Everest XCR - Product Manual |
Wiring and Connections
INGENIA | 08/04/2019
57
CAN wiring recommendations
• Build CAN network using cables with
2-pairs of twisted wires
(2 wires/pair) as follows: one pair for CAN_H
with CAN_L and the other pair for GND.
•
Cable impedance should have an impedance of 100 to 140
Ω
(120
Ω
typical) and a capacitance below 30 pF/
meter.
• Whenever possible, use bus links between the CAN nodes.
Avoid using stubs
(a "T" connection, where a
derivation is taken from the main bus). If stubs cannot be avoided, keep them as short as possible. For
maximum speed (1 Mbps), use a stub length lower than 0.3 meters.
• For a total CAN bus length
over 40 meters
, it is mandatory to
use shielded twisted cables
. Connect the
cable shield to protective earth at both ends. Ensure that the cable shield is connected to the connector
shield, as connection to host protective earth is usually soldered inside the connector.
Drive ID
When installing CANopen communication, ensure that each servo drive is allocated a unique ID.
Otherwise, CANopen network may hang. You can find more information on how to set this ID in the
following link:
http://doc.ingeniamc.com/summit/manuals/reference-manual/tricks-and-tips/setting-up-
