Delta MS300 Series User Manual page 641

Chapter 15 CANopen OverviewMS300
The built-in CANopen function is a kind of remote control. You can control the AC motor drive using the
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
Delta CANopen supported functions:
 Supports CAN2.0A Protocol
Supports CANopen DS301 V4.02

 Supports DSP-402 V2.0
Delta CANopen supported 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):
Supports default COB-ID in Predefined Master/Slave Connection Set in DS301 V4.02;
Supports SYNC service;
Supports Emergency service.
 NMT (Network Management):
Supports NMT module control;
Supports NMT Error control;
Supports Boot-up.
Delta CANopen does not support this service:
 Time Stamp service
http://www.can-cia.org/
632
for details.