Bus Connection - Siemens MICROMASTER 420 Operating Instructions Manual

Information for the CANopen master
4.4

Bus connection

Pin assignment of the bus connection
9-pin SUB-D plug connectors are used to connect the CANopen option module to
the CAN bus.
Table 4-1
6
7
8
9
CAN-bus cables
The CANopen DRP 301-1 profile recommends cables with the following
properties/features:
Table 4-2
Bus length [m]
0 ... 40
40 ... 300
300 ... 600
600 ... 1000
(1) Recommended cable AC parameters: 120-Ω impedance and 5-ns/m specific line delay
Bus termination
In order to guarantee perfect operation of the CAN bus, bus terminating resistors
must be provided at both ends of the bus cable (refer to Table 4-2).
Ground connection
Generally, the CAN ground can be connected. However, in completely electrically
isolated CANopen networks the CAN connection does not have to be grounded.
70
Assignment of CANopen sub-D9 connector
Pin
Function
1 –
2 CAN_L
1
3 CAN_GND
2
4 -
3
5 CAN_SHLD
4
5
6 GND
7 CAN_H
8 -
9 CAN_V+
(not MICROMASTER)
Recommended bus cable according to CiA
Bus cable (1)
Length-related
resistance [mΩ/m]
70
< 60
< 40
< 26
Description
Reserved
CAN_L bus line (dominant low)
CAN Ground
Reserved
Optional CAN Shield
Optional Ground
CAN_H bus line (dominant high)
Reserved
Optional CAN external positive supply
Termination
resistance
Cross-section
[Ω]
[mm2]
0.25 ... 0.34 124
0.34 ... 0.6 150 ... 300
0.5 ... 0.6 150 ... 300
0.75 ... 0.8 150 ... 300
CANopen Option Module
Issue 01/05
Baud rate
[kbit/s]
1000 at 40 m
> 500 at 100 m
> 100 at 500 m
> 50 at 1 km
Operating Instructions
6SE6400-5BC00-0BP0