Features & Known Restrictions
- Marcus Tangermann
- Heidrun Scheller
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 Platforms
The CANopen Library is highly configuarble. The Industrial Communication Creator 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 CANopen Bootloader 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