31.9 Controlling External I/O with CANopen

When using the following display units, you can control external I/Os at remote locations by combining various units.

• AGP-*****-CA1M and LT4000 Series

CANopen master driver is built in.

You can control external I/O from a remote location by connecting to the display unit's optional CANopen slave unit Hybrid Terminal Block (HTB), model number HTB-1C0DM9LP, or any commercially available CANopen-compatible slave unit.

• LT3000 Series

Additionally, you can control external I/O with the optional CANopen master unit (model number CA8-CANLT-01) connecting to HTB or any commercially available CANopen-compatible slave unit.

• SP5000 Series Power Box / eXtreme Box

Additionally, you can control external I/O with the optional CANopen master unit (model number PFXZCHEUCAM1) connecting to HTB or any commercially available CANopen-compatible slave unit.

31.9.1 Setting Up CANopen

31.9.2 Connecting Third-party Slaves - CANopen

CAN Specification

• CANopen specification is defined by CiA and can be viewed on the CiA Web site.
  http://www.can-cia.org

CANopen Master Driver

• Uses DS301V4.02, DSP302V3.2, and DS405V2.0 profiles. DS301 is a profile used for the application layer and for communication. DSP302 is a framework for the CANopen Manager and programmable CANopen devices. DS405V2.0 is a profile for IEC61131-3 programmable devices.

• Supports 11 bit COB-ID (CAN2.0A). Does not support 29 bit COB-ID (CAN2.0B).

• For HTB, the communication is carried out in PDO packet units. The entire system can support up to 252 units of RxPDO and up to 252 units of TxPDO. When mapping to TPDO4~ and RPDO4~, together with all the slave settings, it is limited to a maximum of 64 units.

• Does not support flying master^*1.

• Network configuration is saved in a concise DCF file^*2. This concise DCF file is transferred to the display unit when transferring a project.

• The LT4000 Series does not support master store/restore.

*1 Flying Master is a feature that allows the flying master to dynamically determine the master in a network when there are multiple devices that can used as the CANopen master.

*2 Concise DCF is a device setting file in binary data format. The CANopen network is configured by downloading this data to the NMT master. (NMT master is a feature that controls the actions of a slave node. Only one exists in any CANopen network; the node with this NMT master feature becomes the CANopen master.)

HTB Features

On the optional CANopenHTB slave unit, you can use the following features.