Delta MS300 Series User Manual page 642

15-1 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) and SI units and prefix representations (CiA DS303-2).
RJ45 Pin Definition
PIN Signal
1
CAN_H
2 CAN_L
3 CAN_GND
6 CAN_GND
CANopen Communication Protocol
CANopen communication protocol contains the following services:
 NMT (Network Management Object)
 SDO (Service Data Objects)
 PDO (Process Data Objects)
EMCY (Emergency Object)

CAN_H bus line (dominant high)
CAN_L bus line (dominant low)
Ground / 0 V / V-
Ground / 0 V / V-
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Chapter 15 CANopen OverviewMS300
Description