Delta MH300 Series - 15-1 CANopen Overview

Chapter 15 CANopen Overview
MH300
15-3
15-1 CANopen Overview
CANopen Protocol
CANopen is a CAN-based higher layer protocol, and was designed for motion-oriented machine
control networks such as handling systems. Version 4.02 of CANopen (CiA DS301) is standardized as
EN50325-4. The CANopen specifications cover the application layer and communication profile (CiA
DS301), as well as a framework for programmable devices (CiA 302), recommendations for cables and
connectors (CiA 303-1) and SI units and prefix representations (CiA 303-2).
RJ45 Pin
Definition
8~1
plug
PIN Signal Description
1 CAN_H CAN_H bus line (dominant high)
2 CAN_L CAN_L bus line (dominant low)
3 CAN_SGND Ground / 0 V / V-
6 CAN_SGND Ground / 0 V / V-
CANopen Communication Protocol contains the following services:
 NMT (Network Management Object)
 SDO (Service Data Objects)
 PDO (Process Data Objects)
 EMCY (Emergency Object)
Device Profile CiA
DS-401
Device Profile CiA
DS-404
Device Profile CiA
DS-XXX
OSI Layer 7
Application Communication Profile CiA DS-301
CAN Controller
CAN 2.0A
OSI Layer 2
Data Link Layer
ISO 11898
OSI Layer 1
Physical Layer
+
-
+
-
CAN bus