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Chapter 7 Application Examples

7-19

7_

7.2.4

Configuring CANopen Remote Device Parameters

Here are the steps for configuring CANopen parameters:
With a double-click on RTU-CN01 icon, a new tab page appears. Select the checkbox on the left of “Enable
Expert Settings” and meanwhile ensure that the node ID is the same as that of the actually connected
CANopen slave.

7.2.5

Configuring PDO Mappings



Receive PDO Mapping

With a click on the “Receive PDO Mapping” tab, the following interface appears. Select one desired Receive
PDO, and then click "Add Mapping…" button there.

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Summary of Contents for RTU-CN01

Page 1: ...e reserve the right to change the information in this catalogue without prior notice EMEA Headquarters Delta Electronics Netherlands B V Sales Sales IA EMEA deltaww com Marketing Marketing IA EMEA del...

Page 2: ...1 Installing RTU CN01 and DVP S Extension Modules 4 2 4 2 Installing RTU CN01 and DVP S Modules on DIN Rail 4 2 4 3 Connecting to CANopen Bus 4 3 4 3 1 Connecting to CANopen Port 4 3 4 3 2 CANopen Net...

Page 3: ...en Master 7 9 7 1 3 Program Control over RTU CN01 in the CANopen Network 7 11 7 2 Example of Using RTU CN01 with Non Delta Master Together 7 14 7 2 1 Setting Baud Rate 7 14 7 2 2 Importing EDS File of...

Page 4: ...1 1 1 Chapter 1 Preface Table of Contents 1 1 Explanation of Symbols in This Manual 1 2 1 2 Revision History 1 2...

Page 5: ...lly and follow the instructions so as to avoid injuries to personnel and damage to products 1 1 Explanation of Symbols in This Manual Precautions before operation Before operation please read relevant...

Page 6: ...2 1 2 Chapter 2 Overview Table of Contents 2 1 Characteristics 2 2 2 2 Supported CANopen Services 2 2 2 3 Specifications 2 3 2 4 Extension Modules Connectable to RTU CN01 2 4...

Page 7: ...digital output points as well as maximum 8 special modules including analog modules temperature modules pulse modules and etc Maximum 14 DVP S series digital modules and special modules in total can b...

Page 8: ...cation Power voltage 24 VDC 15 20 Consumption power 2 5W Insulation voltage 500V Environment Item Specification Noise Immunity ESD IEC 61131 2 IEC 61000 4 2 8KV Air Discharge 6KV Contact Discharge EFT...

Page 9: ...I O mapping data RTU CN01 CANopen DVP08SM11N N A 8 bits DVP 08SM10N N A 8 bits DVP16SM11N N A 16 bits DVP06SN11R 8 bits N A DVP08SN11R T 8 bits N A DVP08SN11TS 8 bits N A DVP16SN11T 16 bits N A DVP16S...

Page 10: ...S N A N A CR12 4 DVP04AD S2 N A N A CR12 4 DVP06AD S N A N A CR12 6 DVP04TC S N A N A CR14 4 DVP04PT S N A N A CR18 4 DVP06PT S N A N A CR18 6 DVP06XA S CR10 2 CR12 4 DVP06XA S2 CR10 2 CR12 4 DVP01PU...

Page 11: ...RTU CN01 Operation Manual 2 6 _2 MEMO...

Page 12: ...ter 3 Profile and Parts Table of Contents 3 1 Profile and Dimension 3 2 3 2 Parts 3 2 3 3 CANopen Port 3 3 3 4 RUN STOP Switch 3 3 3 5 Address Switches 3 3 3 6 Function Switch 3 4 3 7 IO Extension Int...

Page 13: ...nit mm 3 2 Parts RU N STOP CAN SHLD CAN GND x16 0 IN 0 DR 2 DR 1 POWER RU N RU N ALAR M x16 1 ER R RTU CN01 DR 0 C AN 1 2 3 4 7 6 8 5 12 9 11 10 1 State indicators 7 24VDC power port 2 Address switch...

Page 14: ...e node address of RTU CN01 on CANopen network Range 1 7F 0 80 FF are forbidden Switch setting Description NODE ADDRESS x16 0 x16 1 1 7F Valid CANopen node address 0 80 FF Invalid CANopen node address...

Page 15: ...ter the output values of the special modules on its right side turn to 0 and all output points of its digital modules change to OFF ON When RTU CN01 is disconnected from the master the output values o...

Page 16: ...DVP S Extension Modules 4 2 4 2 Installing RTU CN01 and DVP S Modules on DIN Rail 4 2 4 3 Connecting to CANopen Bus 4 3 4 3 1 Connecting to CANopen Port 4 3 4 3 2 CANopen Network Topology 4 3 4 3 3 C...

Page 17: ...e fixing clips on the top and bottom of RTU CN01 to fix extension modules and ensure that the connection is fine 4 2 Installing RTU CN01 and DVP S Modules on DIN Rail Use the 35mm standard DIN rail Pu...

Page 18: ...n communication See the illustration of a basic CANopen network topology below 120 120 CAN 1 node CAN 2 node CAN 3 node CAN_H CAN_L 4 3 3 Connecting to CANopen Port Delta standard cables UC DN01Z 01A...

Page 19: ...o use certified power supply with SELV output or certified power supply providing double insulation evaluated by UL60950 or UL61010 1 and UL61010 2 201 standards Use copper conductors as power wires o...

Page 20: ...e system from becoming unstable when the power supply is discontinuous Power supply indicator Emergency stop button The button cuts off the system power supply when an accidental situation takes place...

Page 21: ...e point ground use a common point ground RTU CN01 Another piece of equipment The common point ground is permitted Do not connect equipment ground wires together as shown below RTU CN01 Another piece o...

Page 22: ...up Interface 5 6 5 2 3 Control Word and Status Word in RTU CN01 5 8 5 2 4 Special Module Configuration Interface 5 10 5 2 5 The Interface for Configuring Digital Modules 5 13 5 2 6 RTU IO Mapping Inte...

Page 23: ...hen the content of the control word is 16 8000 RTU CN01 is in STOP state When the content of the control word is 16 8001 RTU CN01 is in RUN state See section 5 2 3 for more details 2 Status word Word...

Page 24: ...Nopen I O mapping data When Custom is selelcted you can configure any CR in the special module as CANopen I O mapping data 15 Input Link Number Link Number of input data links of the special module co...

Page 25: ...0MC11T in the Model Selection field After setting is done click the OK button to return to the main interface 3 Click on the to the left of Network Configuration item and then double click on CANopen...

Page 26: ...ANopen configuration interface and then click on Add Device You can also click on Scan Network to scan the connected slave device 5 After clicking on Add Device option a dialog box appears Select RTU...

Page 27: ...N01 on the left side click on RTU Setting and then the main interface for configuring RTU is shown as below 5 2 2 RTU Setup Interface The RTU Setup window will pop up by double clicking on the RTU CN0...

Page 28: ...l word occupies 2 bytes Each output channel of a special module occupies 2 bytes 8 points for digital output are counted as 1 byte 0 DI Module Points X The number of digital input points of the digita...

Page 29: ...or RTU CN01 will not include the control word and status word If you choose the item the PDO configuration data for RTU CN01 will include the control word and status word Not add control word and stat...

Page 30: ...e inconsistent with the configuration Bit 2 0 No error occurs in special modules 1 An error occurs in special modules Bit 3 0 Special modules operate normally 1 It is detected that one special module...

Page 31: ...it 13 0 1 Reserved Bit 14 0 1 Reserved Bit 15 0 1 Reserved 5 2 4 Special Module Configuration Interface Double click a special module symbol on the RTU Setting interface For instance with a double cli...

Page 32: ...by the software e g the present value of the input signal of one AD module The CR which is assigned by the software can not be replaced If Custom is selected choose CRs for the special module which n...

Page 33: ...stance to set the input mode to mode 0 bit 2 bit 0 000 for channel 1 to mode 1 bit 5 bit 3 001 for channel 2 to mode 2 bit 8 bit 6 010 for channel 3 and to mode 3 bit 11 bit 9 011 for channel 4 the co...

Page 34: ...guring Digital Modules With a double click on the symbol in the red box below the digital input output points interface will appear on the RTU configuration main interface This interface is used to co...

Page 35: ...put point number should be a multiple of 8 It is counted as 8 if the number is less than 8 and counted as 16 if the number is greater than 8 but less than 16 Digital Output Points Y The number of all...

Page 36: ...dule name and the position of the special module on the right side of RTU CN01 including the special module name and its position number the status word and control word as well as digital module inpu...

Page 37: ...e2 Low byte of the channel 2 output value of the 1st special module Byte3 High byte of the channel 2 output value of the 1st special module ByteN DI DO module Y0 Y7 of the 2nd DI DO module ByteN 1 Y0...

Page 38: ...hannels of inputs for DVP04AD S and 8 digital inputs and 8 digital outputs as well as of Control Word and Status Word are configured See the following tables for the explanation of IO mappings above C...

Page 39: ...channel 2 input value of the 1st special module ByteN DI DO module X0 X7 of the 2nd DI DO module ByteN 1 X0 X7 of the 1st DI DO module ByteN 2 X0 X7 of the 4th DI DO module ByteN 3 X0 X7 of the 3rd D...

Page 40: ...the above window instead of being modified PDO Attribute Click on PDO Attribute tab on the RTU configuration interface The following interface is presented then With a double click on the selected PDO...

Page 41: ...Configuration to Node Configuration List Here are the steps to add RTU CN01 configuration to Node List Click on 127 Master come to the Node List tab interface and then select the box beside RTU CN01...

Page 42: ...ist of master output variables and devices and corresponding slave parameters Input List The mapping list of master input variables and devices and corresponding slave parameters Variable Name The nam...

Page 43: ...RTU CN01 Operation Manual 5 22 5 MEMO...

Page 44: ...6 1 6 Chapter 6 Introduction of Parameters and PDO Transmission Types Table of Contents 6 1 Parameters from EDS File 6 2 6 2 PDO Transmission Types 6 8...

Page 45: ...nd so on Subindex 16 corresponds to the 16th 8 point output of digital modules on the right side of RTU CN01 Up to 128 output points can be configured in total For example there is one DVP16SN11T and...

Page 46: ...ight of RTU CN01 Index 16 2000 and subindex 16 7 correspond to CR6 of the 1st analog module on the right of RTU CN01 The parameters which are to be configured in RxPDO or TxPDO are selected according...

Page 47: ...code of the 2nd special module UINT16 RO Model code 6 Module code of the 3rd special module UINT16 RO Model code 7 Module code of the 4th special module UINT16 RO Model code 8 Module code of the 5th...

Page 48: ...module UINT16 RO 8 The error code of the 6th special module UINT16 RO 9 The error code of the 7th special module UINT16 RO A The error code of the 8th special module UINT16 RO B The state of the 1st...

Page 49: ...RTU CN01 are the same as configured in the software 1 The special modules on the right of RTU CN01 are different from those configured in the software B3 0 Valid data in the software 1 Invalid data c...

Page 50: ...h the error in IO modules UINT8 RW 5 Configured Module Number The number of special modules which have been configured UINT8 R W The number of configured special modules Range 0 8 6 1st Configured Mod...

Page 51: ...to the slave every SYNCH cycle When TxPDO data changes and the slave sends the TxPDO data to the master after receiving SYNCH message TxPDO data that the master receives is valid immediately When ther...

Page 52: ...valid immediately When TxPDO data does not change the slave does not send out TxPDO data to the master When neither of Event timer and inhibit timer are 0 the slave sends out TxPDO data to the master...

Page 53: ...RTU CN01 Operation Manual 6 10 _6 MEMO...

Page 54: ...nfiguration to CANopen Master 7 9 7 1 3 Program Control over RTU CN01 in the CANopen Network 7 11 7 2 Example of Using RTU CN01 with Non Delta Master Together 7 14 7 2 1 Setting Baud Rate 7 14 7 2 2 I...

Page 55: ...en Builder CANopen R TU C N0 1 C A N S H L D C A N G N D TAP CN03 Ethernet O U T I N D VP5 0M C 11T P W R R U N E R R S D R U N E R R R s 2 3 2 R s 4 8 5 E t h e r C A T E t h e r n e t 0 0 0 1 0 2 0...

Page 56: ...nd then see the software window as below 2 Click on New Project button and then select DVP50MC11T in the window which pops up 3 Then click on OK button to return to the main interface Click on the sym...

Page 57: ...7Master and then select Add Device from the context menu You can also select Scan Network to scan all connected slaves 5 By clicking on Add Device the following dialog box appears where you should fin...

Page 58: ...pter 7 Application Examples 7 5 7_ 6 Click on the slave RTU CN01 and then on RTU Setting You will see the RTU configuration interface as below 7 Click on Scan IO button and then see the following dial...

Page 59: ...click on 04AD symbol the Special Module Configuration dialog appears Four channels of present values for 04AD module are configured to be sent to the master For detailed explanation refer to Section 5...

Page 60: ...to reset the configuration of 04DA module Click on OK button to finish the configuration 11 The Digital Input Output Points interface appears by double clicking on the symbol of digital modules on the...

Page 61: ...o the RTU CN01 module on the interface of RTU CN01 Setting Then click OK to finish the download 13 Click Add SDO button on the Auto SDO tab page Choose the index 16 2000 since DVP04AD S is the first m...

Page 62: ...List tab page you see the available node RTU CN01 is on the left and Node Configuration List is on the right in Available Node List area 2 Add the CANopen slave device on the left to the node configur...

Page 63: ...configuration to CANopen master DVP50MC During the download a reminder dialog will appear if 50MC is in RUN state as below Just click Y button to download the configuration to the master DVP50MC 4 Aft...

Page 64: ...in the CANopen Network IO data mapping between master PLC and RTU CN01 Controller RTU CN01 slave Master variable name CANopen bus data transmission Slave parameter index Slave parameter subindex Slave...

Page 65: ...CN01 DVP04AD s channel 1 present value TxVar2 16 2000 16 e CR13 of the 1st module on the right of RTU CN01 DVP04AD s channel 2 present value TxVar3 16 2000 16 f CR14 of the 1st module on the right of...

Page 66: ...d DVP04DA s channel 1 and channel 2 both output 0V voltage 2 When AD is TRUE TxVar1 TxVar4 are assigned to AD_CH1 AD_CH4 to read the present values of channel 1 channel 4 of DVP04AD S 3 When D_OUT ON...

Page 67: ...e of Using RTU CN01 with Non Delta Master Together Here the third party software Schneider is used to directly configure the PDO parameters which are used in section 7 1 in the PDO mapping window You...

Page 68: ...Chapter 7 Application Examples 7 15 7_ Note Baud rate conversion 1 Mbps 1000 Kbps 1000000bps...

Page 69: ...evices Install Select the EDS file to be added in the window Afterward click on Open button and then click on Install to install DTM Device type manager 7 2 3 Adding the Remote Terminal RTU CN01 Open...

Page 70: ...er 7 Application Examples 7 17 7_ 2 Then the above window appears Click CANopen_Performance and then Add Device button to add a device Afterward the following window pops out once the device adding is...

Page 71: ...RTU CN01 Operation Manual 7 18 _7 3 Click on the CANopen_Performance item from the Devices list on the left select RTU CN01 as the remote device and then click Add Device button...

Page 72: ...n a new tab page appears Select the checkbox on the left of Enable Expert Settings and meanwhile ensure that the node ID is the same as that of the actually connected CANopen slave 7 2 5 Configuring P...

Page 73: ...pears then select RTU CN01 parameters which need to be configured and configure them for Receive PDO by clicking OK button Max 8 bytes of data can be configured for each PDO For explanation of EDS fil...

Page 74: ...O Mapping Here are the steps for configuring the Send PDO mappings Click Send PDO Mapping tab and select the desired Send PDO on the page Then click Add Mapping button select RTU CN01 parameters which...

Page 75: ...RTU CN01 Operation Manual 7 22 _7 The complete configuration of Send PDO mappings is as below...

Page 76: ...ual need See section 5 2 4 for details PDO Mapping After configuring the Receive PDO and Send PDO mappings the following PDO mapping page appears with a click on PDO Mapping tab 1 Configuring slave pa...

Page 77: ...smission type of the PDO there Refer to Section 5 2 for details on PDO transmission type 3 CANopen I O Mapping The following interface appears with a click on the CANopen I O Mapping tab where the con...

Page 78: ...ation Examples 7 25 7_ Note indicates the mappings have been completed The addresses can not be operated straight in the third party software like Schneider Below is the complete configuration of CANo...

Page 79: ...points of digital output DVP16SP s output Y0 Y7 RTU CN01 slave Controller Master variable name CANopen bus data transmission Slave parameter index Slave parameter subindex Slave parameter Meaning of s...

Page 80: ...8 1 8 Chapter 8 Error Diagnosis and Trouble shooting Table of Contents 8 1 LED Indicator Diagnosis 8 2 8 2 Status Word Diagnosis 8 3 8 3 Software Diagnosis 8 5...

Page 81: ...the network are the same 3 Check if the slaves configured in the software have acutally been connected to the network 4 Check if some slave is offline Green light ON RTU CN01 in RUN state CAN ERR LED...

Page 82: ...k if the modules on the right side of the RTU CN01 are normal after obtaining relevant diagnostic information via the CANopen Builder software 3 Set the node address to a value between 1 and 127 by us...

Page 83: ...figuration data to RTU CN01 by CANopen Builder bit5 0 RTU CN01 is working normally 1 The work power for RTU CN01 is under voltage Check the power module for RTU CN01 bit6 0 RTU CN01 is working normall...

Page 84: ...the RTU configuration click the Diagnostic button to see relevant information in the Diagnostics area Note The software diagnostic function cannot start until the CANopen Builder software communicates...

Page 85: ...RTU CN01 Operation Manual 8 6 _8 MEMO...

Page 86: ...A 1 A Appendix A List of Accessories Table of Contents A 1 Accessories for CANopen Communication A 2...

Page 87: ...5M per reel and mimimum length is 1M with metre as the unit 2 UC DN01Z 01A and UC DN01Z 02A can be used as the main line cable as well as the branch line cable The maximum communication distances that...

Page 88: ...3 Thin Cable TAP CN02 TB1 TB2 TB5 TB3 TB4 Thick Cable Thick Cable Thin Cable Thin Cable V V V H H H S S S L L L V V V V V H H S S L L V V 121 Thin Cable TAP CN03 TB 1 TB 2 Th ick C ab le Th ick C ab l...

Page 89: ...signal and reduce the signal reflection interference in normal signal transmission The terminal resistor connected to the start of the cable The terminal resistor on the distribution box can be used j...

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