Canopen Communication - Elmo Cello Installation Manual

Cello Installation Guide
MAN-CELIG (Ver. 1.5)

3.4.9.2 CANopen Communication

Notes for connecting the CANopen communication cable:
Use 26 or 28 AWG twisted pair shielded cables. For best results, the shield
should have aluminum foil and covered by copper braid with a drain wire
Connect the shield to the ground of the host (PC). Usually, this connection is
soldered internally inside the connector at the PC end. You can use the drain
wire to facilitate connection.
The male RJ plug must have a shield cover.
Ensure that the shield of the cable is connected to the shield of the RJ plug.
The drain wire can be used to facilitate the connection.
Connect a termination 120-ohm resistor at each of the two ends of the network
cable.
Pin Signal
1 CAN_H
2 CAN_L
3 CAN_GND
4 —
5 —
6 CAN_SHLD
7 CAN_GND
8 —
Figure 3-23: RS-232 Connection Diagram
Function
CAN_H busline (dominant high)
CAN_L busline (dominant low)
CAN ground
—
—
Shield, connected to the RJ plug cover
CAN Ground
—
Table 3-15: CANopen Cable - Pin Assignments
Installation
3-37
Pin Position