Delta DVP-ES2/EX2/SS2/SA2/SX2/SE manual Introduction of the CANopen Protocol

DVP - ES2/EX2/SS2/SA2/SX2/SE Operation Manual - Programming

Product	Model		Function
			It is the CANopen network topology
	TAP-CN03		distribution box which carries a 120 ohm
			resistor. Users can enable the resistor
			through the switch.
			CANopen sub cable with RJ45 connectors
	TAP-CBO3		at both ends.
	TAP-CBO5		TAP-CBO3: 0.3 meters
	TAP-CB10		TAP-CBO5：0.5 meters
	TAP-CB20		TAP-CB10：1 meter
			TAP-CB20：2 meters
	TAP-CB01		CANopen network cable
			TAP-CB01: CANopen main cable
	TAP-CB02
			TAP-CB02：CANopen sub cable
	TAP-TR01	It is a 120 ohm resistor with a RJ45
		connector.

7.3The CANopen Protocol

7.3.1 The Introduction of the CANopen Protocol

The CAN (controller area network) fieldbus only defines the physical layer and the data link layer. (See the ISO11898 standard.) It does not define the application layer. In the practical design, the physical layer and the data link layer are realized by the hardware. The CAN fieldbus itself is not complete. It needs the superior protocol to define the use of 11/29-bit identifier and that of 8-byte- data.

The CANopen protocol is the superior protocol base on CAN. It is one of the protocols defined and maintained by CiA (CAN-in-Automation). It is developed on the basis of the CAL (CAN application layer) protocol, using a subset of the CAL communication and service protocols.

The CANopen protocol covers the application layer and the communication profile (CiA DS301). It also covers a framework for programmable devices (CiA 302), the recommendations for cables and connectors (CiA 303-1), and SI units and prefix representations (CiA 303-2).

In the OSI model, the relation between the CAN standard and the CANopen protocol is as follow.

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