Operating Instructions
CANopen Overview
CANopen Overview
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CANopen Overview
The built-in CANopen function is a 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. See the CiA website http://www.can-
cia.org/ for details.
CANopen supported functions:
● Supports CAN2.0A Protocol
● Supports CANopen DS301 V4.02
● Supports DSP-402 V2.0
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.
CANopen does not support this service:
● Time Stamp service
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).










