Operating Instructions

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).