Beckhoff AX2000 CANopen communication profile Manual de usuario descargar pdf (Pagina 11)

2.2 CANopen interface

The interface for connection to the CAN-bus (default : 500 kBaud). The interface is at the same

electrical potential as the RS232 interface. The analog setpoint inputs can still be used.

We can supply special clamp-sleeve connectors, that can easily be made up for bus operation.

In addition, an adapter can be used for the option slot (Option -2CAN-), which provides options for

pass-through wiring and the attachment of 120W termination resistors. The pin assignments corre-

spond to ISO 11898 (CAN).

For the purpose of equipotential bonding, AGND must be connected to the controller! For

additional information, see the servo amplifier Product Manual.

2.3 CAN-bus cable

In accordance with ISO 11898 you should use a bus cable with a characteristic impedance of 120W.

The usable cable length for reliable communication is reduced as the transmission rate is increa-

sed. The following values that we have measured can be used as a guide. They should not, howe-

ver, be interpreted as limiting values:

Cable data: characteristic impedance 100 ... 120W

cable capacitance max. 60 nF/km

lead resistance (loop) 159.8 W/km

Cable length, dependent on the transmission rate

Transmission rate: kbit/s Max. cable length: m

1000 20

500 70

250 115

Longer transmission distances may be achieved with a lower cable capacitance (max. 30 nF/km)

and lower lead resistance (loop, 115 W/km).

(characteristic impedance 150 ± 5WÞtermination resistance 150 ± 5W).

For EMC reasons, the SubD connector housing must fulfill the following requirements:

— metal or metallic housing

— provision for connecting the cable shielding in the housing, with a large contact area.

The BECKHOFF company can supply special clamp-sleeve connectors (Order No. DE-90650), that

can easily be made up for bus operation.

In addition, an adapter can be used for the option slot (Option -2CAN-, Order No. 101174), which

provides options for pass-through wiring and the attachment of 120W termination resistors. The pin

assignments correspond to the CANopen standard DS 301.

CANopen for AX2000/2500 11

BECKHOFF 07/2007 Installation / Setup

AX2000/2500

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Beckhoff AX2000 CANopen communication profile Manual de usuario Pagina 11