maxon motor EPOS2 P 24/5, Hardware Reference Manual

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maxon motor control
EPOS2 P Programmable Positioning Controller
Document ID: rel5876
4-33
EPOS2 P 24/5 Hardware Reference Edition: May 2016
© 2016 maxon motor. Subject to change without prior notice.
4.7 CAN Connector (J7, J8)
Connection of Positioning Controller to CAN Bus Line CiA DS-102
Note
• Consider CAN devices’ maximal baud rate.
• The standard baud rate setting (factory setting) is 1 MBit/s.
• Use termination resistor at both ends of the CAN bus (

chapter “4.8.2 CAN Bus Termination in
“CAN-M” Supervisor Control (Master) Network” on page 4-35 and chapter “4.8.4 CAN Bus Termina-
tion in “CAN-S” Slave Network” on page 4-35).
• CAN-S (J7) is used for a CAN Slaves Network.
• CAN-M (J8) is used for a Supervisor Control (Master) Network.
• For detailed CAN information

separate document «EPOS2 Communication Guide».
Figure 4-30 CAN Connector (J7/J8)
Standard ISO 11898-2:2003
Max. bit rate 1 Mbit/s
Max. number of CAN nodes 127
Protocol CANopen DS-301
Identifier setting DIP switch or software
EPOS2 P 24/5 CAN 9 pin D-Sub (DIN41652)
Connector [J7] or [J8] Pin [1] “CAN high” Pin 7 “CAN_H” high bus line
Connector [J7] or [J8] Pin [2] “CAN low” Pin 2 “CAN_L” low bus line”
Connector [J7] or [J8] Pin [3] “CAN GND” Pin 3 “CAN_GND” Ground
Connector [J7] or [J8] Pin [4] “CAN shield” Pin 5 “CAN_Shield” cable shield
Pin Signal Description
1 CAN high CAN high bus line
2 CAN low CAN low bus line
3 CAN GND CAN Ground
4 CAN shield Cable shield
Accessories
Cables
CAN-COM Cable (275908)
CAN-CAN Cable (275926)
CAN-Y Cable (319471)
Notes
Suitable connector
Suitable crimp terminals
Suitable hand crimper Molex Micro-Fit 3.0 4 poles (430-25-0400)
Molex Micro-Fit 3.0 female crimp terminals (43030-xxxx)
Molex hand crimper (63819-0000)