AS S e r i e s O p e r a t i o n M a n u a l1 0 - 1 010Product Model FunctionTAP-CN02This CANopen network topology distributionbox has a 120 ohm resistor enabled with aswitch.TAP-CN03This CANopen network topology distributionbox has a 120 ohm resistor enabled withswitch.UC-CMC003-01AUC-CMC005-01AUC-CMC010-01AUC-CMC015-01AUC-CMC020-01AUC-CMC030-01AUC-CMC050-01AUC-CMC100-01AUC-CMC200-01AThese CANopen sub cables have RJ45connectors at both ends.UC-CMC003-01A: 0.3 metersUC-CMC005-01A: 0.5 metersUC-CMC010-01A: 1 meterUC-CMC015-01A: 1.5 metersUC-CMC020-01A: 2 metersUC-CMC030-01A: 3 metersUC-CMC050-01A: 5 metersUC-CMC100-01A: 10 metersUC-CMC200-01A: 20 metersUC-DN01Z-01AUC-DN01Z-02ACANopen network cableUC-DN01Z-01A: CANopen main cableUC-DN01Z-02A: CANopen sub cableTAP-TR01 This 120 ohm resistor has an RJ45connector.10.3 The CANopen Protocol10.3.1 Introduction to the CANopen ProtocolThe CAN (controller area network) fieldbus only defines the physical layer and the data link layer of a network.See the ISO11898 standard for information. The CAN fieldbus does not define the application layer. Inpractice, the hardware contains the physical layer and the data link layer. The CAN fieldbus itself is notcomplete, and needs a superior protocol to define the use of 11/29-bit identifier and 8-byte data.The CANopen protocol is the superior protocol based on the CAN fieldbus. It is one of the protocols definedand maintained by CiA (CAN-in-Automation) and was developed on the basis of the CAL (CAN applicationlayer) protocol, using a subset of the CAL communication and service protocols.The CANopen protocol contains the application layer and the communication profile (CiA DS301). It alsocontains a framework for programmable devices (CiA 302), recommendations for cables and connectors (CiA
