CANopen services

The CANopen Library provides the following CANopen services:

CANopen service	CANopen standard	CANopen Library slave	CANopen Library master/slave

CANopen service	CANopen standard	CANopen Library slave	CANopen Library master/slave
SDO server	CiA-301	128	128
SDO client	CiA-301	128	128
SDO expedited transfer	CiA-301	X	X
SDO normal transfer	CiA-301	X	X
PDO producer	CiA-301	512	512
PDO consumer	CiA-301	512	512
dynamic PDO mapping	CiA-301	X	X
bit-wise PDO mapping	CiA-301	X	X
PDO dummy mapping	CiA-301	X	X
Heartbeat producer	CiA-301	X	X
Heartbeat consumer	CiA-301	126	126
Node Guarding master	CiA-301	--	X
Node Guarding slave	CiA-301	X	X
Store / Restore	CiA-301	X	X
Emergency producer	CiA-301	X	X
Emergency consumer	CiA-301	126	126
SYNC producer	CiA-301	X	X
SYNC consumer	CiA-301	X	X
TIME producer	CiA-301	X	X
TIME consumer	CiA-301	X	X
NMT master	CiA-301	--	X
NMT slave	CiA-301	X	X
NMT Startup Manager	CiA-302-2	--	X
Configuration Manager	CiA-302-3	--	X
CANopen LEDs	CiA-303-3	X	X
Layer Setting Services	CiA-305	X	X

port provides additional services in the following extra packages for the CANopen Library:

extra package	CANopen standard	CANopen Library slave	CANopen Library master + slave

extra package	CANopen standard	CANopen Library slave	CANopen Library master + slave
SDO block transfer	CiA-301	X	X
Multiplexed-PDO	CiA-301	X	X
Flying Master	CiA-302-2	--	X
SDO Manager: SRD	CiA-302-5	X	X
Redundancy support*	CiA-302-6	X	X
Safety	CiA-304	X	X
I/O framework	CiA-401	X	X

*…only for single-line and global variables variants