Lenze E94AYCCA User Manual

EDS94AYCCA 13411721

Ä.J26ä

L-force Communication

Communication Manual

9400

E94AYCCA

CANopen® communication module

2 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)

Contents

1 About this documentation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 6

1.1 Document history

1.2 Conventions used

1.3 Terminology used

1.4 Notes used

2 Safety instructions

2.1 General safety and application notes

2.2 Device and application-specific safety instructions

2.3 Residual hazards

3 Product description

3.1 Application

3.2 Identification

3.3 Features

3.4 Terminals and interfaces

4 Technical data

4.1 General data and operating conditions

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as directed . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

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4.2 Supported protocols

4.3 Communication time

4.4 Protective insulation

4.5 Dimensions

5 Installation

5.1 Mechanical installation

5.2 Electrical installation

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5.1.1 Mounting

5.1.2 Dismounting

5.2.1 System bus (CANopen) connection

5.2.2 Specification of the bus cable

5.2.3 Bus cable length

5.2.4 Voltage supply

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EDS94AYCCA EN 5.0 - 06/2012 L 3

E94AYCCA communication manual (CANopen®)

Contents

6 Commissioning . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 32

6.1 Before initial switch-on

6.2 Possible settings via DIP switches

6.2.1 Setting the node address

6.2.2 Setting the baud rate

6.3 Settings in the »Engineer«

6.4 Initial switch-on

7 Data transfer

7.1 Structure of the CAN data telegram

7.1.1 Identifier

7.1.2 User data

7.2 Communication phases / network management

7.2.1 State transitions

7.2.2 Network management telegram (NMT)

7.2.3 Parameterising the controller as a CAN master

8 Process data transfer

8.1 Identifiers of the process data objects

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8.2 Transmission type

8.3 Masking of the TPDOs for event control

8.4 Synchronisation of PDOs via sync telegram

8.4.1 Parameter setting

8.4.2 Effect of C01130 on the sync phase position

8.5 PDO mapping

9 Parameter data transfer

9.1 Identifiers of the parameter data objects

9.2 User data

9.2.1 Command

9.2.2 Addressing through index and subindex

9.2.3 Data 1 ... data 4

9.2.4 Error messages

9.3 Examples for a parameter data telegram

9.3.1 Reading parameters

9.3.2 Writing parameters

9.3.3 Reading block parameters

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4 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)

Contents

10 Monitoring . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

10.1 Node guarding protocol

10.1.1 Telegram structure

10.1.2 Parameter setting

10.1.3 Commissioning example

10.2 Heartbeat protocol

10.2.1 Telegram structure

10.2.2 Parameter setting

10.2.3 Commissioning example

10.3 Emergency telegram

10.4 Settings in the »Engineer«

11 Diagnostics

11.1 LED status displays

11.2 Diagnostics with the »Engineer«

12 Error messages

12.1 Short overview of the CANopen error messages

12.2 Possible causes and remedies

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13 Parameter reference

13.1 Communication-relevant parameters of the standard device

13.2 Parameters of the communication module for slot MXI1

13.3 Parameters of the communication module for slot MXI2

13.4 Table of attributes

14 Implemented CANopen objects

15 DIP switch positions for setting the CAN node address

16 Index

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EDS94AYCCA EN 5.0 - 06/2012 L 5

E94AYCCA communication manual (CANopen®)

About this documentation

1 About this documentation

Contents

This documentation solely contains descriptions for the E94AYCCA communication module (CANopen®).

 Note!

This documentation supplements the Mounting Instructions supplied with the communication module and the "Servo Drives 9400" hardware manual.

The Mounting Instructions contain safety instructions which must be observed!

The product features and functions of the communication module are described in detail.

Examples illustrate typical applications.

This documentation also contains ...

 safety instructions that must be observed;

 key technical data relating to the communication module;  information about the versions of the Lenze standard devices to be used;

 notes on troubleshooting and fault elimination.

The theoretical concepts are only explained to the level of detail required to understand the function of the communication module.

This documentation does not describe any software provided by other manufacturers. No warranty can be given for corresponding data provided in this documentation. For information about how to use the software, please refer to the host (PLC, master) documents.

All product names mentioned in this documentation are trademarks of their corresponding owners.

 Tip!

Detailed information about the CAN/CANopen bus system can be found on the website of the CAN user organisation CiA® (CAN in Automation):

www.can-cia.org

Screenshots/application examples

All screenshots in this documentation are application examples. Depending on the firmware version of the field devices and the software version of the Engineering tools installed (e.g. »Engineer«), the screenshots in this documentation may deviate from the actual screens shown.

6 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)

About this documentation

Target group

This documentation is intended for people involved in configuring, installing, commissioning, and maintaining the networking and remote maintenance of a machine.

 Tip!

Current documentation and software updates for Lenze products can be found in the ”Download” area at:

www.Lenze.com

Validity information

The information in this documentation applies to the following devices:

Extension module Type designation From hardware

CANopen communication manual E94AYCCA VA 01.00

version

From software

version

EDS94AYCCA EN 5.0 - 06/2012 L 7

E94AYCCA communication manual (CANopen®)

About this documentation Document history

1.1 Document history

Version Description

1.0 08/2006 TD17 First edition

2.0 04/2008 TD17 General revision

3.0 02/2011 TD17 General revision

4.0 11/2011 TD17 Assignment of the 9-pin Sub-D plug connector corrected.

System bus (CANopen) connection

5.0 06/2012 TD17 General revision

Your opinion is important to us!

These instructions were created to the best of our knowledge and belief to give you the best possible support for handling our product.

If you have suggestions for improvement, please e-mail us to:

feedback-docu@Lenze.de

( 26)

Thank you for your support.

Your Lenze documentation team

8 L EDS94AYCCA EN 5.0 - 06/2012

1.2 Conventions used

This documentation uses the following conventions to distinguish different types of information:

Information type Display Examples/notes

Spelling of numbers

Decimal Standard spelling Example: 1234

Hexadecimal 0x[0 ... 9, A ... F] Example: 0x60F4

Binary

• Nibble

Decimal separator Point The decimal point is generally used.

Text

Program name » « PC software

Control element Bold The OK button... / the copy command... / the

Sequence of menu commands

Hyperlink Underlined

E94AYCCA communication manual (CANopen®)

About this documentation

Conventions used

In inverted commas

Point

Example: ’100’ Example: ’0110.0100’

For example: 1234.56

Example: Lenze »Engineer«

Properties tab... / the Name input field...

If the execution of a command requires several commands in succession, the individual commands are separated by an arrow: Select the File command to...

Optically highlighted reference to another subject which is activated with a mouse-click.

Open

Symbols

Page reference ( 9) Optically highlighted reference to another page

Step-by-step instructions



which is activated with a mouse-click.

Step-by-step instructions are indicated by a pictograph.

EDS94AYCCA EN 5.0 - 06/2012 L 9

E94AYCCA communication manual (CANopen®)

About this documentation Terminology used

1.3 Terminology used

Term Meaning

CAN CAN (Controller Area Network) is an asynchronous, serial fieldbus system.

CANopen® CANopen® is a communication protocol based on CAN.

CANopen® is a trademark and patented technology, licensed by the CAN user organisation CiA® (CAN in Automation e. V.), www.can-cia.org

System bus (CAN/CANopen) The Servo Drives 9400 system bus (CANopen) is an advancement of the 9300

Standard device Lenze controller of the "Servo Drives 9400" product series, with which the

Controller

Module Accessories and extension modules such as communication modules,

Interface module

Communication module

»Engineer« Lenze PC software which supports you during the "Engineering" process

»PLC Designer«

Code Parameter by means of which you can parameterise or monitor the controller. In

Subcode If a code contains several parameters, they are stored in "subcodes".

Lenze setting Default settings for the device.

Basic setting

PDO Process data object (process data communication)

SDO Service data object (parameter data communication)

HW Hardware

SW Software

PLC Programmable Logic Controller

Host CAN master

Control

Node Components of a CAN network (PLC, controller, etc.)

Bus node

Node address Unique ID for addressing the individual components of a CAN network

I-1600.20 CANopen index (hexadecimal representation)

controller series' system bus (CAN).

Features

communication module can be used.

Application as directed

distributed terminals, operator and input devices (HMIs) as well as external controls and control systems

(parameterisation, diagnostics, and configuration) throughout the whole life cycle, i. e. from planning to maintenance of the machine commissioned.

everyday language, the term is also referred to as "index".

In the documentation, the slash "/" is used as a separator between the code and the subcode (e.g. "C00118/3").

In everyday language, the term is also referred to as "subindex".

• In the example: index 0x1600, subindex 0x20

( 15)

( 14)

 Note!

Some of the terms used derive from the CANopen protocol. These terms are not listed here.

10 L EDS94AYCCA EN 5.0 - 06/2012

1.4 Notes used

The following pictographs and signal words are used in this documentation to indicate dangers and important information:

Safety instructions

Structure of the safety instructions:

 Pictograph and signal word!

(characterise the type and severity of danger)

Note

(describes the danger and provides information about how to prevent dangerous situations)

E94AYCCA communication manual (CANopen®)

About this documentation

Notes used

Pictograph Signal word Meaning

Danger! Danger of personal injury through dangerous electrical voltage



Danger! Danger of personal injury through a general source of danger



Stop! Danger of property damage



Application notes

Pictograph Signal word Meaning

Note! Important note to ensure troublefree operation

Reference to an imminent danger that may result in death or serious personal injury if the corresponding measures are not taken.

Reference to a possible danger that may result in property damage if the corresponding measures are not taken.



Tip! Useful tip for simple handling



Reference to another documentation



EDS94AYCCA EN 5.0 - 06/2012 L 11

E94AYCCA communication manual (CANopen®)

Safety instructions General safety and application notes

2 Safety instructions

 Note!

It is absolutely vital that the stated safety measures are implemented in order to prevent serious injury to persons and damage to material assets.

Always keep this documentation to hand in the vicinity of the product during operation.

2.1 General safety and application notes

 Danger!

Disregarding the following basic safety measures may lead to severe personal injury and damage to material assets.

 Lenze drive and automation components ...

– may only be used as directed.

Application as directed

– must never be commissioned if they display any signs of damage. – must never be modified technically. – must never be commissioned if they are not fully mounted. – must never be operated without the required covers. – can have live, moving and rotating parts during and after operation, depending on

their degree of protection. Surfaces can be hot.

 For Lenze drive components ...

– only use approved accessories. – only use genuine spare parts supplied by the manufacturer of the product.

 Observe all the specifications contained in the enclosed and corresponding

documentation. – This is a precondition for ensuring safe, trouble-free operation and for making use of

the stated product features.

Features

– The specifications, processes, and circuitry described in this document are for

guidance only and must be adapted to your own specific application. Lenze does not

take responsibility for the suitability of the process and circuit proposals.

( 15)

( 14)

12 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)

Device and application-specific safety instructions

 All works on and with Lenze drive and automation components may only be carried out

by qualified personnel. According to IEC 60364 and CENELEC HD 384 these are persons who ...

– are familiar with installing, mounting, commissioning, and operating the product. – have the qualifications necessary for their occupation. – know and are able to apply all regulations for the prevention of accidents, directives

and laws that apply to the location of use.

2.2 Device and application-specific safety instructions

 During operation, the communication module must be securely connected to the

standard device.

 With external voltage supply, always use a separate power supply unit, safely

separated in accordance with EN 61800-5-1 in every control cabinet ("SELV"/"PELV").

 Only use cables that meet the given specifications.

Specification of the bus cable

( 27)

Safety instructions

 Documentation of the standard device, control system, and plant/machine

All the other measures prescribed in this documentation must also be implemented. Observe the safety instructions and application notes stated in this manual.

2.3 Residual hazards

Protection of persons

 If Servo Drives 9400 are used on a corner grounded system with a rated mains voltage

≥ 400V, external measures need to be implemented to provide reliable protection against accidental contact.

Protective insulation

Device protection

 The communication module contains electronic components that can be damaged or

destroyed by electrostatic discharge.

Installation

( 20)

( 24)

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E94AYCCA communication manual (CANopen®)

Product description Application as directed

3 Product description

3.1 Application as directed

The communication module ...

 is an accessory module which can be used with the following standard devices:

Product series Type designation From hardware

Servo Drives 9400 HighLine E94AxHExxx VA 01.30

Servo Drives 9400 PLC E94AxPExxxx VA 01.00

Servo Drives 9400 regenerative power supply module

 is an item of equipment intended for use in industrial power systems.

 may only be operated under the operating conditions specified in this documentation.

 may only be used in CAN networks.

Any other use shall be deemed inappropriate!

3.2 Identification

The type designation and the hardware and software version of the communication module are specified on the nameplate:

[3-1] Identification data

version

E94ARNxxxx VA 01.00

1 Type designation (type)

E94 Product series

AVersion

Y Module identification: extension module

C Module type: communication module

CA CANopen

2 Hardware version (HW)

3 Software version (SW)

E94YCET005

From software

version

14 L EDS94AYCCA EN 5.0 - 06/2012

3.3 Features

For many years the system bus (CAN) based on the CANopen communication profile has been integrated in Lenze controllers. Due to the lower number of data objects available, the functionality and compatibility of the old system bus are lower as compared with CANopen. For parameter setting, two parameter data channels are always available to the user while CANopen provides only one active parameter data channel (along with the possibility to establish further channels).

The system bus (CANopen) of the Servo Drives 9400 is an advancement of the 9300 controller series' system bus (CAN).

The communication module E94AYCCA (CANopen) provides the following features:

 Interface module for the system bus (CANopen), connectable to the expansion slots of

Servo Drives 9400

 Internal voltage supply of the communication module via the Servo Drive 9400.

 Full compatibility according to CANopen DS301, V4.02

E94AYCCA communication manual (CANopen®)

Product description

Features

 Support of the NMT master/slave function "node guarding" (DS301,V4.02)

 Support of the NMT slave function "heartbeat" (DS301,V4.02)

 No restrictions regarding the selection of node addresses  Number of parameterisable server and client SDO channels:

– max. 10 channels with 1 ... 8 bytes

 Number of parameterisable PDO channels:

– max. 4 Transmit-PDOs (TPDOs) with 1 ... 8 bytes – max. 4 Receive-PDOs (RPDOs) with 1 ... 8 bytes

 All PDO channels are functionally equivalent.  Monitoring of the RPDOs for data reception

 Telegram counters for SDOs and PDOs

 Bus status diagnostics

 Boot-up telegram generation  Emergency telegram generation

 Reset node telegram generation (with master configuration)

 Sync telegram generation and response to sync telegrams:

– Transmit/receive data – Synchronisation of the device-internal time base

 Abort codes  All CAN functions parameterisable via codes

 Object directory (all mandatory functions, optional functions, indexes)

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E94AYCCA communication manual (CANopen®)

Product description Terminals and interfaces

3.4 Terminals and interfaces

 9-pin Sub-D plug connector for system bus connection (CANopen)  DIP switches for ...

– setting the CAN node address – setting the baud rate

 Front LEDs for diagnosing the ...

– voltage supply of the communication module; – connection to the standard device; – CANopen state machine and error states; – physical CAN connection.

X220 9-pin Sub-D plug connector for the ...

System bus (CANopen) connection

( 26)

[3-2] E94AYCCA communication module (CANopen)

E94YCCA001B

S220 DIP switches for ...

• setting the CAN node address

• setting the baud rate

Possible settings via DIP switches

LED status displays for diagnostics

LED status displays

BS BE DE

( 33)

( 86)

16 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)

4 Technical data

4.1 General data and operating conditions

Field Values

Order designation E94AYCCA

Communication profile CANopen (DS301, V4.02)

Communication medium CAN cable according to ISO 11898-2

Network topology Line terminated on both sides

(e.g. termination with Lenze system connector EWZ0046)

Adjustable node addresses 1 ... 127

Adjustable via DIP switches or code C13350

Max. number of nodes 127

Baud rates [kbps] • 10

•20

•50

• 125

• 250

• 500

• 800

• 1000 Adjustable via DIP switches or code C13351

Process data • max. 4 TPDOs with 1 ... 8 bytes

• max. 4 RPDOs with 1 ... 8 bytes

Parameter data Max. 10 client and server SDO channels with 1 ... 8 bytes

Transfer mode for TPDOs • With change of data

• Time-controlled, 1 to x ms

• After the reception of 1 to 240 sync telegrams

Voltage supply Internal voltage supply of the communication module via the Servo Drive

9400.

Conformities, approvals • CE

•UL

Technical data

General data and operating conditions

/ C14350.

/ C14351.

 "Servo Drives 9400" hardware manual

Here you can find the ambient conditions and data regarding the electromagnetic compatibility (EMC) which also apply to the communication

module.

EDS94AYCCA EN 5.0 - 06/2012 L 17

E94AYCCA communication manual (CANopen®)

Technical data Supported protocols

4.2 Supported protocols

Category Protocol

Standard PDO protocols PDO write

PDO read

SDO protocols SDO download

SDO download initiate SDO download segment

SDO upload SDO upload initiate SDO upload segment

SDO abort transfer

SDO block download SDO block download initiate SDO block download end

SDO block upload SDO block upload initiate SDO block upload end

NMT protocols Start remote node (master and slave)

Stop remote node (slave)

Enter pre-operational (slave)

Reset node (slave and local device)

Reset communication (slave)

Monitoring protocols Node guarding (master and slave)

Heartbeat (heartbeat producer and heartbeat consumer)

18 L EDS94AYCCA EN 5.0 - 06/2012

4.3 Communication time

The communication time is the time between the start of a request and the arrival of the corresponding response.

The communication times in the CAN network depend on the ...

 processing time in the device;  telegram runtime (baud rate/telegram length);

 bus load (especially if the bus is loaded with PDOs and SDOs at a low baud rate).

Servo Drives 9400 processing time

There are no interdependencies between parameter data and process data.

 Parameter data:

– For controller-internal parameters: approx. 30 ms ± 20 ms tolerance (typically) – For some codes the processing time can be longer.

E94AYCCA communication manual (CANopen®)

Technical data

Communication time

 Process data are transported in real time.

EDS94AYCCA EN 5.0 - 06/2012 L 19

E94AYCCA communication manual (CANopen®)

Technical data Protective insulation

4.4 Protective insulation

 Danger!

Dangerous electrical voltage

If Servo Drives 9400 are used on a corner grounded system with a rated mains voltage ≥ 400 V, external measures need to be implemented to provide reliable protection against accidental contact.

Possible consequences:

• Death or serious injury

Protective measures:

• If protection against accidental contact is required for the control terminals of the controller and the connections of the plugged device modules, ...

– there must be a double isolating distance. – the components to be connected must be provided with a second isolating

distance.

 Note!

The available protective insulation in Servo Drives 9400 is implemented in accordance with EN 61800-5-1.

20 L EDS94AYCCA EN 5.0 - 06/2012

E94AYCCA communication manual (CANopen®)

Technical data

Protective insulation

The illustration below ...

 shows the arrangement of the terminal strips and the separate potential areas of the

controller.

 serves to determine the decisive protective insulation between two terminals located

in differently insulated separate potential areas.

X100

MXI1

Bus

Ext. DC

MXI2

Reinforced insulation

Basic insulation

Functional insulation

X6X6

X7X7

X107

X106

X105X105

[4-1] Protective insulation according to EN61800-5-1

Terminal strip Connection Terminal strip Connection

X8X8

X100 L1, L2, L3 (only Single Drive) X1 CAN on board 9400

+UG, -UG X2 State bus

X105 U, V, W 24 V (ext.)

Rb1, Rb2 (Single Drive only) X3 Analog inputs/outputs

X106 Motor PTC X4 Digital outputs

X107 Control of the motor holding

brake

MMI

MSI

I/O

Ext. DC

E94YCXX007

X5 Digital inputs

X6 Diagnostics

X7 Resolver

X8 Encoder

MXI1, MXI2 Extension module

MMI Memory module

MSI Safety module

EDS94AYCCA EN 5.0 - 06/2012 L 21

E94AYCCA communication manual (CANopen®)

Technical data Protective insulation

Example

Which type of protective insulation is used between the bus terminal of the device module in slot MXI1 or MXI2 and the mains terminal X100?

 The separate potential area with the better protective insulation is decisive.

– The separate potential area of the bus terminal of the device module has a "basic

insulation".

– The separate potential area of the mains terminal has a "reinforced insulation".

 Result: The insulation between the X100 mains terminal and the bus terminal is of the

"reinforced insulation" type.

22 L EDS94AYCCA EN 5.0 - 06/2012

4.5 Dimensions

E94AYCCA communication manual (CANopen®)

Technical data

Dimensions

a 89 mm

b 134 mm

b1 87 mm

e 23 mm

[4-2] Dimensions

E94YCXX005

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E94AYCCA communication manual (CANopen®)

Installation

5 Installation

 Stop!

Electrostatic discharge

Electronic components in the communication module can be damaged or destroyed by electrostatic discharge.

Possible consequences:

• The communication module is defective.

• Fieldbus communication is faulty or not possible.

Protective measures

• Before touching the module, make sure that you are free of electrostatic charge.

24 L EDS94AYCCA EN 5.0 - 06/2012

5.1 Mechanical installation

 Note!

• Only one communication module E94AYCCA (CANopen) may be inserted per Servo Drive 9400.

• The slot used (MX1 or MX2) can be selected freely.

5.1.1 Mounting

E94AYCCA communication manual (CANopen®)

Installation

Mechanical installation

[5-1] Mounting

5.1.2 Dismounting

[5-2] Dismounting

E94YCXX001G

E94AYCXX001H

EDS94AYCCA EN 5.0 - 06/2012 L 25

E94AYCCA communication manual (CANopen®)

OFF

Installation Electrical installation

5.2 Electrical installation

 Documentation of the standard device, control system, and plant/machine

Observe the notes and wiring instructions stated.

5.2.1 System bus (CANopen) connection

E94YCCA002A

 The system bus (CANopen) must be terminated with resistors (120 Ω) between CAN-

low and CAN-high.

 The Lenze system connector EWZ0046 with integrated terminating resistor complies

with the DS102-1 recommendation of the CAN user organisation CiA. The system connector is not contained in the scope of supply of the communication module.

120

EWZ0046

2181FEW004

EWZ0046

120 120

OFF

Off

EWZ0046

OUTIN IN IN

26 L EDS94AYCCA EN 5.0 - 06/2012

Assignment of the 9-pin Sub-D plug connector

View Pin Assignment

1 -

2 CAN-LOW

3 CAN-GND

4 -

5 -

6 -

7 CAN-HIGH

8 -

9 -

5.2.2 Specification of the bus cable

We recommend the use of CAN cables according to ISO 11898-2:

E94AYCCA communication manual (CANopen®)

Installation

Electrical installation

CAN cable according to ISO 11898-2

Cable type Twisted in pairs with shield

Impedance 120 Ω (95 ... 140 Ω)

Cable resistance/cross-section

Cable length ≤ 300 m:

Cable length 301 ... 1000 m:

Signal propagation delay ≤ 5 ns/m

≤ 70 mΩ/m / 0.25 ... 0.34 mm ≤ 40 mΩ/m / 0.5 mm

(AWG20)

(AWG22)

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E94AYCCA communication manual (CANopen®)

Installation Electrical installation

5.2.3 Bus cable length

 Note!

• It is absolutely necessary to comply with the permissible cable lengths.

• If the total cable lengths of the CAN nodes differ for the same baud rate, the smaller value must be used to determine the max. cable length.

• Observe the reduction of the total cable length due to the signal delay of the repeater.Checking the use of repeaters

5.2.3.1 Total cable length

The baud rate also determines the total cable length.

Baud rate [kbps] Max. bus length [m]

10 8075

20 4012

50 1575

125 600

250 275

500 112

800 38

1000 12

( 30)

28 L EDS94AYCCA EN 5.0 - 06/2012

5.2.3.2 Segment cable length

The segment cable length is determined by the cable cross-section used and by the number of nodes. Repeaters divide the total cable length into segments. If no repeaters are used, the segment cable length is identical to the total cable length.

E94AYCCA communication manual (CANopen®)

Installation

Electrical installation

Max. number of

nodes per segment

2 240 m 430 m 650 m 940 m

5 230 m 420 m 640 m 920 m

10 230 m 410 m 620 m 900 m

20 210 m 390 m 580 m 850 m

32 200 m 360 m 550 m 800 m

63 170 m 310 m 470 m 690 m

100 150 m 270 m 410 m 600 m

Cable cross-section (can be interpolated)

0.25 mm (AWG 24)

0.50 mm (AWG 21)

0.75 mm (AWG 19)

1.00 mm (AWG 18)

Example: selection help

Given

Total cable length to be implemented

Number of nodes 63

Results

Max. possible baud rate 250 kbps

Cable cross-section required (interpolated)

Cable cross-section of standard CAN cable

200 m

(derived from table Total cable length

0.30 mm (derived from the table Segment cable length

0.34 mm

Specification of the bus cable

(AWG23)

(AWG22)

( 28))

( 27)

( 29))

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E94AYCCA communication manual (CANopen®)

Installation Electrical installation

5.2.3.3 Checking the use of repeaters

Compare the values derived from tables Total cable length

( 29).

( 28) and Segment cable length

 If the sum of the segment cable lengths is smaller than the total cable length to be

implemented, either repeaters must be used or the cable cross-section must be increased.

 If the use of repeaters reduces the max. possible total cable length so much that it is

smaller than the total cable length to be implemented, then the cable cross-section must be increased or less repeaters must be used or the baud rate must be decreased.

 The use of a further repeater is recommended as ...

– service interface

Advantage: trouble-free connection during bus operation is possible.

– calibration interface

Advantage: the calibration/programming unit remains electrically isolated.

Example

Given

Total cable length to be implemented

Number of nodes 32

Cable cross-section 0.50 mm

Baud rate 125 kbps

Repeater used Lenze repeater EMF2176IB

Reduction of the max. total cable length per repeater (EMF2176IB)

450 m

30 m

(AWG 20)

Results

Max. possible total cable length 600 m

(see table Total cable length

Max. segment cable length 360 m

(see table Segment cable length

Comparison The max. segment cable length is smaller than the total cable length to be

implemented.

Conclusion A repeater must be installed at the determined max. segment cable length

of 360 m.

Results with 1 repeater

Max. possible total cable length 570 m

(Reduction of the Total cable length

Sum of the segment cable lengths 720 m

Comparison Both the possible total cable length and the segment cable lengths are larger

than the total cable length to be implemented.

Conclusion 1 repeater is sufficient to implement the total cable length of 450 m.

( 28))

( 29))

( 28) by 30 m)

30 L EDS94AYCCA EN 5.0 - 06/2012

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