Delta C2000 Series User Manual page 729

Chapter 15 CANopen Overview C2000
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 that 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 the CiA website
instruction sheet may be revised without prior notice. Consult our distributors or download the most
updated version at http://www.delta.com.tw/industrialautomation
Delta CANopen supporting functions:
 Supports CAN2.0A Protocol
 Supports CANopen DS301 V4.02
Supports DS402 V2.0

Delta CANopen supporting services:
 PDO (Process Data Objects): PDO1–PDO4
SDO (Service Data Objects):

Initiate SDO Download;
Initiate SDO Upload;
Abort SDO;
You can use the SDO message 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

http://www.can-cia.org/
.
for details. The content of this
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