Network; Network Connector And Cable Specification - Parker 2003-CB-00 Technical Manual

7 Network

7.1 Network Connector and Cable Specification

CANopen Connector
1xD-Sub socket male, 9 pole.
Pin
1
2
3
4
5
6
7
8
9
Housing
Note: It is possible to make serial communications operate without adhering to the following
recommendations; however, the recommendations will promote greater reliability.
Cable
The cable for CANopen is shielded copper cable consisting of one twisted pair and two optional cables for
an extra power supply. The CANopen option does not use the external power supply. The use of
CAN_GND is recommended throughout the network. The user organization (CiA) has specified ISO/DIS
11898 as the standard bus cable.
The maximum allowable cable length depends on the baud rate selected:
Data Rate
125 kBit/s
250 kBit/s
500 kBit/s
Terminators
• If the drive is at the end of the chain, it must have a terminating resistor.
• All other drives in the system should not have a terminator.
• Required resistor is + 1%, minimum ¼ Watt)
• The CANopen specification recommends 124Ω, but it should be chosen to equal as closely as
possible the characteristic impedance of the cable.
Important: Failing to fit terminating resistors correctly may result in unreliable operation.
Signal
-
CAN_L
CAN_GND
-
CAN_SHLD
-
CAN_H
-
-
CAN_SHIELD
Connected to protective earth via filter
1 MBit/s
DOC-0017-06-EN-B 04.04.2023
DOC-0017-06-EN: AC20 Series CANopen Option
Maximum Distance
500 metres
250 metres
100 metres
25 metres
13 (47)