Baldor MN1928 4.6 CAN, CAN connector, Input / Output, Location, Name, Description

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4.6 CAN

The CAN bus is a serial based network originally developed for automotive applications, but now used for a wide range of industrial applications. It offers low-cost serial communications with very high reliability in an industrial environment; the probability of an undetected error is 4.7x10-11. It 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 CAN protocol only defines the physical attributes of the network, i.e. the electrical, mechanical, functional and procedural parameters of the physical connection between devices. The higher level network functionality is defined by a number of standards and proprietary protocols; CANopen is one of the most used standards for machine control within industries such as printing and packaging machines.

In addition to supporting CANopen, Baldor have developed a proprietary protocol called Baldor CAN. Both protocols are supported by NextMove ES, but unlike other Baldor devices both cannot be supported at the same time. This is because NextMove ES only has a single hardware CAN channel. Separate firmware builds are available to support each of the protocols.

To determine which firmware is currently installed, start WorkBench v5 and connect to the NextMove ES (see section 6). At the bottom of the WorkBench v5 window, the status bar will show the name of the controller, followed by ‘CANopen’ or ‘Baldor CAN’. If the correct option is not shown, it will be necessary to download alternative firmware by using the Install System File and/or Download Firmware menu items in WorkBench v5. The firmware file can be found on the Baldor Motion Toolkit CD supplied with your product, or downloaded from www.supportme.net. See the MintMT help file for details about downloading firmware.

4.6.1 CAN connector

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

	Location	NextMove ES card
	Pin	Name	Description
	1	CAN+	CAN channel positive
	2	CAN-	CAN channel negative
	3	-	(NC)
1	4	CAN 0V	Ground/earth reference for CAN signals
8	5	CAN V+	CAN power V+ (12-24V)
	6	-	(NC)
	7	-	(NC)
	8	-	(NC)
	Description
	Opto-isolated CAN interface using a RJ45 connector.

The maximum (default) transmission rate on NextMove ES is 500Kbit/s.

4-20 Input / Output MN1928