Canopen Interface - Pilz PMCprotego D.48 Operating Manual

Wiring
6.7.6.2

CANopen interface

Connector X6
Connector pin assignment
Port
Servo Drive
Connection
The CANopen specification CiA DS-301 V4.0 requires the cable at both the start and end of
the bus to be terminated with a resistor (120 Ohm, 5% metal film, 1/4 Watt).
The terminating resistor is usually integrated within the connector and can be activated
there.
The cable runs for reliable communication decrease as the transmission rate is increased.
The following values can be used as a guide, but they should not be regarded as limit val-
ues:
Cable data:
}
Characteristic impedance 100 - 120 Ω
} Operating capacitance max. 60 nF/km
}
Cable resistance (loop) 159.8 Ω/km
Transmission rate [kBit/s]
1000
500
250
Cable runs in relation to transmission rate
Longer cable runs can be achieved with lower cable capacitance (max. 30 nF/km) and
lower conductor resistance (loop, 115 Ω/km).
Characteristic impedance 150 ± 5 Ω => terminating resistor 150 ± 5 Ω.
For EMC reasons, the D-Sub connector housing must meet the following requirements:
Operating Manual PMCprotego D.48, PMCprotego D.72
1001735-EN-04
Pin
5
1
6
6
9
9
5
X6
9
CAN_H
6
CAN_L
5
CAN_GND
Designation
CAN_GND
CAN_L
CAN_H
CANopen Server/Client
CAN_H
CAN_L
CAN_GND
Max. cable runs [m]
10
70
115
Description
Ground
CAN low signal
CAN high signal
CANopen
Shielded cable
The interface is on the
same connector as the
RS232 interface.
The RS232 and CANopen
interface use the same op-
erating earth (GND).
164