Canopen Overview - Delta C2000 Plus Series User Manual

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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).
OSI Layer 7
Application
Data Link Layer
Physical Layer
RJ45 Pin Definition
PIN Signal
1 CAN_H
2 CAN_L
3 CAN_GND
6 CAN_GND
CANopen Communication Protocol
It has services as follows:
NMT (Network Management Object)

SDO (Service Data Objects)

PDO (Process Data Object)

EMCY (Emergency Object)

Device Profile CiA
DSP-401
Communication Profile CiA DS-301
OSI Layer 2
CAN Controller
OSI Layer 1
+ -
CAN_H bus line (dominant high)
CAN_L bus line (dominant low)
Ground / 0V /V-
Ground / 0V /V-
Chapter 15 CANopen Overview C2000 Plus
Device Profile CiA Device Profile CiA
DSP-404
CAN 2.0A
+ -
ISO 11898
8~1
plug
Description
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DSP-XXX
CAN bus