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IMS-MN-LMDA42C_A.pdf
Communications Interface Connection
LMD CANopen
Pin
MD-CS650 Wire color
Signal
Function
1
Shield
CAN_SHIELD
Shield
2
Red
CAN_V+
Power
3
Black
CAN_GND
CAN Ground
4
White
CAN_H
Dominant High
5
Blue
CAN_L
Dominant Low
Connector Style
: 5-position M12 (male) A-Coded
Recommended cable/cordset
: M12 Signal Cable - Straight, 9.8ft (3m) length, flying leads to 5-position
M12 (female) A-Coded (IMS part number - MD-CS650-000)
Function
The drive system is commissioned via the communications interface using either
the CANopen Configuration Utility, part of the LSS (available for download from
https://novantaims.com/dloads/
), or by using CANopen Layer Setting Services.
Wiring/cable Specifications
• Shielded cable
• Twisted-pair cables
• Grounding of the shield at both ends
Refer to CiA DR-303-1: Cabling and Connector Pin Assignment, for current cabling
recommendations and specifications.
• Use equipotential bonding conductors.
• Use pre-assembled cables to reduce the risk of wiring errors.
• Verify that wiring, cables, and connected interfaces meet the PELV requirements.
Terminating Resistor
Both ends of the entire bus system must be terminated with a terminating resistor. The resistor
value is 120
Ω
connected between the CAN_H and CAN_L lines.
Setting the Address and BAUD Rate
Each device on the network is identified by a unique, adjustable node ID which may be set
using the CANopen Configuration Utility, which is part of the LSS, or by using CANopen Layer
Setting Services as defined in CiA document DSP-305.
Factory settings:
• Node ID: 41h
• BAUD rate: 1M
The following is an example of CANopen network wiring:
