Delta DVP-ES2 - Manual (Page 664)

D V P - E S 2 / E X 2 / S S 2 / S A2 / S X 2 / S E O p e r a t i o n M a n u a l - P r o g r a m m i n g
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.