ADP200 • Quick installation guide - Specifications and connection
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7.5 CAN interface
CANopen is a communication profile for CAL-based industrial systems (refer to the CANopen CAL-Base
COMMUNICATION PROFILE for Industrial Systems; CiA 301 CANopen application layer and communication profile
Version: 4.2.0 21 February2011").
The ADP200 can be requested with the interface for connection to CAN networks at the time of ordering (ADP200-...-C
models). The CAN protocol (ISO 11898) used is CAN2.0A with 11-bit identifier. The integrated CANopen interface has
been developed as a Minimum Capability Device. Data are exchanged cyclically; the master reads the data made
available by the slaves and writes the reference data to the slaves.
The interface is provided with functional isolation (> 1 kV).
Connection is via the CAN (XC) connector and no power supply is required.
L GND H
CAN connector (XC)
CAN LED
Prg
Enter
FWD
n=0
ILIM
EN
REV
AL
CAN
Terminal
Name
Function
Cable cross-section
L
CAN�L
CAN�L bus line (low dominant)
0.2 ... 2.5 mm
2
AWG 26 ... 12
GND
CAN�GND
Ground / 0V / V-
H
CAN�H
CAN�H bus line (high dominant)
LEDs
Meaning
CAN (green)
Off
Stop
Flashing
Pre-operational
On
Operational
A shielded twin-pair (of the type described in the CANopen specifications) must be used for connection to the bus, and
must be laid separately from the power cables, at a distance of at least 20 cm. Cable shielding must be grounded at
the two ends. If the cable shielding is grounded at different points of the system, use equipotential connection cables to
reduce the current flow between the drive and the CANbus master.
CAN-H
MASTER
CANopen
120 ohm
ADP200
CAN (XC)
120 ohm
L
ADP200
GND
H
CAN (XC)
CAN-L
L
GND
H
GND
(*)
(*)
Figure 7.5.1: CANbus connection
Note!
(*)
As regards terminations:
the first and last termination on the network must have a 120 ohm resistor between pins L and H.
Termination on RC-ADP200A and RC-ADP200AS control card
As an alternative to an external resistance, the termination can be inserted by using jumper P3 (present only on models
ADP200-...-C).
With the jumper ON, the termination is inserted; with the jumper OFF, the termination is not inserted.
P3
OFF
ON
Figure 7.5.2: Termination on RC-ADP200A and RC-ADP200AS regulation card