CANopen
User manual v1.4

LINAK.COM/TECHLINE

Page 1 of 25

Contents

Contents

Preface........................................................................................................................3
LINAK® application policy.............................................................................................4
About LINAK® CANbus actuators.................................................................................5
Summary............................................................................................................................. 5

Functional overview.....................................................................................................6
Command details.........................................................................................................7
Run in/out........................................................................................................................... 7
Position............................................................................................................................... 7
Maximum current in/out...................................................................................................... 7
Speed control...................................................................................................................... 8
Running conditions ............................................................................................................. 9Starting procedures........................................................................................................... 10

Process Data Objects (PDO) .......................................................................................11
Command details.............................................................................................................. 11
Feedback status details...................................................................................................... 12
Service Data Objects (SDO) ............................................................................................... 13

Internal monitoring....................................................................................................16
Current limits and measurements....................................................................................... 16
Voltage............................................................................................................................. 17
Temperature...................................................................................................................... 17
H-bridge............................................................................................................................ 17
Parameters........................................................................................................................ 17

Environmental data and tests.....................................................................................18
Operational environment................................................................................................... 18
Supply voltage................................................................................................................... 18
Power loss......................................................................................................................... 18
Over voltage...................................................................................................................... 18
EMC................................................................................................................................. 19

BusLink service interface.............................................................................................20
Installing LINAK® CANopen actuators.........................................................................21
Introduction...................................................................................................................... 21
Connections...................................................................................................................... 21

Electrical installation..................................................................................................22
Physical specifications....................................................................................................... 22Power supply..................................................................................................................... 22
Electronic Datasheet.......................................................................................................... 22
Connection diagram.......................................................................................................... 23
Termination....................................................................................................................... 23
Certificate......................................................................................................................... 24

Page 2 of 25

Preface
Dear User,
We are delighted that you have chosen a product from LINAK®.
LINAK systems are high-tech products based on many years of experience in the manufacture and development of actuators,
electric control boxes, controls, and chargers.
This user manual does not address the end-user, but is intended as a source of information for the manufacturer of theequipment or system only, and it will tell you how to install, use and maintain your LINAK electronics. It is the responsibilityof the manufacturer of the end-use product to provide a User Manual where relevant safety information from this manual ispassed on to the end-user.
We are confident that your LINAK product/system will give you many years of hassle-free operation. Before our products leave
the factory they undergo full function and quality testing. If you should experience any problem with your LINAK product/system
please contact your local supplier. LINAK subsidiaries and some distributors have authorised service centres, which are always
ready to help you.
LINAK provides warranty on all LINAK products. The warranty, however, is subject to correct use in accordance with thespecifications, maintenance being done correctly and any repairs being carried out at a service centre, which is authorised to
repair LINAK products.
Changes in installation and use of LINAK products/systems can affect their operation and durability. The products are not to beopened by unauthorised personnel.
This User Manual has been written based on our present technical knowledge. We are constantly striving to update both our
products and the associated information we therefore reserve the right to carry out technical modifications without prior notice.
This user manual refers to the CANopen software version: SW01050007V3-1
Certified by CAN in Automation CiA:
Certificate#
CiA202006-301V42/303-0243
Vendor ID		
00 00 04 AA
LINAK A/S

Page 3 of 25

LINAK® application policy
The purpose of the application policy is to define areas of responsibilities in relation to applying a LINAK product defined as
hardware, software, technical advice, etc. related to an existing or a new customer application.
LINAK products as defined above are applicable for a wide range of applications within Medical, Furniture, Desk, and Industry
areas. Yet, LINAK cannot know all the conditions under which LINAK products will be installed, used, and operated, as eachindividual application is unique.
The suitability and functionality of the LINAK product and its performance under varying conditions (application, vibration, load,
humidity, temperature, frequency, etc.) can only be verified by testing, and shall ultimately be the responsibility of the LINAK
customer using any LINAK product.
LINAK shall be responsible solely that LINAK products comply with the specifications set out by LINAK and it shall be theresponsibility of the LINAK customer to ensure that the specific LINAK product can be used for the application in question.

Page 4 of 25

About LINAK® CANbus actuators
SummaryThis document describes the capabilities of LINAK TECHLINE® CANopen components and the requirements forcontrolling these. It specifies the technologies involved, the environmental data specification and the functionaldescription.
LINAK TECHLINE CANopen actuators are primarily designed with focus on industrial automation.
The communication protocol relies on the CiA 301 standard. The contents of this document assume that the reader is familiar
with the CiA 301 standard.
In addition to full position control, the CANopen actuator can provide feedback information about the piston
position, service data and full diagnostics. It also provides system identification data and actual current at runtime.

Page 5 of 25

Functional overview
The LINAK ® TECHLINE ® CANopen offers a communication profile defined in CiA DS 301 V 4.0.2. This includes a commandset for controlling the actuator in addition to feedback status.
••••

Process Data Objects PDO
Service Data Objects SDO
Objects with special functions for synchronization, error alert and response.
Synchronization object (SYNC)
Emergency object (EMCY)
Network Management Objects (NMT) for initialization, error monitoring and status monitoring of the device.
NMT commands
Boot-up messages
Heartbeat messages

Page 6 of 25

Command details
Run in/out

In and out movement is performed by sending the proper identifier while the actuator is in CANopen mode. In Service mode,
movement is achieved by using the LINAK® BusLink PC software or by applying the proper signals to the Manual run wires. Using
manual run, a start-up delay of up to 150 ms must be expected due to safety measures.

Position

Max/min. position:
Level setting steps:

Stroke length
0.1 mmLoad, ramping up and down and specific actuator type (spindle/gear box) should be taken into account in regard to accuracy.
The Position SetPoint can be set dynamically.
If the new SetPoint involves a change in running direction, the ramps will follow the pre-set ramp time.

Maximum current in/out

Applying a current limit will induce a degree of mechanical overload protection to the installation.
Max. current limit:
Level setting steps:

Fixed limit*
0.25 A*The custom current limit setting cannot overrule the fixed factory setting which insures partially protection of theelectronics and mechanics. See “Internal monitoring” on page 16 for details.

Page 7 of 25

Speed control

The speed is controlled using Pulse Width Modulation (PWM).
Min. duty cycle: 0 %Max. duty cycle: 100 %Level setting steps:
0.5 %Closed loop speed control will ensure a more accurate speed. In order to obtain this, the maximum speed is reduced to approximately
80%. The actual speed will be influenced by the gear and spindle size in the actuator.
The speed setting can be changed dynamically at run time.

Run
out
100%

Ramp
time
Run out @50% speed

50%

Run out @100% speed

Run in @70% speed
time

50%
100%
		
Run inFigure 1. Speed control Graphics

Page 8 of 25

Running conditions

In order to run the actuator please take the following into account.
•
•
•
•
•

If the Heartbeat is not present the actuator will not accept any PDO commands.
Commands must be resend if communication is interrupted or the Heartbeat signal is missing.
RUN IN and RUN OUT commands cannot be issued if errors are present (error code != 0).
Heartbeat status can be read with status bit 5.
Upon entering OPERATIONAL actuator requires a STOP or CLEAR ERROR command.

Power-up

Waiting

NMT Start[No errors][else]

Heartbeat lost

Error
Error

Error

Run

[Heartbeat is present]
CLEAR ERROR command

Error

STOP command Run command				Figure 2. Running conditions

Ready torun

Page 9 of 25

Need STOP
command[Heartbeat is present]
STOP or CLEAR ERROR command

Starting procedures

Follow the example below to complete the startup procedures necessary for successful communication.
The CAN address in this example is in 32 (0X20).
CAN ID (hex)

Data (hex)01Description
2

3

4

5

6

7

701

05

Master Heartbeat. Sent every 100ms

720

00

Actuator boot-up

23

16

10

01

C8

00

01

00

Receive Service Data Objects SDO

5A0

60

16

10

01

00

00

00

00

Actuator response

000

01

20

00

00

00

C1

01

00

00

C0

Transmit Process Data Object TPDO1.
STOP command needed

220

03

FB

FB

FB

FB

FB

00

00

Stop command

1A0

00

00

00

C1

00

00

00

C0

Transmit PDO1. Actuator at EOS in [0 mm]

220

01

FB

FB

FB

FB

FB

00

00

Run out command

A1

00

06

C8

00

31

00

CO

Transmit PDO1. Actuator is running out[2.6 mm]

F7

01

00

C2

00

00

00

CO

Transmit PDO1. Actuator reached EOS out[50.3 mm]

220

02

FB

FB

FB

FB

FB

00

00

Run in command

1A0

60

00

06

D0

00

32

00

C0

Transmit PDO1. Actuator is running in [9.6 mm]

1A0
Master

00

00

00

C1

00

00

00

C0

Transmit PDO1. Actuator reached EOS in [0 mm]

620

1A0

1A0
1A0

Startup
Procedures

Network management NMT Start

Actuator
Figure 3. Starting procedures

To use another CAN address than 32 (0X20) please redifine the CAN ID to suit the need.

Page 10 of 25

Running
examplesProcess Data Objects (PDO)
RPDO1 is mapped to 0x2000
TPDO1 is mapped to 0x2001

Command details
Index

Ox2000SubindexCommand1

Position

Data type Details

Description

UINT16

Run to position
Clear ErrorCode register (see 0x1001)
Command run actuor out
Command run actutor in
Command stop actuator*
Command run to actuator out, Revocery mode
Command run to actuator in, Recovery mode
Invalid value, actuator will not run

0-64255
64256
64257
64258
64259
64260
64261
64262-65535

2

Current

UINT8

0-250
251
252-255

Maximum current limit
Use default current value
Invalid value, actuator will not run

3

Speed

UINT8

0-200
201-250251252-255

Speed to use
Use 100% speed
Actuator default speed value
Invalid value, actuator will not run

Unit

0.1 mm/bit

0.25 A/bit

0.5%/bit

4

Soft start

UINT8

0-250
251
252-255

Start ramping time (ms)Use default soft start value
Invalid value, actuator will not run

0.05 s/bit

5Soft stop

UINT8

0-250
251
252-255

Stop ramping time (ms)Use default soft stop value
Invalid value, actutor will not run

0.05s/bit

Table 1. Command details.

Page 11 of 25

Feedback status details
Index

SubindexCommand

Data type1

Position

UINT16

Details

Description

0-6425564256-65023
65024
65025-65535

Position of actuator piston
Reserved
Position lostReserved

Unit

0.1 mm/bit

2

Current

UINT8

0
1-250
251-253
254
255

Not running
Measured motor current
Reserved
Fault in current measurement circuit
Reserved

3

Status flags

UINT8

b0
b1
b2
b3
b4
b5
b6-b7

EOS inEOS out
Over current
Running out
Running in
CANopen heartbeat needed
Reserved

8bit independe
nt status bitindicators

0
1
2
3
4
5
6
7
8

No error
Need stop command
Hall error
Over voltage
Under voltage
Failed to maintain heartbeat
EOS error
Temperature error
Heart beat error (internal)

8bit error code
indicating thecurrently active
error of highest
priority

9
10
254
255

SMPS error (internal)
Current measurement (internal)
Internal fault (not specified)
External fault (not specified)

Ox2001

4

Error codes

UINT8

5

Speed

UINT160-40154016-65535

6

Input state

UINT8

b0-b1
b2-b3
b4-b5
b6-b7

Table 2. Feedback status details. .

Page 12 of 25

Speed of actuator piston
Reserved
Input 1 level
Input 2 level
Input 3 level
Reserved (always1)

0.25 A/bit

0.1mm/s/bit

25% /bit

Service Data Objects (SDO)
Index

Subindex Data type

Access Name

Details

Unit

Description

0x1000Device typesee CiA 301
7.5.2.10x1001

Error register

see CiA 301
7.5.2.20x1005

CO B- IDSYNC

see CiA 301
7.5.2.5

Default value is used (0x80)

0x1009Manufacturer hardware version

see CiA 301
7.5.2.9

PCBA name

0x1014

CO B- IDEMCY

see
CiA3017.5.2.17

Default value is used (0x80 +Node- ID)

0x1015

Inhibit time EMCY

see CiA 301
7.5.2.18

Default value is used (0)0x1016

Consumer heartbeat
time

see CiA 301
7.5.2.19

Only one consumer heartbeat attime is supported

0x1017

Producer heartbeat
time

see CiA 301
7.5.2.20

Identity object

see CiA 301
7.5.2.21

Ox1018
1

UINT32R

Vendor ID

0x000004AA

2

UINT32R

Producer code

Software number (e.g. 1050000)

2

UINT32

R

Revision number

CANopen interface revision

4

UINT32

R

Serial number

Same as UIN

SDO server parameter

LINAK

see CiA 301
7.5.2.33

0x1200
1

Default value is used (0x600+
Node-ID)

2

Default value is used (0x580 +Node-ID)

0x1400

RPDO communication parametersee CiA 301 7.5.2
35

1

Default value is used (0x200 +Node-ID)2

event-driven (manufacturerspecific)

0x1600

RPDO mapping
parameter

see CiA 301 7.5.2
360x1800TPDO communication parametersee CiA 301 7.5.2
37

1

UINT322

UINT8Transmission Character5

UINT16

Event timer

0x1A00

1 to 1 mapping of 0x2000 (Actuator Command)

Default value is used (0x180+
Node-ID)
event-driven (manufacturerspecific)
250

TPDO mapping
parameter

Table 3. Service Data Objects.
Page 13 of 25

1ms/bitsee CiA 301 7.5.2
38

1 to 1 mapping of 0x2001 (Actuator Status)

IndexSubindex

Data type

AccessRecordOX4000Name

Details

Unit

Diagnostic

Description
Actuator diagnostic parameters

0

UINT8

R

Highest sub-index supported

1

UINT8

RW

Current limit out

0.25A/bit

2

UINT8

RW

Current limit in

0.25A/bit

3

UINT16RW

Soft start time out

1ms/bit4

UINT16RW

Soft start time in

1ms/bit5

UINT16RW

Soft stop time out

1ms/bit6

UINT16RW

Soft stop in

1ms/bit

7

UINT8

RW

Maximum speed

8

UINT16

RW

Virtual EOS out position

0.1mm/bit

9

UINT16

RW

Virtual EOS in position

0.1mm/bit

10

UINT32RUIN

8 number format

11

UINT32R

SW variant [x]12

UINT32R

SW version Major [y]13

UINT32R

SW version Minor [z]14

UINT32

R

Config production order number

15

UINT32R

Production dateyyyymmdd

16

UINT8

R

Maximum current seen

0.25A/bit

17

UITN8

R

Maximum FET temperature seen

1 0C/bit-40

18

UINT32

R

Maximum ambient temperatureseen

1 0C/bit-40

19

UINT8

R

Minimum ambient temperatureseen

1 0C/bit-40

20

UINT32R

Current usage

1As/bit21

UINT32

R

Runtime1s/bit

22

UINT8

R

Number of stops due to overvoltage

23

UINT8

R

Number of stops due to FET overtemperature

24

UINT8

R

Number of stops due to ambient
over temperature

25

UINT8

R

Number of stops due to low
voltage

26

UINT

R

Number of stops due to hallerrors

27

UINT8

R

Number of stops due to EOS
switch errors

28

UINT8

R

LINAK current overload out stops

29

UINT8

R

LINAK current overload in stops

30

UINT8

R

Resettable Custom current overload out stops

31

UINT8

R

Resettable Custom current overload in stops

Page 14 of 25

0-200
201-255

0.5%/bit100%

SWxxxxxxxVy-z

Software number (e.g.
105000)

32

UINT16

R

Communication errors

33

UINT16

R

Number of EOS out

34

UINT16

R

Number of EOS in35

UINT32

R

Number of starts out

36

UINT32

R

Number of starts in

37

UINT32

R

Total piston distance38

UINT16R

Last stop reason id 0

Stop reason id

39

UINT8

R

Last stop count id 0

Number of consecutive
stop reasons of the same
type

40

UINT32R

Last stop powered time id 0Powered time when thelast stop occured

41

UINT16R

Last stop reason id 1

Stop reason id

42

UINT8

R

Last stop count id 1

Number of consecutive
stop reason of the same
type

43

UINT32R

Last stop powered time id 1

Powered time when thelast stop occured

44

UINT16R

Last stop reason id 2

Stop reason id

45

UINT8

R

Last stop count id 2

Number of consecutivve
stop reason of the same
type

46

UINT32R

Last stop powered time id 2

Powered time when thelast stop occured

47

UINT16R

Last stop reason id 3

Stop reason id

48

UINT8

R

Last stop count id 3

Number of consecutive
stop reason of the same
type

49

UINT32R

Last stop powered time id 3

Powered time when thelast stop occured

50

UINT16R

Last stop reason id 4

Stop reason id

51

UINT8

R

Last stop count id 4

Number of consecutive
stop reason occured

52

UINT32R

Last stop powered time id 4

Powered time when thelast stop occured

53

UINT32

R

Total corrected distance

5 m/bit

Table 4. Service Data Objects.

Use the CiA® 305, Layer Setting Services (LSS) for CANopen node-ID assignment and changing CANopen bitrate.

Page 15 of 25

Internal monitoring
A number of parameters are monitored during operation to prevent overloading the electronics and to minimise the risk ofmechanical damage.

Current limits and measurements

The principle behind the current measurement is an ‘above limit’ and ‘below limit’ accumulating counter. When the Timeout
counter reaches a specific value the current cut-off goes into effect. The timeout value is pre-set at 200 to 500ms depending on
actuator type.

In case3.ofDynamic
currentcurrent
limit activation(Timeout counter max is reached), the actuator will stop and an over current error is triggered.
Figurelimit principle.
The error is cleared when the actuator is activated in the opposite direction or by issuing a Clear error command.
Custom over current limit can only be lower than or equal to the fixed factory setting.

Page 16 of 25

Voltage

The supply voltage level is monitored in order to maintain a safe operation and to protect the circuitry.

Temperature

Two temperature monitoring circuits are in place to measure the absolute temperature of the board and the centre temperatureof the H-bridge.

H-bridge

The H-bridge conditions are monitored at all times. Several conditions are required in order to run.
Among these are:••••

Correct voltage supplies
Heartbeat safety signal
Correct temperatures
No errors

Parameters

In addition to the immediate monitoring, a number of parameters are saved for long-term evaluation.
These include:
•
•
•
•
•
•

Number of starts in either direction
Reason for last stop
Total running time
Under and over voltage
Maximum current
Number of current overloads in either direction

These parameters will help the engineer sort out existing issues. Considering a combination of parameter values, the lifetime load
can indicate a potential failure before it happens and thereby prevent downtime.

Page 17 of 25

Environmental data and tests
The CANbus actuators fulfil the environmental requirements as defined:

Operational environment

Ambient temperature: -30°C to 65°C (full performance only from +5°C to 40°C)
Relative humidity: 30% to 80% @ 30°C
Pressure:
700hPa to 1060hPa
Storage environment
Ambient temperature: -55°C to 105°C
Relative humidity: 30% to 80% @ 30°C
Pressure:
700hPa to 1060hPa

Supply voltage

The actuator will be available in three supply voltage ranges, 12 VDC, 24 VDC, and 48 VDC. The accepted supply voltage range
is specified according to ISO16750-2012.

Supplyvoltage

12 V

24 V

48 V

VMIN

VTYP

VMAX

Reference

Note

10.5 V

12 V

16 V

ISO 16750-2:2012 - Code D

Motor running

6V

12 V

39 V

ISO 16750-2:2012 - Code A

18 V

24 V

32 V

ISO 16750-2:2012 - Code H

10 V

24 V

39 V

ISO 16750-2:2012 - Code E

36 V

48 V

58 V

no reference

10 V

48 V

60 V

no referencePower loss

Motor not running
CAN communication possible
Motor running
Motor not running
CAN communication possible
Motor running
Motor not running

CAN communication possible
In case of power loss, the actuator position and other important data is saved by the on-board microcontroller.
Table 4. Voltage supply levels.

Over voltage

If the voltage rises above the set limit, the system will enter overvoltage protection mode and shut down.

Page 18 of 25

EMC

The Electromagnetic Compatibility tests performed on the LINAK® CANopen actuator comply with the TECHLINE® Electrical Test
Specification. The scope of tests is verified and accredited by DELTA A/S test laboratory.
Norm/Standard

Test decription
Supply voltage range
Overvoltage
Superimposed alternating voltage
Slow lowering and raising the voltage supply
Momentary drop in supply voltage

ISO 16750-2:2012

Reset behaviour for voltage drop
Reversed voltage
Ground reference and supply offset
Open circuit test
Short circuit protection
Load dump – Test pulse 5a
Load dump test pulse 5b
Test pulse 1
Test pulse 2a

ISO 7637-2:2011

Test pulse 2b
Test pulse 3a
Test pulse 3b

ISO 16750-2:2012

Test pulse 4

ISO 7637-2:2011

Voltage transient emission test on power supply lines

ISO 7637-3:2007

Electric transient transmission by cap. and inductive coupling

CISPR 25 IEC:2008

Conducted disturbance voltage measurement
Radiated emission – ALSE method

CISPR 16-1-2:2010

Conducted emission

CISPR 16-2-3:2010

Radiated emission

ISO 10605 2nd Ed.

ESD immunity

IEC 61000-4-2 2nd Ed.

ESD immunity

ISO 11452-1:2005, ISO 11452-2:2004, ISO
11452-4:2011, ISO 11452-5:2002

Interference immunity

IEC 61000-4-3:2006

Interference fields immunity test

IEC 61000-4-8:2010

Power frequency magnetic field

IEC 61000-4-4:2004

Burst transients

IEC 61000-4-5:2006

Surge transients

Table 5. LINAK TECHLINE EMC test overview.

Page 19 of 25

BusLink service interface
The BusLink service interface offers a wide range of settings and status feedback options. Use the LINAK® USB2LIN cable andthe LINAK BusLink PC software will gain access to:
BusLink settings• Initialisation• Current limit settings• Soft start/stop timing
BusLink feedback• Run time parameters• Number of starts and stops• Maximum current and temperature• Error messages
The actuator can also be run manually using BusLink control interface. During normal CAN operation, BusLink manual run isdisabled. The service interface is only intended to run with the BusLink PC software tool.

FigureLINAK USB2LIN
service forcable.
Figure5. LINAK adapter cable.
See the4. BusLink
Quick Guide
details on how to connect to the specific actuatormodel.

The USB2LIN service cable and adapter cable suitable for CAN actuators can be ordered as
USB2LIN adapter				USB2LINO6LA14CAN/ LA25CAN Adapter			0965205-A
LA33CAN/ LA36CAN/ LA37Can Adapter		
0968011-A

Page 20 of 25

Installing LINAK® CANopen actuators
Introduction
This section will assist you in the installation of the LINAK CANopen actuator. Going through parameters andprocedures necessary for a successful implementation.
•••

Connections
Electrical installation
Communication

Connections
The tables below define the wire connections to the LINAK TECHLINE CANopen actuators. The colours are
consistent with all LINAK TECHLINE CANopen actuators. The pinning definition provided by CiA 303-1 for mini-fit connector do
not comply with the definition below.
Single connector actuators

Dual connector actuators

Power connector, 8-pin mini-fit connector

Power connector, 6-pin mini-fit connector

LINAK cable

Description

LINAK cable

Description

Brown+ Power supply (12/24/48VDC)

Brown+ Power supply (12/24/48VDC)

Blue- Power supply (GND)Blue- Power supply (GND)Black

Manual run inTable 7. Power wire colours.

Red

Manual run out

WhiteService interface GND

PurpleService interface DATA

Yellow

CAN H

Green

CAN L

Communication connector, 6-pin micro-fit connector

Table 6. Power and communication wire colour.

By default, cables are supplied with flying leads.

LINAK cable

Description

Black

Manual run in

Red

Manual run out

WhiteService interface GND

PurpleService interface

Yellow

CAN H

Green

CAN L

Table 8. Communication wire colours.

Page 21 of 25

Electrical installation
Physical specifications
LINAK CANopen actuators provide a physical layer according to ISO 11898-2.
Speed			125, 250, 500 kbps
Max bus length		
250 meters
Max stub length		
11 meters
Accumulated stub length 55 meters
Max node count		
127
Cable impedance		
120 Ω (±10%)
Default CANopen node ID
32

Power supply
The power supply for the LINAK® CANbus actuator should be kept separate from the CANbus power supply, if such one exists.

PWR

PWR

LINAK TECHLINE®
CANbus actuator

LINAK TECHLINE
CANbus actuator

GND

ECU_PWR
CAN_H
ECU

CAN_L
ECU_GND

Figure 5. Power supply connection setup.

Electronic Datasheet
An eds file can be obtained by contacting Linak. The eds file complies with the CiA 306 standard.

Page 22 of 25

GND

Connection diagram
During the optional manual run mode, the actuator will continue to send status feedback on the CANbus. However, if other CAN
devices are active on the network, manual run mode will be disengaged. The Service interface is also accessible during manual
run mode.

Power Vcc

FUSE

12/24DCPower GND
Manual run in
Manual run out
Service GND

PC

USB2LIN

Service DATA
CAN_H
CAN_L

Figure 6. Connection pinout.

Termination
Termination resistors of 120 Ω should be connected according to figure 7. The actuator does not have internal termination.

LINAK TECHLINE
CANbus actuator

LINAK TECHLINE
CANbus actuator

CAN_H
120 Ω

120 Ω
CAN_L
Figure 7. Termination connection diagram.

Page 23 of 25

Certificate

Page 24 of 25

• Denmark
LINAK A/SGroup Headquarters

DISTRIBUTORS• Denmark - Headquarters
LINAK A/S - Group Headquarters
Tel: +45 73 15 15 15
Fax: +45 74 45 80 48
Fax (Sales): +45 73 15 16 13• Poland
LINAK Polska
LINAK Danmark A/S (Spólka Akcyjna)
Tel: +48 22 295 09 70/22 295 09 71
www.linak.pl• Argentina
NOVOTEC ARGENTINA SRL
Tel: 011-4303-8989/8900

www.linak.com• Denmark - International
LINAK International• Republic of Korea
LINAK Korea Ltd.
Tel: +82 2 6231 1515

• Colombia
MEM Ltda
Tel: +[57] (1) 334-7666

LINAK Profiles
Tel: +45 73 70 95 30
www.linak-profiles.com

Tel: +45 73 15 15 15
www.linak.com

Fax: +82 2 6231 1516
www.linak.kr

Fax: +[57] (1) 282-1684
www.mem.net.co• Denmark - Sales• Slovakia• India• China
LINAK (Shenzhen) Actuator Systems, Ltd.
Tel: +86 755 8610 6656
Fax: +86 755 8610 6990
www.linak.cn

LINAK DANMARK A/S
Tel: +45 86 80 36 11
Fax: +45 86 82 90 51
www.linak.dk

LINAK Slovakia s.r.o.
Tel: +421 51 7563 444
www.linak.sk

Mechatronics Control Equipments India Pvt Ltd
Tel: +91-44-28558484, 85
www.mechatronicscontrol.com• Finland• Spain
LINAK Actuadores, S.L.u• Slovakia
LINAK Slovakia s.r.o.
Tel: +421 51 7563 444

LINAK OY
Tel: +358 10 841 8700
www.linak.fi

Tel: +34 93 588 27 77
Fax: +34 93 588 27 85
www.linak.es• Indonesia
PT. HIMALAYA EVEREST JAYA
Tel: +6 221 544 8956/221 544 8965
Fax: +6 221 619 1925
Fax (Sales): +6 221 619 4658

www.linak.sk• France
LINAK FRANCE E.U.R.L• Sweden
LINAK Scandinavia AB• Thailand
LINAK APAC Ltd.
Tel: +66 33 265 400

Tel: +33 (0) 2 41 36 34 34
Fax: +33 (0) 2 41 36 35 00
www.linak.fr

Tel: +46 8 732 20 00
Fax: +46 8 732 20 50
www.linak.se

Scan Medical Tech
Tel: +964 770 470 2202

• Germany
LINAK GmbH
Tel: +49 6043 9655 0• Switzerland
LINAK AG
Tel: +41 43 388 31 88

NetivTech LTD
Tel: +972 55-2266-535
Fax: +972 2-9900-560

Fax: +49 6043 9655 60
www.linak.de

Fax: +41 43 388 31 87
www.linak.ch - www.fr.linak.ch
www.it.linak.ch

www.netivtech.com

Tel: +45 73 15 15 15
Fax: +45 74 45 80 48
Fax (Sales): +45 73 15 16 13
www.linak.com• DenmarkFax: +421 517563 410

www.linak.com• USA
LINAK U.S. Inc.
Americas Headquarters
Tel: +1 502 253 5595
Fax: +1 502 253 5596
www.linak-us.com

SUBSIDIARIES• Australia
LINAK Australia Pty. Ltd
Tel: +61 3 8796 9777
Fax: +61 3 8796 9778
www.linak.com.au• Austria
LINAK RepräsentanzÖsterreich (Wien)
Tel: +43 (1) 890 7446
Fax: +43 (1) 890 744615
www.linak.at - www.linak.hu• Belgium
LINAK Benelux(Belgium & Luxembourg)
Tel: +32 (0)9 230 01 09
www.linak.be - www.fr.linak.be• Brazil
LINAK Do Brasil Comércio De Atuadores Ltda.
Tel: +55 (11) 2832 7070
Fax: +55 (11) 2832 7060
www.linak.com.br• Canada
LINAK Canada Inc.
Tel: +1 502 253 5595
Fax: +1 416 255 7720
www.linak-us.com• China
LINAK (Shenzhen) Actuator Systems, Ltd.
Tel: +86 755 8610 6656

• India
LINAK A/S India Liaison OfficeTel: +91 120 4531797
Fax: +91 120 4786428
www.linak.in• Ireland
LINAK UK Limited (Ireland)
Tel: +44 (0)121 544 2211
Fax: +44 (0)121 544 2552
+44 (0)796 855 1606 (UK Mobile)+35 387 634 6554 (Republic of Ireland Mobile)www.linak.co.uk• Italy
LINAK ITALIA S.r.l.
Tel: +39 02 48 46 33 66
Fax: +39 02 48 46 82 52
www.linak.it• Japan
LINAK K.K.
Tel: 81-45-533-0802
Fax: 81-45-533-0803• Thailand
LINAK APAC Ltd.
Tel: +66 33 265 400• Turkey
LINAK İth. İhr. San. ve Tic. A.Ş.
Tel: + 90 312 4726338
Fax: + 90 312 4726635
www.linak.com.tr• United Kingdom
LINAK UK Limited
Tel: +44 (0)121 544 2211
Fax: +44 (0)121 544 2552
www.linak.co.uk• Malaysia
LINAK Actuators Sdn. Bhd.
Tel: +60 4 210 6500

• USA
LINAK U.S. Inc.
North and South American Headquarters
Tel: +1 502 253 5595
Fax: +1 502 253 5596

Fax: +60 4 226 8901
www.linak.my

www.linak-us.com
www.linak-latinamerica.com

www.linak.jp• Netherlands
LINAK Benelux
Tel: +31 76 5 42 44 40
www.linak.nl

Fax: +86 755 8610 6990
www.linak.cn• New Zealand
LINAK New Zealand Ltd
Tel: +64 9580 2071
Fax: +64 9580 2072

• Czech Republicwww.linak.com.au

LINAK C&S s.r.o.
Tel: +42 058 174 1814
Fax: +42 058 170 2452

• Norway
LINAK Norge AS
Tel: +47 32 82 90 90
www.linak.nowww.linak.cz - www.linak.sk• Taiwan
LINAK (Shenzhen) Actuator systems Ltd.
Taiwan Representative officeTel: +886 2 27290068
Fax: +886 2 27290096
www.linak.tw

Fax: 011-4032-0184
www.novotecargentina.com

www.hej.co.id• Iraq• Israel• Kingdom of Bahrain
Mechatronics Industrial Equipments
Tel: +973 17280059
Fax: +973 17910045
www.mechatronicsbh.com• QatarMechatronics Industrial Equipments
Tel: +974 44581155
Fax: +974 44689135
www.mechatronicsqatar.com• Singapore
Servo Dynamics Pte Ltd
Tel: +65 6844 0288
Fax (Sales): +65 6844 0070
• South Africa
Industrial Specialised Applications CC
Tel: +27 011 466 0346
www.isaza.co.za• United Arab Emirates
Mechatronics Industrial Equipments LLC
Tel: +971 4 267 4311
Fax: +971 4 267 4312
www.mechatronics.ae

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