Pilz PMCtendo DD5 Operating Manual page 147

Wiring
Connection
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:
Operating Manual PMCtendo DD5
1002236-EN-04
X6
RS 232
6
1
RxD
TxD
GND
9
5
Pin
5
1
6
6
9
9
5
X6
9
CAN_H
6
CAN_L
5
CAN_GND
PC
RS 232
14
1
RxD
TxD
GND
25
13
Designation
CAN_GND
CAN_L
CAN_H
CANopen Server/Client
CAN_H
CAN_L
CAN_GND
Cable:
9-pin female D-Sub con-
nector (servo amplifier) to
25-pin female D-Sub con-
nector (PC)
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).
147