AN-005

CANOpen Network CAN Bus Cabling Guide

Introduction Termination Jumper Location

CAN (Controller Area Network) is a two-wire CAN Node ID

differential serial communication protocol for and bit rate
Place
real-time control. Advanced Motion Controls Switches
termination
CANopen drives use the CAN Physical Layer as jumper on
defined by the CAN in Automation (CiA) standard these pins Baud Address
8 7 6 5 4 3 2 1
DS-102 V2.0. 3 2 1

CAN Bus Cabling

Secondary
CAN bus is a 3 wire physical medium (CAN_H, RS232 Port
CAN_L, GND). The bus must be composed of a
Giga-bit UTP (Unshielded Twisted Pair) cable Bitrates
having a standard 120 Ω characteristic
impedance. The wiring topology should be as The CAN physical layer standard for industrial
close to a straight line structure to avoid applications (DS-102 V2.0) provides guidelines
reflections. For a 1 Mbit/s bus, cable stubs on bus length and recommended bit rates.
should not exceed 0.3m. The maximum CAN
bus length as specified in DS-102 V2.0 is 1km at Recommended CAN Bit Rates
a bit rate of 50 Kbit/s.
Bus length Bit Rate Bit time
The CAN bus must be terminated at both ends
25 meters 1000 kbit/s 1 us
by a 120-ohm resistor placed across CAN_H and
50 meters 800 kbit/s 1.25 us
CAN_L so that reflections of signals are avoided.
100 meters 500 kbit/s 2 us
Digiflex Performace servo drives have an internal
250 meter 250 kbit/s 4 us
120-ohm resistor termination that is selectable by
500 meters 125 kbit/s 8 us
installing an external jumper. The last Digiflex
1000 meter 50 kbit/s 20 us
drive in the CAN bus chain needs to have the
2500 meters 20 kbit/s 50 us
termination jumper installed for proper CAN bus
termination. The CAN bus termination jumper is
on the top of the drive next to the secondary
RS232 port. A typical CAN network below along Digflex CAN Bus Connections
with the termination jumper location.
The CAN bus connection on Digiflex
CAN Network Performance drives is made by an RJ-45
connector. Two ports are provided to facilitate
CAN Bus Length
chaining multiple drives together

Termination Jumper Note: Either port may be used. The connection

is passed though the drive even if the power to
CAN the drive is OFF.
Master CAN Cable

Digiflex Drives
(Slaves)

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 AN-005

CANOpen Network CAN Bus Cabling Guide

Digiflex Performance CAN Connector The MC1XDZ mounting card must be configured
to use CAN with the DZCANTE-012L080. JF1
and JF2 set the communication mode to CAN.
JF4 allows the user to use the onboard +5V
COMM supply for the CAN interface. If JF8 is installed,
a 120 ohm resistor is connected between
CAN_H and CAN_L for termination.

123 7 123 7 Note: The DZCANTE-012L080 does not have a

CAN Transceiver on the drive. The transceiver
is on the mounting card.

MC1XDZ Jumper Locations

CAN Port Pinouts

Pin Signal Description

1 CAN_H CAN High (dominant high)
2 CAN_L CAN Low (dominant low)
3 CAN_GND CAN Ground JF4 JF8
4 Reserved No Connection
5 Reserved No Connection 321 12
6 CAN_SHIELD No Connection (Pass Through)
7 CAN_GND CAN Ground
8 CAN_V+ No Connection (Pass Through)

JF2 JF1

MC1XDZ CAN Bus Connections 123 123

The MC1XDZ mounting card for the DZCANTE-

012L080 drive uses a 9-pin male D-sub MC1XDZ Jumper Settings
connector for the CAN bus. This connector is
also standard on a variety of CAN cards. Jumper 1-2 2-3
JF1 CAN Mode
9-pin Female D-sub Connector JF2 CAN Mode
JF4 External CAN Internal CAN
power Supply power Supply
5 3 2 1 JF8 Termination
7 6
Resistor

CAN Bus Drive Setup

CAN Pinouts
AMC CANOpen drives have hardware or
Pin Signal Description software configurable bit rate and node id
1 - No Connection
2 CAN_L CAN Low (dominant low) settings. All drives ship with their dip switches all
3 CAN_GND CAN Ground ‘OFF’ or ‘UP’ for software addressing. It is
4 - No Connection recommended during initial setup to configure all
5 CAN_SHIELD No Connection (Pass Through) drives bit rate with the hardware switches and
6 GND Optional CAN Ground
7 CAN_H CAN High (dominant high) set each drive with a unique node ID via the
8 - Reserved hardware switches.
9 CAN_V+ No Connection (Pass Through)

Advanced Motion Controls • 3805 Calle Tecate Camarillo CA. 93012 • Tel: (805) 389-1935 • www.a-m-c.com
 AN-005

CANOpen Network CAN Bus Cabling Guide

Note: All drives must be configured to use the

same bit rate but each drive must have a unique
node id.

Troubleshooting

Most problems are caused by improper

connection, poor termination, wrong bit rate
selection, or node id configuration.

CAN card manufacturers provide CAN Bus

software to send and receive messages. This
software is valuable for debugging a CAN bus.
Digiflex drives at power up send out a reset
message. Upon initial setup, look for this
message. If the bus is healthy, the message
displayed has the form:

0x700 + node ID Length 00

For Node #1: 0x701 1 00

Note: This message is sent only at power up.

Isolate the problem, then cycle drive power to
send the message again.

Use an ohm meter to check wiring. With the

power off, verify 60 Ω across CAN_H and
CAN_L. With the CAN bus on, use an
oscilloscope to differentially measure the signal
levels on the CAN bus. A two channel scope
must be used. Set the scope to show both
channels and set the math function to ADD. Also
set the channel INVERT to ON. Send messages
from the host to each node and verify the levels
using the figure below. Make sure signals are
out of the invalid range and that rise times are <
15% of bit time.

CAN Voltage Levels

Differential Voltage
CAH_H – CAN_L

Bit time
5V

1.3V
Warning
0.9V
Vdiff = 2V
Invalid
0.5V
Warning
0.3V

Advanced Motion Controls • 3805 Calle Tecate Camarillo CA. 93012 • Tel: (805) 389-1935 • www.a-m-c.com