Chapter 15 CANopen Communication Module AH10COPM
15-3
not need to use FROM/TO. The users can set the D registers by means of software.
When AH10COPM-5A is used as a slave station, it has the following functions.
It conforms to the CANopen protocol DS301 V4.02.
It supports a NMT slave.
Error control: It supports a heartbeat and node guarding protocol.
It supports PDOs. 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.
It supports SDOs.
Number of SDO servers: 1
Number of SDO clients: 0
It supports a standard SDO expedited transfer.
It supports an emergency protocol.
15.1.3 Functional Specifications
AH500 series CPU modules which are supported
CANopen interface
method
CAN
Removable connector (5.08 mm)
Communication
cable
It is suggested that users should use the Delta standard cables
UC-DN01Z-01A and UC-DN01Z-02A.
The communication cable used should be away from the power cable
used, and the shielded cables used should be connected to the ground.
CANopen communication
Message type PDO, SDO, SYNC, EMCY, NMT
speed
10 kbps, 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800 kbps, 1 Mbps
Electrical specifications
Supply voltage
A CPU module supplies 24 V DC (-15%~20%) power through an internal
bus.
Electric energy
consumption
1.7 W
Environment
Noise immunity
ESD (IEC 61131-2, IEC 61000-4-2): 8 kV air discharge, 4 kV contact
discharge
EFT (IEC 61131-2, IEC 61000-4-4): Power line: 2 kV, Digital I/O: 1 kV
Analog & Communication I/O: 1 kV
Damped-oscillatory wave: Power line: 1 kV, Digital I/O: 1 kV
RS (IEC 61131-2, IEC 61000-4-3): 80 MHz~1000 MHz, 1.4 GHz~2.0 GHz,
10 V/m
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