Features & Known Restrictions
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 |
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not global |
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master + slave | global |
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not global |
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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 |
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NMT slave |
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SDO client | 128 | 128* |
SDO server | 128 | 128 |
SDO expedited transfer |
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SDO normal transfer |
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PDO producer | 512 | 512 |
PDO consumer | 512 | 512 |
PDO dynamic mapping |
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PDO bit-wise mapping |
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Heartbeat producer |
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Heartbeat consumer | 127 | 127 |
Node Guarding master |
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Node Guarding slave |
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Emergency producer |
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Emergency consumer | 127 | 127 |
Synchronization producer |
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Synchronization consumer |
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Time producer |
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Time consumer |
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Store / Restore nonvolatile |
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Program download |
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NMT Startup Manager |
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Configuration Manager |
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CANopen LEDs |
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Layer Setting Services |
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(*… 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 |
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SDO Manager | in revision | in revision |
MPDO |
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Flying Master |
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Redundancy support | * | * |
Safety |
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I/O framework |
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(*… 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 https://portgmbh.atlassian.net/wiki/spaces/CAL/pages/171835769
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