Baldor E100 manual CANopen, Maximum, Baud Rate Bus Length, Opto-isolation

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H The maximum bus length depends on the bit-timing				CAN	Maximum
configuration (baud rate). The table opposite shows
				Baud Rate	Bus Length
the approximate maximum bus length (worst-case),
assuming 5ns/m propagation	delay	and a total		1Mbit/s	25m
effective device internal in-out	delay	of 210ns at
				500Kbit/s	100m
1Mbit/s, 300ns at 500 - 250Kbit/s, 450ns at 125Kbit/s
				250Kbit/s	250m
and 1.5ms at 50 - 10Kbit/s.
				125Kbit/s	500m
(1) For bus lengths greater than about 1000m,				100Kbit/s	600m
bridge or repeater devices may be needed.				50Kbit/s	1000m
				20Kbit/s	2500m(1)
H The compromise between bus length and CAN baud				10Kbit/s	5000m(1)
rate must be determined for each application.			The

CAN baud rate can be set using the BUSBAUD keyword. It is 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).

HThe 0V connection 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 MicroFlex e100 or CAN peripheral devices are within the common mode range of the receiver circuitry of other nodes on the network.

5.5.2.1Opto-isolation

On the MicroFlex e100, the CAN channel is opto-isolated. A voltage in the range 12-24V must be applied between pin 9 (+24V) and pin 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 rating of 1A, so the maximum number of MicroFlex e100 units that may be used on one network is limited to ten.

5.5.3 CANopen

Baldor have implemented a CANopen protocol in Mint (based on the ‘Communication Profile’ CiA DS-301) which supports both direct access to device parameters and time-critical 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 ‘Device Profile for Generic I/O Modules’ (CiA DS-401).

HBaldor HMI (Human Machine Interface) operator panels, which are based on the ‘Device Profile for Human Machine Interfaces’ (DS403).

HOther Baldor controllers with CANopen support for peer-to-peer access using extensions to the CiA specifications (DS301 and DS302).

The functionality and characteristics of all Baldor CANopen devices are defined in individual standardized (ASCII format) Electronic Data Sheets (EDS) which can be found on the Baldor Motion Toolkit CD supplied with your product, 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:

5-18 Input / Output MN1942