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Delta RTU-CN01 Operation Manual

Delta RTU-CN01 Operation Manual

Canopen remote io communication module
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DVP-2212820-01
10/04/2020
RTU-CN01
CANopen Remote IO
Communication Module
Operation Manual
www.deltaww.com

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  • Page 1 TEL: +7 495 644 3240 Raleigh Office P.O. Box 12173, 5101 Davis Drive, Turkey: Delta Greentech Elektronik San. Ltd. Sti. (Turkey) Research Triangle Park, NC 27709, U.S.A. Şerifali Mah. Hendem Cad. Kule Sok. No:16-A TEL: 1-919-767-3813 / FAX: 1-919-767-3969 34775 Ümraniye – İstanbul Mail: Sales.IA.Turkey@deltaww.com...
  • Page 2 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 ............
  • Page 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 ..........
  • Page 4 Chapter 1 Preface Table of Contents 1.1 Explanation of Symbols in This Manual ........1-2 1.2 Revision History ................1-2...
  • Page 5 RTU-CN01 Operation Manual 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.
  • Page 6 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...
  • Page 7 This manual only provides introductory information on RTU-CN01. For more detailed information on CANopen protocol, please refer to relevant references or literatures. 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.
  • Page 8 Chapter 2 Overview 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 10 kbps, 20 kbps, 50 kbps, 125 kbps, 250 kbps, 500 kbps, 800kbps,...
  • Page 9 RTU-CN01 Operation Manual 2.4 Extension Modules Connectable to RTU-CN01 RTU-CN01 Digital modules connectable to  DI/DO module Default I/O mapping data Default I/O mapping data (Model name) (CANopen→RTU-CN01) (RTU-CN01→CANopen) DVP08SM11N 8 bits DVP-08SM10N 8 bits DVP16SM11N 16 bits DVP06SN11R 8 bits...
  • Page 10 DVP02TUN-S 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.
  • Page 11 RTU-CN01 Operation Manual MEMO...
  • Page 12 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...
  • Page 13 RTU-CN01 Operation Manual 3.1 Profile and Dimension 63.4 25.2 POW ER R UN R UN AL ARM R UN DR 2 DR 1 STOP DR 0 IN 0 CAN+ SHL D Unit: 3.2 Parts POWER C AN RU N RU N...
  • Page 14 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 to 1 and the corresponding switch of x16 to A. Note: Please set up the node address when the power is switched off.
  • Page 15 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.
  • Page 16 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 ............
  • Page 17 RTU-CN01 Operation Manual 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 ...
  • Page 18 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.
  • Page 19 CA Nopen 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. ...
  • Page 20 Chapter 4 Installing and Wiring RTU-CN01 Safety Circuit Wiring RTU CN01 DV P-P S02  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.
  • Page 21 RTU-CN01 Operation Manual If you cannot use a single-point ground, use a common-point ground.  Another piece R T U-CN01 of equipment The common-point ground is permitted. Do not connect equipment ground wires together as shown below.  Anot her piece...
  • Page 22 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 5.3.3 Adding RTU-CN01 Configuration to Node Configuration List ... 5-20...
  • Page 23 RTU-CN01 Operation Manual As a CANopen slave, RTU-CN01 works to achieve the data exchange between CANopen master and DVP-S series extension modules. RTU-CN01 sends the data that the CANopen master outputs to extension modules. RTU-CN01 sends the data that extension modules input to the CANopen master.
  • Page 24 5.2 Introduction to the Software Interfaces This section takes the CANopen Builder software as an example to describe how to configure RTU-CN01. First add the RTU-CN01 slave to the CANopen configuration interface of the CANopen software.
  • Page 25 RTU-CN01 Operation Manual Click on “New Project”, select DVP50MC11T in the “Model Selection” field. After setting is done, click the “OK” button to return to the main interface. Click on the "+" to the left of “Network Configuration” item, and then double-click on “CANopen” to make...
  • Page 26 “Scan Network” to scan the connected slave device After clicking on “Add Device” option, a dialog box appears. Select RTU-CN01 in the dialog box and click “Add” button. Afterward, click “Cancel” to close the dialog box.
  • Page 27 RTU-CN01 Operation Manual 5.2.1 RTU Setting tab After the RTU-CN01 slave is added in the software, click on the RTU-CN01 on the left side, click on RTU Setting and then the main interface for configuring RTU is shown as below.
  • Page 28 Chapter 5 Introduction to the Software Interface on the right side of RTU-CN01, the number of inputs and output points of digital modules, the error control treatment of RTU-CN01 and whether to add the control word and status word to IO data as shown in the figure below.
  • Page 29 RTU-CN01 is set to STOP as bit 15 of the control word parameter is 1 and bit 0 is 0. Bit 0 RTU-CN01 is set to RUN as bit 15 of the control word parameter is 1 and bit 0 is 1. Reserved...
  • Page 30 Chapter 5 Introduction to the Software Interface Value Explanation Control word is disabled. When the bit value is 0, RTU-CN01 can not be controlled to be in RUN or STOP state via bit0. Bit 15 Control word is enabled. When the bit value is 1, RTU-CN01 can be controlled to be in RUN or STOP state via bit0.
  • Page 31 RTU-CN01 Operation Manual Status value Explanation Bit 11 Reserved Bit 12 Reserved Bit 13 Reserved Bit 14 Reserved Bit 15 Reserved 5.2.4 “Special Module Configuration” Interface Double-click a special module symbol on the RTU Setting interface. For instance, with a double-click on 04AD symbol, the “Special Module Configuration”...
  • Page 32 DVP04AD-S, DVP16SP11T and DVP04DA-S. So select 04AD for the first position on the right side of RTU-CN01 and 04DA for the second one. Enter 8 for digital input points (X) and 8 for digital output points (Y) on the rightmost side in the software window.
  • Page 33  Click “Add SDO” button on the “Auto SDO” tab page. Choose the index 16#2000 since DVP04AD-S is the first module on the right of RTU-CN01. Choose the subindex16#2 since CR1 is the parameter for input mode setting. To set the input mode to mode 3 for channel 1 and the input modes to mode 0 for channel 2~ channel 4, fill 16#3 in the “Data”...
  • Page 34 Chapter 5 Introduction to the Software Interface 5.2.5 The Interface for Configuring Digital Modules With a double-click on the symbol in the red box below, the digital input/output points interface will appear on the RTU configuration main interface. This interface is used to configure the number of input points and the number of output points of digital modules.
  • Page 35 RTU-CN01. Digital Input You can also enter the number of input points on the right of RTU-CN01. The Points (X) digital input point number should be a multiple of 8. It is counted as 8 if the number is less than 8 and counted as 16 if the number is greater than 8 but less than 16.
  • Page 36 5.3 CANopen IO Mapping 5.3.1 IO Data Mapping If the control word and status word of RTU-CN01 are excluded in IO data, only special modules and  digital modules are configured. E.g. in the following figure only four channels of outputs for DVP04DA-S and four channels of inputs for DVP04AD-S and 8 digital inputs and 8 digital outputs are configured.
  • Page 37 RTU-CN01 Operation Manual See the following tables for the explanation of IO mapping above.  CANopen Master →RTU-CN01 Master (Byte) RTU-CN01 Low byte of the channel 1 output value of the 1 special Byte0 module High byte of the channel 1 output value of the 1...
  • Page 38 DI/DO module …… …… When the control word and status word of RTU-CN01 are included in IO data, in the following figure four  channels of outputs for DVP04DA-S and four channels of inputs for DVP04AD-S and 8 digital inputs and 8 digital outputs as well as of Control Word and Status Word are configured.
  • Page 39  data areas will automatically be assigned to Status Word and Control Word respectively. For the extension modules connected to RTU-CN01, no matter how special modules and digital modules  are placed, the special modules are assigned data ahead of DI/DO modules 5.3.2 PDO Mapping...
  • Page 40 Chapter 5 Introduction to the Software Interface Note: The PDO mappings which have already been configured can only be viewed in the above window instead of being modified. PDO Attribute  Click on “PDO Attribute” tab on the RTU configuration interface. The following interface is presented then. With a double-click on the selected PDO, the “Editing PDO”...
  • Page 41 5.3.3 Adding RTU-CN01 Configuration to Node Configuration List Here are the steps to add RTU-CN01 configuration to Node List: Click on “127 Master”, come to the “Node List” tab interface and then select the box beside RTU-CN01 symbol or use button to add RTU-CN01 to the node list.
  • Page 42 Chapter 5 Introduction to the Software Interface Explanation of Node List Interface: Item Description Available Node List The list of slaves which can be configured to the master Node Configuration List The list of slaves which have already been configured to the master Node ID Node address of a slave Device Name...
  • Page 43 RTU-CN01 Operation Manual MEMO 5-22...
  • Page 44 Chapter 6 Introduction of Parameters and PDO Transmission Types Table of Contents 6.1 Parameters from EDS File ............6-2 6.2 PDO Transmission Types ............. 6-8...
  • Page 45 RTU-CN01, 16#2020 is the index of the 2 special module on the right of RTU-CN01 and so on. So in the same way,16#20e0 is the index of the 8 analog module on the right of RTU-CN01.
  • Page 46 The parameters which are to be configured in RxPDO or TxPDO are selected according to the access types (read/write) of the CR registers of the right module of RTU-CN01. E.g. the input values of four channels (CR12~CR15, read only) of DVP04AD-S on the right of RTU-CN01 need be configured in TxPDO.
  • Page 47 Model code module Module code of the 7 special UINT16 Model code module Module code of the 8 special UINT16 Model code module Parameter for the state of RTU-CN01  Index 16#3001 is the parameter for showing the state of RTU-CN01.
  • Page 48 Chapter 6 Introduction of Parameters and PDO Transmission Type Explanation of parameters above: Index Subindex Description Data Type Access Type Status Word UINT16 Number of special modules in error UINT8 The error code of the 1 special UINT16 module The error code of the 2 special UINT16 module...
  • Page 49 The special modules are working normally. An error occurs in special modules. The special modules on the right of RTU-CN01 are the same as configured in the software. The special modules on the right of RTU-CN01 are different from those configured in the software.
  • Page 50 The time interval for the diagnosis of the Diagnosis Interval time for special modules on UINT8 Interval Time diagnosis right RTU-CN01. Unit: second. How to deal with IO Module IO module the IO module UINT8 OfflineTreatment offline/error offline treatment...
  • Page 51 RTU-CN01 Operation Manual Data Access Index Subindex Object Name Meaning Meaning Type Type The model code of Configured the 7 special UINT16 Module Code module which has been configured The model code of Configured the 8 special UINT16 Module Code...
  • Page 52 Chapter 6 Introduction of Parameters and PDO Transmission Type Transmission type Description Remark When the values of Event timer and inhibit timer are both 0, TxPDO data is transmitted to the master after TXPDO data changes and the data that the master receives is valid immediately.
  • Page 53 RTU-CN01 Operation Manual MEMO 6-10...

  • Page 54: Table Of Contents

    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 ........
  • Page 55 RTU-CN01 Operation Manual This part describes how to configure RTU-CN01 module parameters with examples. DVP04DA-S, DVP04AD-S and DVP16SP11T on the right side of RTU-CN01 are controlled through PDO mapping on the RTU configuration software interface in Section 7.1. In Section 7.2, the right-side modules are controlled through PDO mapping by using a master from other vendor together with RTU-CN01.

  • Page 56: Chapter 7 Application Examples

    Chapter 7 Application Examples 7.1 Configuring RTU-CN01 Parameters via CANopen Builder 7.1.1 Configuring RTU-CN01 Module 1. Start CANopen Builder and then see the software window as below. 2. Click on “New Project” button and then select “DVP50MC11T” in the window which pops up.
  • Page 57 Right click on “127Master” and then select “Add Device” from the context menu. You can also select “Scan Network” to scan all connected slaves. By clicking on “Add Device”, the following dialog box appears, where you should find out and select RTU-CN01 and then click “Add” button.
  • Page 58 Chapter 7 Application Examples Click on the slave RTU-CN01 and then on “RTU Setting”. You will see the RTU configuration interface as below. Click on “Scan IO” button and then see the following dialog.
  • Page 59 RTU-CN01 Operation Manual Click on “OK” button. CANopen Builder will detect special modules and the number of points of digital modules and show them on the “RTU Setting” tab page. With a double-click on “04AD” symbol, the “Special Module Configuration” dialog appears.
  • Page 60 Click on “OK” button to finish the configuration. 11. The “Digital Input/Output Points” interface appears by double-clicking on the symbol of digital modules on the rightmost side of RTU-CN01. Click “OK” to finish the configuration. By double-clicking “RTU-CN01” symbol, the “RTU Setting” dialog box appears. Refer to...
  • Page 61 “OK” to finish the download. 13. Click “Add SDO” button on the “Auto SDO” tab page. Choose the index 16#2000 since DVP04AD-S is the first module on the right of RTU-CN01. Choose the subindex16#2 since CR1 is the parameter for input mode setting.

  • Page 62: Downloading Configuration To Canopen Master

    1. Click on “127Master” symbol on the CANopen configuration interface and then click on “Node List” tab. On the “Node List” tab page, you see the available node RTU-CN01 is on the left and “Node Configuration List” is on the right in “Available Node List” area.
  • Page 63 RTU-CN01 Operation Manual Note: Variable names in “Output List” and “Input List” can be modified manually. 3. Then click on to download the configuration to CANopen master DVP50MC. During the download, a reminder dialog will appear if 50MC is in RUN state as below. Just click “Y” button to download the configuration to the master DVP50MC.

  • Page 64: Program Control Over Rtu-Cn01 In The Canopen Network

    Chapter 7 Application Examples 5. When “RUN” and “CAN RUN” indicators of RTU-CN01 are in green and “CAN” indicator of DVP50MC is also in green, it means that the master and slave have managed to make a connection and then the IO data exchange can be carried out through PDO.
  • Page 65 RTU-CN01 Operation Manual  RTU-CN01 slave → Controller CANopen bus Slave Slave Master Meaning of slave data parameter parameter Slave parameter variable name parameters transmission index subindex CR12 of the 1 DVP04AD’s channel 1 TxVar1 16#2000 16#d module on the...
  • Page 66 Chapter 7 Application Examples Program explanation 1. When DA is TRUE, the value of RxVar1 is 1000, DVP04DA’s channel 1 outputs 2.5V voltage, the value of RxVar2 is 2000 and DVP04DA’s channel 2 outputs 5V voltage. When DA is FALSE, the values of RxVar1 and RxVar2 are both 0 and DVP04DA’s channel 1 and channel 2 both output 0V voltage.

  • Page 67: Example Of Using Rtu-Cn01 With Non-Delta Master Together

    The CANbus page appears with a click on “CAN0”, where the baud rate is set. Please ensure that the baud rate of the master must be the same as that of acutally connected RTU-CN01. For the baud rate setup of RTU-CN01, refer to Function Switch in Section 2.6.
  • Page 68 Chapter 7 Application Examples Note: Baud rate conversion: 1 Mbps=1000 Kbps=1000000bps 7-15...

  • Page 69: Importing Eds File Of Rtu-Cn01

    EDS file to be added in the window. Afterward, click on “Open” button and then click on “Install” to install DTM (Device type manager)”. 7.2.3 Adding the Remote Terminal RTU-CN01 Open the “Devices” window and then add RTU-CN01 in the way described below. Right-click CAN0 and then select the “Add Device…” option from the context menu. 7-16...
  • Page 70 Chapter 7 Application Examples Then the above window appears. Click “CANopen_Performance” and then “Add Device” button to add a device. Afterward the following window pops out once the device adding is done. 7-17...
  • Page 71 RTU-CN01 Operation Manual Click on the “CANopen_Performance” item from the “Devices” list on the left, select RTU-CN01 as the remote device, and then click “Add Device” button. 7-18...

  • Page 72: Configuring Canopen Remote Device Parameters

    Here are the steps for configuring CANopen parameters: With a double-click on RTU-CN01 icon, a new tab page appears. Select the checkbox on the left of “Enable Expert Settings” and meanwhile ensure that the node ID is the same as that of the actually connected CANopen slave.
  • Page 73 RTU-CN01 Operation Manual In the window which appears then, select RTU-CN01 parameters which need to be configured and configure them for Receive PDO by clicking “OK” button. Max. 8 bytes of data can be configured for each PDO. For explanation of EDS file parameters, see Parameters from EDS File in Section 5.1.
  • Page 74 Click “Send PDO Mapping” tab and select the desired Send PDO on the page. Then click “Add Mapping” button, select RTU-CN01 parameters which need to be configured and finally click “OK” button to finish the configuration of the parameters for Send PDO.
  • Page 75 RTU-CN01 Operation Manual The complete configuration of Send PDO mappings is as below. 7-22...
  • Page 76 Chapter 7 Application Examples In this example, the input and output modes for DVP04AD-S and DVP04DA-S are default. Users can change the value of CR1 in special modules to choose the input and output modes of channels according to actual need.
  • Page 77 RTU-CN01 Operation Manual Setting PDO properties The "PDO Properties" window appears by double-clicking the selected PDO on the above PDO Mapping page. Then select the transmission type of the PDO there. Refer to Section 5.2 for details on PDO transmission type.
  • Page 78 Chapter 7 Application Examples Note: indicates the mappings have been completed.The addresses can not be operated straight in the third-party software like Schneider. Below is the complete configuration of CANopen I/O mappings. 7-25...
  • Page 79 RTU-CN01 Operation Manual The IO mappings between the controller and RTU-CN01 are as follows. Controller → RTU-CN01 slave  CANopen bus Slave Slave Master variable Meaning of slave data parameter parameter Slave parameter name parameters transmission index subindex 16#7 CR6 of the 2 DVP04DA’s channel 1...
  • Page 80 Chapter 8 Error Diagnosis and Trouble-shooting Table of Contents 8.1 LED Indicator Diagnosis .............. 8-2 8.2 Status Word Diagnosis ..............8-3 8.3 Software Diagnosis ..............8-5...
  • Page 81 RTU-CN01 Operation Manual RTU-CN01 provides three diagnostic methods, LED indicator diagnosis, status word diagnosis and software diagnosis. 8.1 LED Indicator Diagnosis POWER LED  LED status Indication How to correct Make sure that the supply power for RTU-CN01 Power is abnormal.
  • Page 82 2. RTU-CN01 is under voltage. 8.2 Status Word Diagnosis The status word of RTU-CN01 is used to display the operating states of special modules and digital modules. Refer to Section 5.2.3 to learn details about the use of status word.
  • Page 83 RTU-CN01 in RUN state 1. Check the state of the RUN/STOP switch of RTU-CN01. bit9 RTU-CN01 in STOP state 2. Check if H8000 was written to the control word of RTU-CN01. 3. Check if there is any fatal error in RTU-CN01...
  • Page 84 Chapter 8 Error Diagnosis and Trouble-shooting 8.3 Software Diagnosis In the main window of the RTU configuration, click the “Diagnostic” button to see relevant information in the “Diagnostics” area: Note: The software diagnostic function cannot start until the CANopen Builder software communicates with the controller normally.
  • Page 85 RTU-CN01 Operation Manual MEMO...
  • Page 86 Appendix A List of Accessories Table of Contents A.1 Accessories for CANopen Communication ........A-2...
  • Page 87 RTU-CN01 Operation Manual A.1 Accessories for CANopen Communication Cables  Figure Model Length Diameter（AWG） UC-DN01Z-01A 305M 2#15，2#18 SHLD PVC（Thick cable） UC-DN01Z-02A 305M 2#22，2#24 SHLD PVC（Thin cable） UC-CMC003-01A 0.3M 4#26，1#24 PVC（Thin cable） UC-CMC005-01A 0.5M 4#26，1#24 PVC（Thin cable） UC-CMC010-01A 1.0M 4#26，1#24 PVC（Thin cable）...
  • Page 88 Appendix A List of Accessories Distribution box  Model Circuit figure TAP-CN01 Thin Cable Thick Cable Thick Cable TAP-CN02 Thin Cable Thin Cable Thin Cable TAP-CN03 8 7 6 5 4 3 2 1 Thin Cable Thin Cable Thin Cable Connector Removable terminals（5.08mm）...
  • Page 89 RTU-CN01 Operation Manual Model Circuit figure Terminal 120Ω resistor Terminal resistor  As suggested in the CANopen protocol, the two ends of the CANopen communication cable should connect a terminal resistor of 120Ω (1/4W) respectively in order to match the impedance of the communication signal and reduce the signal reflection interference in normal signal transmission.

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