ELGO Electronic MTM-A-000 Series, Operating Manual

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Connections and Interfaces
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9.1 CANopen Interface
When ordering the CA0 interface option, the MTM-A-000 measuring system is equipped with a CAN interface
according to CANopen standard DS406 for encoder device profiles.
In order to start the communication with the MTM-A-000 an NMT command has to be sent first.
The following identifiers are given:
CAN - Identifier
(6 Byte telegram)
181 (16)
= Identifier
First 4 bytes = Position (resolution 1 mm), Bit rate = 250 KB/s*
Next 2 bytes = Speed in mm/s
Figure 11: CANopen interface
*) The bit rate and other parameters can be changed via CAN interface. Available CAN options and further
information about the DS406 device profile can be found in the downloadable EDS and XDD file.
Download link: https://www.elgo.de/fileadmin/user_upload/software/MTMQ_DS406.zip
9.1.1 Connections CANopen Interface
Table 4: CANopen with open cable ends
Connection Type Drawing Color Function Description
Standard:
Open cable ends
black 0 V / GND Ground
brown +VCC 10 … 30 VDC
red
- n. c.
orange
- n. c.
green
CAN HIGH positive CAN signal
yellow CAN LOW negated CAN signal
Table 5: CANopen with 5-pin M12 round connector
Connection Type Drawing Pin Function Description
Connection Option 2:
5-pin M12 round connector
(socket, soldering side)
1 Shield CAN shielding
2 +VCC 10 … 30 VDC
3 0 V / GND Ground
4 CAN HIGH positive CAN signal
5 CAN LOW negated CAN signal
Position Speed
LSB MSB LSB MSB
4
1 2
5
3