Delta C2000 Series User Manual page 460

Built-in EMC-COP01 card is included in VFDXXXC23E/VFDXXXC43E models.
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 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
Chapter 15 CANopen Overview
15-2
C2000 Series