K&R GT600-4T132G User Manual page 260

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Extension CANopen Card (GT60CAN2)
GT60CAN2 is designed to connect the drive to high-speed CANopen bus. CANopen is an
international field bus standard. Equipments supporting this protocol can be connected to
the CANopen bus.
GT60CAN2 supports the following five protocols:
1. The Node Guard protocol, with which master can read equipment status
2. The Heartbeat protocol, with which slave detects current state to master regularly
3. The SDO that supports accelerated transmission mechanism only and transmits one
function code (two bytes)
4. Three TPDOs and three RPDOs
5. Emergency object
SW1
Table 8-9 Terminal descriptions of MDCAN2
Type Terminal
CAN CANH
communication
terminal
CANL
COM
Table 8-10 Jumper descriptions of MDCAN2
Jumper Description
J2
CANopen terminal resistor
matching selection
Setting of jumpers takes top view with main terminals at the bottom of the
Note
card as visual angle. Jumpers are silk-screened on the card.
PWR ERR RUN
ON
ON ON
1 2 3 4 1 1 2 3 4
S2 S3
CN1
J2
CANH CANL CGND
Terminal Name Function Description
CAN positive input
Connect to the positive pole of the CAN
bus.
CAN negative input Connect to the negative pole of the
CAN bus.
Power ground
Connect to the reference ground of all
CAN nodes.
Meaning
Matching the terminal resistor
Not matching the terminal resistor
8. Peripherals and Options
J1
Setting