RTU-CN01 CANopen IOwww.deltaww.com
,
:(021)6301-2827 :(021)6301-2307
:(027)8544-8475 :(027)8544-5272
:(0531)8690-7277 :(0531)8690-7099
:(0991)6118-160 :(0991)6118-289
:(024)2334-1612 :(024)2334-1163
:(0791)8625-5010 :(0791)8626-7603
:(0731)8827-7881 :(0731)8827-7882
:(0371)6384-2772
:(029)8836-0780 :(029)88360780-8000
:(0431)8892-5060 :(0431)8892-5065
:(0551)6281-6777 :(0551)6281-6555
:(0771)5879-599 :(0771)2621-502
:(010)8225-3225 :(010)8225-2308
:(028)8434-2075 :(028)8434-2073
:(025)8334-6585 :(025)8334-6554
:(0592)5313-601 :(0592)5313-628
:(022)2301-5082 :(022)2335-5006
:(023)8806-0306 :(023)8806-0776
:(0571)8882-0610 :(0571)8882-0603
:(020)3879-2175 :(020)3879-2178
:(0351)4039-475 :(0351)4039-047
:(0451)5366-0643 :(0451)5366-0248
71 2 48
400 - 820 - 9595
www.delta-china.com.cn
1.1 ....................................................................... 1-2
1.2 ............................................................................. 1-2
2.1 .................................................................................. 2-2
2.3 .................................................................................. 2-2
2.4 .......................................................................... 2-4
4 RTU-CN01 ................................................................. 4-1
4.1 RTU-CN01 DVP-S ................................................ 4-2
4.2 RTU-CN01 DVP-S ...................................... 4-2
4.3 CANopen .................................................................... 4-3
4.3.1 CANopen .......................................................... 4-3
4.3.2 CANopen ............................................................. 4-3
4.3.3 CANopen ................................................................ 4-3
5.1 .................................................................................. 5-2
5.3.1 IO .......................................................................... 5-15
5.3.2 PDO ............................................................................. 5-17
6 RTU-CN01 PDO ...................................... 6-1
6.1 EDS ........................................................... 6-2
6.2 PDO ...................................................................... 6-8
7.1 CANopen Builder RTU-CN01 ............................... 7-3
7.1.1 RTU-CN01 .............................................................. 7-3
7.1.3 RTU-CN01 CANopen ................................... 7-12
7.2 RTU-CN01 ............................................... 7-15
7.2.3 RTU-CN01 .......................................................... 7-17
7.2.4 CANopen ...................................................... 7-19
7.2.5 PDO ........................................................................ 7-19
8.1 ............................................................................... 8-2
8.2 ............................................................................... 8-3
8.3 .................................................................................. 8-4
/

2.3 .................................................................................. 2-2
2.4 .......................................................................... 2-4

CANopen
3. RTU-CN01 CANopen DVP-S DI/DO
4. DVP-S DVP-PLC
2.1
CANopen PDO()SDOSYNCNMT
Error Control
RTU-CN01 DVP-S 128 128
8
RTU-CN01 DVP-S 14
CR
IO
RTU-CN01
Error Control Heartbeat Protocol
PDO 8 TxPDO 8 RxPDO
PDO
SDO
PDO SDO SYNC Emergency NMT
10 kbps 20 kbps 50 kbps 125 kbps 250 kbps 500 kbps 800kbps1M
kbps/
2.5W

ESD (IEC 61131-2, IEC 61000-4-2): 8KV Air Discharge, 6KV Contact Discharge EFT (IEC 61131-2, IEC 61000-4-4): Power Line: 2KV, Digital I/O: 1KV Communication I/O: 2KV Damped-Oscillatory Wave: Power Line: 1KV, Digital I/O: 1KV RS (IEC 61131-2, IEC 61000-4-3): 80MHz~1000MHz , 10V/m; 2000 MHz ~6000 MHz,3V/m
0ºC ~ 55ºC50 ~ 95% 2
-25ºC ~ 70ºC5 ~ 95%
/ IEC 61131-2IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27 (TEST Ea)
IEC 61131-2UL508
71g
RTU-CN01
DVP32SM11N 32
DVP32SN11TN 32
DVP08ST11N 8
2

RTU-CN01
2. 8.
4. 10.
3-3
3_
3.5
RTU-CN01 CANopen 1~7F080~FF

N O
D E
AD D
R ES
080~FF CANopen
RTU-CN01 26(1AH) x161
1 x160 A
:

DR 1 DR 0
IN0
OFF
4.2 RTU-CN01 DVP-S ...................................... 4-2
4.3 CANopen .................................................................... 4-3
4.3.1 CANopen .......................................................... 4-3
4.3.2 CANopen ............................................................. 4-3
4.3.3 CANopen ................................................................ 4-3
RTU-CN01 DIN RTU-CN01 DIN
RTU-CN01 DIN RTU-CN01 DIN
:
4-3
4_
CANopen
CMC010-01A , A
CAN_H CAN_L 120
TAP-TR01.
120 120


0.5 ·
110V220V 24V I/O
100mm
!
4-5
4_
DVP-PS02/24VDC
RTU-CN01
5.3.1 IO .......................................................................... 5-15
5.3.2 PDO ............................................................................. 5-17
RTU-CN01
1. CANopen
2. CANopen
RUN ERR
Rs232 Rs485 Et her CAT Et her net
000102 03 04 05 0607 101112 13 14 15 1617 000102 03 04 05 0607
00 01 02 03 04 05 06 07 S0
10 11 12 13 14 15 16 17 S1
00 01 02 03
04 05 06 07
C O M / S S I
Ethernet CANopen
16#8001 RTU-CN01 RUN
5.2.3
5.2.3
3
RTU-CN01
8 8 8 8
16 16
4
RTU-CN01
8 8 8 8
16 16
5 IO
6 IO
7 RTU-CN01 0~8
8 RTU-CN01 1~65
5
5 RTU-CN01
5-3
5__
“”“”
12 RTU-CN01
13


IO RTU-CN01
CANopen IO
14
CN01 CR CANopen IO
CR CANopen
IO
15
RTU-CN01
CR CR
16
RTU-CN01
CR CR
17
18
RTU-CN01
5.2
CANopen Bulider RTU-CN01 CANopen Bulider CANopen
RTU-CN01
2. “” DVP50MC11T“”
5 RTU-CN01
5-5
5__
3. “”“+”“CANopen” CANopen

4. CANopen “127Master”“”“”


5.2.1 RTU
RTU-CN01 RTU-CN01 “RTU ” RTU

5-7
5__
RTU RTU-CN01 RTU
RTU-CN01 DVP-S RTU-CN01
PDO
8
8
8 8 8
8 16 16
0
8 16 16
0
RTU-CN01
RTU-CN01
“”“”
RTU-CN01 RTU-
CN01 “”“”

IO RTU-CN01 PDO



1 RTU-CN01 RUN
bit1 0/1
bit2 0/1
bit3 0/1
bit4 0/1
bit5 0/1
bit6 0/1
bit7 0/1
bit8 0/1
bit9 0/1
bit10 0/1
bit11 0/1
bit12 0/1
bit13 0/1
bit14 0/1
RUN STOP
1 1 0 RTU-CN01
RUN STOP
5-9
5__
RTU-CN01
128
bit8 0
1 RTU-CN01 STOP
bit10 0/1
bit11 0/1
bit12 0/1
bit13 0/1
bit14 0/1
bit15 0/1


1.4
DVP16SP11TDVP04DA-S RTU-CN01
04AD 2 04DAX 8
Y 8
CR
CR
2


5 RTU-CN01
5-11
5__
1 Word
1 CR12, 1 4 CR12~CR15




1 Word
1 CR6 1 4 CR6~CR9


“04AD”“”
1 “CR1 -Input mode setting”“1”“”

2. CR1b0 ~ b1112
3. 1~ 4 —— 1 0b2 ~ b0=000 2 1
b5 ~ b3=001 3 2b8 ~ b6=010 4 3b11 ~ b9=011
CR1 PDO 16#688
RTU-CN01
5. DVP04AD-S DVP-PLC
SDO
SDO “ SDO”, DVP04AD-S RTU-CN01
:“16#2000”CR1 “16#2”
1 3 2~ 4 0“16#3”
“”
5-13
5__


8 8 8
8 16 16
Y
8
8 8 8 16 16

5.2.6 RTU IO
RTU “IO ” RTU IO
5.3


5-15
5__
DVP04DA-S DVP04AD-S 8 8 IO

ByteN+1 DI/DO Y0~Y7
ByteN+2 DI/DO Y0~Y7
ByteN+3 DI/DO Y0~Y7
…… ……
RTU-CN01
DVP04AD-S 8 8 IO
IO
ByteN+1 DI/DO Y0~Y7
ByteN+2 DI/DO Y0~Y7
ByteN+3 DI/DO Y0~Y7
…… ……
5-17
5__
ByteN+1 DI/DO X0~X7
ByteN+2 DI/DO X0~X7
ByteN+3 DI/DO X0~X7
…… ……


5.3.2 PDO
PDO PDO
RTU-CN01
RTU PDO
PDO“ PDO” PDO PDO 5.2
PDO
5-19
5__
RTU-CN01 “ ” RTU-CN01

6.2 PDO ...................................................................... 6-8
16#6000 16#6200 RTU-CN01
16#6000 16 8 1
RTU-CN01 8 2 8 16
16 8 128
16#6200 16 8 1
RTU-CN01 8 2 8 16
16 8 128
RTU-CN01 DVP16SN11T DVP16SM11T 16 16
8 2
16#6000 16#1 DVP16SM11T X0~X7 16#6000 16#2
DVP16SM11T X10~X17 16#6200 16#1 DVP16SN11T
Y0~Y7 16#6200 16#2 DVP16SN11T Y10~Y17
6 RTU-CN01 PDO
6-3
6_
16#2000~16#20e0 RTU-CN01
16#2000 RTU-CN01 16#2020 RTU-CN01
16#20e0
49 CR 16#2000
RTU-CN01 CR 16#2000 16#1 RTU-
CN01 CR0 16#2000 16#7 RTU-CN01
CR6 RTU-CN01 CR RxPDO TxPDO ,
RTU-CN01 DVP04AD-S CR12~CR15, TxPDO
RTU-CN01
RTU-CN01
0x3000
4 UINT16 RO 5 UINT16 RO
6 UINT16 RO
7 UINT16 RO
8 UINT16 RO
9 UINT16 RO
A UINT16 RO
B UINT16 RO
RTU-CN01
6 RTU-CN01 PDO
6-5
6_

0x3001


6-6
_6

16#3002 1 5.2.4 RTU-CN01




RTU
1RTU
RTU-CN01


0:
IO

04DA 16#89 7 2nd Configured
Module Code
UINT16 RW

6-7
6_







UINT8 R/W
TxPDO
TxPDO
RxPDO RxPDO

TxPDO
RxPDO
TxPDO
0
TxPDO
7.1.1 RTU-CN01 .............................................................. 7-3
7.1.3 RTU-CN01 CANopen .................................. 7-12
7.2 RTU-CN01 .............................................. 7-15
7.2.3 RTU-CN01 ......................................................... 7-17
7.2.4 CANopen ..................................................... 7-19
7.2.5 PDO ....................................................................... 7-19
PDO RTU DVP04DA-SDVP04AD-S
DVP16SP11T

1. DVP16SP11T X0~X7 DVP04AD-S 1~ 4
2. DVP50MC D_OUT=ON DVP16SP11T Y0~Y7 ON DVP50MC
D_OUT=OFF DVP16SP11T Y0~Y7 OFF
3. DA=ONDVP04DA-S 2.50V DA=OFFDVP04DA-S 1
0V DA=ONDVP04DA-S 2 5.00V DA=OFFDVP04DA-S
2 0V
DVP50MC11TCANopen Builder
RUN ERR
Rs232 Rs485 Et her CAT Et her net
000102 03 04 05 0607 101112 13 14 15 1617 000102 03 04 05 0607
00 01 02 03 04 05 06 07 S0
10 11 12 13 14 15 16 17 S1
00 01 02 03
04 05 06 07
C O M / S S I
Ethernet CANopen

7.1.1 RTU-CN01
3. “”“”“+”
“CANopen” CANopen
RTU-CN01
5. RTU-CN01
7
7. “”
RTU-CN01
“RTU ”
9. “04AD”“” 04AD 4
5.2.3 “”
“”
10. “04DA”“”,“”“”
04DA ,“”
7
“”
“RTU-CN01”“RTU ” 4.2.2
RTU-CN01
7-8
_7
12. “” RTU RTU-CN01
“” RTU-CN01 “”
13. SDO “ SDO”, DVP04AD-S RTU-CN01
:“16#2000”, CR1 “16#2” 1 ~ 4
0“16#0”“”
7
“” RTU-CN01“”
2. CANopen
CANopen “ ” CANopen

7
7-11
7_
3. “ ” CANopen DVP50MC 50MC
“”“” DVP50MC

4. PLC “” DVP50MC
5. RTU-CN01 “RUN ”“CAN RUN ”DVP50MC “CAN
” PDO IO
RTU-CN01
CANopen
DVP04DA 2
RxVar3 16#6200 16#1 8 DVP16SP Y0~Y7
RTU-CN01 →
1 CR12 DVP04AD 1
TxVar2 16#2000 16#e RTU-CN01
1 CR13 DVP04AD 2
TxVar3 16#2000 16#f RTU-CN01
1 CR14 DVP04AD 3
TxVar4 16#2000 16#10 RTU-CN01
1 CR15 DVP04AD 4
TxVar5 16#6000 16#1 8 DVP16SP X0~X7
CANopen PLC
7-13
7_

1. DA TRUE RxVar1 1000DVP04DA 1 2.5V RxVar2
2000DVP04DA 2 5V DA FALSE RxVar1 RxVar2
0DVP04DA 1 2 0V
2. AD TRUE TxVar1~TxVar4 AD_CH1~AD_CH4 DVP04AD-S 1~
4
3. D_OUT=ON RxVar3 16#FF255 DVP16SP11T Y0~Y7 ON
D_OUT=OFF RxVar3 0 DVP16SP11T Y0~Y7 OFF
4. D_IN=ON TxVar5 SP_IN1 DVP16SP X0~X7
RTU-CN01

0

-10V -5V
PDO 6.1 PDO
RTU-CN01
RTU-CN01 2.6
1 Mbps=1000 Kbps=1000000bps
RTU-CN01
7.2.2 RTU-CN01 EDS
SoMachine V4.1 EDS >>>>
EDS DTMDevice type manager
7
RTU-CN01
7
7.2.4 CANopen
CANopen RTU-CN01 “”
ID CANopen ID
7.2.5 PDO
PDO “ PDO ” PDO“”
RTU-CN01
PDO 8 EDS 5.1 EDS

PDO
PDO“ PDO ”>> PDO>>“”
RTU-CN01 “” PDOEDS
5.1 EDS
RTU-CN01
7
7-23
7_
PDO PDO PDO “PDO ” PDO
1.

2. PDO
PDO PDO“PDO ” PDO PDO
5.2 PDO
RTU-CN01

7
2 CR6
2 CR7
Y0~Y7
CR12
CR13
CR14
CR15
X0~X7
RTU-CN01
8.1 ................................................................................ 8-2

RTU-CN01
2. CANopen
2. RTU-CN01
1~127
3. RTU-CN01
1~127

2. RTU-CN01
bit4
RTU-CN01
1 RTU-CN01 RTU-CN01
RTU-CN01
1 RTU-CN01 RTU-CN01
bit7
IO 128
bit8 0/1
1 RTU-CN01 STOP
1. RTU-CN01 RUN/STOP
2. RTU-CN01

RTU-CN01
UC-DN01Z-01A 305M 2#152#18 SHLD PVC
UC-DN01Z-02A 305M 2#222#24 SHLD PVC
UC-CMC003-01A 0.3M 4#261#24 PVC
UC-CMC005-01A 0.5M 4#261#24 PVC
UC-CMC010-01A 1.0M 4#261#24 PVC
UC-CMC015-01A 1.5M 4#261#24 PVC
UC-CMC020-01A 2.0M 4#261#24 PVC
UC-CMC030-01A 3.0M 4#261#24 PVC
UC-CMC050-01A 5.0M 4#261#24 PVC
UC-CMC100-01A 10.0M 4#261#24 PVC
UC-CMC200-01A 20.0M 4#261#24 PVC

CANopen
UC-DN01Z-01A m
bit/s 10K 20K 50K 125K 250K 500K 800K 1M

A
120Ω1/4
TB 1
T B
121
TB3 TB4 TB5
8 87 76 65 54 43 32 21 1 8765 43 2 1
Thin Cable Thin Cable Thin Cable
RTU-CN01
TAP-TR01