Eltorque QT250 - 3.9.4 Shielding considerations; 3.9.5 Communication interface considerations; CANopen system

Product Description
Page 26 of 92
User Manual QT250 and QT800 gen 2.5, ID 2021 2.3 20. April 2021
period) shall be not less than 25 % (e.g. 1 sec running and 3 sec resting)” (EN
15714-2, chapter 4.7.2.2, b.)
Shielded cables and appropriate cable glands should be used if the actuator is
installed near to or connected in the same network as equipment emitting high
levels of disturbances.
Figure 10: CANopen bus network
Note! Eltorque recommends a maximum of 80 nodes on 500 m/1660 ft cable.
Note! The cable between the nodes can be maximum 500m with bus speed with the
Eltorque Hybrid Marine Cable. For other data rates and cable lengths check with
Eltorque service department.
Table 6: Cable requirements and recommendations for CANopen system
Cable parameter
Cable requirements and recommendations
Number of conductors
1 (GND) + twisted pair for CAN_H and CAN_L signals
Length related
resistance / Cross
section
Length related resistance;
typical 70 mΩ/m Max 100 m/m
70 mΩ/ 3ft 3.37 in Max 100 m/3ft 3.37 in
Normally equivalent to 0.5–1.5 mm
2
/0.02 – 0.06 in
2
Cable length (affects
communication speed)
Maximum 500 m/1650 ft.
Shield
EMC glands are not mandatory but are recommended in
case the actuator is placed in conjunction with equipment
emitting high levels of disturbances.
Termination resistor
Nominal 120 Ω Both ends of the signal loop must have the
correct impedance. Use the internal resistor by setting the
terminal jumper in position ON, see Figure 27: CANopen
connection interface terminals on page 42.