www.supportme.net

5-18 Input/ Output MN1942

HThe maximum bus length depends on the bit-timing
configuration (baud rate). Thetable opposite shows
the approximate maximum bus length (worst-case),
assuming 5ns/m propagation delay and a total
effective device internal in-out delay of 210ns at
1Mbit/s, 300ns at 500 - 250Kbit/s, 450ns at 125K bit/s
and1.5ms at50- 10Kbit/s .
(1) Forbus lengths greaterthanabout 1000m,
bridgeor repeater devicesmay be needed.
HThecompr omise between bus length and CAN baud
rate must be determined for each application. The
CANbaud rate c an be set using the BUSBAUD keyword. Itis essential that all nodes on the
network are configured to run at the same baud rate.
HThe wiring topology of a CAN network should be as close as possible to a single line/bus
structure. However,stub lines are allowed provided they are kept to a minimum (<0.3m at
1Mbit/s).
HThe0V connect ion of all of the nodes on the network must be tied together through the CAN
cabling. This ensures that the CAN signal levels transmitted by MicroFlexe100 or CAN
peripheraldevices arewithin the common mode rangeof the receiver circuitryof ot her nodes
onthe network .
5.5.2.1 Opto-isolation
Onthe Mic roFlex e100, the CAN channel is opto-isolated. A voltage in the range 12-24V must
beapplied between pin 9 (+24V) andpin 3 or 6 (0V) of the CAN connector. From this supply,an
internal voltage regulator provides the 5V at 100mA required for the isolated CAN circuit. CAN
cables supplied by Baldor are ‘category 5’ and have a maximum current rat ing of 1A, so the
maximumnumber of Mic roFlex e100 units that may be used on one network is limited to ten.
5.5.3 CANopen
Baldorhave implemented a CANopen protoc ol inMint (bas edon the ‘Communic ation Profile’ CiA
DS-301)whic h supports both direct access to device parameters and time-critic al process data
communication. The MicroFlex e100 complies with CANopen slave device profile DS402, and
can be a DS401 or DS403 master device (with limited functionality). It is able to support and
communicate with a variety of devices including:
HAny third party digital and analog I/O device that is compliant with the ‘Dev ice Profile for
Generic I/O Modules’ (CiA DS-401).
HBaldor HMI (Human Machine Interface) operator panels , which are based on the ‘Device
Profilefor Human Machine Interfaces’ (DS403).
HOtherBaldor cont rollers with CANopen support for peer-to-peer access using ex tensions to
theCiA s pecifications (DS301 and DS302).
The functionality and characteristics of all Baldor CANopen dev ices are defined in individual
standardized (ASCII format) Electronic Data Sheets (ED S) which can be found on the Baldor
MotionToolkit CD supplied with your pr oduct, or downloaded from www.supportme.net.
Figure 38 shows a typical CANopen network with a NextMove e100 manager node, one
MicroFlex e100 slave node and a Baldor HMI operator panel:
CAN Maximum
BaudRate BusLength
1Mbit/s 25m
500Kbit/s 100m
250Kbit/s 250m
125Kbit/s 500m
100Kbit/s 600m
50Kbit/s 1000m
20Kbit/s 2500m(1)
10Kbit/s 5000m(1)