ACM1_TAU_UserManual_En
Page 28 of 35
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3.5.8 CAN Network
CAN Network Pins on Controller
Wiring
Figure 176 - CAN Network Wiring
The High-Speed ISO 11898 Standard specifications are given for a maximum signaling rate of 1
Mbps with a bus length of 40m and a maximum of 30 nodes. It also recommends a maximum un-
terminated stub length of 0.3m. The cable is specified to be a shielded twisted-pair with a 120Ω
characteristics impedance (Z
0
). The Standard defines a single line of twisted-pair cable with the
network topology as shown in the following picture:
It’s terminated at both ends with 120Ω resistors in order to adapt the lines to a fixed impedance,
avoiding reflections or other problems that can occur at high frequency of CAN (from 125KBaud to
1Mb). Placing these resistors on a node should be avoided since the bus line loses termination if
the node is disconnected from the bus.
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