The following table provides an overview about the functionalities of the CANopen Master and Slave Library. Functionalities listed under Extra Package are licensed seperatly.
CANopen Service | Slave Library | Master/Slave Library | Extra Package |
NMT master |
| ✔ |
|
NMT slave | ✔ | ✔ |
|
SDO client | 128 | 128 |
|
SDO server | 128 | 128 |
|
SDO expedited transfer | ✔ | ✔ |
|
SDO segmented transfer | ✔ | ✔ |
|
SDO block transfer |
|
| ✔ |
SDO manager |
|
| ✔ |
SDO requesting device |
|
| ✔ |
PDO producer | 512 | 512 |
|
PDO consumer | 512 | 512 |
|
PDO dynamic mapping | ✔ | ✔ |
|
PDO bit-wise mapping | ✔ | ✔ |
|
MPDO source mode |
|
| ✔ |
MPDO destination mode |
|
| ✔ |
Heartbeat producer | ✔ | ✔ |
|
Heartbeat consumer | 128 | 128 |
|
Node Guarding master |
| ✔ |
|
Node Guarding slave | ✔ | ✔ |
|
life guarding | ✔ | ✔ |
|
EMCY producer | ✔ | ✔ |
|
EMCY consumer | 128 | 128 |
|
SYNC producer |
| ✔ |
|
SYNC consumer | ✔ | ✔ |
|
TIME producer |
| ✔ |
|
TIME consumer | ✔ | ✔ |
|
nonvolatile storage | ✔ | ✔ |
|
NMT Startup manager |
| ✔ |
|
Flying Master |
|
| ✔ |
Configuration Manager |
| ✔ |
|
program download | ✔ | ✔ |
|
redundancy support |
|
| ✔ |
LED indicators (CiA-303-3) | ✔ | ✔ |
|
Safety communication (CiA-304) |
|
| ✔ |
LSS services (CiA-305) | ✔ | ✔ |
|
CiA-401 framework |
|
| ✔ |