Digital Servo Amplifier SERVOSTAR 400 - BIBUS SK, sro

Interfaces 07/03 Kollmorgen
3.10 Fieldbus connection
3.10.1 CANopen interface (X7)
The interface for connection to the CAN bus (default: 500 kbps). The integrated profile is based on
the communication profile CANopen DS301 and the drive profile DSP402.
The following functions are available in connection with the integrated position controller:
Jogging with variable speed, homing, start motion task, start direct task, digital setpoint provision,
data transmission functions and many others.
Detailed information can be found in the CANopen manual.
The interface is at the same potential as the internal logic, and uses AGND as the ground reference.
The analog input can still be used.
Even if the analog input is not used, AGND must nevertheless be joined to the control system
ground!
SERVOSTAR 400
CAN bus cable
To meet ISO 11898 you should use a bus cable with a 120 � characteristic impedance. The maximum
usable cable length for reliable communication decreases with increasing transmission speed.
As a guide, you can use the following values which we have measured, but they must not be assumed
to be limits:
Cable data: Characteristic impedance 100-120 �
Cable capacitance max. 60 nF/km
Conductor loop resistance 159.8 �/km
Cable length, depending on the transmission rate
Transmission rate / kbps max. cable length / m
1000 20
500 70
250 115
Lower cable capacitance (max. 30 nF/km) and lower lead resistance (loop: 115 �/km) make it possible
to transmit over longer distances.
(Characteristic impedance 150 ± 5� �terminating resistance 150 ± 5�).
For EMC reasons, the SubD connector housing must fulfil the following conditions:
— metal or metallized housing
— provision for connecting the cable shielding within the housing,
large-area connections
The master is fitted with a CAN input. All axis modules in the system are connected to this through
the internal bus. The last axis module has a CAN output, where the CAN bus either continues to
other bus participants or is terminated by a termination resistor.
52 SERVOSTAR ® 400 Installation manual