www.baldormotion.com
Input / Output 4-21
MN1928
4.6 CAN
The CAN bus is a serial based network originally developed for automotive applications, but
now used for a wide range of industrial applications. It offers low-cost serial communications
with very high reliability in an industrial environment; the probability of an undetected error is
4.7x10
-11
. It is optimized for the transmission of small data packets and therefore offers fast
update of I/O devices (peripheral devices) connected to the bus.
The CAN protocol only defines the physical attributes of the network, i.e. the electrical,
mechanical, functional and procedural parameters of the physical connection between
devices. The higher level network functionality is defined by a number of standards and
proprietary protocols; CANopen is one of the most used standards for machine control within
industries such as printing and packaging machines.
In addition to supporting CANopen, Baldor have developed a proprietary protocol called Baldor
CAN. Both protocols are supported by NextMove ES, but unlike other Baldor devices both
cannot be supported at the same time. This is because NextMove ES only has a single
hardware CAN channel. Separate firmware builds are available to support each of the
protocols.
To determine which firmware is currently installed, start Mint WorkBench and connect to the
NextMove ES (see section 6). At the bottom of the Mint WorkBench window, the status bar will
show the name of the controller, followed by ‘CANopen’ or ‘Baldor CAN’. If the correct option is
not shown, it will be necessary to download alternative firmware by using the Install System
File and/or Download Firmware menu items in Mint WorkBench. The firmware file can be
found on the Baldor Motion Toolkit CD supplied with your product, or downloaded from
www.baldormotion.com. See the Mint help file for details about downloading firmware.
4.6.1 CAN connector
The CAN connection is made using the RJ45 connector on the NextMove ES card.
Location
NextMove ES card
Pin Name
Description
1 CAN+
CAN channel positive
2 CAN-
CAN channel negative
3 -
(NC)
4 CAN 0V
Ground/earth reference for CAN signals
5 CAN V+
CAN power V+ (12-24 V)
6 -
(NC)
7 -
(NC)
8 -
(NC)
Description
Opto-isolated CAN interface using a RJ45 connector.
The maximum (default) transmission rate on NextMove ES is 500 Kbit/s.
1
8
Servo Systems Co. • 115 Main Road • P.O. Box 97 • Montville, NJ,
07045-0097 • (973) 335-1007 • Toll Free: (800) 922-1103
Fax: (973) 335-1661 • www.servosystems.com
