Mitsubishi Electric CANopen ME3CAN1-L, User Manual

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Setup and Procedures before Operation Wiring
6 – 4 MITSUBISHI ELECTRIC
6.3.2 CAN bus wiring
Applicable connector
Use a female D-sub 9-pin connector. For the signal layout of the connector please refer to section
3.1.2)
Applicable cable
Use a CAN bus cable that meets the following specifications.
The following table shows the relation between bus length and cable cross section:
Grounding of the twisted pair cable
For electromagnetic compatibility (EMC) it is recommended to ground the cable shield at both ends.
Item Transmission line
Cable Type Shielded twisted pair cable
No. of Pairs 2
Conformance Standard ISO 11898/1993
Cross-sectional area
0.3 mm
2
to 0.82 mm
2
or more (AWG22 to AWG18)
Impedance 120
Tab. 6-2: Specifications of the CAN bus cable
Bus length [m]
Cable cross section (mm
2
) Length-related resistance (m /m)
0 to 40 0.3 to 0.34 70
40 to 300 0.34 to 0.60
쏝
60
300 to 600 0.50 to 0.60
쏝
40
600 to 1000 0.75 to 0.80
쏝
26
Tab. 6-3: Relation between bus length and cable cross section
Fig. 6-2: Connection of the CAN bus cable.
CAN_GND
CAN_L
CAN_SHLD
CAN_H
CAN_V+
CAN_GND
CAN_L
CAN_SHLD
CAN_H
CAN_V+
CAN_GND
CAN_L
CAN_SHLD
CAN_H
CAN_V+
CAN node
CAN node CAN node
Terminating resistor
Terminating resistor
Grounding resistance of
100 or less (Class D)
Grounding resistance of
100 or less (Class D)
Optional external supply for
transmission hardware