Pilz PMCprotego D.72/000/0/0/2/208-480VAC - Manual (Page 162)

6.7 Control element
6 Wiring
Pilz GmbH & Co. KG, Felix-Wankel-Straße 2, 73760 Ostfildern, Germany
Telephone: +49 711 3409-0, Telefax: +49 711 3409-133, E-Mail: [email protected]
6-54
The CANopen specification CiA DS-301 V4.0 requires the cable at both
the start and end of the bus to be terminated with a resistor (120 Ohm,
5% metal film, 1/4 Watt).
The terminating resistor is usually integrated within the connector and
can be activated there.
The cable runs for reliable communication decrease as the transmission
rate is increased. The following values can be used as a guide, but they
should not be regarded as limit values:
Cable data:
 Characteristic impedance 100 - 120
Ω
 Operating capacitance max. 60 nF/km
 Cable resistance (loop) 159.8
Ω
/km
Cable runs in relation to transmission rate
Longer cable runs can be achieved with lower cable capacitance (max.
30 nF/km) and lower conductor resistance (loop, 115
Ω
/km).
Characteristic impedance 150 ± 5
Ω
=> terminating resistor 150 ± 5
Ω
.
For EMC reasons, the D-Sub connector housing must meet the follow-
ing requirements:
 Metal or metal coated
Connection
Interface CANopen
Shielded cable
The interface is on the same connec-
tor as the RS 232 interface.
The RS 232 and CANopen interface
use the same operating earth (GND).
Cable runs in relation to transmission rate
Transmission rate [kBit/s] Max. cable runs [m]
1000 10
500 70
250 115
CAN_H
9
6
Servo Drive X6
CAN_L
CANopen Server/Client
5
CAN_GND
CAN_H
CAN_L
CAN_GND