Kinco JD Series - Hardware Introduction

Kinco JD 伺服系列使用手册
100
Kinco JD Series Servo User Manual
5. S:The object can be stored in Flash-ROM without lost after power failure.
10.3.1 Hardware Introduction
CAN communication protocol describes a way of transmitting information between devices, The definition of
CAN layer is the same as the open systems interconnection model OSI, each layer communicates with the
same layer in another device, the actual communication takes place adjacent layers in each device,but the
devices only interconnect by the physical media of thephysical layer in the model.CAN standard defines data
link layer and physical layer in the mode. The physical layer of CAN bus is not strictly required, it can use a
variety of physical media such as twisted pair Fibre. The most commonly used is twisted pair signal, sent by
differential voltage transmission (commonly used bus transceiver). The two signal lines are called CAN_H
and CAN_L. The static voltage is approximately 2.5V, then the state is expressed as a logical 1, also called
hidden bit. It represents a logic 0 when CAN_H is higher than the CAN_L, we called it apparent bit,then the
voltage is that CAN_H = 3.5V and CAN_L= 1.5V,apparent bit is in high priority.
The standard CAN interface is as following figure:
Pin
Name
Description
1
NC
Reserved
2
CAN_L
CAN_L bus (low dominant )
3
CAN_GND
CAN ground
4
NC
Reserved
5
CAN_SHLD
Optional shield for CAN
6
GND
Optional ground
7
CAN_H
CAN_H bus（high dominant )
8
NC
Reserved
9
CAN_V+
NC
■Note:
1、All CAN_L and CAN_H of slaves connect directly by using series connection, not star connection.
2、There must be connected a 120 ohm resistance in start terminal(master) and end terminal(slave).
3、All JD servo driver don’t need external 24VDC supply for CAN interface.
4、Please use the shield wires for communication cable,and make good grounding(Pin.3 is advised to
grounding when
communication is in long distance and high baudrate）.
5、The max. distance at different baudrate are shown in following table:
GND
CAN_V+