Delta CT2000 Series, User Manual, Page: 409 / 634

Chapter 15 CANopen Overview

CT2000 Series
15-2
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 of CANopen (CiA DS301) is standardized as
EN50325-4. The CANopen specifications cover 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).
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
RJ-45 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-