ABB IRB 6600 - 175/2.55 User Manual page 306

5 Electrical connections
5.6.1 Connection of the CAN bus
If CAN 1.2 is used, the terminating resistor should be moved to the last I/O unit on the CAN
1.2 chain.
If CAN 1.2, for example, is not connected in the end of any CAN chain but somewhere between
the end points of the chain, then no terminating resistor should be mounted in CAN 1.3. This
is in accordance with the basic rule, i.e. the CAN chain should be terminated in both end points.
CAN 1.3 If CAN 1.3 is unused, a terminating resistor must be connected to the X7 socket.
If CAN 1.3 is used, the terminating resistor should be moved to the last I/O unit on the CAN
1.3 chain.
If CAN 1.2, for example, is not connected in the end of any CAN chain but somewhere between
the end points of the chain, then no terminating resistor should be mounted in CAN 1.3. This
is in accordance with the basic rule, i.e. the CAN chain should be terminated in both end points.
Termination The CAN chain must be terminated with terminating resistors in each end!
resistors in CAN
If CAN 1.2, for example, is not connected in the end of any CAN chain but somewhere
bus
between the end points of the chain, then no terminating resistor should be mounted in CAN
1.3.
CAN 2 The illustration below shows an example of how to connect the CAN 2 bus:
xx0100000242
A
B
C
D
E
F
104
A
B
X8 CAN 2
X8 1. 0V_CAN
2. CAN_L
3. drain
4. CAN_H
5. 24V_I/O
Controller
Base connector unit
See figure in section "Illustration" above!
I/O
Termination of last unit
120 ohm, 1%, 0.25 W metal film resistor
C
D D
1. 0V_CAN
1.
2. CAN_L
2.
3. drain
3.
4. CAN_H
4.
5. 24V_I/O
5.
A
D
E
F
3HAC 16245-1