ElmoMC Gold Line Digital Servo Drives-Gold Trombone - Manual (Page 68)

Gold Trombone Installation Guide (EtherCAT and CAN) Installation
MAN-G-TROIG-EC (Ver. 1.604)
www.elmomc.com
68
4.11. Communications
The communication interface may differ according to the user’s hardware. The Gold Trombone
can communicate using the following options:
Standard EtherCAT
G-TRO XXX / YYY S XX G-TRO XXX / YYY E XX
CAN EtherCAT
USB 2.0 USB 2.0
Table 19: Gold Trombone Communication Options
For ease of setup and diagnostics of CAN communication, and CAN can be used simultaneously.
Note: When the EtherCAT is connected, and FoE in operation, the USB cable connection
must be disconnected.
4.11.1. CAN Communication (J2)
In order to benefit from CAN communication, the user must have an understanding of the basic
programming and timing issues of a CAN network.
To connect the CAN communication cable:
1. Connect the shield to the ground of the host (PC). Usually, this connection is soldered
internally inside the connector at the PC end. You can use the drain wire to facilitate
connection.
2. Ensure that the shield of the cable is connected to the shield of the connector used for
communications. The drain wire can be used to facilitate the connection.
3. Make sure to have a 120-Ohm resistor termination at each of the two ends of the network
cable.
4. The Gold Trombone’s CAN port is non-isolated.
Pin (J2) Signal Function
31, 32 CAN_COMRET CAN Communication Return
38 CAN_L CAN_L bus line (dominant low)
40 CAN_H CAN_H bus line (dominant high)
Table 20: CAN Pin Assignments