E-1
Appendix E: CANopen Function
The built-in CANopen function is a kind of remote control. Master 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). And it also has network management data, including Boot-up message, NMT message,
and Fault 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 supports functions:
Support
CAN2.0A
Protocol;
Support CANopen DS301 V4.02;
Support
DSP-402
V2.0.
Delta CANopen supports services:
PDO (Process Data Objects): PDO1~ PDO2
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 Fault control;
Support Boot-up.
Delta CANopen doesn’t support service:
Time Stamp service
