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4.5 CAN
The CAN bus is a serial based network originally developed for automotive applications, but
now used for a wide range of industrial applications. It offers low-cost serial communications
with very high reliability in an industrial environment; the probability of an undetected error is
-11
4.7x10
. It is optimized for the transmission of small data packets and therefore offers fast
update of I/O devices (peripheral devices) connected to the bus.
The CAN protocol only defines the physical attributes of the network, i.e. the electrical,
mechanical, functional and procedural parameters of the physical connection between
devices.
The higher level network functionality on NextMove ESB-2 is defined by the
CANopen protocol, one of the most used standards for machine control.
In addition to supporting CANopen, Baldor have developed a proprietary protocol called
Baldor CAN. Both protocols are supported by NextMove ESB-2, but not at the same time.
This is because NextMove ESB-2 only has a single hardware CAN channel. Separate
firmware builds are available to support each of the protocols.
To determine which firmware is currently installed, start Mint WorkBench and connect to the
NextMove ESB-2 (see section 5.3.2). At the bottom of the Mint WorkBench window, the
status bar will show the name of the controller, followed by 'CANopen' or 'Baldor CAN'. If the
correct option is not shown, it will be necessary to download alternative firmware by using the
Install System File and/or Download Firmware menu items in Mint WorkBench. The firmware
can be downloaded from www.baldormotion.com or, in Mint WorkBench, by using the Help,
On The Web, Firmware Updates menu option. See the Mint help file for details about
downloading firmware.
4.5.1 CAN connector
The CAN connection is made using the RJ45 connector on the NextMove ESB-2.
1
8
The maximum (default) transmission rate on NextMove ESB-2 is 500 Kbit/s.
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,
4-22 Input / Output
Location NextMove ESB-2
Mating connector: RJ45 plug
Pin Name
1 CAN+
2 CAN-
3 -
4 CAN 0V
5 CAN V+
6 -
7 -
8 -
Description:
Opto-isolated CAN interface using a RJ45 connector.
07045-0097 • (973) 335-1007 • Toll Free: (800) 922-1103
Fax: (973) 335-1661 • www.servosystems.com
Description
CAN channel positive
CAN channel negative
(NC)
Ground/earth reference for CAN signals
CAN power V+ (12-24V)
(NC)
(NC)
(NC)
www.baldormotion.com
MN1957
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