1. CANopen: The physics

2. What is contained in a CAN node ?
CAN-Controller
CAN-Tranceiver
CAN

3. Practical values for the trunk length
kbit/s
1000
800
500
250
125
The 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 lines
the differences in bit time quantum length due to the relative oscillator tolerance between nodes
the signal amplitude drop due to the series resistance of the bus cable and the input resistance of bus nodes
The shown practical bus length can be reached with ISO compliant transceivers and standard bus line cables. Please note there are no opto couplers considered.
62,5 20 10
/../
Trunk length in m

4. CANopen specifications according to CiA
DC parameters for CANopen networks for less than 64 nodes
Cable type
Maximum trunk length for different cable types and node numbers
CAN limits
The 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

5. Our cable recommendation

6. Caution: Please regard the polarity when connecting!
ISO Network Set-up
node node n
CAN_H
The 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 Line
120 
120 
CAN_L
Caution: Please regard the polarity when connecting!

7. Hardeware installation of a CAN - XION Gateway
Bit Rate (10kbit/s - 1Mbit/s) 1 2 3 4
„0“,Off
„1“,On
Accept configuration
press for 2 secs!
Address switches (0-127) 7 9 1 F 4 C 2 3 5 6 A B D E
High
Low
Attention!
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. 8 8
<=> 12 Hex => Station address 18 (Dez)
Caution: Address „0“ must not be used!

8. Baud rates DIP switch
Switch (position)
reserved

9. 9-p in Sub Connector DIN 41652 Pin Signal Description 1 - Reserved
CAN_L CAN_L bus line dominant low
CAN_GND CAN Ground
Reserved
(CAN_SHLD) Optional CAN Shield
GND Optional Ground
CAN_H CAN_H bus line dominant high
Reserved
(CAN_V+) Optional CAN external positive supply
The physical medium for CANopen devices is a differentially driven two-wire bus line with common return according to ISO
The 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

10. Mini-style Connector
: ANSI/B93.55M-1981
Quelle: CIA

11. Open-style Connector
Quelle: CIA