Canopen Interface (X6) - Kollmorgen S300 Interface Manual

Installation / Setup
2.3

CANopen interface (X6)

The interface for connection to the CAN-bus (default : 500 kBaud). The interface is at the same
electrical potential as the RS232 interface. The analog setpoint inputs can still be used.
We can supply special clamp-sleeve connectors, that can easily be made up for bus operation.
2.4 CAN-bus cable
To meet ISO 11898, a bus cable with a characteristic impedance of 120 W should be used. The
maximum usable cable length for reliable communication decreases with increasing transmission
rate. As a guide, you can use the following values which we have measured, but they are not to be
taken as assured limits:
Cable data: Characteristic impedance
Cable length, depending on the transmission rate
Transmission rate (kBaud)
Lower cable capacitance (max. 30 nF/km) and lower lead resistance
(loop resistance, 115 W/km) make it possible to achieve greater distances.
(Characteristic impedance 150 ± 5W Þ terminating resistor 150 ± 5W).
For EMC reasons, the SubD connector housing must fulfill the following requirements:
—
—
Master
CANL
CANH
GND
Shield
12
S300/S700
9
6
CAN
+5V
5
AGND
Cable capacitance
Lead loop resistance
1000
500
250
metal or metalized housing
provision for cable shielding connection on the housing, large-area connection
X6
* according to line impedance about 120W
11/2018
X6
CANH
120 * Ù
CANL
AGND
* according to line impedance
CAN ref. to ISO 11898
100-120 W
max. 60 nF/km
159.8 W/km
max. cable length (m)
10
70
115
X6
CANL
CANH
GND
Kollmorgen
CAN-Server/Client
CANL
CANH
GND
Shield
CANopen for S300/S700
CAN
X6