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Appendix
A–4
A.5
CAN bus wiring: rho4
rho4 or
CANopen
X51, X52
1
1
2
2
CAN_Low
3
3
CAN_GND
4
4
5
5
6
6
7
7
CAN_High
8
8
9
9
Inverter
Inverter
X51
2
2
2
3
3
6
6
7
7
7
One CAN bus can be connected to X51 and X52, each. The max. length of
every single CAN bus depends on the baud rate used (cf. page 2–4)!
The rho4 control is capable of managing a maximum of 24 axes and 16
kinematics. Although in theory all axes can be addressed by 1 CAN bus, it is
better to distribute all axes over both CAN buses. The maximum number of
axes may be limited by the required clock frequency (rho parameter P5) and
other equipment linked to the CAN bus (e.g. I/O modules).
When using T adapters, note the pin assignment of the adapters (cf. page
A–1)!
On the rho side, no T adapter can be used for reasons of space!
1
1
2
2
2
2
3
3
3
3
4
4
5
5
6
6
6
6
7
7
7
7
8
8
9
9
Inverter
X51
1
1
2
2
2
CAN_Low
3
3
3
CAN_GND
CAN_GND
4
4
5
5
6
6
6
7
7
7
CAN_High
8
8
9
9
1070 066 037-101 (00.02) GB
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