Baldor NXE100-1608Dx, Installation Manual

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4-28 Input / Output MN1941
H
All cables and connectors should have a nominal impedance of 120 Ω . Cables should have
a length related resistance of 70 m Ω /m and a nominal line delay of 5 ns/m.
H
The maximum bus length depends on the bit-timing
configuration (baud rate). The table opposite shows
the approximate maximum bus length (worst-case),
assuming 5 ns/m propagation delay and a total
effective device internal in-out delay of 210 ns at
1 Mbit/s, 300 ns at 500 - 250 Kbit/s, 450 ns at
125 Kbit/s and 1.5 ms at 50 - 10 Kbit/s.
(1)
For bus lengths greater than about 1000 m,
bridge or repeater devices may be needed.
H
The compromise between bus length and CAN baud
rate must be determined for each application. The
CAN baud rate can be set using the
BUSBAUD keyword. It is essential that all nodes on the
network are configured to run at the same baud rate.
H
The wiring topology of a CAN network should be as close as possible to a single line/bus
structure. However, stub lines are allowed provided they are kept to a minimum (<0.3 m at
1 Mbit/s).
H
The 0 V connection of all of the nodes on the network must be tied together through the CAN
cabling. This ensures that the CAN signal levels transmitted by NextMove
e 100 or CAN
peripheral devices are within the common mode range of the receiver circuitry of other nodes
on the network.
4.7.2.1 Opto-isolation
On the NextMove e 100, the CAN channel is opto-isolated. A voltage in the range 12-24 V must
be applied between pin 9 (+24 V) and pin 3 or 6 (0 V) of the CAN connector. From this supply,
an internal voltage regulator provides the 5 V at 100 mA required for the isolated CAN circuit.
A connector such as the Phoenix Contact SUBCON-PLUS F3 (Phoenix part 2761871) provides
a 9-pin D-type female connector with easily accessible terminal block connections. CAN cables
supplied by Baldor are ‘category 5’ and have a maximum current rating of 1 A, so the maximum
number of NextMove
e 100 units that may be used on one network is limited to ten.
4.7.3 CANopen
Baldor have implemented a CANopen protocol in Mint (based on the ‘Communication Profile’ CiA
DS-301) which supports both direct access to device parameters and time-critical process data
communication. The NextMove
e 100 complies with CANopen slave device profile DS402, and
can be a DS401 or DS403 master device. It is able to support and communicate with a variety of
devices including:
H
Any third party digital and analog I/O device that is compliant with the ‘Device Profile for
Generic I/O Modules’ (CiA DS-401).
H
Baldor HMI (Human Machine Interface) operator panels, which are based on the ‘Device
Profile for Human Machine Interfaces’ (DS403).
H
Other Baldor controllers with CANopen support for peer-to-peer access using extensions to
the CiA specifications (DS301 and DS302).
The functionality and characteristics of all Baldor CANopen devices are defined in individual
standardized (ASCII format) Electronic Data Sheets (EDS) which can be found on the Baldor
Motion
Toolkit CD supplied with your product, or downloaded from
www.baldormotion.com/supportme.
CAN Maximum
Baud Rate Bus Length
1 Mbit/s 25 m
500 Kbit/s 100 m
250 Kbit/s 250 m
125 Kbit/s 500 m
100 Kbit/s 600 m
50 Kbit/s 1000 m
20 Kbit/s 2500 m
(1)
10 Kbit/s 5000 m
(1)