Delta DVP-ES2 User Manual download pdf (Page 664)

100

101

DVP-ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

7-8

Product Model Function

TAP-CN03

It is the CANopen network topology

distribution box which carries a 120 ohm

resistor. Users can enable the resistor

through the switch.

TAP-CBO3

TAP-CBO5

TAP-CB10

TAP-CB20

CANopen sub cable with RJ45 connectors

at both ends.

TAP-CBO3: 0.3 meters

TAP-CBO5：0.5 meters

TAP-CB10：1 meter

TAP-CB20：2 meters

TAP-CB01

TAP-CB02

CANopen network cable

TAP-CB01: CANopen main cable

TAP-CB02：CANopen sub cable

TAP-TR01

It is a 120 ohm resistor with a RJ45

connector.

7.3 The CANopen Protocol

7.3.1 The Introduction of the CANopen Protocol

The CAN (controller area network) fieldbus only defines the physical layer and the data link layer.

(See the ISO11898 standard.) It does not define the application layer. In the practical design, the

physical layer and the data link layer are realized by the hardware. The CAN fieldbus itself is not

complete. It needs the superior protocol to define the use of 11/29-bit identifier and that of 8-byte-

data.

The CANopen protocol is the superior protocol base on CAN. It is one of the protocols defined and

maintained by CiA (CAN-in-Automation). It is developed on the basis of the CAL (CAN application

layer) protocol, using a subset of the CAL communication and service protocols.

The CANopen protocol covers the application layer and the communication profile (CiA DS301). It

also covers a framework for programmable devices (CiA 302), the recommendations for cables

and connectors (CiA 303-1), and SI units and prefix representations (CiA 303-2).

In the OSI model, the relation between the CAN standard and the CANopen protocol is as follow.

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Delta DVP-ES2 User Manual Page 664

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