Kollmorgen S300

2.3 CANopen interface (X6)
The interface for connection to the CAN-bus (default : 500 kBaud). The interface is at the same
electrical potential as the RS232 interface. The analog setpoint inputs can still be used.
We can supply special clamp-sleeve connectors, that can easily be made up for bus operation.
2.4 CAN-bus cable
To meet ISO 11898, a bus cable with a characteristic impedance of 120 W should be used. The
maximum usable cable length for reliable communication decreases with increasing transmission
rate. As a guide, you can use the following values which we have measured, but they are not to be
taken as assured limits:
Cable data: Characteristic impedance 100-120 W
Cable capacitance max. 60 nF/km
Lead loop resistance 159.8 W/km
Cable length, depending on the transmission rate
Transmission rate (kBaud) max. cable length (m)
1000 10
500 70
250 115
Lower cable capacitance (max. 30 nF/km) and lower lead resistance
(loop resistance, 115 W/km) make it possible to achieve greater distances.
(Characteristic impedance 150 ± 5WÞterminating resistor 150 ± 5W).
For EMC reasons, the SubD connector housing must fulfill the following requirements:
— metal or metalized housing
— provision for cable shielding connection on the housing, large-area connection
12 CANopen for S300/S700
Installation / Setup 11/2018 Kollmorgen
Master
GND
X6
CANH
CANL
GND
CANH
CANL
GND
CANH
CANL
X6 X6
* according to line impedance about 120W
Shield Shield
CANH
CANL
AGND
AGND
+5V
CAN
5
6
9
X6
CAN-Server/Client
CAN
120 *Ù
* according to line impedance
CAN ref. to ISO 11898
S300/S700