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CAN wiring
Following are some relevant wiring good practices.
Build CAN network using cables with 2-pairs of twisted wires (2 wires/pair) as follows: one pair for
CAN_H with CAN_L and the other pair for CAN_V+ with CAN_GND. The cable impedance must be 105
... 135 Ω (120 Ω typical) and a capacitance below 30 pF/meter.
When total CAN bus length is over 40 meters, it is mandatory to use shielded twisted cables.
Connect the cable shield to earth/shield.
Whenever possible, use bus links between the CAN nodes. Avoid using stubs. A stub is a "T"
connection, where a derivation is taken from the main bus. When stubs can't be avoided keep them
as short as possible. For 1 Mbit/s (worst case), the maximum stub length must be below 0.3 meters.
Connect the shield to the ground of the host (PC). Usually, this connection is soldered internally
inside the connector at the PC end.
Ensure that the shield of the cable is connected to the shield of the connector used for
communications.
If cable is long (>5 m) it is recommended to connect protective earth at both ends.
USB interface
Pluto Servo Drive supports Universal Serial Bus (USB), a standard interface for connecting peripheral
devices to a host computer. The following table shows specifications:USB connector
Specification Details
USB version USB 2.0 (full speed)
Data rate up to 12 Mbps
Maximum cable length 5 meters (16 feet)
USB interface is recommended just for configuration purposes. CANopen option is strongly
recommended in noisy environments.
USB wiring recommendations
Although USB is a very widespread communication standard it has some disadvantages when operating in
noisy environments. Following are some wiring recommendations.
Use shielded cable with the shield connected to PC end. Shield of micro USB connector is not
connected on Pluto.
Do not rely on an earthed PC to provide the Pluto Servo Drive earth connection. The drive must be
earthed through a separate circuit.
Avoid creating ground loops.
EtherCAT interface
Neptune Servo Drive EtherCAT variant provides access to the EtherCAT fieldbus system, suitable for hard
and soft real-time requirements in automation technology, test and measurement and many other
applications.
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