Wiring of the CANopen Network

Overview

This chapter describes how to connect the LTMR controller to a CANopen network with a SUB-D 9 or an open-style connector.

It presents an example of CANopen network topology and list cable specifications.

WARNING
LOSS OF CONTROL The designer of any control scheme must consider the potential failure modes of control paths and, for critical functions, provide a means to achieve an acceptable state during and after a path interruption. Examples of critical control functions are emergency stop and overtravel stop. Separate or redundant control paths must be provided for critical control functions. System control paths may include communication links. Consideration must be given to the implications of anticipated transmission delays or interruptions of the link.⁽¹⁾ Each implementation of an LTMR controller must be individually and thoroughly tested for proper operation before being placed into service. Failure to follow these instructions can result in death, serious injury, or equipment damage.

WARNING

LOSS OF CONTROL

The designer of any control scheme must consider the potential failure modes of control paths and, for critical functions, provide a means to achieve an acceptable state during and after a path interruption. Examples of critical control functions are emergency stop and overtravel stop.
Separate or redundant control paths must be provided for critical control functions.
System control paths may include communication links. Consideration must be given to the implications of anticipated transmission delays or interruptions of the link.⁽¹⁾
Each implementation of an LTMR controller must be individually and thoroughly tested for proper operation before being placed into service.

Failure to follow these instructions can result in death, serious injury, or equipment damage.

(1) For additional information, refer to NEMA ICS 1.1 (latest edition), Safety Guidelines for the Application, Installation, and Maintenance of Solid State Control.

CANopen Network Characteristics

Overview

The LTMR CANopen controller complies with the standard CANopen specification.

The CANopen Hardware Setup Manual provides basic information on CANopen networks as used by Schneider Electric. It also describes the CANopen infrastructure components provided by Schneider Electric for setting up a CANopen network.

CANopen Network Standard Diagram

The simplified diagram is as follows:

Characteristics of a CANopen Connection

The CANopen standard allows variants of some characteristics:

Line terminator
Number of secondaries
Bus length

Characteristics	Value
Type of communication protocol	CiA DS-301 V4.02
Type of hardware interface	CAN 2.0 A (2.0 B passive)
Type of Device Profile	Manufacturer specific
Maximum number of secondaries connected to 1 client	127
Maximum number of secondaries per derivation	30
Cable structure	Two pairs with separate shielding and differing gauges. Shielding is aluminum foil + tinned copper braid + drain. Same structure for trunk and drop cables.
Baud rate	10...1000 kBaud. Autobaud functionality available.
Connector type	SUB-D 9-pin and open-style, pull-apart terminal block
Line terminator	A 120 Ω resistor ±5% at both ends of the bus

Use of Repeaters

A CANopen network bus can be segmented with repeaters for many reasons:

Maximum length of the sum of derivations reached
Need to connect more than 30 secondaries on the bus
Need to isolate the derivation
Need for derivation
Need for removable connection to equipment

For more information about the topology with a repeater, refer to the CANopen Hardware Setup Manual.

Trunk Cable Maximum Length

The baud rate restricts the cable length as shown in the following table:

Baud Rate	Maximum Bus Length
1 MBaud	20 m (65.62 ft)
800 kBaud	40 m (131.23 ft)
500 kBaud	100 m (328 ft)
250 kBaud	250 m (820 ft)
125 kBaud	500 m (1,640 ft)
50 kBaud	1,000 m (3,280 ft)
20 kBaud	2,500 m (8,202 ft)
10 kBaud	5,000 m (16,404 ft)

In CANopen documents, the maximum length at 1 MBaud is often given as 40 m (131.23 ft). This length does not take into account electrical isolation as used in the Schneider Electric CANopen devices.

Taking into account electrical isolation, the minimum network length is 4 m (13.12 ft) at 1 MBaud, and the maximum length is 20 m (65.62 ft), which can be shortened by stubs or other apparatus.

1 Derivation Maximum Length

The following table gives the maximum length of 1 derivation (CANopen drop cable) depending on the baud rate:

1 MBaud	800 kBaud	500 kBaud	250 kBaud	125 kBaud	50 kBaud	20 kBaud	10 kBaud
0.3 m (0.98 ft)	3 m (9.84 ft)	5 m (16.40 ft)	5 m (16.40 ft)	5 m (16.40 ft)	60 m (196.85 ft)	150 m (492 ft)	300 m (984 ft)

1 MBaud

800 kBaud

500 kBaud

250 kBaud

125 kBaud

50 kBaud

20 kBaud

10 kBaud

0.3 m

(0.98 ft)

3 m

(9.84 ft)

5 m

(16.40 ft)

5 m

(16.40 ft)

5 m

(16.40 ft)

60 m

(196.85 ft)

150 m

(492 ft)

300 m

(984 ft)

All Derivations (on the Bus) Maximum Length

The following table gives the maximum cumulative length of all derivations connected to the CANopen bus depending on the baud rate:

1 MBaud	800 kBaud	500 kBaud	250 kBaud	125 kBaud	50 kBaud	20 kBaud	10 kBaud
1.5 m (4.92 ft)	15 m (49.21 ft)	30 m (98.42 ft)	60 m (196.85 ft)	120 m (393 ft)	300 m (984 ft)	750 m (2,460 ft)	1500 m (4,921 ft)

1 MBaud

800 kBaud

500 kBaud

250 kBaud

125 kBaud

50 kBaud

20 kBaud

10 kBaud

1.5 m

(4.92 ft)

15 m

(49.21 ft)

30 m

(98.42 ft)

60 m

(196.85 ft)

120 m

(393 ft)

300 m

(984 ft)

750 m

(2,460 ft)

1500 m

(4,921 ft)

CANopen Communication Port Wiring Terminal Characteristics

Physical Interface and Connectors

The front face of the LTMR controller is equipped with two connector types for CANopen communication:

A plug-type, shielded SUB-D 9 connector
An open-style, pull-apart, terminal block

The figure shows the LTMR front face with the CANopen connectors:

Both connectors are electrically identical. They follow the CANopen interoperability standards.

NOTE: The product must be connected through only one port. The use of the SUB-D 9 connector is recommended.

Pin V+ of the open-style, pull apart terminal block is not connected inside the controller.

The CANopen communication drivers are powered internally.

SUB-D 9 Connector Pinout

The LTMR controller is connected to the CANopen network with a plug-type, SUB-D 9-pin connector in compliance with the following wiring:

The pinout of the SUB-D 9 connector is as follows:

Pin No.	Signal	Description
1	Reserved	–
2	CAN_L	CAN_L bus line (high dominant)
3	CAN_GND	CAN Ground
4	Reserved	–
5	(S)	Optional shielding
6	Reserved	–
7	CAN_H	CAN_H bus line (low dominant)
8	Reserved	–
9	V+	Not connected

Open-Style Terminal Block

The LTMR controller has the following CANopen network plug-in terminals and pin assignments.

Pin	Signal	Description
1	V+	Not connected
2	CAN_L	CAN_L bus line (high dominant)
3	S	Shield
4	CAN_H	CAN_H bus line (low dominant)
5	V-	Ground

Open-Style Terminal Block Characteristics

Connector	5 pins
Pitch	5.08 mm (0.2 in.)
Tightening torque	0.5...0.6 N•m (5 lb-in)
Flat screwdriver	3 mm (0.10 in.)

Wiring of the CANopen Network

Overview

The recommended way to connect an LTMR controller to a CANopen network on the bus is the connection via the shielded SUB-D 9 connector.

This section describes the connection of LTMR controllers installed in withdrawable drawers.

CANopen Wiring Rules

The following wiring rules must be respected in order to reduce disturbance due to EMC on the behavior of the LTMR controller:

Keep a distance as large as possible between the communication cable and the power or control cables (minimum 30 cm or 11.8 in.).
Cross over the CANopen cables and the power cables at right angles, if necessary.
Install the communication cables as close as possible to the grounded plate.
Do not bend or damage the cables. The minimum bending radius is 10 times the cable diameter.
Avoid sharp angles of paths or passage of the cable.
Use the recommended cables only.
A CANopen cable must be shielded:
- The cable shield must be connected to a protective ground.
- The connection of the cable shield to the protective ground must be as short as possible.
- Connect together all the shields, if necessary.
- Perform the grounding of the shield with a collar.
When the LTMR controller is installed in a withdrawable drawer:
- Connect together all the shield contacts of the withdrawable drawer part of the auxiliary connector to the ground of the withdrawable drawer to create an electromagnetic barrier. Refer to the Okken Communications Cabling & Wiring Guide (available on request).
- Do not connect the cable shield at the fixed part of the auxiliary connector.
Place a line terminator at each end of the bus to avoid malfunctions on the communication bus. A line terminator is generally already integrated in the client.
Wire the bus between each connector directly, without intermediate terminal blocks.
The common polarity (0V) must be connected directly to protective ground, preferably at one point only for the entire bus. In general, this point is chosen either on the client device or on the polarization device.

For more information, refer to the Electrical Installation Guide (available in English only), chapter ElectroMagnetic Compatibility (EMC).

NOTICE
COMMUNICATION MALFUNCTION Respect all the wiring and grounding rules in order to avoid communication malfunctions due to EMC disturbance. Failure to follow these instructions can result in equipment damage.

LTMR Controllers Installed in a Blokset or Okken Motor Control Switchboard

The installation of LTMR controllers in withdrawable drawers of a switchboard presents constraints specific to the type of switchboard:

For installation of LTMR controllers in an Okken switchboard, refer to the Okken Communications Cabling & Wiring Guide (available on request).
For installation of LTMR controllers in a Blokset switchboard, refer to the Blokset Communications Cabling & Wiring Guide (available on request).
For installation of LTMR controllers in other types of switchboard, follow the specific EMC instructions described in this guide and refer to the relative instructions specific to your type of switchboard.

LTMR Controllers Installed in Withdrawable Drawers

The wiring diagram for connection of LTMR controllers installed in withdrawable drawers to the CANopen bus via the SUB-D 9 connector and hardwired cables is as follows:

1 Client (PLC, PC, or communication module) with line terminator

2 CANopen shielded cable TSX CAN ••••

3 CANopen shielded cable TSX CAN C••••

4 SUB-D 9 socket-type connector TSX CAN KCDF90T•

5 Grounding of the CANopen cable shield

6 Withdrawable drawer

7 Withdrawable drawer part of the auxiliary connector

8 Fixed part of the auxiliary connector

9 Line terminator VW3 A8 306 DR (120 Ω)

Socket-type SUB-D 9 Connector

The following figures detail the connection of a CANopen cable:

SUB-D 9 Connector Wiring

The table below describes the procedure for wiring the SUB-D 9 connector bus interface:

Step	Action
1	Strip a length of 33 mm (1.3 in.) from the end of the cable.
2	Cut a length of 24 mm (0.95 in.) from the metallic braid and the shielding films, leaving a length of 9 mm (0.35 in.)
3	Strip a section of 4.5 mm (0.18 in.) in length from end of each wire and mount on terminals.

Connection to a PLC

To connect to a PLC select the cable and connectors:

Reference	Description
TSX CAN CA•• (e.g., TSX CAN CA50)	CANopen trunk cable, EC approved TSX CAN CA50 corresponds to 50 m (164 ft) length
TSX CAN CB•• (e.g., TSX CAN CB100)	CANopen trunk cable, UL approved TSX CAN CB100 corresponds to 100 m (328 ft) length
TSX CAN KCDF90T	90º CANopen SUB-D 9-pin socket-type connector
TSX CAN KCDF90TP	90º lead CANopen SUB-D 9-pin socket-type connector
TSX CAN KCDF180T	180º CANopen SUB-D 9-pin socket-type connector

NOTE: Minimum cable length sold is 50 m (328 ft).