Fieldbus Connection; Canopen Interface (X7) - Kollmorgen ServoStar 400 Assembly & Installation

Interfaces
4.11

Fieldbus connection

4.11.1

CANopen interface (X7)

The interface for connection to the CAN bus (default: 500 kbps). The master is fitted with
a CAN input. All axis modules in the system are connected to this through the internal
bus. The last axis module has a CAN output, where the CAN bus either continues to
other bus participants or is terminated by a termination resistor.
The integrated profile is based on the communication profile CANopen DS301 and the
drive profile DSP402. The following functions are available in connection with the integra-
ted position controller: Jogging with variable speed, homing, start motion task, start direct
task, digital setpoint provision, data transmission functions and many others.
Detailed information can be found in the CANopen manual.
The interface is at the same potential as the internal logic, and uses AGND as the ground
reference.
AGND must be connected to the control system ground for potential equalization!
SERVOSTAR 400
CAN bus cable
To meet ISO 11898 you should use a bus cable with a 120 W characteristic impedance.
The maximum usable cable length for reliable communication decreases with increasing
transmission speed. As a guide, you can use the following values which we have measu-
red, but they must not be assumed to be limits:
Cable data: Characteristic impedance
Cable length, depending on the transmission rate
Transmission rate /
Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop: 115 W/km)
make it possible to transmit over longer distances.
(Characteristic impedance 150 ± 5W Þ terminating resistance 150 ± 5W).
For EMC reasons, the SubD connector housing must fulfill the following conditions:
52
Cable capacitance
Conductor loop resistance
max. cable length / m
kbps
1000
500
250
— metal or metallized housing
— provision for connecting the cable shielding within the housing,
large-area connections
07/05
100-120 W
max. 60 nF/km
159.8 W/km
20
70
115
SERVOSTAR
Kollmorgen
®
400 Installation Manual