When you have completed this document you should: • Know the history of the development of CANopen. • Understand the CANopen Communication Model. • Know the structure of a CANopen Object Dictionary. • Understand the ba

CanOpen官方协议Spec，应用在工业自动化行业中，详细定义SDO和PDO。-CanOpen Official Protocol Spec applications in the industrial automation industry, the detailed definition of SDO and PDO.

本教程适用于 CIA CANopen 协议 DS301 又名 CIA301 标准。用户须已经掌握 CAN2.0A 协议的基本知识。即基本的帧结构、ID、数据、DLC 等知识，本文不再从 CAN 底层开始 叙述。如果读者需要了解 CAN 底层。