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CiA 303-1 DR V1.6 CANopen additional specification – Part 1 Cabling and connector pin assignment(IGCO_303_1v01060000)(英文原版协议).pdf

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    CiA Draft Recommendation 303 CANopen Additional specification Part 1: Cabling and connector pin assignment Version 1.6 03 June 2008  CAN in Automation (CiA) e. V.
    Additional specification – Part 1: Cabling and connector pin assignment HISTORY Date 1999-10-10 2004-09-01 2004-12-30 2006-08-14 2007-06-08 2008-06-03 Changes Publication of Version 1.0 as draft recommendation Publication of Version 1.2 as draft recommendation Publication of Version 1.3 as draft recommendation Publication of Version 1.4 as draft recommendation Publication of Version 1.5 as draft recommendation Publication of Version 1.6 as draft recommendation - - - - - editorial clarifications adding connector "Mini-Fit Jr.“ clarifying reference to the 7-pin pin-receptacle connector clarifying of RJ45 connector pinning clarifying of recommendation for CAN ground (chapter 5.3) General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specification, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of merchantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or utilized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2  CiA 2008 – All rights reserved
    Additional specification – Part 1: Cabling and connector pin assignment CONTENTS 1 Scope ...............................................................................................................................5 2 References .......................................................................................................................5 2.1 Normative references ..............................................................................................5 2.2 Informative references .............................................................................................5 3 Abbreviations and definitions ............................................................................................5 3.1 Abbreviations...........................................................................................................5 3.2 Definitions ...............................................................................................................5 4 Naming convention ...........................................................................................................6 5 AC and DC parameters .....................................................................................................6 5.1 Bus cable and termination resistors .........................................................................6 5.2 Un-terminated stub cable.........................................................................................7 5.3 CAN ground and galvanic isolation ..........................................................................8 5.4 External power supply .............................................................................................8 6 General purpose connectors .............................................................................................9 6.1 9-pin D-sub connector .............................................................................................9 6.2 15-pin D-sub connector.......................................................................................... 10 6.3 Multipole connector ............................................................................................... 11 6.4 RJ10 connector ..................................................................................................... 12 6.5 RJ45 connector ..................................................................................................... 13 6.6 Open style connector............................................................................................. 14 6.7 em069A-3 connector.............................................................................................. 15 Industrial connectors....................................................................................................... 16 7.1 5-pin “mini” style connector.................................................................................... 16 7.2 5-pin “micro” style connector.................................................................................. 17 7.3 5-pin “pico” style connector.................................................................................... 17 7.4 Han Quintax®......................................................................................................... 17 8 Special purpose connectors ............................................................................................ 18 8.1 Round connectors.................................................................................................. 18 8.1.1 7-pin round connector................................................................................ 18 8.1.2 8-pin round connector................................................................................ 19 8.1.3 9-pin round connector................................................................................ 20 8.1.4 10-pin round connector .............................................................................. 20 8.1.5 Mini-snap 10-pin round connector.............................................................. 20 8.1.6 12-pin round flange connector ................................................................... 21 8.1.7 9-pin flange round T-connector with ID-switch ........................................... 22 8.2 Han-Brid® CU ........................................................................................................ 23 8.2.1 Housing-side ............................................................................................. 23 8.2.2 Cable-side ................................................................................................. 24 IEEE1394/Firewire connector with shielding........................................................... 25 8.3.1 Chaining of the bus on the node ................................................................ 25 8.3.2 No chaining of the bus on the node............................................................ 27 8.4 Lift connectors ....................................................................................................... 28 8.4.1 Mini-Fit Jr. connector ................................................................................. 28 8.5 Automotive/Vehicle connectors .............................................................................. 28 8.5.1 7-pin socket connector............................................................................... 28 8.5.2 9-pin socket connector............................................................................... 28 3 8.3 7  CiA 2008 – All rights reserved
    Additional specification – Part 1: Cabling and connector pin assignment 8.5.3 7-pin pin-receptacle connector................................................................... 28 8.6 Laboratory automation connectors ......................................................................... 28 8.6.1 Header 10-pin plug connector.................................................................... 28 4  CiA 2008 – All rights reserved
    Additional specification – Part 1: Cabling and connector pin assignment 1 Scope This document recommends cabling and pin assignment of bus connectors for CANopen- based systems. It specifies also the naming conventions for the bus lines, ground lines and shield connections. 2 References 2.1 Normative references /ISO11898-2/ /DIN41652/ /IEC60130-9/ /IEC60947-5-2/ /ANSI/B.93.55M/ /CiA103/ /CiA301/ /CiA413-1/ /CiA420-1/ /CiA425-1/ /CiA436-1/ ISO 11898-2, Road vehicles - Controller area network (CAN) - Part 2: High-speed medium access unit DIN 41652, Steckverbinder für die Einschubtechnik IEC 60130-9:1989, Connectors for frequencies below 3 MHz – Part 9: Circular connectors for radio and associated sound equipment IEC 60947-5-2:1997, Low-voltage switchgear and controlgear – Part 5- 2: Control circuit devices and switching elements – Proximity switch ANSI/B.93.55M:1981, (R1988) Hydraulic fluid power solenoid piloted industrial valves – Interface dimensions for electrical connectors CiA 103, CANopen intrinsically safe capable physical layer specification CiA 301, CANopen application layer and communication profile CiA 413, CANopen device profile for truck gateways – Part 1: General definitions CiA 420, CANopen profiles for extruder downstream devices – Part 1: General definitions CiA 425, CANopen application profile for medical diagnostic add-on modules – Part 1: General definitions CiA 436, CANopen construction machine application profile – Part 1: General definitions Informative references 2.2 /AN96116/ AN 96116, Application note PCA82C250/251 CAN Transceiver, NXP (formerly: Philips Semiconductors) 3 Abbreviations and definitions 3.1 Abbreviations AC CAN DC EMI GND Jr. SJW SHLD Alternating current Controller area network Direct current Electromagnetic interference Ground Junior Resynchronization jump width Shield 3.2 Definitions Bus cable The bus cable is terminated at both ends by termination resistors.  CiA 2008 – All rights reserved 5
    Additional specification – Part 1: Cabling and connector pin assignment Stub cable The stub cable is an un-terminated cable, and should be as short as possible. Socket connector The socket connector may be powered. Plug connector The plug connector should be not powered; this is the reason why most devices are equipped with plug connectors. T-connector The T-connector provides a point of attachment onto the bus cable. Devices may be connected to the network either directly to the T-connector or with a stub cable. T-connectors also provide easy removal of a device without disrupting network operation. 4 Naming convention If connectors are used that are not mentioned in this document, the pins shall be named (either in the accompanying manual or directly on the device) using the terminology shown in Table 1. Table 1 – Terminology for connectors Signal description CAN_L bus line (dominant low) CAN_H bus line (dominant high) CAN ground Optional CAN shield Optional CAN external positive supply Optional ground Notation CAN_L or CANlow or CAN- CAN_H or CANhigh or CAN+ CAN_GND or CANGND or Ground or GND CAN_SHLD or CANSHIEL D or Shield or SHLD CAN_V+ or CANV+ or V+ or UC or UCAN OPT_GND or GNDopt or V- or 0 V 5 AC and DC parameters 5.1 Bus cable and termination resistors The cables, connectors and termination resistors used in CANopen networks shall meet the requirements defined in /ISO11898-2/. In addition, here are given some guidelines for selecting cables and connectors. Table 2 shows some standard values for DC parameters for CANopen networks with less than 64 nodes. Table 2 – Standard values for DC parameters for CANopen networks Bus cable (1) Bus length [m] Length-related resistance [mΩ/m] Cross-section [mm2] Termination resistance [Ω] Bit-rate [kbit/s] 0 to 40 40 to 300 300 to 600 600 to 1000 70 <60 <40 <26 0,25 to 0,34 0,34 to 0,6 0,5 to 0,6 0,75 to 0,8 124 150 to 300 150 to 300 150 to 300 1000 at 40 m >500 at 100 m >100 at 500 m >50 at 1 km (1) Recommended cable AC parameters: 120-Ω impedance and 5-ns/m specific line delay 6  CiA 2008 – All rights reserved
    Additional specification – Part 1: Cabling and connector pin assignment For drop cables a wire cross-section of 0,25 to 0,34 mm2 may be an appropriate choice in many cases. Besides the cable resistance, there shall be considered the real resistance of the connectors, if calculating the voltage drop. The transmission resistance of one connector should be in the range of 2,5 to 10 mΩ. With the assumed values for minimum dominant value minimum differential input resistance minimum termination resistance requested differential input voltage Vdiff.out.min Rdiff.min Vth.max RT.min = 1,5 V = 20 kΩ = 1,0 V = 118 Ω Table 3 defines the maximum wiring length is given for different bus cables and different number of connected bus nodes. Table 3 – Maximum wiring length Wire cross- section [mm2] 0.25 0.5 0.75 Maximum length [m] (1) Maximum length [m] (2) n = 32 200 360 550 n = 64 170 310 470 n = 100 150 270 410 n = 32 230 420 640 n = 64 200 360 550 n = 100 170 320 480 (1) safety margin of 0,2 (2) safety margin of 0,1 NOTE: If driving more than 64 nodes and/or more than 250 m bus length the accuracy of the VCC supply voltage for the /ISO11898-2/ transceiver is recommended to be 5 % or better. You also have to consider the minimum supply voltage of at least 4,75 V when driving 50 Ω load, i.e. 64 bus nodes, and at least 4,9 V when driving 45 Ω load, i.e. 100 bus nodes. 5.2 Un-terminated stub cable As a rule of thumb, the following relation may be considered for a single stub cable length Lu: with the specific line delay per length unit and the time of the propagation segment . But also the cumulative drop length Lui should be considered, which is given by the following relation:  CiA 2008 – All rights reserved 7 ! Lu
    Additional specification – Part 1: Cabling and connector pin assignment This effectively leads to a reduction of the maximum trunk cable length by the sum of the actual cumulative drop cable length at a given bit rate. If the above recommendations are met, then the probability of reflection problems is considered to be fairly low. 5.3 CAN ground and galvanic isolation In complete galvanically isolated CANopen networks CAN ground signal is carried in the cable line. It is connected at only one point with the CAN ground potential. If one CAN device with not galvanically isolated interface is connected to the network, the connection with the CAN ground potential is given. Therefore only one device with not galvanically isolated interface may be connected to the network. The user is responsible to guarantee that the common mode rejection of the transceivers has still reached the upper limit. 5.4 External power supply The recommended output voltage at the optional power supply is +18 VDC < V+ < +30 VDC in order to enable the use of standard power supplies (24 VDC). 8  CiA 2008 – All rights reserved
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