Chapter 2:
Description
8
Pin
ID
Pin
Type
Description
1
CANH
Input / Output
CAN high
2
CANL
Input / Output
CAN low
3
232 RX
Input
RS-232 reception
4
232 TX
Output
RS-232 transmission
5
GND
Output
Ground
J
2
(
R
S
-2
3
2
a
n
d
C
A
N
I
N
P
U
T
c
o
n
n
e
c
to
r)
6
N.C.
-
-
Table 6: J2 connector pin out
The table below shows the LCC-10 motion controller pins related to CAN
communications and their voltage ranges.
Pin
V
min
V
typ
V
max
Units
CANH
-7.5
-5..5
12.5
V
CANL
-7.5
-5..5
12.5
V
Table 7: CAN pins voltage range
RS-232 serial interface
RS-232 (also known as Electronic Industries Alliance RS-232C) is an interface that
assigns a rule for the serial interchange of binary data between a DTE (Data Terminal
Equipment) and a DCE (Data Communication Equipment), even though other situations
exist in which interface RS-232 is also used.
This interface is designed for short distances, about 15m or less, and for low
communication speeds of no more than 20KB. In spite of this, it is very often used at
higher speeds with acceptable results. The interface can work in asynchronous or
synchronous communication and simplex, half duplex o full duplex channel types.
The baud rate is user selectable between 9600bps and 115200bps (default value).
Figure 7 shows how to connect one controller to the host, and Figure 8 shows multiple
controllers in a daisy-chain configuration.
Figure 7: RS-232 interface