Delta AH500 - 15.1 Introduction

AH500 Module Manual
15-2
15.1 Introduction
AH10COPM-5A is connected to the right side of an AH500 series CPU module, and forms a
CANopen master station or CANopen slave station with the AH500 series CPU module.
15.1.1 Characteristics
 AH10COPM-5A and an AH500 series CPU module form CANopen communication, and support
a CANopen protocol.
 CANopen Builder provides a simple graphic interface. It automatically scans and identifies all
the slave stations on a bus.
 AH10COPM-5A supports CANopen master stations and CANopen slave stations.
 An AH500 series CPU module can be connected to eight AH10COPM-5A modules at most.
 The eight transmission speeds which are supported are 10 kbps, 20 kbps, 50 kbps, 125 kbps,
250 kbps, 500 kbps, 800 kbps, and 1 Mbps.
15.1.2 Functions
AH10COPM-5A can be used as a CANopen master station, or a CANopen slave station.
When AH10COPM-5A is used as a master station, it has the following functions.
 It conforms to the CANopen protocol DS301 V4.02.
 It supports a NMT master.
 Error control: It supports a heartbeat and node guarding protocol.
 It supports PDOs.
The maximum number of RxPDOs it supports is 200, and the maximum quantity of data it
supports is 960 bytes.
The maximum number of TxPDOs it supports is 200, and the maximum quantity of data it
supports is 960 bytes.
Every slave station can be assigned eight TxPDOs and eight RxPDOs.
PDO transmission type: The transmission triggered by an event, the transmission triggered by
time, synchronous cyclic transmission, and synchronous acyclic
transmission are supported.
PDO mapping: Every PDO can be mapped to 32 parameters at most.
Data types supported:
Storage
Data type
1-bit
BOOL
8-bit
SINT, USINT, BYTE
16-bit
INT, UINT, WORD
32-bit
DINT, UDINT, REAL, DWORD
64-bit LINT, ULINT, LREAL, LWORD
 It supports SDOs.
Number of SDO servers: 0
Number of SDO clients: 3
It supports a standard SDO expedited transfer.
It supports automatic SDO. Twenty automatic SDOs at most can be executed in a slave station.
In a PLC diagram, SDOs can be used to write data to slave station, and read data from a slave
station.
 It supports an emergency protocol.
It can store five latest emergency messages for every slave station.
It can indicate that there is an emergency message in a slave station by means of a digital
display.
It can read an emergency message by means of a PLC diagram.
 Sync-Producer (Range: 0~65535 ms)
 It functions as the interface between Delta CANopen Builder and a CANopen network.
CANopen builder can directly configure a network through AH10COPM-5A.
 When AH10COPM-5A exchanges PDOs with an AH500 series CPU module, users only need to
write a program for the D registers in the AH500 series CPU module which are mapped, and do