The CAN Protocol Tour

CAN Bus Connectors

9-pin DSUB

This connector layout is recommended by CiA and is pretty much the industrial standard.

1 Reserved
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND CAN Ground
4 Reserved
5 (CAN_SHLD) Optional CAN shield
6 (GND) Optional CAN ground
7 CAN_H CAN_H bus line (dominant high)
8 Reserved (error line)
9 CAN_V+ Optional power

KVASER users: Please note that the specific utilization of these pins on the KVASER DRVcan driver cables is described in the document “LAPcan Hardware Guide” which you can download here.
If power is supplied, it shall be in the range +7..+13 V, 100 mA. Modules provide a male connector and have to connect pin 3 and 6 internally.

CAN connectors 1

The pin numbering is valid for a male connector, viewed from the connector side, or for a female connector viewed from the soldering side. – To memorize the pinning, note that CAN_LOW has a LOW pin number and CAN_HIGH has a HIGH pin number.

 


5-pin Mini-C

Used by both DeviceNet and SDS and happens to be compatible between these two protocols.

CAN connectors 2

 

Pin Function DeviceNet Color
1 Drain Bare
2 V+ Red
3 V- Black
4 CAN_H White
5 CAN_L Blue

 

The modules have male connectors. The supplied power is 24V +- 1%.

Note: in the DeviceNet specification version 1.x, the female connector in figure 9.13 has the numbers in wrong order. Specification 2.0 and later versions has got it right.
6-pin Deutsch DT04-6P
Recommended by CANHUG for use in mobile hydraulics applications.

Module side male, bus side female. There is currently no recommendation as to the supplied power.

Pin Function Recommended cable colour
1 Power negative Black
2 CAN_H White
3 Optional Signal GND Yellow
4 Optional Initiate Gray
5 Power positive Red
6 CAN_L Blue