CANopen

Cabling and Connector Pin Assignment

CiA Draft Recommendation Proposal 303-1

- not recommended for implementation-
- may be changed without notification -

Version 1.1.1
Date: 12. December 2001

© CAN in Automation (CiA)

CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

History
Version Date Change
1.0 1999-10-10 - initial version
1.1 2001-04-20 - added chapter 8.6 Han-Brid¨ CU
1.1.1 2001-12-12 ts - added chapter 8.7 IEEE1394/Firewire connector with shielding
- added definition of T-connector (see 3.2 Definitions)

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

Table of Contents
1 SCOPE ....................................................................................................................................................4

2 REFERENCES........................................................................................................................................4
2.1 NORMATIVE REFERENCES ..................................................................................................................4
2.2 INFORMATIVE REFERENCES................................................................................................................4
3 ABBREVIATIONS AND DEFINITIONS.................................................................................................5
3.1 ABBREVIATIONS .................................................................................................................................5
3.2 DEFINITIONS ......................................................................................................................................5
4 NAMING CONVENTION ........................................................................................................................6

5 AC AND DC PARAMETERS .................................................................................................................7

5.1 BUS CABLE AND TERMINATION RESISTORS .........................................................................................7
5.2 UN-TERMINATED STUB CABLE ............................................................................................................8
5.3 CAN GROUND AND GALVANIC ISOLATION ...........................................................................................9
5.4 EXTERNAL POWER SUPPLY ................................................................................................................9
6 GENERAL PURPOSE CONNECTORS ..............................................................................................10
6.1 9-PIN D-SUB CONNECTOR ................................................................................................................10
6.2 MULTIPOLE CONNECTOR ..................................................................................................................11
6.3 RJ10 CONNECTOR ..........................................................................................................................12
6.4 RJ45 CONNECTOR ..........................................................................................................................13
7 INDUSTRIAL CONNECTORS .............................................................................................................14
7.1 5-PIN ÒMINIÓ STYLE CONNECTOR .......................................................................................................14
7.2 5-PIN ÒMICROÓ STYLE CONNECTOR ...................................................................................................15
7.3 OPEN STYLE CONNECTOR ................................................................................................................16
8 SPECIAL PURPOSE CONNECTORS ................................................................................................17
8.1 7-PIN ROUND CONNECTOR ...............................................................................................................17
8.2 8-PIN ROUND CONNECTOR ...............................................................................................................18
8.3 9-PIN ROUND CONNECTOR ...............................................................................................................19
8.4 12-PIN ROUND FLANGE CONNECTOR ................................................................................................20
8.5 9-PIN FLANGE ROUND T-CONNECTOR WITH ID-SWITCH .....................................................................21
¨
8.6 HAN-BRID CU................................................................................................................................22
8.6.1 Housing-side ......................................................................................................................22
8.6.2 Cable-side ..........................................................................................................................23
8.7 IEEE1394/FIREWIRE CONNECTOR WITH SHIELDING .........................................................................24
8.7.1 Chaining of the bus on the node .......................................................................................24
8.7.2 No chaining of the bus on the node ..................................................................................25

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

1 Scope
This document recommends cabling and pin assignment of bus connectors for CANopen-based
systems. It specifies also the naming conventions for the bus lines, ground lines, and shield
connections.

2 References
2.1 Normative references
• ISO 11898 (1993-11): Road vehicles - Interchange of digital information Ð Controller area network
(CAN) for high-speed communication
• DIN 41652: Steckverbinder fŸr die Einschubtechnik
• IEC 60130-9 (1989-9): Connectors for frequencies below 3 MHz Ð Part 9: Circular connectors for
radio and associated sound equipment
• IEC 60947-5-2 (1997-10): Low-voltage switchgear and controlgear Ð Part 5-2: Control circuit
devices and switching elements Ð Proximity switch
• ANSI/B.93.55M-1981 (R1988): Hydraulic fluid power solenoid piloted industrial valves Ð Interface
dimensions for electrical connectors

2.2 Informative references

• Robert Bosch GmbH: CAN specification 2.0 Part A+B (1991)
• CiA Draft Standard 301 (2000-06): CANopen application layer and communication profile, Version
4.01
• CiA DS-102 (1994), CAN physical layer for industrial applications

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

3 Abbreviations and definitions

3.1 Abbreviations

• AC Ð Alternating Current
• CAN Ð Controller Area Network
• DC Ð Direct Current
• EMI Ð Electromagnetic Interference
• GND Ð Ground
• SJW Ð Resynchronization Jump Width
• SHLD Ð Shield

3.2 Definitions

Bus cable
The bus cable is terminated at both ends by termination resistors.

Stub cable
The stub cable is an un-terminated cable, and should be as short as possible.

Female connector
The female connector may be powered.

Male connectors
The male connector should be not powered. That is the reason why most devices are equipped with
male connectors.

T-connector
The T-connector provides a point of attachment onto the bus cable. Devices can be connected to the
network either directly to the T-connector or with a stub cable. T-connectors also provide easy removal
of a device without disrupting network operation.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

4 Naming convention
If connectors are used that are not mentioned in this document, the pins shall be named (either in the
accompanying manual or directly on the device) using the following terminology:

Signal description notation

CAN_L bus line (dominant low) CAN_L or CANlow or CAN-
CAN_H bus line (dominant high) CAN_H or CANhigh or CAN+
CAN Ground CAN_GND or CANGND or Ground or GND
Optional CAN Shield CAN_SHLD or CANSHIELD or Shield or SHLD
Optional CAN external positive supply CAN_V+ or CANV+ or V+ or UC or UCAN
Optional Ground OPT_GND or GNDopt or V- or 0V

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

5 AC and DC parameters
5.1 Bus cable and termination resistors

The cables, connectors, and termination resistors used in CANopen networks shall meet the
requirements defined in ISO 11898. In addition, here are given some guidelines for selecting cables
and connectors.

The table below shows some standard values for DC parameters for CANopen networks with less
than 64 nodes:

Bus cable (1)

Bus length [m] Length-related Cross-section Termination Baudrate [Kbit/s]
2
resistance [mm ] resistance [Ω]
[mΩ/m]
0 ... 40 70 0.25 ... 0.34 124 1000 at 40 m
40 ... 300 <60 0.34 ... 0.6 150 ... 300 >500 at 100 m
300 ... 600 <40 0.5 ... 0.6 150 ... 300 >100 at 500 m
600 ... 1000 <26 0.75 ... 0.8 150 ... 300 >50 at 1 km
(1) Recommended cable AC parameters: 120-Ω impedance and 5-ns/m specific line delay

2
For drop cables a wire cross-section of 0.25 to 0.34 mm would be an appropriate choice in many
cases.

Besides the cable resistance, there should also be considered the real resistance of the connectors, if
calculating the voltage drop. The transmission resistance of one connector should be in the range of
2.5 to 10 mΩ.

With the assumed values for

minimum dominant value Vdiff.out.min = 1.5 V
minimum differential input resistance Rdiff.min = 20 kΩ
requested differential input voltage Vth.max = 1.0 V
minimum termination resistance RT.min = 118 Ω
The maximum wiring length is given for different bus cables and different number of connected bus
nodes in the following table.

Wire cross- Maximum length [m] (1) Maximum length [m] (2)
section n = 32 n = 64 n = 100 n = 32 n = 64 n = 100
2
[mm ]
0.25 200 170 150 230 200 170
0.5 360 310 270 420 360 320
0.75 550 470 410 640 550 480
(1) safety margin of 0.2 (2) safety margin of 0.1

Note: If driving more than 64 nodes and/or more than 250 m bus length the accuracy of the VCC supply
voltage for the ISO 11898 transceiver is recommended to be 5% or better. You also have to consider
the minimum supply voltage of at least 4.75V when driving 50 Ω load, i.e. 64 bus nodes, and at least
4.9V when driving 45 Ω load, i.e. 100 bus nodes.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

5.2 Un-terminated stub cable

As a rule of thumb, the following relation can be considered for a single stub cable length:

tPROPSEG
Lu < ---------- with tp = 5 ns/m and tPROPSEG = time segment 1 minus length of SJW
50 x tp

But also the cumulative drop length should be considered, which is given by the following relation:

n tPROPSEG
∑
i=1
Lui < ----------
10 x tp

This effectively leads to a reduction of the maximum trunk cable length by the sum of the actual
cumulative drop cable length at a given bit rate. If the above recommendations are met, then the
probability of reflection problems is considered to be fairly low.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

5.3 CAN ground and galvanic isolation

In general, CAN ground should be connected. However, in complete galvanically isolated CANopen
networks CAN ground may be not connected. The user is responsible to guarantee that the common
mode rejection of the transceivers has still reached the upper limit.

5.4 External power supply

The recommended output voltage at the optional power supply is +18VDC < V+ < +30VDC in order to
enable the use of standard power supplies (24VDC).

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

6 General purpose connectors

6.1 9-pin D-Sub connector
male

CAN_GND
female
CAN_L (CAN_SHLD)

1 2 3 4 5 5 4 3 2 1

6 7 8 9 9 8 7 6

(GND) CAN_V+
CAN_H

It is recommended to use a 9-pin D-Sub connector (DIN 41652 or corresponding international

standard) with the pinning according to CiA DS-102, Version 2.0. For convenience the pinning is
repeated here:

Pin Signal Description

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 Ground
7 CAN_H CAN_H bus line (dominant high)
8 - Reserved
9 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)

If 9-pin D-Sub connector is supported, a male connector meeting the above specification shall be
provided by the bus node. Within the modules, pin 3 and pin 6 shall be interconnected. Inside of such
modules providing two bus connections, and inside the T-connectors, all the pins (including the
reserved ones) shall be connected. The intention is that there shall be no interruption of any of the
wires in the bus cable, assuming a future specification of the use of the reserved pins.
By using the pin V+ for supplying transceivers in case of galvanic isolation, the necessity of extra local
power isolation (e.g. DC/DC-converter) is avoided.
If an error line is needed within a system, then pin 8 shall be used for this purpose.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

6.2 Multipole connector

1 0

1 0

If (5 x 2) multipole connectors are used (e.g. inside EMI protected housings) the following pinning is
recommended, as it supports direct connection of the flat cables to 9-pin D-sub connectors:

Pin Signal Description

1 - Reserved
2 (GND) Optional Ground
3 CAN_L CAN_L bus line (dominant low)
4 CAN_H CAN_H bus line (dominant high)
5 CAN_GND CAN Ground
6 - Reserved
7 - Reserved
8 (CAN_V+) Optional CAN external positive supply
9 - Reserved
10 - Reserved

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

6.3 RJ10 connector

1 2 3 4 4 3 2
1

Female Male

Pin Signal Description

1 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and optocouplers, if galvanic isolation of the bus
node applies)
2 CAN_H CAN_H bus line (dominant high)
3 CAN_L CAN_L bus line (dominant low)
4 CAN_GND Ground / 0 V / V-

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

6.4 RJ45 connector

1 2 3 4 5 6 7 8
8 7 6 5 4 3 2 1

Female Male

Pin Signal Description

1 CAN_H CAN_H bus line (dominant high)
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND Ground / 0 V / V-
4 - Reserved
5 - Reserved
6 (CAN_SHLD) Optional CAN Shield
7 CAN_GND Ground / 0 V / V-
8 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)
The bus node provides the female pins of the connector. Often used with 4 and 8 twisted pair cabling.
By using this cables pin 3-6 and 1-2 are twisted pairs.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

7 Industrial connectors
7.1 5-pin ÒminiÓ style connector

3 3

4 2 2 4

1 5
5 1

MALE FEMALE

So-called 5-pin mini style connectors (ANSI/B.93.55M-1981) connector using the following pinning
applies:

Pin Signal Description

1 (CAN_SHLD) Optional CAN Shield
2 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto couplers, if galvanic isolation of the bus
node applies)
3 CAN_GND Ground / 0V / V-
4 CAN_H CAN_H bus line (dominant high)
5 CAN_L CAN_L bus line (dominant low)

The bus node provides the male pins of the connector. The male contacts shall meet 7/8-16 UN2A
connection thread. The female contacts shall meet 7/8-16 UN2B connection thread.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

7.2 5-pin ÒmicroÓ style connector

4 3 3 4

5 5
1 2 2 1

Male Female

So-called 5-pin micro style connector (M12) shall use the following pinning applies:

Pin Signal Description

1 (CAN_SHLD) Optional CAN Shield
2 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and optocouplers, if galvanic isolation of the bus
node applies)
3 CAN_GND Ground / 0V / V-
4 CAN_H CAN_H bus line (dominant high)
5 CAN_L CAN_L bus line (dominant low)

The bus node provides the male pins of the connector (IEC 60947-5-2).

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

7.3 Open style connector

female

male
1 2 3 4 5 5
3 4
1 2

If Open Style Connectors are used the following pinning is recommended:

Pin Signal Description

1 CAN_GND Ground / 0 V / V-
2 CAN_L CAN_L bus line (dominant low)
3 (CAN_SHLD) Optional CAN Shield
4 CAN_H CAN_H bus line (dominant high)
5 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)

4-pin Open Style Connectors either use pins 1-4 (Version A) or pins 2-5 (Version B). 3-pin Open Style
Connectors use pins 2-4. The bus node provides the male pins of the connector.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8 Special purpose connectors

8.1 7-pin round connector

6 1 1 6

5 7 2 2 7 5

4 3 3 4

Male Female

Pin Signal Description

1 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)
2 CAN_GND Ground / 0 V / V-
3 CAN_H CAN_H bus line (dominant high)
4 CAN_L CAN_L bus line (dominant low)
5 DIL-1 DIP switch 1 connected with CAN_V+
6 DIL-2 DIP switch 2 connected with CAN_V+
7 DIL-3 DIP switch 3 connected with CAN_V+

The bus node provides the female pins of the connector.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8.2 8-pin round connector

5 4 4 5
2 2

3 8 1 1 8 3

7 6 6 7

Male Female

Pin Signal Description

1 CAN_V+ 24V CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)
2 GND 0V
3 CAN_H CAN_H bus line (dominant high)
4 CAN_L CAN_L bus line (dominant low)
5 CAN_GND Ground
6 - Reserved
7 - Reserved
8 - Reserved

The bus node provides the female pins of the connector. This type correspondents with IEC 60130-9.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8.3 9-pin round connector

N N

8 1 1 8

7 PO / 9 2 2 SO / 9 7

6 3 3 6

5 4 4 5

Male Female

Pin Signal Description

1 CAN_H CAN_H bus line (dominant high)
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND Ground / 0 V / V-
4 - Reserved
5 - Reserved
6 - Reserved
7 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)
8 (GND) Optional Ground
9 - Reserved

The female connector type is RC-09S1N and the male connector type is RC-09P1N manufactured
from Coninvers, Herrenberg or equivalent.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8.4 12-pin round flange connector

N N

8 9 1 1 9 8

7 12 10 2 2 10 12 7

6 PO / 11 3 3 SO / 11 6

5 4 4 5

Male Female

Pin Signal Description

1 - Reserved
2 CAN_L CAN_L bus line (dominant low)
3 CAN_GND Ground / 0 V / V-
4 - Reserved
5 - Reserved
6 - Reserved
7 CAN_H CAN_H bus line (dominant high)
8 not used
9 - Reserved
10 (GND) Optional Ground
11 - Reserved
12 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)

The female connector type is RC12S1N121 and the male connector type is RC-12P1N121
manufactured from Coninvers, Herrenberg or equivalent.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8.5 9-pin flange round T-connector with ID-switch

8 1 1 8

7 9 2 Y 2 9 7
OS OB
6 3 3 6
5 4 4 5

Male Female

Pin Signal Description

1 (CAN_V+) Optional CAN external positive supply (dedicated for supply of
transceiver and opto-couplers, if galvanic isolation of the bus
node applies)
2 CAN_H CAN_H bus line (dominant high)
3 DIL-1 DIP switch 1 connected with CAN_V+
4 DIL-2 DIP switch 2 connected with CAN_V+
5 DIL-3 DIP switch 3 connected with CAN_V+
6 DIL-4 DIP switch 4 connected with CAN_V+
7 CAN_L CAN_L bus line (dominant low)
8 CAN_GND Ground / 0 V / V-
9 - Reserved

These type named ÒZylin series R2.5Ó is manufactured by LAPP Kabel / Contact Connectors. The
hardware setting of up to 16 Node-ID is overwritable by normal CANopen services. This T-connector
is designed for using a 4-wire bus cabling. The diameter of this T-connector is about 25 mm.

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

¨
8.6 Han-Brid CU

8.6.1 Housing-side

Pin Signal Description

1 CAN_V+ Optional unswitched CAN external positive supply
2 CAN_GND Optional unswitched CAN ground
3 CAN_GND Optional switched CAN ground
4 CAN_V+ Optional switched CAN external positive supply
A CAN_L CAN_L bus line (dominant low)
B CAN_H CAN_H bus line (dominant high)
PE PE optional PE

¨
This type named ÒCAN-BRID CuÓ is manufactured by Harting (www.harting.com).

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8.6.2 Cable-side

Pin Signal Description

1 CAN_V+ Optional unswitched CAN external positive supply
2 CAN_GND Optional unswitched CAN ground
3 CAN_GND Optional switched CAN ground
4 CAN_V+ Optional switched CAN external positive supply
A CAN_L CAN_L bus line (dominant low)
B CAN_H CAN_H bus line (dominant high)
PE PE optional PE

¨
This type named ÒCAN-BRID CuÓ is manufactured by Harting (www.harting.com).

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

8.7 IEEE1394/Firewire connector with shielding

8.7.1 Chaining of the bus on the node

2a 1a
2a 1b 2b 2b 1b
1a

2a 3a
4a 3b 4b 2b 3b
3a
6a 5b 6b 6a 5a
5a
6b 5b
End of Segment Beginning of Segment
Male Plug Male Plug Female plug

1b 1a
2b 2a
3b 3a
4b 4a
Shielded
5b 5a
6b 6a
Shielded

Cable Assembly (Female Plug)

"Manager" node Bus node

Beginning of Segment End of Segment Beginning of Segment End of Segment Beginning of Segment
Male Plug Male Plug Male Plug Male Plug Male Plug

Segment1 Segment2

Global overview

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CANopen Cabling and Connector Pin Assignment CiA DRP 303-1

End of Beginning of Signal Description

Segment Segment
Pin Pin
1a 1b (CAN_V+) 24V CAN external positive supply (dedicated for
supply of
transceiver and opto-couplers, if galvanic isolation
of the bus
node applies)
2a 2b CAN_GND 0V
3a 5b CAN_H CAN_H bus line (dominant high)
4a 6b CAN_L CAN_L bus line (dominant low)
5a 3b - Reserved
6a 4b - Reserved
Shield Shield (CAN_SHLD) Optional CAN Shield

The cable provides the female plugs and switch the terminals of the two twisted shielded pairs.
The bus node provides two male plug with pairs switching according the IEEE1394 mechanical
specification to allow usage of standard cables.
A master node could provide only the male plug corresponding to the beginning of segment.

8.7.2 No chaining of the bus on the node

2 1 1 2

4 3 3 4

6 5 5 6

Female / Cable Male Plug

Pin Signal Description

1 (CAN_V+) 24V CAN external positive supply (dedicated for
supply of
transceiver and opto-couplers, if galvanic isolation of
the bus
node applies)
2 CAN_GND 0V
3 CAN_H CAN_H bus line (dominant high)
4 CAN_L CAN_L bus line (dominant low)
5 - Reserved
6 - Reserved
Shield (CAN_SHLD) Optional CAN Shield

The bus node provides the male plug.

The cable provides the female plug.

With this pin out, it is possible to connect a bus node with one male plug at the end of a segment
issued by a bus node with two plus according 8.7.1.

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