CANopen Specifications

Ports available	1 CAN port
LED Signals	CANopen run LED (according to CiA-303)
LED Signals	CANopen error LED (according to CiA-303)
Modes of operation	CiA-402 drive device profile
Modes of operation	Voltage mode Current mode Cyclic synchronous current mode Profile velocity Profile position Homing modes Cyclic synchronous position mode Cyclic synchronous velocity mode Cyclic synchronous torque mode
Process data object (PDO)	RPDO and TPDO 1 to 4 are available
	Up to 32 bytes in each direction (RPDO or TPDO)
	Up to 15 different registers can be mapped in each direction (RPDO or TPDO)
	Synchronous or asynchronous transmission and reception
Service data object (SDO)	Supported
Emergency (EMCY)	Supported
LSS	Device node-ID and baudrate can be configured using this service
	Supported baudrates
	1 Mbps
	500 kbps
	250 kbps
	125 kbps
	50 kbps
	20 kbps
	10 kbps
	Fast-scan service is supported
Life guard protocol	Implemented
Heartbeat	Supported heartbeat producer and consumer
Time Stamp	Supported time stamp consumer