CANopen Technical Guide | ASDA-A2 2. System Setup 2.1 Scope of Function 2.1.1 Function supported by Delta CANopen protocol: NMT, SYNC, SDO, PDO, EMCY SDO transfer for reading and writing parameters and communication settings. PDO sends/receives along with time-trigger, event-trigger, sync cyclic and sync acyclic. Node Guarding Heartbeat 2.1.2 Function not supported by Delta Time Stamp Revision Sep, 2012 6