIEW
also includes an extensive instrument driver library.

Measurement Studio bundles LabWindows/CVI among other tools for
C programmers designed for building measurement and automation
applications. LabWindows/CVI is an interactive ANSI C development
environment for building test and measurement and instrument control
systems. It includes interactive code-generation tools and a graphical editor
for building custom user interfaces. It also includes built-in libraries for
IEEE 488.2, VXI, RS-232 control, and plug-in data acquisition. When you
order LabWindows/CVI, you also get hundreds of complete instrument
drivers, which are modular, source-code programs that handle the
communication with your instrument so that you do not have to learn
the programming details.

BridgeVIEW is a radical departure from traditional automation software
that provides a flexible program development system for a variety of
CAN applications including general manufacturing, test, and control.

© National Instruments Corporation 1-3 PXI-846x and NI-CAN for Windows NT

Chapter 1 Introduction

Leveraging National Instruments patented graphical programming
language G (otherwise known as LabVIEW), BridgeVIEW gives you the
ability to integrate functionality in a way that is not possible with traditional
automation software. In addition to the programming advantages of G,
BridgeVIEW also provides a number of features for the development of
your industrial automation application: graphical HMI (Human Machine
Interface); ease of use; fill-in-the-blank configuration utilities; HMI G
Wizard for simplified HMI development; historical data collection and
trending; alarm and event reporting and logging; security; and connectivity
to PLCs and industrial device networks like DeviceNet.

For more information about Measurement Studio, LabVIEW, and
BridgeVIEW, contact National Instruments.

PXI-846x and NI-CAN for Windows NT 1-4 ni.com

Installation and Configuration

This chapter describes how to install and configure the NI-CAN software
for Windows NT and the PXI-8460, PXI-8461 or PXI-8462 hardware.

Install the NI-CAN Software

Install the NI-CAN software for Windows NT before you install your
hardware.

Installation for Windows NT 3.51

2

1. Logonas
The NI-CAN setup program must have
because the program modifies the configuration registry of your
system.

2. Insert the CD, NI-CAN for Windows NT/9x.

3. In the Run dialog box, type the following:

x:\setup

wherexis the letter of your CD drive.

4. After the software installs, shut down Windows NT and turn off your
computer when the setup is complete.

5. Proceed to the section Install the Hardware.

Installing for Windows NT 4.0

1. Logonas
The NI-CAN setup program must have
because the program modifies the configuration registry of your
system.

2. Select Start»Settings»Control Panel.

Administrator

Administrator

or as a user with Administrator privileges.

Administrator

or as a user with Administrator privileges.

Administrator

privileges

privileges

© National Instruments Corporation 2-1 PXI-846x and NI-CAN for Windows NT

Chapter 2 Installation and Configuration

3. Double-click onthe Add/RemovePrograms icon in the Control Panel

to launch the Add/Remove Programs applet. A dialog box similar to
the one in Figure 2-1 appears.

Figure 2-1. Add/Remove Programs Properties Dialog Box

You can use this same applet to uninstall the NI-CAN software
at a later time. Refer to Appendix A, Uninstalling the Hardware

and Software, for more information.

4. Click on the Install button.

5. When prompted, insert the CD, NI-CAN for Windows NT/9x, and click

on the Next button to proceed.

6. The setup wizard guides you through the necessary steps to install
the NI-CAN software. You may go back and change values where
appropriate by clicking on the Back button. If at any time you want to
exit the setup, click on the Cancel button.

7. Shut down Windows NT and turn off your computer when the setup is
complete.

PXI-846x and NI-CAN for Windows NT 2-2 ni.com

Chapter 2 Installation and Configuration

Install the Hardware

This section describes how to install your PXI-8460, PXI-8461 or
PXI-8462 hardware.

Check the Configuration of Your PXI-8460, PXI-8461 or PXI-8462

If you plan to use your CAN board in a system where bus power is
available, you may want to configure the power supply jumpers on your
board. See Appendix C, Cabling Requirements for PXI-8461 High-Speed

CAN for more information.

If you are installing a low-speed CAN board, you may need to change the
power supply jumpers or termination resistors. See Appendix B, Cabling

Requirements for PXI-8460 Low-Speed CAN, for more information.

If you are installing a dual-speed CAN board, you might have to change the
power supply jumpers or termination resistors. See Appendix D, Cabling

Requirements for PXI-8462 Dual-Speed CAN, for more information.

Install Your PXI-8460, PXI-8461 or PXI-8462

Caution

metal part of your system chassis to discharge electrostatic energy, which can damage
several components on your board.

© National Instruments Corporation 2-3 PXI-846x and NI-CAN for Windows NT

Before you remove the board from the package, touch the antistatic package to a

1. Make sure that your PXI or CompactPCI chassis is turned off. Keep the
PXI or CompactPCI chassis plugged in so that it remains grounded
while you install the PXI board.

2. Choose an unused PXI or CompactPCI 5 V peripheral slot.

3. Remove the filler panel for the peripheral slot you have chosen.

4. Touch a metal part on your chassis to discharge any static electricity
that might be on your clothes or body.

5. Regarding the RTSI interface on the J2 connector of your PXI-846x
series board, there are important issues to consider when using it in a
CompactPCI chassis. Please refer to Appendix E, RTSI Bus,for
detailed information about the PXI-846x series RTSI interface.

6. Insert the PXI board into the selected 5 V slot. Use the injector/ejector
handle to fully inject the device into place. Figure 2-2 shows how to
install the PXI board into a PXI or CompactPCI chassis.

Chapter 2 Installation and Configuration

3

2

1

ON

STANDBY

1

2

3

4

5

6

7

8

4

1 Injector/Ejector Handle (In Down Position)
2 PXI Board

3 PXI Chassis
4 Injector/Ejector Rail

Figure 2-2. Installing the PXI Hardware

7. Screw the front panel of the PXI board to the front panel mounting rail
of the PXI or CompactPCI chassis.

8. Turn on your PXI or CompactPCI chassis and start Windows NT.

Connect the Cables

After you have installed your board, connect the CAN cables to your PXI
board. Because exact cabling requirements vary for each application,
National Instruments does not provide cables. Refer to Appendix B,

Cabling Requirements for PXI-8460 Low-Speed CAN, Appendix C,
Cabling Requirements for PXI-8461 High-Speed CAN, or Appendix D,
Cabling Requirements for PXI-8462 Dual-Speed CAN for information

about the cabling requirements of the CAN hardware.

PXI-846x and NI-CAN for Windows NT 2-4 ni.com

Configure the NI-CAN Software

The NI-CAN Configuration utility is located in the Windows NT Control
Panel. You can use it to examine or modify the configuration of the
NI-CAN software. The context-sensitive online help, available by
right-clicking on any of the controls on the configuration utility buttons,
includes all the information you need to configure the NI-CAN software.

To use the NI-CAN Configuration utility, you must first log in as

Administrator

the NI-CAN software, double-click on the NI-CAN Configuration icon in
the Control Panel:

• Windows NT 3.51—Open the Control Panel in the Main group of the
Program Manager.

• Windows NT 4.0 or later—Select Start»Settings»Control Panel.

Figure 2-3 shows a CAN interface that is working properly. If no interfaces
are listed under NI-CAN Configuration, refer to the MissingBoardinthe

NI-CAN Configuration Utility section in Appendix F, Troubleshooting and
Common Questions, to resolve the problem.

or as a user with Administrator privileges. To configure

Chapter 2 Installation and Configuration

Figure 2-3. PXI-8461 That Is Working Properly

To select a particular interface, click on that interface in the list.

When you install a PXI-8460, PXI-8461, or PXI-8462, your computer
automatically assigns valid resources to it. Because this resource
assignment is automatic, you do not need to use the Resources dialog
box for the PXI hardware, nor do you need to restart Windows NT.

© National Instruments Corporation 2-5 PXI-846x and NI-CAN for Windows NT

Chapter 2 Installation and Configuration

To view information about the NI-CAN software configuration for the
PXI-8460, PXI-8461, or PXI-8462, click on the Settings button. Figure 2-4
shows the Settings dialog box.

Figure 2-4. NI-CAN Hardware Settings Dialog Box

Each port of the PXI-8460, PXI-8461 or PXI-8462 is configured from this
tab. Use the drop-down box nearest the top of the tab to select the physical
port number to configure. For each port, use the Name drop-down box to
select the name for the CAN Network Interface Object (

CAN0,CAN1

,and
so on). You use this name to refer to the physical port from within your
NI-CAN application.

To access online help for the NI-CAN Configuration utility, click on the

Help button. You can also right-click on a specific control and select
What’sThis?from the pop-up menu to see context-sensitive help for the

item you have clicked on.

When you have finished configuring the NI-CAN software, proceed to
Chapter 3, Verify the Installation.

PXI-846x and NI-CAN for Windows NT 2-6 ni.com

Verify the Installation

This chapter describes how to verify the hardware and software
installation.

You can use the NI-CAN Diagnostic utility, installed with your NI-CAN
software, to test the hardware and software installation. The utility verifies
that your hardware and software are functioning properly and that the
configuration of your hardware does not conflict with anything else in your
system.

To run the utility, select the NI-CAN Diagnostic item:

• Windows NT 3.51—Double-click on the NI-CAN Diagnostic icon
in the NI-CAN Software group of the Program Manager.

• Windows NT 4.0 or later—Select Start»Programs»National
Instruments»NI-CAN»NI-CAN Diagnostic.

When you have started the NI-CAN Diagnostic utility, test your CAN
interfaces by clicking on the Test All button. You can also test one CAN
interface by highlighting it and clicking on the Test One button. If the
NI-CAN Diagnostic is successful, it puts a checkmark next to the interface
and changes its status from Untested to Passed. If the NI-CAN Diagnostic
fails, it puts an X next to the interface, and changes its status from Untested
to Failed. Figure 3-1 shows the NI-CAN Diagnostic utility after it has
tested some CAN interfaces.

3

Figure 3-1. NI-CAN Diagnostic Utility after Testing

© National Instruments Corporation 3-1 PXI-846x and NI-CAN for Windows NT

Chapter 3 Verify the Installation

You can get details about any tested CAN interface by selecting the
interface and clicking on the Details button. For each failed CAN interface,
select it and click on the Details button to get a description of the failure.
Use that information and the information in Appendix F, Troubleshooting

and Common Questions, to troubleshoot the problem. Troubleshooting

information is also available in the online help for the NI-CAN Diagnostic
utility, which you can access by clicking on the Help button.

PXI-846x and NI-CAN for Windows NT 3-2 ni.com

BegintoUsethe
NI-CAN Software

This chapter helps you get started with the NI-CAN software for
Windows NT.

Using the NI-CAN Software

The functions provided by the NI-CAN software are similar to those
provided by many other device drivers. For example, NI-CAN has open,
close, read, and write functions. NI-CAN provides two different levels of
access to a CAN network: the CAN Network Interface Object and CAN
Objects. Both forms of access support timestamping of incoming data and
various forms of queuing.

The CAN Network Interface Object provides low-level access to a CAN
network. Each CAN Network Interface Object maps to a specific CAN
port, with no limitation on the maximum number of ports or boards you can
use (for example, two PXI-8461 two-port interfaces would provide
through
frames. For example, to transmit a CAN frame, you would specify the
outgoing arbitration ID, frame type (data or remote), data length, and data.

). You can use this object to transmit and receive entire CAN

CAN3

4

CAN0

The CAN Objects provide higher level access to a CAN network. Each
CAN Object maps to a specific data item (arbitration ID), and you can use
multiple CAN Objects for a given port. When configuring a CAN Object
for use, you specify the arbitration ID, direction of data transfer, data
length, and how you want the data to be accessed (such as periodically).
For example, you could configure a CAN Object to transmit an outgoing
data frame for a specific arbitration ID every 100 ms. After opening this
CAN Object, you use the write function to provide data to transmit, and the
NI-CAN embedded firmware handles all periodic timing.

For detailed information about the NI-CAN software and functions, refer
to the NI-CAN User Manual and the NI-CAN Programmer Reference
Manual.

© National Instruments Corporation 4-1 PXI-846x and NI-CAN for Windows NT

Chapter 4 Begin to Use the NI-CAN Software

General Programming Considerations

As you begin developing your Win32 NI-CAN application, remember the
following points:

• For your LabVIEW or BridgeVIEW application, you must use the
NI-CAN LabVIEW functions in

• For your C/C++application, you must include the NI-CAN header file,

nican.h

• The NI-CAN software is accessed through the 32-bit DLL,

nican.dll

provided with the NI-CAN software, or by using direct DLL entry
from other programming environments.

• Several sample CAN applications are included with the NI-CAN
software. Use these as a guide for your own application development.

For information about developing your application, refer to the NI-CAN
User Manual. For detailed information about NI-CAN functions and
objects, refer to the NI-CAN Programmer Reference Manual.

, in your source code.

, either by linking with one of the language interfaces

nican.llb

.

PXI-846x and NI-CAN for Windows NT 4-2 ni.com

A

Uninstalling the Hardware
and Software

This appendix describes how to uninstall the PXI-8461 or PXI-8460
hardware and the NI-CAN software from Windows NT.

Uninstalling the Hardware from Windows NT

Because Windows NT 3.51 and 4.0 do not maintain hardware information
for the board, you just need to physically remove your PXI hardware from
your computer. To do so, shut down Windows NT, power off your PXI or
CompactPCI chassis, remove any cables attached to your board, and
physically remove the board.

Uninstalling the NI-CAN Software from Windows NT

Note

The following instructions apply to Windows NT 4.0 only. If you are using Windows
NT 3.51, refer to the
to uninstall the NI-CAN software.

readme.txt

file in your NI-CAN directory for information on how

Before uninstalling the NI-CAN software, you should remove all
PXI-8460, PXI-8461, or PXI-8462 boards from your computer, as
explained in the previous section.

© National Instruments Corporation A-1 PXI-846x and NI-CAN for Windows NT

Appendix A Uninstalling the Hardware and Software

Complete the following steps to remove the NI-CAN software from
Windows NT 4.0:

1. Select the Add/Remove Programs icon under Start»Settings»
Control Panel. A dialog box similar to the one in Figure A-1 appears.
This dialog box lists the software available for removal.

Figure A-1. Add/Remove Programs Properties Dialog Box

2. Select the NI-CAN software you want to remove and click on the
Add/Remove button. The uninstall program runs and removes all
folders, utilities, device drivers, DLLs, and registry entries associated
with the NI-CAN software.

The uninstall program removes only items that the installation program
installed. If you add anything to a directory that was created by the
installation program, the uninstall program does not delete that directory
because the directory is not empty after the uninstallation. You need to
remove any remaining components yourself.

If you want to reinstall the hardware and software, refer to Chapter 2,

Installation and Configuration.

PXI-846x and NI-CAN for Windows NT A-2 ni.com

Cabling Requirements for
PXI-8460 Low-Speed CAN

This appendix describes the cabling requirements for the PXI-8460
hardware.

Cables should be constructed to meet these requirements, as well as the
requirements of the other CAN devices in the network.

Connector Pinouts

The PXI-8460 has DB-9 D-Sub connector(s). The 9-pin D-Sub follows the
pinout recommended by CiA DS 102. Figure B-1 shows the pinout for this
connector.

B

1 2345

Optional Ground (V–)

CAN_H

No Connection

V+

Figure B-1. Pinout for 9-Pin D-Sub Connector

© National Instruments Corporation B-1 PXI-846x and NI-CAN for Windows NT

6

789

No Connection

CAN_L

V–

No Connection

Shield

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

CAN_H and CAN_L are signal lines that carry the data on the CAN
network. These signals should be connected using twisted-pair cable.

The V+ and V– pins are used to supply bus power to the CAN physical
layer if external power is required for the CAN physical layer. If internal
power for the CAN physical layer is used, the V– pinservesasthereference
ground for CAN_H and CAN_L. See the next section, Power Supply
Information for the Low-Speed CAN Ports, for more information.

Power Supply Information for the Low-Speed CAN Ports

For port one of the PXI-8460, power is configured with jumper J5. For port
two of the PXI-8460, power is configured with jumper J6. These jumpers
are shown in Figure B-2.

3 4

2

1

1 Power Supply Jumper J6
2 Power Supply Jumper J5

6

3 Assembly Number
4 Product Name

Figure B-2. PXI-8460 Parts Locator Diagram

5

5 Serial Number
6 Termination Resistor Sockets

Connecting pins 1 and 2 of a jumper configures the CAN physical layer to
be powered externally (from the bus cable power). In this configuration, the
power must be supplied on the V+ and V– pins on the port connector.

PXI-846x and NI-CAN for Windows NT B-2 ni.com

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

Connecting pins 2 and 3 of a jumper configures the CAN physical layer to
be powered internally (from the card). In this configuration, the V– signal
serves as the reference ground for the isolated signals. Even if the CAN
physical layer is powered internally, the fault-tolerant CAN transceiver still
requires bus power to be supplied in order for it to monitor the powersupply
(battery) voltage.

Figure B-3 shows how to configure your jumpers for internal or external
power supplies.

INT EXT

a. Internal Power Mode

123123

Figure B-3. Power Source Jumpers

The CAN physical layer is still isolated regardless of the power source
chosen.

Bus Power Supply Requirements

If the CAN physical layer is powered from a bus power supply, the power
supply should be a DC power supply with an output of 8 V to 27 V. The
power requirements for the CAN ports for Bus-Powered configurations are
shown in Table B-1. You should take these requirements into account when
determining requirements of the bus power supply for the system.

Table B-1.

Voltage requirement V+ 8–27 VDC

Power Requirements for the Low-Speed CAN Physical Layer

for Bus-Powered Versions

Characteristic Specification

INT EXT

b. External Power Mode

Current requirement 40 mA typical

100 mA maximum

© National Instruments Corporation B-3 PXI-846x and NI-CAN for Windows NT

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

Cable Specifications

Cables should meet the physical medium requirements specified in
ISO 11519-2, shown in Table B-2.

Belden cable (3084A) meets all of those requirements, and should be
suitable for most applications.

Table B-2. ISO 11519-2 Specifications for Characteristics of a CAN_H

Characteristic Va lu e

Length-related resistance 90 mΩ/m nominal

and CAN_L Pair of Wires

Length-related capacitance: CAN_Land ground,
CAN_H and ground, CAN_L and CAN_H

Number of Devices

The maximum number of devices depends on the electrical characteristics
of the devices on the network. If all of the devices meet the requirements
of ISO 11519-2, at least 20 devices may be connected to the bus. Higher
numbers of devices may be connected if the electrical characteristics of
the devices do not degrade signal quality below ISO 11519-2 signal level
specifications.

30 pF/m nominal

PXI-846x and NI-CAN for Windows NT B-4 ni.com

Low-Speed Termination

Every device on the low-speed CAN network requires a termination
resistor for each CAN data line: R
Figure B-4 shows termination resistor placement in a low-speed CAN
network.

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

for CAN_H and R

RTH

for CAN_L.

RTL

Low-speed

CAN Device

RTL CAN_L RTH CAN_H

CAN_H

CAN_L

Figure B-4. Termination Resistor Placement for Low-Speed CAN

Low-speed

CAN Device

RTL CAN_L RTH CAN_H

Low-speed

CAN Device

RTL CAN_L RTH CAN_H

The following sections explain how to determine the correct resistor values
for your PXI-8460, and how to replace those resistors, if necessary.

Determining the Necessary Termination Resistance for Your Board

Unlike high-speed CAN, low-speed CAN requires termination at the
low-speed CAN transceiver instead of on the cable. The termination
requires one resistor for each CAN line. This configuration allows the
Philips fault-tolerant CAN transceiver to detect any of seven networkfaults.
You can use your PXI-8460 to connect to a low-speed CAN network having
from two to 32 nodes as specified by Philips (including the port on the
PXI-8460 as a node). You can also use the PXI-8460 to communicate with
individual low-speed CAN devices. It is important to determine the overall
termination of your existing network, or the termination of your individual
device, before connecting it to a PXI-8460 port. Philips recommends an
overall RTH and RTL termination of 100 to 500 Ω (each) for a properly
terminated low-speed network. The overall network termination may be
determined as follows:

1

--------------------------

R

RTH overall

© National Instruments Corporation B-5 PXI-846x and NI-CAN for Windows NT

†

1

------------------------

R

RTH node 1

1

------------------------

R

RTH node 2

1

------------------------

R

RTH node 3

1

-------------------------+++=

R

RTH node n

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

Philips also recommends an individual device RTH and RTL termination of
500 Ω to 16 kΩ. The PXI-8460 board ships with mounted RTH and RTL
values of 510 Ω ±5% per port. The PXI-8460 kit also includes a pair of
15 kΩ ±5% resistors for each port. After determining the termination of
your existing network or device, you can use the following formula to
indicate which value should be placed on your PXI-8460 board in order to
produce the proper overall RTH and RTL termination of 100 to 500 Ω upon
connection of the board:

R

RTH overall*

*R

RTH overall

**R

RTH of low-speed CAN interface

†R

= R

RTH

-------------------------------------------------------------------------------------------------------------------------------------------=

†



-----------------------------------------------------------------



R

should be between 100 and 500 Ω

RTL

1

RTH of low-speed CAN interface**

=510Ω ±5% (mounted) or 15 kΩ ±5% (in kit)

1

--------------------------------------------------------------+

R

RTH of existing network or device

1

As the formula indicates, the 510 Ω ±5% shipped on your board will work
with properly terminated networks having a total RTH and RTL termination
of 125 to 500 Ω, or individual devices having an RTH and RTL termination
of 500 Ω to 16 kΩ. For communication with a network having an overall
RTH and RTL termination of 100 to 125 Ω, you will need to replace the
510 Ω resistors with the 15 kΩ resistors in the kit. Please refer to the next
section, Replacing the Termination Resistors.

PXI-846x and NI-CAN for Windows NT B-6 ni.com

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

Replacing the Termination Resistors

Follow these steps to replace the termination resistors, after you have
determined the correct value in the previous section, Determining the

Necessary Termination Resistance for Your Board.

1. Remove the termination resistors on your PXI-8460. Figure B-5 shows
the location of the termination resistor sockets on a PXI-8460.

1

2

1 Port 1 Termination Resistors 2 Port 2 Termination Resistors

Figure B-5. Location of Termination Resistors on a PXI-8460

2. Cut and bend the lead wires of the resistors you want to install. Refer
to Figure B-6.

0.5 in

(13 mm)

0.165 in
(4 mm)

Figure B-6.

© National Instruments Corporation B-7 PXI-846x and NI-CAN for Windows NT

Preparing Lead Wires of Replacement Resistors

Appendix B Cabling Requirements for PXI-8460 Low-Speed CAN

3. Insert the replacement resistors into the empty sockets.

4. Refer to Install the Hardware, in Chapter 2, Installation and

Configuration, to complete the hardware installation.

Cabling Example

Figure B-7 shows an example of a cable to connect two low-speed CAN
devices. For the internal power configuration, the V+ connection is
required for the low-speed transceiver to operate as specified in the Philips
data sheet.

5-Pin
Combicon

9-Pin
D-Sub

Pin 7Pin 4 Pin 7 Pin 4

Pin 2Pin 2

Pin 5Pin 3

Pin 9Pin 5

Pin 3Pin 1

CAN_H

CAN_L

GND

V+

V–

Power
Connector

V+

V–

9-Pin
D-Sub

Pin 2 Pin 2

Pin 5 Pin 3

Pin 9 Pin 5

Pin 3 Pin 1

5-Pin
Combicon

Figure B-7. Cabling Example

PXI-846x and NI-CAN for Windows NT B-8 ni.com

Cabling Requirements for
PXI-8461 High-Speed CAN

This appendix describes the cabling requirements for the PXI-8461
hardware.

Cables should be constructed to meet these requirements and the
requirements of the other CAN or DeviceNet devices in the network.

Connector Pinouts

Depending on the type of PXI board you are installing, it either has DB-9
D-Sub connector(s) or Combicon-style pluggable screw terminal
connector(s).

The 9-pin D-Sub follows the pinout recommended by CiA Draft
Standard 102. Figure C-1 shows the pinout for this connector.

C

1 2345

Optional Ground (V–)

CAN_H

No Connection

V+

Figure C-1. Pinout for 9-Pin D-Sub Connector

© National Instruments Corporation C-1 PXI-846x and NI-CAN for Windows NT

6

789

No Connection

CAN_L

V–

No Connection

Shield

Appendix C Cabling Requirements for PXI-8461 High-Speed CAN

The 5-pin Combicon-style pluggable screw terminal follows the pinout
required by the DeviceNet Specification. Figure C-2 shows the pinout for
this connector.

V–

12345

Figure C-2. Pinout for 5-Pin Combicon-Style Pluggable Screw Terminal

CAN_H and CAN_L are signal lines that carry the data on the CAN
network. These signals should be connected using twisted-pair cable.

The V+ and V– pins are used to supply bus power to the CAN physical
layer if external power is required for the CAN physical layer. If internal
power for the CAN physical layer is used, the V– pinservesasthereference
ground for CAN_H and CAN_L. See the next section, Power Supply
Information for the High-Speed CAN Ports, for more information.

CAN_L

Shield

CAN_H

V+

Power Supply Information for the High-Speed CAN Ports

For the PXI-8461, a jumper controls the source of power for the CAN
physical layer. For the one-port boards and port one of the two-port boards,
power is configured with jumper J5. For port two of the two-port boards,
power is configured with jumper J6. The location of these jumpers is shown
in Figure C-3.

PXI-846x and NI-CAN for Windows NT C-2 ni.com

Appendix C Cabling Requirements for PXI-8461 High-Speed CAN

3 4

2

1

5

1 Power Supply Jumper J6
2 Power Supply Jumper J5

3 Assembly Number
4 Product Name

5 Serial Number

Figure C-3. PXI-8461 Part Locator Diagram

Connecting pins 1 and 2 of a jumper configures the CAN physical layer to
be powered externally (from the bus cable power). In this configuration, the
power must be supplied on the V+ and V– pins on the port connector.

Connecting pins 2 and 3 of a jumper configures the CAN physical layer to
be powered internally (from the board). In this configuration, the V– signal
serves as the reference ground for the isolated signals.

© National Instruments Corporation C-3 PXI-846x and NI-CAN for Windows NT

Appendix C Cabling Requirements for PXI-8461 High-Speed CAN

Figure C-4 shows how to configure your jumpers for internal or external
power supplies.

INT EXT

123123

a. Internal Power Mode

Figure C-4. Power Source Jumpers

The CAN physical layer is still isolated regardless of the power source
chosen.

Bus Power Supply Requirements

If the CAN physical layer is powered from a bus power supply, the power
supply should be a DC power supply with an output of 10 V to 30 V. The
power requirements for the CAN ports for bus-powered configurations are
shown in Table C-1. You should take these requirements into account when
determining requirements of the bus power supply for the system.

Table C-1. Power Requirements for the CAN Physical Layer

for Bus-Powered Versions

Characteristic Specification

INT EXT

b. External Power Mode

Voltage requirement V+ 10–30 VDC

Current requirement 40 mA typical

100 mA maximum

PXI-846x and NI-CAN for Windows NT C-4 ni.com

Cable Specifications

Cables should meet the physical medium requirements specified in
ISO 11898, shown in Table C-2.

Belden cable (3084A) meets all of those requirements and should be
suitable for most applications.

Appendix C Cabling Requirements for PXI-8461 High-Speed CAN

Cable Lengths

Table C-2.

Impedance 108 Ω minimum, 120 Ω nominal,

Length-related resistance 70 mΩ/m nominal

Specific line delay 5 ns/m nominal

The allowable cable length is affected by the characteristics of the cabling
and the desired bit transmission rates. Detailed cable length requirements
can be found in ISO 11898, CiA Draft Standard 102, and the DeviceNet
Specification.

ISO 11898 specifies 40 m total cable length with a maximum stub length
of 0.3 m for a bit rate of 1 Mb/s. The ISO 11898 specification says that
significantly longer cable lengths may be allowed at lower bit rates, but
each node should be analyzed for signal integrity problems.

Table C-3 lists the DeviceNet cable length specifications.

ISO 11898 Specifications for Characteristics of a CAN_H

and CAN_L Pair of Wires

Characteristic Va lu e

132 Ω maximum

Table C-3.

Baud Rate Trunk Length

500 kb/s 100 m (328 ft) 6m(20ft) 39 m (128 ft)

250 kb/s 250 m (820 ft) 6m(20ft) 78 m (256 ft)

125 kb/s 500 m (1640 ft) 6m(20ft) 156 m (512 ft)

© National Instruments Corporation C-5 PXI-846x and NI-CAN for Windows NT

DeviceNet Cable Length Specifications

Drop Length

Maximum

Drop Length

Cumulative

Appendix C Cabling Requirements for PXI-8461 High-Speed CAN

Number of Devices

The maximum number of devices that you can connect to a CAN port
depends on the electrical characteristics of the devices on the network. If all
of the devices meet the requirements of ISO 11898, at least 30 devices may
be connected to the bus. Higher numbers of devices may be connected if the
electrical characteristics of the devices do not degrade signal quality below
ISO 11898 signal level specifications. If all of the devices on the network
meet the DeviceNet specifications, 64 devices may be connected to the
network.

Cable Termination

The pair of signal wires (CAN_H and CAN_L) constitutes a transmission
line. If the transmission line is not terminated, each signal change on the
line causes reflections that may cause communication failures.

Because communication flows both ways on the CAN bus, CAN requires
that both ends of the cable be terminated. However, this requirement does
not mean that every device should have a termination resistor. If multiple
devices are placed along the cable, only the devices on the ends of the cable
should have termination resistors. See Figure C-5 for an example of where
termination resistors should be placed in a system with more than two
devices.

CAN

Device

CAN

Device

CAN_H

CAN_L

Figure C-5. Termination Resistor Placement

CAN

Device

CAN

Device

The termination resistors on a cable should match the nominal impedance
of the cable. ISO 11898 requires a cable with a nominal impedance of
120 Ω; therefore, a 120 Ω resistor should be used at each end of the cable.
Each termination resistor should be capable of dissipating at least 0.25 W
of power.

PXI-846x and NI-CAN for Windows NT C-6 ni.com

Cabling Example

Figure C-6 shows an example of a cable to connect two CAN devices. For
the internal power configuration, no V+ connection is required.

Appendix C Cabling Requirements for PXI-8461 High-Speed CAN

5-Pin

Combicon

9-Pin

D-Sub

120 Ω

CAN_H

CAN_L

Shield

V+

V–

Power

Connector

V+

V–

Figure C-6.

120 Ω

Cabling Example

Pin 7Pin 4 Pin 7 Pin 4

Pin 2Pin 2

Pin 5Pin 3

Pin 9Pin 5

Pin 3Pin 1

9-Pin

D-Sub

Pin 2 Pin 2

Pin 5 Pin 3

Pin 9 Pin 5

Pin 3 Pin 1

5-Pin

Combicon

© National Instruments Corporation C-7 PXI-846x and NI-CAN for Windows NT

Cabling Requirements for
PXI-8462 Dual-Speed CAN

The appendix describes the cabling requirements for the PXI-8462
hardware.

Port Identification

The PXI-8462 board provides a high-speed CAN port (port one), and a
low-speed CAN port (port two). Port one of the PXI-8462 is identical to
port one of the PXI-8461 one port and PXI-8461 two port boards. Port two
of the PXI-8462 is identical to port two of the PXI-8460 two port board.

The PXI-8462 allows simultaneous communication with both a high-speed
and low-speed bus, each with its own specific cabling and termination
requirements. For cabling requirements and port information for the
high-speed CAN port, please refer to Appendix C, Cabling Requirements

for PXI-8461 High-Speed CAN. For cabling requirements and port

information for the low-speed CAN port, please refer to Appendix B,

Cabling Requirements for PXI-8460 Low-Speed CAN.

D

© National Instruments Corporation D-1 PXI-846x and NI-CAN for Windows NT

RTSI Bus

This appendix describes the RTSI interface on your PXI-846x series board.

RTSI, PXI and CompactPCI

Using PXI-compatible products with standard CompactPCI products is
an important feature provided by the PXI Specification,Revision1.0.
If you use a PXI-compatible plug-in device in a standard CompactPCI
chassis, you will be unable to use PXI-specific functions, but you can
still use the basic plug-in device functions. For example, the RTSI bus
on your PXI-846x series board is available in a PXI chassis, but not in
a CompactPCI chassis. The CompactPCI specification permits vendors
to develop sub-buses that coexist with the basic PCI interface on the
CompactPCI bus. Compatible operation is not guaranteed between
CompactPCI devices with different sub-buses nor between CompactPCI
devices with sub-buses and PXI. The standard implementation for
CompactPCI does not include these sub-buses. Your PXI-846x device
will work in any standard CompactPCI chassis adhering to the PICMG 2.0
R2.1 CompactPCI core specification using the 64-bit definition for J2. PXI
specific features are implemented on the J2 connector of the CompactPCI
bus. Table E-1 lists the J2 pins your PXI-846x series board uses. Your PXI
board is compatible with any CompactPCI chassis with a sub-bus that does
not drive these lines. Even if the sub-bus is capable of driving these lines,
the board is still compatible as long as those pins on the sub-bus are
disabled by default and not ever enabled. Damage may result if these
lines are driven by the sub-bus.

E

The PXI-8461 one port and two port boards allow for the connection of four
RTSI input signals and four RTSI output signals. In order to fully support
the fault reporting capabilities of the low-speed transceivers used on the
PXI-8460 one port, PXI-8460 two port, and PXI-8462, three RTSI lines on
those boards are reserved for low-speed CAN fault reporting. This allows
for the connection of three RTSI input signals and two RTSI output signals
to the boards, providing them the real time synchronization benefits of
RTSI without sacrificing low-speed CAN fault reporting.

© National Instruments Corporation E-1 PXI-846x and NI-CAN for Windows NT

Appendix E RTSI Bus

Table E-1. Pins Used By the PXI-846x Series Boards

PXI Pin Name PXI J2 Pin Number

PXI Star
PXI Trigger <0>
PXI Trigger <1>
PXI Trigger <2>
PXI Trigger <3>
PXI Trigger <4>
PXI Trigger <5>
PXI Trigger <7>

D17
B16
A16
A17
A18
B18
C18
E16

PXI-846x and NI-CAN for Windows NT E-2 ni.com

Troubleshooting and
Common Questions

This appendix describes how to troubleshoot problems and answers some
common questions.

Missing Board in the NI-CAN Configuration Utility

The NI-CAN Configuration utility contains configuration information for
all of the CAN hardware it is aware of that is installed in your system. To
start the NI-CAN Configuration utility, double-click on the NI-CAN
Configuration icon in the Control Panel:

• Windows NT 3.51—Open the Control Panel in the Main group of
the Program Manager.

• Windows NT 4.0 or later—Select Start»Settings»Control Panel.

If your board is not listed under NI-CAN Configuration, the board is not
properly installed. For the PXI-8460, PXI-8461, and PXI-8462, this means
that the board is not physically present in the system. If your board is firmly
plugged into its slot and the problem persists, contact National Instruments.

F

Diagnostic Utility Failures

The following sections explain common error messages generated by the
NI-CAN Diagnostic utility.

Resource Errors

This error occurs if the memory resource or interrupt resource assigned
to a board conflicts with the resources being used by other hardware in
the system. If a resource error occurs, click on the Resources button in
the NI-CAN Configuration utility to view the board resources. For the
PXI-8460, PXI-8461, and PXI-8462, if legacy hardware in your system
is using the resources, change the resource configuration of the legacy
hardware. If you need help, refer to the documentation that came with
your hardware. If the problem persists, contact National Instruments.

© National Instruments Corporation F-1 PXI-846x and NI-CAN for Windows NT

Appendix F Troubleshooting and Common Questions

NI-CAN Software Problem Encountered

This error occurs if the NI-CAN Diagnostic utility detects that it is unable
to communicate correctly with the hardware using the installed NI-CAN
software. If you get this error, shut down your computer, restart it, and run
the NI-CAN Diagnostic utility again. If the problem persists, try
reinstalling the NI-CAN software for Windows NT.

Missing Board in Diagnostic Utility

If your board is physically installed in your system, but is not listed in the
NI-CAN Diagnostic utility, check to see if the NI-CAN Configuration
utility has detected the board. For more information, refer to the Missing

Board in the NI-CAN Configuration Utility section earlier in this appendix.

Hardware Problem Encountered

This error occurs if the NI-CAN Diagnostic utility detects a defect in the
hardware. If you get this error, write down the numeric code shown with the
error and contact National Instruments. Depending on the cause of the
hardware failure, you may need to repair or replace your board.

Common Questions

How can I determine which type of CAN hardware I have installed?

Run the NI-CAN Configuration utility. To run the utility, select
Start»Settings»Control Panel»NI-CAN Configuration. If any hardware
is correctly installed, it is listed under National Instruments CAN

Interfaces.

How can I determine which version of the NI-CAN software I have
installed?

Run the NI-CAN Diagnostic utility. To run the utility, select the NI-CAN
Diagnostic item under Start»Programs»National Instruments CAN.

The NI-CAN Diagnostic utility displays information about the version of
the NI-CAN software currently installed.

How many PXI-8460, PXI-8461, and PXI-8462 boards can I configure
for use with my NI-CAN software?

The NI-CAN software for Windows NT can be configured to communicate
with up to 10 boards.

PXI-846x and NI-CAN for Windows NT F-2 ni.com

Appendix F Troubleshooting and Common Questions

How do I connect a CAN cable to my CAN port?

You will need to use an appropriate cable. For information about
cabling requirements for National Instruments CAN hardware, refer
to Appendix B, Cabling Requirements for PXI-8460 Low-Speed CAN or
Appendix C, Cabling Requirements for PXI-8461 High-Speed CAN.

Are interrupts required for the PXI-8460, PXI-8461, and PXI-8462?

Yes, one interrupt per board is required.

What do I do if the NI-CAN Diagnostic utility fails with an error?

Refer to the Diagnostic Utility Failures section in this appendix for specific
information about what might cause the NI-CAN Diagnostic utility to fail.
If you have already completed the troubleshooting steps, contact National
Instruments.

How do I use an NI-CAN language interface?

For information about using NI-CAN language interfaces, refer to
Chapter 3, Developing Your Application, in the NI-CAN User Manual.

How do I use NI-CAN from within LabVIEW or BridgeVIEW?

For information about using NI-CAN from within LabVIEW or
BridgeVIEW, refer to Chapter 3, Developing Your Application, in the
NI-CAN User Manual.

Why does the uninstall program leave some components installed?

The uninstall program removes only items that the installation program
installed. If you add anything to a directory that was created by the
installation program, the uninstall program does not delete that directory
because the directory is not empty after the uninstallation. You must
remove any remaining components yourself.

© National Instruments Corporation F-3 PXI-846x and NI-CAN for Windows NT

Specifications

This appendix describes the physical characteristics of the hardware and
the recommended operating conditions.

PXI-8460 One Port and Two Port

Dimensions............................................. PXI 3U Module

Power requirement ................................. +5 VDC 500 mA typical

I/O connector.......................................... 9-pin D-Sub for each port

Operating environment

Component temperature.................. 0 to 55 °C

Relative humidity............................ 10% to 90%, noncondensing

Storage environment

Temperature .................................... –20 to 70 °C

Relative humidity............................ 10% to 90%, noncondensing

G

100 by 160 mm
(3.94by6.30in.)

PXI-8461 One Port and Two Port

Dimensions............................................. PXI 3U Module

100 by 160 mm
(3.94by6.30in.)

Power requirement ................................. +5 VDC 500 mA typical

I/O connector.......................................... 9-pin D-Sub for each port

(standard)
or
5-pin Combicon-style pluggable
DeviceNet screw terminal

© National Instruments Corporation G-1 PXI-846x and NI-CAN for Windows NT

Appendix G Specifications

PXI-8462 Two Port

Operating environment

Component temperature ..................0 to 55 °C

Relative humidity ............................10% to 90%, noncondensing

Storage environment

Temperature.....................................–20 to 70 °C

Relative humidity ............................10% to 90%, noncondensing

Dimensions .............................................PXI 3U Module

100 by 160 mm
(3.94by6.30in.)

Power requirement..................................+5 VDC 500 mA typical

I/O connector ..........................................9-pin D-Sub for each port

Operating environment

Component temperature ..................0 to 55 °C

Relative humidity ............................10% to 90%, noncondensing

Storage environment

Temperature.....................................–20 to 70 °C

Relative humidity ............................10% to 90%, noncondensing

High-Speed CAN Port Characteristics

Bus Power...............................................0–30 V, 40 mA typical

100mA maximum

CAN-H, CAN-L .....................................–8 to +18V, DC or peak, CATI

Low-Speed CAN Port Characteristics

Bus Power...............................................8–27 V, 40 mA typical

100 mA maximum

CAN-H, CAN-L .....................................–10 to +27V, DC or peak, CATI

PXI-846x and NI-CAN for Windows NT G-2 ni.com

Technical Support Resources

Web Support

National Instruments Web support is your first stop for help in solving
installation, configuration, and application problems and questions. Online
problem-solving and diagnostic resources include frequently asked
questions, knowledge bases, product-specific troubleshooting wizards,
manuals, drivers, software updates, and more. Web support is available
through the Technical Support section of

NI Developer Zone

ni.com

H

The NI Developer Zone at
building measurement and automation systems. At the NI Developer Zone,
you can easily access the latest example programs, system configurators,
tutorials, technical news, as well as a community of developers ready to
share their own techniques.

Customer Education

National Instruments provides a number of alternatives to satisfy your
training needs, from self-paced tutorials, videos, and interactive CDs to
instructor-led hands-on courses at locations around the world. Visit the
Customer Education section of
syllabi, training centers, and class registration.

System Integration

If you have time constraints, limited in-house technical resources, or other
dilemmas, you may prefer to employ consulting or system integration
services. You can rely on the expertise available through our worldwide
network of Alliance Program members. To find out more about our
Alliance system integration solutions, visit the System Integration section
of

ni.com

ni.com/zone

ni.com

is the essential resource for

for online course schedules,

© National Instruments Corporation H-1 PXI-846x and NI-CAN for Windows NT

Appendix H Technical Support Resources

Worldwide Support

National Instruments has offices located around the world to help address
your support needs. You can access our branch office Web sites from the
Worldwide Offices section of
up-to-date contact information, support phone numbers, e-mail addresses,
and current events.

If you have searched the technical support resources on our Web site and
still cannot find the answers you need, contact your local office or National
Instruments corporate. Phone numbers for our worldwide offices are listed
at the front of this manual.

ni.com

. Branch office Web sites provide

PXI-846x and NI-CAN for Windows NT H-2 ni.com

Glossary

Prefix Meaning Value

n- nano- 10

m- milli- 10

k- kilo- 10

M- mega- 10

° degrees

Ω ohms

% percent

A amperes

ANSI American National Standards Institute

bbits

Bbytes

–9

–3

3

6

CCelsius

CAN Controller Area Network

CiA CAN in Automation

DC direct current

DLL dynamic link library

FCC Federal Communications Commission

ft feet

HMI Human Machine Interface

Hz hertz

IEEE Institute of Electrical and Electronic Engineers

in. inches

IRQ interrupt request

© National Instruments Corporation Glossary-1 PXI-846x and NI-CAN for Windows NT

Glossary

ISO International Standards Organization

LED light-emitting diode

m meters

PC personal computer

PCI peripheral component interconnect

PCMCIA Personal Computer Memory Card International Association

PLC Programmable Logic Controller

RAM random-access memory

resource hardware settings used by National Instruments CAN hardware, including

an interrupt request level (IRQ) and an 8 KB physical memory range (such
as D0000 to D1FFF hex)

RTSI bus Real-Time System Integration Bus. The National Instruments timing bus

that connects CAN and DAQ boards directly, by means of the PXI trigger
bus on the PXI-846x series boards, for precise synchronization of
functions.

s seconds

trigger Any event that causes or starts some form of data capture.

V volts

VDC volts direct current

VXI VME eXtensions for Instrumentation

Wwatts

PXI-846x and NI-CAN for Windows NT Glossary-2 ni.com

Index

Numerics

9-Pin D-Sub connector

high-speed CAN (figure), C-1
low-speed CAN (figure), B-1

B

BridgeVIEW, 1-3, 4-2, F-3
bus power supply requirements

high-speed CAN (table), C-4
low-speed CAN (table), B-3

C

cable lengths

high-speed CAN (table), C-5

cable specification

high-speed CAN (table), C-5
low-speed CAN (table), B-4

cable termination

high-speed CAN, C-6

cables

connecting, 2-4
cabling example, high-speed CAN (figure), C-7
cabling example, low-speed CAN (figure), B-8
cabling requirements

dual-speed CAN, D-1

high-speed CAN, C-1

low-speed CAN, B-1
common questions, F-1, F-2
CompactPCI

and RTSI, E-1

configuration, 2-1

Add/Remove Programs Properties Dialog

Box, 2-2

checking, of PXI-8460, PXI-8461 or

PXI-8462, 2-3

PXI-8461 that is working properly

(figure), 2-5

connector pinouts

dual-speed CAN, D-1
high-speed CAN, C-1

pinout for 9-Pin D-Sub connector,

(figure), C-1

low-speed CAN, B-1

pinout for 9-Pin D-Sub connector,

(figure), B-1

customer education, E-1

D

determining necessary termination resistance

low-speed CAN, B-5

dual-speed CAN

cabling requirements, D-1
port identification, D-1

E

error messages, F-1

Hardware Problem Encountered, F-2
Missing Board in Diagnostic Utility, F-2
Missing Board in the NI-CAN

Configuration Utility (error message), F-1
NI-CAN Diagnostic utility failures, F-1
NI-CAN Software Problem

Encountered, F-2
resource errors, F-1

© National Instruments Corporation Index-1 PXI-846x and NI-CAN for Windows NT

Index

H

hardware

installing, 2-3
overview, 1-1
uninstalling from Windows NT, A-1

Hardware Problem Encountered (error

message), F-2

high-speed CAN

bus power supply requirements

(table), C-4
cable lengths (table), C-5
cable specification (table), C-5
cable termination, C-6
cabling example (figure), C-7
cabling requirements, C-1
number of devices, C-6
port characteristics, G-2
power supply, C-2

power source jumpers (figure), C-4

termination resistor placement

(figure), C-6

I

installation, 2-1

Add/Remove Programs Properties dialog

box (figure), 2-2
of PXI hardware (figure), 2-4
of PXI-8460, PXI-8461 or PXI-8462, 2-3
verifying, 3-1

L

LabVIEW, 1-3, 4-2, F-3
LabWindows/CVI, 1-3
low-speed CAN

bus power supply requirements

(table), B-3
cable specification (table), B-4
cabling example (figure), B-8
cabling requirements, B-1

determining necessary termination

resistance, B-5
number of devices, B-4
port characteristics for bus-powered

ports, G-2
power supply, B-2

power source jumpers (figure), B-3
preparing lead wires of, (figure), B-7
replacing termination resistors, B-7
termination resistor placement

(figure), B-5

termination resistors, location of,

(figure), B-7

M

Measurement Studio, 1-3
Missing Board in Diagnostic Utility (error

message), F-2

Missing Board in the NI-CAN Configuration

Utility (error message), F-1

N

National Instruments Web support, E-1
NI Developer Zone, E-1
NI-CAN Diagnostic utility, 3-1

after testing (figure), 3-1
failures, F-1
Hardware Problem Encountered (error

message), F-2

Missing Board in Diagnostic Utility (error

message), F-2

NI-CAN Software Problem Encountered

(error message), F-2

resource errors, F-1

NI-CAN hardware

determining type installed, F-2
installing, 2-3
settings dialog box (figure), 2-6
specifications, G-1

PXI-846x and NI-CAN for Windows NT Index-2 ni.com

Index

NI-CAN software

Add/Remove Programs Properties Dialog

Box, 2-2
configuration, 2-5
description of, 4-1
determining version of, F-2
installing, 2-1
language interface, using, F-3
overview, 1-2
PXI-8461 that is working properly

(figure), 2-5
uninstall program, F-3
using, 4-1

See also optional programming tools.

NI-CAN Software Problem Encountered

(error message), F-2

number of devices

high-speed CAN, C-6
low-speed CAN, B-4

O

optional programming tools, 1-3

P

pinout

5-Pin Combicon-style pluggable screw

terminal (figure), C-2

pins used by PXI-846x series boards, E-2
port identification

dual-speed CAN, D-1

power supply

high-speed CAN

ports, C-2
power source jumpers (figure), C-4

low-speed CAN

ports, B-2
power source jumpers (figure), B-3

programming

See optional programming tools.

PXI and CompactPCI

and RTSI, E-1

PXI-8460

bus power supply requirements

(table), B-3
cable specification (table), B-4
cabling example (figure), B-8
cabling requirements, B-1
checking configuration, 2-3
determining necessary termination

resistance, B-5
fault reporting capabilities, E-1
installation, 2-3
interrupts required, F-3
number of boards configured, F-2
number of devices, B-4
parts locator diagram (figure), B-2
physical layer, 1-2
pinout for 9-Pin D-Sub connector

(figure), B-1
port characteristics for bus-powered

ports, G-2
power source jumpers (figure), B-3
power supply, B-2
replacing termination resistors, B-7
specifications, G-1
termination resistor placement

(figure), B-5
termination resistors

location of, (figure), B-7
preparing lead wires of, (figure), B-7

transfer rates, 1-2

PXI-8461

bus power supply requirements

(table), C-4
cable lengths (table), C-5
cable specification (table), C-5
cable termination, C-6
cabling example (figure), C-7
cabling requirements, C-1
checking configuration, 2-3

© National Instruments Corporation Index-3 PXI-846x and NI-CAN for Windows NT

Index

connectors, 1-2
fault reporting capabilities, E-1
installation, 2-3
interrupts required, F-3
number of boards configured, F-2
number of devices, C-6
parts locator diagram (figure), C-3
physical layer, 1-2
pinout

5-Pin Combicon-style pluggable

screw terminal (figure), C-2

pinout for 9-Pin D-Sub connector

(figure), C-1
port characteristics, G-2
power source jumpers (figure), C-4
power supply, C-2
specifications, G-1
termination resistor placement

(figure), C-6
transfer rates, 1-2

PXI-8462

cabling requirements, D-1
checking configuration, 2-3
fault reporting capabilities, E-1
installation, 2-3
interrupts required, F-3
number of boards configured, F-2
physical layer, 1-2
port identification, D-1
port speeds, 1-2
specifications, G-2

PXI-846x series boards

and RTSI interface, E-1
pins used by, E-2
specifications, G-1

R

Real-Time System Integration (RTSI)

See RTSI.
related documentation, xi, xii, xiii
replacing termination resistors

low-speed CAN, B-7
resource errors, F-1
RTSI, 1-2

bus, E-1

interface description, E-1

pins used by PXI-846x series boards

(table), E-2

S

settings dialog box (figure), 2-6
software

uninstalling, F-3

uninstalling from Windows NT, A-1

Add/Remove Programs Properties

Dialog Box (figure), A-2

See also optional programming tools.

software-related resources

BridgeVIEW, 1-3, 4-2, F-3

LabVIEW, 1-3, 4-2, F-3

LabWindows/CVI, 1-3

Measurement Studio, 1-3
specifications, G-1
system integration, by National

Instruments, E-1

T

technical support resources, E-1
termination resistors

location of, low-speed CAN (figure), B-7

placement

high-speed CAN (figure), C-6
low-speed CAN (figure), B-5

preparing lead wires of, low-speed CAN

(figure), B-7

PXI-846x and NI-CAN for Windows NT Index-4 ni.com

Index

troubleshooting, F-1

Hardware Problem Encountered (error

message), F-2

Missing Board in the NI-CAN

Configuration Utility (error

message), F-1
NI-CAN Diagnostic utility failures, F-1
NI-CAN Software Problem Encountered

(error message), F-2

troublshooting

Missing Board in Diagnostic Utility (error

message), F-2

U

uninstall program, F-3

W

Web support from National Instruments, E-1
what you need to get started, 1-1
Windows NT

installing 3.51, 2-1
installing 4.0, 2-1
uninstalling hardware from, A-1
uninstalling software from, A-1

Add/Remove Programs Properties

Dialog Box (figure), A-2

worldwide technical support, E-2

© National Instruments Corporation Index-5 PXI-846x and NI-CAN for Windows NT