Delta AH Motion Series - Page 134

AH Motion – Hardware Manual
3-102
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 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
Signal
Description
4
GND
SHLD
CAN-
CAN+
5
3
2
1
5
- Reserved
4
CAN+
CAN_H
3
SHLD
Shielded cable
2
CAN- CAN_L
1
GND
0 VDC
 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.)
Setting Description
NODE ADDRESS
x16
0
x16
1
1~7F Valid CANopen node address
0, 80~FF Invalid CANopen node address
Example: If the station address of AH10COPM-5A is 16#26, you have to turn the knob corresponding to x16
1
to
position 2, and turn the knob corresponding to x16
0
to position 6.
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 DR 1 DR 0
Communication
speed
Maximum
communication
distance
DR 1
DR 0
DR 2
I N 0
OFF
OFF
OFF
10 kbps
5000 m
OFF OFF ON 20 kbps 2500 m
OFF
ON
OFF
50 kbps
1000 m
OFF
ON
ON
125 kbps
500 m
ON OFF OFF 250 kbps 250 m
ON
OFF
ON
500 kbps
100 m
ON
ON
OFF
800 kbps
50 m
ON ON ON 1 Mbps 25 m