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The CANopen Library is a source code library and provides a CANopen communication layer.

The CANopen Library is available in the following variants:

service type(s)

variable type

single-line

multi-line

slave

global

not global

master + slave

global

not global

The standard scope of delivery of the CANopen Library includes the following CANopen services:

CANopen service

CANopen Library

slave

CANopen Library

master + slave

NMT master

NMT slave

SDO client

128

128*

SDO server

128

128

SDO expedited transfer

SDO normal transfer

PDO producer

512

512

PDO consumer

512

512

PDO dynamic mapping

PDO bit-wise mapping

Heartbeat producer

Heartbeat consumer

127

127

Node Guarding master

Node Guarding slave

Emergency producer

Emergency consumer

127

127

Synchronization producer

Synchronization consumer

Time producer

Time consumer

Store / Restore nonvolatile

Program download

NMT Startup Manager

Configuration Manager

CANopen LEDs

Layer Setting Services

(*… 127 for 16 bit CPUs or big-endiness machines)

Further special CANopen services are provided by extra packages to the CANopen Library. Extra packages are licensed separatly. The following extra packages are available:

CANopen service

CANopen Library

slave

CANopen Library

master + slave

SDO block transfer

SDO Manager

in revision

in revision

MPDO

Flying Master

Redundancy support

✔ *

✔ *

Safety

I/O framework

(*… only available for single-line with global variables)

The CANopen Library is independent of the target hardware. A CANopen Driver is necessary to connect the CANopen Library with the target hardware. For more information see Platforms

The CANopen Library is highly configuarble. The https://portgmbh.atlassian.net/wiki/spaces/ICCX allows the tool-based configuration. Additionally the Industrial Communication Creator tool allows the design of the object dictionary of CANopen devices and generates:

  • C code for the CANopen Library configuration and initialization/deinitialization and the object dictionary

  • EDS / XDD

  • object descriptions (adaptable for user’s requirements)

The CANopen Library can be combined with the https://portgmbh.atlassian.net/wiki/spaces/CB to update firmware or to download files.

The CANopen Device Monitor of port represents a CANopen master and allows an easy start of CANopen communication with CANopen slave devices.

port provides CANopen integration support and trainings for:

  • CANopen

  • CANopen Library and CANopen Library Drivers