Baldor iMN1921 installation manual Can communication, Typical can network connections

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4.6.3 CAN communication

The CAN connection is made using the RJ45 connector on the NextMove ST control card.

1

8

Location	NextMove ST control card

Pin	Name	Description

1	CAN+	CAN channel positive

2	CAN-	CAN channel negative

3	-	(NC)

4	CAN 0V	Ground/earth reference for CAN signals

5	CAN V+	CAN power V+ (12-24V)

6	-	(NC)

7	-	(NC)

8	-	(NC)

Description

Opto-isolated CAN interface using a RJ45 connector.

CAN offers serial communications over a two wire twisted pair cable up to maximum length of 500m (1640ft). It offers very high communication reliability in an industrial environment; the probability of an undetected error is 4.7x10-11. CAN is optimized for the transmission of small data packets and therefore offers fast update of I/O devices (peripheral devices) connected to the bus. The maximum (default) transmission rate on NextMove ST is 500Kbit/s.

Correct operation of CAN can only be achieved with screened/shielded twisted-pair cabling. For improved noise immunity, CAN+ and CAN- must form a twisted pair with the shield connected to the connector backshell, as shown in Figure 16. A range of suitable CAN cables are available from Baldor, with catalog numbers beginning CBL004-5...

Baldor HMI	NextMove ST	NextMove ST	End node
Operator Panel	RJ45 connector	RJ45 connector	End node

7

2

Twisted pair	Twisted pairs
	1
TR	2
TR
0V	4
24V	5

1

2

4

5

TR

1

2

4

5

Figure 16 - Typical CAN network connections

MN1921

Input / Output 4-17

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Contents NextMove ST Motion Controller Page Contents Operation General Information Precautions Safety NoticeMN1921 Introduction NextMove ST featuresReceiving and inspection Units and abbreviations PhaseIntroduction MN1921 Introduction You should read all the sections in Basic InstallationLocation requirements Mounting the NextMove ST Package dimensionsOther requirements for installation Basic Installation MN1921 Input / Output Connector locations Operation using combined drive and logic supply Power connectionsConnecting separate drive and logic supplies Operation using separate drive and logic suppliesStepper outputs Connecting a 4-wire motorStepper axes 0-2 drive outputs Connecting a 6-wire motor Connecting a 8-wire motor, parallel windings Connecting a 8-wire motorStepper output pin header J3, and output circuit shown Stepper axes 0-3 logic outputsAnalog inputs Analog I/OAnalog output Analog outputDigital inputs Digital I/OAuxiliary Encoder inputs Auxstep IN, Auxdir IN, Auxz Using a digital input as a Limit or Home inputUsing a digital input as a Stop input Using a digital input as an Error inputDigital output DOUT0 shown Digital outputs Jumper settings Error output Driveenableoutput keyword Globalerroroutput keywordPin Name Description Other I/ORS232 serial communication LocationRS232 serial port connections 2 50-pin edge connectorTypical can network connections Can communicationCANopen and Baldor can JP1 This will connect an internal terminating resistorHost PC Connection summary minimum system wiringInput / Output MN1921 Preliminary checks Connecting the NextMove ST to the PCInstalling WorkBench Starting the NextMove STPower on checks Help file WorkBenchStarting WorkBench MN1921 Operation Selecting a scale Configuring an axisClick Apply Testing the output Stepper axis testingDigital input configuration Digital input/output configurationDigital output configuration Saving setup information Loading saved information SupportMe feature Problem diagnosisStatus display NextMove ST indicatorsSurface mount LEDs D3, D4 and D16 Communication Symptom CheckMotor control Output power Value Input powerOutput current max Update interval Immediate Common mode voltage rangeInput impedance 120 Input ADC resolution Bits Equivalent resolution ±10V inputUnit Value Output type Stepper axis 0-2 drive outputsUnit Value Maximum output frequency KHz 200 Output voltage Output current maximum, per axisChannels Protocols CANopen Unit Value SignalCan interface EnvironmentalIndex Index MN1921 Comment CommentsComments MN1921 Page LT0184A00