Delta RTU-CN01 User manual

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RTU-CN01
CANopen Remote IO
Communication Module
Operation Manual
DVP-2212820-01
10/04/2020

i
RTU-CN01 Operation Manual
Table of Contents
Chapter 1 Preface ........................................................................... 1-1
1.1 Explanation of Symbols in This Manual ....................................... 1-2
1.2 Revision History.......................................................................... 1-2
Chapter 2 Overview ........................................................................ 2-1
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
Chapter 3 Profile and Parts ............................................................. 3-1
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 Interface................................................................ 3-4
Chapter 4 Installing and Wiring ...................................................... 4-1
4.1 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 Network Topology ........................................................4-3
4.3.3 Connecting to CANopen Port........................................................4-3
4.4 Wiring ......................................................................................... 4-4
4.4.1 Power Input ..............................................................................4-4
4.4.2 Ground .....................................................................................4-5
Chapter 5 Configuring RTU-CN01 .................................................... 5-1
5.1 Terms ......................................................................................... 5-2
5.2 Introduction to the Software Interfaces ..................................... 5-3
5.2.1 RTU Setting tab .........................................................................5-6
5.2.2 “RTU Setup” 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” Interface ...................................................... 5-15
5.3 CANopen IO Mapping ................................................................ 5-15
5.3.1 IO Data Mapping...................................................................... 5-15
5.3.2 PDO Mapping........................................................................... 5-18

ii
5.3.3 Adding RTU-CN01 Configuration to Node Configuration List........... 5-20
Chapter 6 Introduction of Parameters and PDO Transmission Types6-1
6.1 Parameters from EDS File............................................................6-2
6.2 PDO Transmission Types .............................................................6-8
Chapter 7 Application Examples ......................................................7-1
7.1 Configuring RTU-CN01 Parameters via CANopen Builder .............7-3
7.1.1 Configuring RTU-CN01 Module .................................................... 7-3
7.1.2 Downloading Configuration 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 Importing EDS File of RTU-CN01 ............................................... 7-16
7.2.3 Adding the Remote Terminal RTU-CN01 ..................................... 7-16
7.2.4 Configuring CANopen Remote Device Parameters ........................ 7-19
7.2.5 Configuring PDO Mappings........................................................ 7-19
Chapter 8 Error Diagnosis and Trouble-shooting .............................8-1
8.1 LED Indicator Diagnosis ..............................................................8-2
8.2 Status Word Diagnosis ................................................................8-3
8.3 Software Diagnosis .....................................................................8-5
Appendix A List of Accessories ....................................................... A-1
A.1 Accessories for CANopen Communication .................................. A-2

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

RTU-CN01 Operation Manual
1-2
_1
This manual provides an introduction to product functions, specifications, installation, basic operations
and settings.
This product is an OPEN TYPE device and therefore should be installed in an enclosure free of
airborne dust, humidity, electric shock and vibration. Be sure there is sufficient airflow. The enclosure
should prevent non-maintenance staff from operating the device (e.g. key or specific tools are
required for operating the enclosure) in case that danger and damage on the device may occur.
Be sure to read the manual carefully 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 safety instructions carefully so as to prevent an injury to personnel and
damage to products.
!Dan ger
indicates the highly potential hazards. Severe personal injury or even death will result
if you do not follow the instructions.
! Warning
indicates the potential hazards. Minor personal injury or even death may result if you
do not follow the instructions.
! Caution
indicates much attention should be paid. A bad accident can occur if you do not
follow the instructions.
1.2 Revision History
Version Revision Release Date
1st The first version was published. April 10, 2020

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

RTU-CN01 Operation Manual
2-2
_2
1. Thank you for choosing Delta RTU-CN01. To ensure correct installation and operation of RTU- CN01,
please read this manual carefully before using your RTU-CN01.
2. This manual only provides introductory information on RTU-CN01. For more detailed information on
CANopen protocol, please refer to relevant references or literatures.
3. RTU-CN01 is defined as a CANopen slave and DVP-S series DI / DO modules and special modules can
be connected on its right side.
4. Refer to DVP-PLC Application Manual: Special Modules for more details on how to use DVP-S series
special modules.
2.1 Characteristics
As a CANopen slave, RTU-CN01 supports such services as PDO, SDO, SYNC, NMT and Error Control.
On its right side, RTU-CN01 can connect DVP-S series right-side modules with maximum 128 digital
input points and 128 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 be connected to the right
side of RTU-CN01.
The network configuration software provides the graphic configuration interface, automatically scans and
recognizes extension modules, configures CR registers of special modules as IO data, sets the methods
to deal with the errors and diagnoses the error status of each module.
Users can select that the output values of right-side special modules and digital output point values of
digital modules keep the same as they are before disconnection or change to zero when RTU-CN01 is
disconnected from the master.
2.2 Supported CANopen Services
Standard CANopen protocol, DS301v4.02.
NMT service
The Error Control protocol and Heartbeat protocol
PDO service, maximum 8 TxPDO and 8 RxPDO configurable
PDO transmission type: asynchronous, synchronous and cyclic, synchronous and acyclic
SDO service

Chapter 2 Overview
2-3
2_
2.3 Specifications
CANopen communication port
Item Specification
Transmission Method
CAN
Electrical Isolation 500 VDC
Interface Removable connector (5.08 mm)
Transmission Cable Two communication wires, one shield wire and one ground wire
CANopen communication
Item Specification
Message type PDO, SDO, SYNC, Emergency, NMT
Baud Rates 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800kbps,
1M kbps
Electrical specification
Item Specification
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 (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
Operation 0ºC ~ 55ºC (temperature), 50 ~ 95% (humidity), pollution degree 2
Storage -25ºC ~ 70ºC (temperature), 5 ~ 95% (humidity)
Vibration/shock
resistance
Standard: IEC 61131-2、IEC 68-2-6 (TEST Fc)/IEC 61131-2 & IEC 68-2-27
(TEST Ea)
Certificates IEC 61131-2, UL508
Weight 71g

RTU-CN01 Operation Manual
2-4
_2
2.4 Extension Modules Connectable to RTU-CN01
Digital modules connectable to RTU-CN01
DI/DO module
(Model name)
Default I/O mapping data
(CANopen→RTU-CN01)
Default 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
DVP16SN11TS 16 bits N/A
DVP08SP11R/T 8 bits 8 bits
DVP08SP11TS 8 bits 8 bits
DVP16SP11R/T 8 bits 8 bits
DVP16SP11TS 8 bits 8 bits
DVP32SM11N N/A 32 bits
DVP32SN11TN 32 bits N/A
DVP08ST11N N/A 8 bits

Chapter 2 Overview
2-5
2_
Special modules connectable to RTU-CN01
Special module
(Model name)
Default I/O mapping data
(CANopen→RTU-CN01)
Default I/O mapping data
(RTU-CN01→CANopen)
Start CR
Length
(words)
Start CR
Length
(words)
DVP02DA-S CR10 2 N/A N/A
DVP04DA-S CR6 4 N/A N/A
DVP04DA-S2 CR6 4 N/A N/A
DVP04AD-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-S CR42 4 CR33 4
DVP02TUL-S CR4 2 CR2 2
DVP02TUR-S CR4 2 CR2 2
DVP02TUN-S CR4 2 CR2 2
Note:
When special modules are connected to RTU-CN01, the start one of CRs for data upload and
download and the length of the data to be uploaded and downloaded can be set up in the CANopen
network configuration tool.

RTU-CN01 Operation Manual
2-6
_2
MEMO

3-1
3
Chapter 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 Interface................................................................ 3-4

RTU-CN01 Operation Manual
3-2
_3
3.1 Profile and Dimension
R UN
STOP
CAN +
SH L D
CAN
GND
x16
0
IN 0
DR 2
DR 1
POW E R
R UN R UN
AL A RM
x16
1
ERR
RTU-CN01
DR 0
-
CAN
25.2
90 96
63.4
60
Unit: mm
3.2 Parts
RU N
STOP
C A N+
S H LD
C A N
G N D
x16
0
I N 0
DR 2
DR 1
PO W E R
RU N RU N
AL AR 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 8. State indicators
3. RUN/STOP switch 9. Right-side extension module port
4. Function switch 10. Nameplate
5. Model name 11. DIN rail clip
6. CANopen port 12. Extension module fixing clip

Chapter 3 Profile and Parts
3-3
3_
3.3 CANopen Port
PIN Signal Description
4
GND
SHLD
CAN-
CAN+
5
3
2
1
1 GND 0 VDC
2 CAN_L Signal-
3 SHLD Shielded
4 CAN_H Signal+
5 - Reserved
3.4 RUN/STOP Switch
RUN/STOP Switch Description
RUN
STOP
STOP → RUN
1. To re-detect the extension module.
2. To read/write the data in the extension
module.
RUN → STOP To stop reading/writing the da
ta in the extension
module.
3.5 Address Switches
The switches are used for setting up the 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
Example:
If you need to set the node address of RTU-CN01 to 26 (1AH), simply switch the corresponding switch of
x161to 1 and the corresponding switch of x160to A.
Note:
Please set up the node address when the power is switched off. After the setup is completed, re-power
RTU-CN01.
When RTU-CN01 is operating, changing the setting of the node address will be invalid.
Use the slotted screwdriver to rotate the switch carefully in case the switch is scratched.

RTU-CN01 Operation Manual
3-4
_3
3.6 Function Switch
The function switch is used for setting the baud rate of CANopen network via DR0 ~ DR2 and data
retention via IN0.
DR2 DR1 DR0 Baud Rate Max. communication
distance
D R 1
D R 0
D R 2
I N 0
OFF OFF OFF 10 Kbps 5000m
OFF OFF ON 20 Kbps 2500m
OFF ON OFF 50 Kbps 1000m
OFF ON ON 125 Kbps 500m
ON OFF OFF 250 Kbps 250m
ON OFF ON 500 Kbps 100m
ON ON OFF 800 Kbps 50m
ON ON ON 1 Mbps 25m
IN0
OFF
When RTU-
CN01 is disconnected from the
master, the output v
alues 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 of the
special
modules on its right side and all output point
values of its digital modules
keep the same
as they are before disconnection.
Note:
Please set up the function switch when the power is switched off. After the setup is completed, re-power
RTU-CN01.
Use the slotted screwdriver to adjust the DIP switch carefully in case the switch is scratched.
3.7 IO Extension Interface
The interface is used for connecting Delta DVP-S series DI/DO extension modules and special modules.

4-1
4
Chapter 4 Installing and Wiring
Table of Contents
4.1 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 Network Topology ........................................................4-3
4.3.3 Connecting to CANopen Port........................................................4-3
4.4 Wiring ......................................................................................... 4-4
4.4.1 Power Input ..............................................................................4-4
4.4.2 Ground .....................................................................................4-5

RTU-CN01 Operation Manual
4-2
_4
4.1 Installing RTU-CN01 and DVP-S Extension Modules
Pull open the fixing clips on the top and bottom of RTU-CN01, aim the extension module at the guiding
holes and keep them met.
Press the 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.
Pull open the DIN rail clips of RTU-CN01 and extension modules. Insert RTU-CN01 and extension
modules into the DIN rail.
Press the DIN rail clips of RTU-CN01 and extension modules to fix them on the DIN rail, as shown
below.

Chapter 4 Installing and Wiring
4-3
4_
4.3 Connecting to CANopen Bus
4.3.1 Connecting to CANopen Port
Please wire CANopen connector according to its pin definitions
Plug the communication terminals into the CANopen connection port of RTU-CN01.
4.3.2 CANopen Network Topology
Both of the two ends of a CANopen network need be connected with the terminal resistors of 120Ω to
enhance the stability of CANopen communication. See the illustration of a basic CANopen network topology
below.
120 Ω
120Ω
CAN 1node CAN 2node
CAN 3node
CAN_H
CAN_L
4.3.3 Connecting to CANopen Port
Delta standard cables, UC-DN01Z-01A thick cable, UC-DN01Z-02A thin cable and UC-CMC010-01A
thin cable are recommended for building a CANopen network. Please keep the communication cable
away from the power cable. For specifications of cables, see List of Accessories in Appendix A.
The terminal resistor of 120Ω should be connected between CAN_H and CAN_L of two respective ends
of the network. Users can purchase Delta terminal resistor, TAP-TR01.

RTU-CN01 Operation Manual
4-4
_4
TAP-CN03
DVP-04AD DVP-04DA DVP-16SP
CANopen
Master
DVP-04AD DVP-16SP
CA Nopen
CA Nopen
DVP-04DA
CAN+
SHLD
CAN
G ND
RTU -C N 0 1
CAN +
SHLD
C AN
G ND
RTU -C N 0 1
4.4 Wiring
4.4.1 Power Input
The power input of RTU-CN01 is 24VDC. Please notice the following points during use.
Connect the supply power to the two terminals, 24V and 0V and the grounding terminal to the earth.
Be cautious that the RTU-ECAT device may be damaged if the positive and negative polarities of
the supply power are connected reversely.
Please be sure to 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 only. The diameter of the power wire must be between 12
and 28AWG and the rated temperature should be greater than 70°C. The power terminal block plug
wiring torque is 4.5 in-lbs.
The cables for the 110V and 220V AC power supply and the 24V DC power supply must be twisted
and connected to the module as short as possible in length.
Do not combine the AC 110V, 220V, and DC 24V cables with the main circuit and I/O signal cables
together and please keep them away from each other. If the space permits, it’s recommended to
separate these lines by more than 100mm.

Chapter 4 Installing and Wiring
4-5
4_
RTU-CN01 Safety Circuit Wiring
9
1
23
45
6
7
8
DV P-PS02
24V
0V
0V24VLN
RTU CN01-
L
N
AC power supply: 100～240VAC, 50/60Hz.

Power supply circuit protection fuse

System circuit isolation device: The electromagnetic contactor, relay and other switch can be used as
the isolation device to prevent the 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.

Delta power module DVP-PS02/24VDC

RTU-CN01 device

Ground

Safety circuit
4.4.2 Ground
The diameter of the ground should not be less than the diameters of the cables connected to the
terminals L and N.
If using multiple pieces of equipment, use a single-point ground.
R TU-CN01 Another piece
of equipment
The single-point gr ound is be tter .