Chapter 15 CANopen Overview│CP2000
15-2
The built-in CANopen function is a kind of remote control. You can control the AC motor drive by
using CANopen protocol. CANopen is a CAN-based higher layer protocol. It provides standardized
communication objects, including real-time data (Process Data Objects, PDO), configuration data
(Service Data Objects, SDO) and special functions (Time Stamp, Sync message, and Emergency
message). It also has network management data, including Boot-up message, NMT message, and Error
Control message. Refer to CiA website http://www.can-cia.org/ for details. The content of this instruction
sheet may be revised without prior notice. Please consult our distributors or download the most updated
version at http://www.delta.com.tw/industrialautomation
Delta CANopen supporting functions:
Support CAN2.0A Protocol;
Support CANopen DS301 V4.02;
Support DSP-402 V2.0.
Delta CANopen supporting services:
PDO (Process Data Objects): PDO1–PDO4
SDO (Service Data Object):
Initiate SDO Download;
Initiate SDO Upload;
Abort SDO;
SDO message can be used to configure the slave node and access the Object Dictionary in every
node.
SOP (Special Object Protocol):
Support default COB-ID in Predefined Master/Slave Connection Set in DS301 V4.02;
Support SYNC service;
Support Emergency service.
NMT (Network Management):
Support NMT module control;
Support NMT Error control;
Support Boot-up.
Delta CANopen not supporting service:
Time Stamp service
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