Chapter 15 CANopen Overview C2000 Plus
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 DS302), recommendations for cables
and connectors (CiA DS303-1), SI units, and prefix representations (CiA DS303-2).
Device Profile CiA
DSP-401
Device Profile CiA
DSP-404
Device Profile CiA
DSP-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
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_GND Ground / 0V /V-
6 CAN_GND Ground / 0V /V-
CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)
SDO (Service Data Objects)
PDO (Process Data Object)
EMCY (Emergency Object)
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