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4
RD-
3
RD+
Figure 10: Pin assignment of the Ethernet connector (view on the socket).
The following cables from Weiss Robotics are suitable to connect the Ethernet interface:
Type: AL-ETH-4P-3M (M8 straight to RJ-45, cable length: 3 m)
Type: AL-ETH-4P-5M (M8 straight to RJ-45, cable length: 5 m)
Commands are sent to the module via TCP/IP connections, using the TCP or UDP protocol. For further in-
formation, please see the "WSG Command Set Reference Manual" (on the accompanying CD or can be
called up via the web interface). The module currently also supports the following network services: DHCP
(dynamic IP addresses), SNTP (network time), HTTP (web user interface), Multicast DNS (decentralized reso-
lution of host names).
Interface specification:
Parameter
Transmission standard
Communication standard
Transmission speed
Transmission type
Auto-MDIX
7.3.4 CAN-Bus (optional)
The module is available with an optional CAN-Bus interface. It is connected using the M8 connector of the
power supply, cf. Figure 9.
Interface specification CAN-Bus (option):
Parameter
Bus Standard
Supported bit rates
Voltage CAN-L and CAN-H
2
TD-
1
TD+
Unit
Min.
IEEE 802.3
TCP/IP (IPv4)
MBit/s
10; 100
Half duplex
yes
Unit
Min.
CAN 2.0A, CAN 2.0B
kBit/s
10; 20; 50; 100; 125; 250; 500;
1000
V
-7
Pin position
Wire color
1
Brown
2
White
3
Blue
4
Black
Shielding
Shield
Typical
Max.
Typical
Max.
12
- 19 -
Signal
TD+
TD-
RD+
RD-
Remark
Auto-negotiated
Remark
relative to GND
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