The following illustration shows the location CAN ports of the controller:
The protocols and functions supported by the CAN ports are CANmotion and CANopen.
The following table describes the CAN characteristics:
|
Characteristic |
Description |
|---|---|
|
Standard |
CAN-CIA(ISO 11898-2:2002 Part 2)1 |
|
Connector type |
Sub-D9, 9 pins male |
|
Protocol supported |
CANmotion and CANopen |
|
CAN bus format |
CAN2.0A |
|
CAN power distribution |
No |
|
Maximal cable length |
See Transmission Speed and Cable - CANopen Hardware Setup Manual |
|
Isolation |
See note2 |
|
Bit rate |
See table below4 |
|
Line termination |
No. See note3 |
NOTE:
1 Part 1 and Part 2 of ISO 11898:2002 are equivalent to ISO 11898:1993.
2 The isolation of the electronic module is 500 Vac RMS between the electronics powered by TM5 power bus and the part powered by 24 Vdc I/O power segment connected to the module. In practice, the TM5 electronic module is installed in the bus base, and there is a bridge between TM5 power bus and 24 Vdc I/O power segment. The two power circuits reference the same functional ground (FE) through specific components designed to reduce effects of electromagnetic interference. These components are rated at 30 Vdc or 60 Vdc. This effectively reduces isolation of the entire system from the 500 Vac RMS.
3 A resistor (R) is needed on each end of the CAN field bus.
4 Maximum cable length is described in the following table:
|
Baud rate |
1 Mbit/s |
800 Kbit/s |
500 Kbit/s |
250 Kbit/s |
125 Kbit/s |
50 Kbit/s |
20 Kbit/s |
10 Kbit/s |
|
|---|---|---|---|---|---|---|---|---|---|
|
Maximum cable length |
m |
4 |
25 |
100 |
250 |
500 |
1000 |
2500 |
5000 |
|
ft. |
13.12 |
82.02 |
328.08 |
820.20 |
1640.41 |
3280.83 |
8202.07 |
16404.15 |
|
The following illustration describes the pins of the CAN port:
The following table describes the pins of the CAN port:
|
PIN N° |
Signal |
Description |
|---|---|---|
|
1 |
Reserved |
|
|
2 |
CAN_L |
CAN_L bus Line (Low) |
|
3 |
CAN_GND |
CAN 0 Vdc |
|
4 |
N.C. |
Reserved |
|
5 |
CAN_SHLD |
N.C. |
|
6 |
GND |
0 Vdc |
|
7 |
CAN_H |
CAN_H bus Line (High) |
|
8 |
N.C. |
Reserved |
|
9 |
N.C. |
Reserved |
N.C.: No Connection.
The shield is connected to pin 6, the 0 Vdc pin.
NOTE: Pin 9 is not connected internally. The controller does not provide power on CAN_V+.
|
|
|
UNINTENDED EQUIPMENT OPERATION |
|
Do not connect wires to unused terminals and/or terminals indicated as “No Connection (N.C.)”. |
|
Failure to follow these instructions can result in death, serious injury, or equipment damage. |
The following illustration shows the LED on the front panel display:
The following table describes the CAN status LED:
|
Marking |
Description |
LED |
|
|---|---|---|---|
|
Color |
Description |
||
|
CAN0 STS |
CAN 0 port status |
Green / Red |
See CAN0 / CAN1 STS LED below for CANopen status |
|
CAN1 STS |
CAN 1 port status |
Green / Red |
See CAN0 / CAN1 STS LED below for CANopen status See CAN1 STS LED below for CANmotion status |
The following table describes the CAN0 STS and/or CAN1 STS status LED when the CAN 0 and/or CAN 1 ports are used as CANopen master:
|
CAN0/CAN1 STS LED |
CANopen Status |
Description |
|---|---|---|
|
OFF |
No CANopen configured |
CANopen is not active in the application |
|
Single flash red / with green ON |
Acceptable detected error limit threshold has been reached |
The controller has detected that the maximum number of error frames has been reached or exceeded. |
|
Double flash red / with green ON |
Node Guarding or Heartbeat event |
The controller has detected either a Node Guarding or Heartbeat exception for the CANopen master or slave device. |
|
Red ON |
Bus off |
The CANopen bus is stopped |
|
Green ON |
The CANopen bus is operational |
|
The following table describes the CAN1 STS status LED when CAN 1 port is used as CANmotion master:
|
CAN1 STS LED |
CANmotion Status |
Description |
|---|---|---|
|
OFF |
No CANmotion configured |
CANmotion is not active in the application |
|
Single flash red / with green ON |
Acceptable detected error limit has been reached |
The controller has detected that the maximum number of error frames has been reached or exceeded. |
|
Red ON |
Bus off |
The CANmotion bus is stopped |
|
Green ON |
The CANmotion bus is operational |
|
For further details, please refer to the CANopen Hardware Setup Manual.
