2What is contained in a CAN node ? CAN-ControllerCAN-TranceiverCAN
3Practical values for the trunk length kbit/s1000800500250125The maximum achievable bus line length in a CAN network is determined essentially by the following physical effects:the loop delays of the connected bus nodes and the delay of the bus linesthe differences in bit time quantum length due to the relative oscillator tolerance between nodesthe signal amplitude drop due to the series resistance of the bus cable and the input resistance of bus nodesThe shown practical bus length can be reached with ISO compliant transceivers and standard bus line cables. Please note there are no opto couplers considered.62,52010/../Trunk length in m
4CANopen specifications according to CiA DC parameters for CANopen networks for less than 64 nodesCable typeMaximum trunk length for different cable types and node numbersCAN limitsThe CiA (CAN in automation) specifies guidance values for different cable characteristics.In those papers there is also a formula for calculating the maximum length of unterminated stubs which involves values like the Resynchronization time. Basically stubs should just be avoided.Maximum trunk length [m] (1)Maximum truk length [m] (2)(1) Safety margin factor of 0.2(2) Safety margin factor of 0.1
6Caution: Please regard the polarity when connecting! ISO Network Set-upnode node nCAN_HThe ISO standard assumes the network wiring technology to be close to a single line structure in order to minimize reflection effects on the bus line. The bus lines have to be terminated by resistors at both ends.CAN Bus Line120 120 CAN_LCaution: Please regard the polarity when connecting!
7Hardeware installation of a CAN - XION Gateway Bit Rate (10kbit/s - 1Mbit/s)1234„0“,Off„1“,OnAccept configurationpress for 2 secs!Address switches (0-127)791F4C2356ABDEHighLowAttention!When saving the XI/ON configuration all CANopen objects, whose parameter values deviate from the default values must be parametrized anew.The complete Station parametrization must then be loaded into the XI/ON station again.88<=> 12 Hex => Station address 18 (Dez)Caution: Address „0“ must not be used!
99-p in Sub Connector DIN 41652 Pin Signal Description 1 - Reserved CAN_L CAN_L bus line dominant lowCAN_GND CAN GroundReserved(CAN_SHLD) Optional CAN ShieldGND Optional GroundCAN_H CAN_H bus line dominant highReserved(CAN_V+) Optional CAN external positive supplyThe physical medium for CANopen devices is a differentially driven two-wire bus line with common return according to ISOThe CiA DRP CANopen recommendation defines the pinning of the 9-pin D-sub connector (DIN or corresponding international standard), the 5-pin mini style connector, the open style connector, the multi-pole connector, and other connectors. The 9-pin D-Sub connector pinning complies to CiA DS-102.Quelle: CIA
10Mini-style Connector: ANSI/B93.55M-1981Quelle: CIA