Elmo Tuba Digital Servo Manuale Utente

The communication cables use an 8-pin RJ-45 plug that connect to the RS-232 and CANopen 
ports on the front of the Tuba. 

The communication interface may differ according to the user’s hardware. The Tuba can 
communicate using the following options: 

a.  RS-232, full duplex 
b.  CANopen 

RS-232 communication requires a standard, commercial 3-core null-modem cable connected 
from the Tuba to a serial interface on the PC. The interface is selected and set up in the 
Composer software. 

In order to benefit from CANopen communication, the user must have an understanding of 
the basic programming and timing issues of a CANopen network. The interface is electrically 
isolated by optocouplers.  

For ease of setup and diagnostics of CAN communication, RS-232 and CANopen can be used 
simultaneously. 

  Notes for connecting the RS-232 communication cable:  

 Use a 26 or 28 AWG twisted pair shielded cable. The shield should have aluminum 

foil covered by copper braid with a drain wire. 

 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. 

 The male RJ plug must have a shield cover. 

 Ensure that the shield of the cable is connected to the shield of the RJ plug. The drain 

wire can be used to facilitate the connection. 

1 1 — 

— 

2 2 — 

— 

3 3 Tx 

RS-232 

transmit 

4 4 — 

— 

5 5 

COMRET 

Communication 

return 

6  6 Rx RS-232 

receive 

7 7 — 

— 

8 8 — 

— 

Tuba Installation Guide 

 Installation 

MAN-TUBIG (Ver. 1.3) 

 

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