CANopen Interface for SG5 and SG7

CANopen Interface Manual

1 System overview

The LinMot CANopen drives comply with the following specifications:

–

CiA 102 DS V2.0 CAN physical layer for industrial applications

–

CiA 301 DS V4.0.2 – CANopen application layer and communication profile

–

CiA 303-3 DR V1.3: CANopen additional specification – Part 3: Indicator specification

–

CiA 306 DS V1.3: Electronic data sheet specification for CANopen

Further information on specifications can be found under: http://www.can-cia.org/

The following resources are available:

- 4 TxPDO

- 4 RxPDO

- 1 TxSDO

- 1 RxSDO

The supported protocols include:

NMT Error Control (Node Guarding Protocol or Heartbeat Protocol)

PDO (Transmission types 1-240, 250, 253 and 254)

-

SDO Upload and Download

-

NMT (Start, Stop, Enter PreOp, Reset Node, Reset Communication)

Boot-Up Message

An EDS (Electronic Data Sheet) file is provided for convenient configuration of all

CANopen functions of the drive via a PLC.

2 Connecting the CAN bus

The CANopen bus can be connected either via X7/8, X42/X43 or X44 depending on the drive type.

2.1 Pin assignment of the CMD Connector (X7, X8)

2 x RJ45 with 1:1 connected signals. Standard twisted pairs: 1/2, 3/6, 4/5, 7/8.

Use Ethernet cables according the EIA / TIA 568A standard.

Pin 1

Pin 2

Pin 3

Pin 4/5

Pin 6

Pin 7

Pin 8

RS485 A

RS485 B

RS485 Y

Ground

RS485 Z

CAN H

CAN L

NTI AG / LinMot

® www.LinMot.com

Page 4/60