Integration examples

Wiring connection

  • Point to point

    ../_images/wiring_connection_pointtopoint.png

  • Daisy chain

    ../_images/wiring_connection_daisy_chain.png

  • Backbone with stubs

    ../_images/wiring_connection_stubs.png

RS232

Point to point

This connection is recommended to establish with the computer while 1x is commanding via CAN to Veronte MC110 or Veronte MC24, since the USB connection between the PC and the 1x may be lost.

../_images/rs232_integration.png

RS-232 connection

Note

Transmitter pin (TX) of one device is connected to the receiver pin (RX) of the other one, and vice versa.

RS485/422

Point to point

This connection is recommended to establish with the computer while 1x is commanding via CAN to Veronte MC110 or Veronte MC24, since the USB connection between the PC and the 1x may be lost.

../_images/rs485_integration.png

RS-485 connection

Note

Output pin (OUT) of one device is connected to the input pin (IN) of the other one.

Inverted signals (N) are connected each other; in the same way non-inverted signals (P) are linked each other.

Daisy chain

This section details the technical considerations that must be taken into account when connecting the Autopilot 1x to a chain of devices via RS485/422.

Full duplex

Autopilot 1x includes an internal resistor of 120 \(\Omega\). A second resistor is required at the end of the line (again 120 \(\Omega\)) to allow the connection of multiple devices to the same line. This resistor may be placed on cable or PCB.

Full Duplex allows devices on an RS485 network to transmit and receive data simultaneously, enabling continuous bidirectional communication. This mode uses four wires, two for sending and two for receiving, which facilitates faster and more efficient data transfer.

The following diagram shows how to connect the devices:

../_images/RS485_full_duplex.png
Half duplex

Half Duplex allows devices on an RS485 network to transmit and receive data, but not at the same time. In this mode, communication alternates between sending and receiving, using only two wires for both directions.

The following diagram shows how to connect the devices:

../_images/RS485_half_duplex_ok.png

Warning

The following mode of connection should be avoided.

../_images/RS485_half_duplex_fail.png

CAN

Electrical diagram of CAN bus

Autopilot 1x includes an internal resistor of 120 \(\Omega\). A second resistor is required at the end of the line (again 120 \(\Omega\)) to allow the connection of multiple CAN Bus devices to the same line. This resistor may be placed on cable or PCB.

../_images/candiagram.png

CAN assembly example diagram

Point to point

../_images/point_to_point_can.png

CAN connection

Note

The user has the option to configure either of the two available CAN BUS lines on the Autopilot 1x: CAN A or CAN B.

The following sections detail the technical considerations to be taken into account when connecting the Autopilot 1x to a chain of devices via CAN.

Daisy chain

The daisy chain connection is the most common and recommended method for interconnecting multiple devices in a CAN system. This procedure involves sequentially connecting the CAN cable from one device to the next, ensuring that the total cable length is minimized to optimize network performance and reduce potential interference.

The following diagram illustrates an example of how to connect devices using this method:

../_images/daisy_chain_example_1.png

Important

A resistor has been included in the diagram, which allows the connection of more devices, as explained in the Electrical diagram of CAN bus section.

Note

The standard designation for CAN lines in devices is typically CAN H (High) and CAN L (Low). These designations correspond to those of the Autopilot 1x, where CAN P (Positive) and CAN N (Negative) represent the High and Low lines, respectively.

Note

The user has the option to configure either of the two available CAN BUS lines on the Autopilot 1x: CAN A or CAN B.

Backbone with stubs

Another method for connecting devices via CAN is to use a master cable from which the necessary stubs will be made to connect the devices. This connection method allows the creation of stubs from the master cable to integrate each device into the CAN network.

It is important for the user to note that when connecting devices in this topology, the total length of the CAN BUS cable is limited. Exceeding this length may adversaly affect network performance and communication integrity.

The following diagram illustrates an example of how to connect devices using this method:

../_images/daisy_chain_example_2.png

Important

To create stub branches from the master line, T-connectors or CAN splitter are required.

These connectors enable the connection of a device while allowing the main BUS line to continue, facilitating the connection of additional devices.

../_images/T_connector.png

The CAN protocol specifications limit the distance a device can be placed from the BUS. The following table shows the distance limitations to be considered when setting up the system.

Bus Speed

Bus length

Stub length

Node distance

1 Mbit/Sec

40 meters

0.3 meters

40 meters

500 kbits/Sec

100 meters

0.3 meters

100 meters

100 kbits/Sec

500 meters

0.3 meters

500 meters

50 kbits/Sec

1000 meters

0.3 meters

1000 meters

Warning

If a cable stub (un-terminated cable) or a T-connector is used to connect to the bus line, then the stub distance should not exceed 0.3 meters.

External devices

The step-by-step instructions for the following external devices will be explained in detail in the following sections: