Lenze 931K - Manual (Page 13)

Electrical installation
Electrical connections of CANopen
4
l
13 KHB 13.0002−EN 4.1
4.2 Electrical connections of CANopen
LO LO LO LO CG CG CG CG HI HI HI HI
X4.1 X4.1 X4.2 X4.2
A
2
A
1
A
n
PES PES PES PES
CAN-GND
CAN-LOW
CAN-HIGH
120
1 2 3 4 5
6 7 8 9
120 W
120 W
931e_420
Fig. 1 Basic wiring of CANopen with Sub−D connector to the master
A
1
Node 1 − master (e.g. PLC)
A
2
Node 2 − slave (e.g. drive controller 931E)
A
n
Node n − slave, n = max. 127
Specification of the transmission cable
Please observe our recommendations for signal cables.
Bus cable specification
Cable resistance 135 − 165 W/km, (f = 3 − 20 MHz)
Capacitance per unit length £ 30 nF/km
Loop resistance < 110 W/km
Wire diameter > 0.64 mm
Wire cross−section > 0.34 mm 2
Wires double twisted, insulated and shielded
ƒ Connection of the bus terminating resistors:
– One resistor of 120
W each at the first and last bus node
ƒ Communication protocol
– CANopen (CAL−based communication profile DS 301/DSP 402)
ƒ Bus extension:
– 40 m for max. data transfer rate of 1 Mbps
– Up to 1 km for reduced data transfer speed
ƒ Signal level according to ISO 11898
ƒ Up to 128 bus nodes possible