Appendix E CANopen Function
The built-in CANopen function is a kind of remote control. Master can control the AC motor drive by using CANopen protocol. CANopen is a CAN-based higher layer protocol. It 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). And it also has network management data, including Boot-up message, NMT message, and Error Control message. Refer to CiA website http://www.can-cia.org/ for details.
Delta CANopen supports functions:
Support CAN2.0A Protocol;
Support CANopen DS301 V4.02;
Support DSP-402 V2.0.
Delta CANopen supports services:
PDO (Process Data Objects): PDO1~ PDO2
SDO (Service Data Object): Initiate SDO Download; Initiate SDO Upload; Abort SDO;
SDO message can be used to configure the slave node and access the Object Dictionary in every node.
SOP (Special Object Protocol):
Support default COB-ID in Predefined Master/Slave Connection Set in DS301 V4.02; Support SYNC service;
Support Emergency service.
NMT (Network Management): Support NMT module control; Support NMT Error control; Support Boot-up.
Delta CANopen doesn’t support service:
Time Stamp service
Revision June 2008, 04EE, SW--PW V1.11/CTL V2.11 | E-1 |
