Figure 1.10.11: Canopen Network Using Mdriveplus Motion Control - Intelligent Motion Systems MDrive17Plus Hardware Reference Manual

M23
Circular
(Male)
Pin 1
Pin 2
Pin 3
Pin 4
Pin 5
Pin 6
Pin 7
Pin 8
Pin 9
Pin 10
Pin 11
Pin 12
Pin 13
Pin 14
Pin 15
Pin 16
Pin 17
Pin 18
Pin 19
P2 Connector - CANopen Communications
P2: COMM CONNECTOR
RS-422/485
M12
Circular Function
(Female)
Pin 1 Shield
Pin 2 CAN +V
Pin 3 CAM -V
Pin 4 CAN HIGH
Pin 5 CAN LOW
Table 1.10.5: MDrive17Plus
P2 - CANopen
Communications
Return
+V Supply
7 to 30 VDC
Pin 3: CAN -V Pin 4: CAN HIGH
4
3
2 1
Pin 2: CAN +V Pin 1: Shield
Pin 5: CAN LOW
5-Pin M12 Male
CAN -V (CAN_GND)
CAN Shield
CAN Low
1 2 3 4 5
6 7 8 9
CAN +V
CAN -V
CAN High
DB-9

Figure 1.10.11: CANopen Network using MDrivePlus Motion Control

Part 1: Hardware Specifications
P1: I/O & POWER CONNECTOR
Function
Expanded I/O
I/O 9
I/O 11
Step/Clock I/O
I/O 1
Direction/Clock I/O
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Aux-Ground
I/O 3
I/O Ground
I/O Power
Comm Ground
I/O 12
Capture/Trip I/O
Analog In
I/O 2
I/O 4
I/O 10
Power/Aux-Ground
Table 1.10.4: MDrive17Plus -65 P1 19-Pin M23 Connector
2
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-65
2
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Figure 1.10.10: P2 5-Pin M12 (Female) RS-422/485 Communications
CANopen
Controller
Termination
Resistor*
*Termination Resistors are required between CAN High and CAN Low at both ends of the cabling
Remote Encoder Closed Loop Control
Channel A +
Channel B +
Index +
I/O 1
Index –
+V (+12 to +48 VDC)
Aux-Logic(+12 to +24 VDC)
Comm Ground
I/O 3
I/O Ground
I/O Power
Earth Ground
Channel B –
Capture/Trip I/O
Analog In
I/O 2
I/O 4
Channel A –
Power/Aux-Ground
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Connector
MDI Plus MDI Plus
CANopen CANopen
Node 1 Node x
Termination
Resistor*
1-47