Delta AH Motion Series Hardware Manual page 134

AH Mo t io n – H ar d war e M a nu a l
 CANopen communication connector
A CANopen connector is connected to a CANopen network. Please wire AH10COPM-5A by using the connector
attached to AH10COPM-5A.
Pin
5
4
3
2
1
 Address knobs
The address knobs on AH10COPM-5A are used to set the node address of AH10COPM-5A on a CANopen
network. Setting range: 1~7F (0 and 80~FF can not be used.)
_3
Setting
1~7F
0, 80~FF
Example: If the station address of AH10COPM-5A is 16#26, you have to turn the knob corresponding to x16
position 2, and turn the knob corresponding to x16
Points for attention:
1. After the station address of AH10COPM-5A is changed, you have to power AH10COPM-5A again, otherwise
the change will not take effect.
2. To prevent the address knobs on AH10COPM-5A from being scratched, please carefully use a slotted
screwdriver to rotate the address knobs on AH10COPM-5A.
 Function switch
The function switch on AH10COPM-5A is used to set the communication speed at which AH10COPM-5A is
connected to a CANopen network. There is a limit on the maximum communication distance to which a
communication speed corresponds.
DR 2
OFF
OFF
OFF
OFF
ON
ON
ON
ON
3 - 1 0 2
Signal
-
CAN+
SHLD
CAN-
GND
Valid CANopen node address
Invalid CANopen node address
Communication
DR 1 DR 0
speed
OFF OFF 10 kbps
OFF ON 20 kbps
ON OFF 50 kbps
ON ON 125 kbps
OFF OFF 250 kbps
OFF ON 500 kbps
ON OFF 800 kbps
ON ON 1 Mbps
Description
Reserved
CAN_H
Shielded cable
CAN_L
0 VDC
Description
0
to position 6.
Maximum
communication
distance
5000 m
2500 m
1000 m
500 m
250 m
100 m
50 m
25 m
5
4
CAN+
3
SHLD
2
CAN-
1
GND
1
x16
0
x16
1
to
DR 2
DR 1
DR 0
I N 0