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AppNote 005 CANOpen Network CAN Bus Cabling Guide

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25 views

AppNote 005 CANOpen Network CAN Bus Cabling Guide

Uploaded by

zk18591402590
Copyright
© © All Rights Reserved
Available Formats
Download as PDF, TXT or read online on Scribd
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AN-005

CANopen Network Bus Cabling Guide

Introduction
CAN (Controller Area Network) is a two-wire
differential serial communication protocol for real-
time control. ADVANCED Motion Controls®’
CANopen drives use the CAN Physical Layer as
defined by the CAN in Automation (CiA)
standards DS-102 V2.0.

CAN Bus Cabling


CAN bus is a 3 wire physical medium (CAN_H, Figure 2 Termination Jumper Location on
CAN_L, GND). The bus must be composed of a Panel Mount DigiFlex Drives
Giga-bit UTP (Unshielded Twisted Pair) cable
having a standard 120-ohm characteristic Bitrates
impedance. The wiring topology should be as
The CAN physical layer standard for industrial
close to a straight line structure to avoid
applications (DS-102 V2.0) provides guidelines
reflections. For a 1 Mbit/s bus, cable stubs
on bus length and recommended bit rates.
should not exceed 0.3m. The maximum CAN
bus length as specified in DS-102 V2.0 is 1km at
Bus Length Bit Rate Bit Time
a bit rate of 50 Kbit/s.
25 meters 1000 kbit/s 1 µs
The CAN bus must be terminated at both ends 50 meters 800 kbit/s 1.25 µs
by a 120-ohm resistor placed across CAN_H and 100 meters 500 kbit/s 2 µs
CAN_L so that reflections of signals are avoided. 250 meters 250 kbit/s 4 µs
500 meters 125 kbit/s 8 µs
Panel mount DigiFlex® Performance™ servo 1000 meters 50 kbit/s 20 µs
drives have an internal 120-ohm resistor 2500 meters 20 kbit/s 50 µs
termination that is selectable by installing an Table 1 Recommended CAN Bit Rates
external jumper. The last DigiFlex drive in the
CAN bus chain needs to have the termination DigiFlex Panel Mount CAN Bus
jumper installed for proper CAN bus termination.
The CAN bus termination jumper is on the top of Terminals
the drive next to the secondary RS232 port. A The CAN bus connection on panel mount
typical CAN network is shown in Figure 1 along DigiFlex Performance drives is made by an RJ-
with the termination jumper location in Figure 2. 45 connector. Two ports are provided to
facilitate chaining multiple drives together.
For PCB mount DigiFlex Performance servo
drives (DZC series) the termination option is Note: Either port may be used. The connection
selectable via DIP switch setting on the is passed through the drive even if the power to
MC1XDZC02 mounting card series. the drive is OFF.

1 CAN_H
CAN_GND 7 2 CAN_L
3 CAN_GND
CAN_GND 3
CAN_L 2 7 CAN_GND
CAN_H 1

Figure 1 CAN Network Figure 3 RJ-45 CAN Connector

ADVANCED Motion Controls • 3805 Calle Tecate Camarillo CA. 93012 • Tel: (805) 389-1935 • www.a-m-c.com
Page 1 of 2
AN-005

CANopen Network Bus Cabling Guide

Pin Signal Description Note: All drives must be configured to use the
1 CAN_H CAN_H bus line (dominant high) same bit rate, but each drive must have a unique
2 CAN_L CAN_L bus line (dominant low) Node ID.
3 CAN_GND CAN Ground
4 RESERVED Reserved
5 RESERVED Troubleshooting
6 CAN_SHIELD No Connection (Pass Through)
7 CAN_GND CAN Ground Most problems are caused by improper
8 CAN_V+ No Connection (Pass Through) connection, poor termination, wrong bit rate
Table 2 RJ-45 Pinout selection, or Node ID configuration.

MC1XDZC02 CAN Bus Terminal CAN card manufacturers provide CAN Bus
software to send and receive messages. This
The MC1XDZC02 mounting card series for DZC software is valuable for debugging a CAN bus.
drives uses a 10-port plug terminal for the CAN DigiFlex drives at power up send out a reset
bus. message. Upon initial setup, look for this
message. If the bus is healthy, the message
GND 5 displayed has the form:
RS232 RX 3 7 CAN_L IN
RESERVED 1 9 CAN_H IN
0x700 + node ID Length 00

For Node #1: 0x701 1 00

Note: This message is sent only at power up.


RESERVED 2 10 CAN_H OUT Isolate the problem, then cycle drive power to
RS232 TX 4 8 CAN_L OUT send the message again.
GND 6

Figure 4 10-port Terminal Connector Use an ohm meter to check wiring. With the
power off, verify 60 Ω across CAN_H and
Pin Signal Description CAN_L. With the CAN bus on, use an
1 RESERVED Reserved oscilloscope to differentially measure the signal
2 RESERVED levels on the CAN bus. A two channel scope
3 RS232 RX Receive Line (RS-232) must be used. Set the scope to show both
4 RS232 TX Transmit Line (RS-232) channels and set the math function to ADD. Also
5 GND Ground set the channel INVERT to ON. Send messages
6 GND from the host to each node and verify the levels
7 CAN_L IN CAN_L bus line (dominant low)
using Figure 5 below. Make sure signals are out
8 CAN_L OUT
of the invalid range and that rise times are < 15%
9 CAN_H IN CAN_H bus line (dominant high)
10 CAN_H OUT
of bit time.
Table 3 10-port Terminal Pinout

The MC1XDZC02 Node ID, CANopen Bit Rate,


and Termination resistor are all set using DIP
Switches on the mounting card PCB.

CAN Bus Drive Setup


ADVANCED Motion Controls’ CANOpen drives
have hardware or software configurable bit rate
and node id settings. All drives ship with their
DIP Switches all ‘OFF’ or ‘UP’ for software
addressing. It is recommended during initial
setup to configure all drives’ bit rate with the
hardware switches and set each drive with a Figure 5 CAN Voltage Levels
unique node ID via the hardware switches.

ADVANCED Motion Controls • 3805 Calle Tecate Camarillo CA. 93012 • Tel: (805) 389-1935 • www.a-m-c.com
Page 2 of 2

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