The CANopen CC and CANopen FD Slave protocol stack has been optimized for low resource requirements and is, thus, well suited for intelligent sensors and actuators.
The protocol stack supports both, classical CANopen (CANopen CC) as defined by the standard CiA 301 and CANopen FD as defined by the standard CiA 1301. The behavior can be selected during runtime
All services can be parameterized during runtime via the application or via the local object dictionary. Users may extend the local object dictionary according to their specific purposes. A variety of device profiles and application profiles are available to complement the protocol stack. Various callback functions can be used to send on messages of the CANopen CC and CANopen FD Slave protocol stack to the application.
Implementation supports the following CANopen CC and CANopen FD services:
- Service Data Objects (SDO)
- Universal Service Data Objects (USDO, CANopen FD)
- Process Data Objects (PDO)
- Network Management (NMT)
- Emergency Messages (EMCY)
- Sychronization Messages (SYNC)
- Time Service (TIME)
- Layer Setting Services (LSS, Slave)
The number of PDOs can be configured within a range from 0 to 32 for Transmit-PDOs (TPDO) as well as for Receive-PDOs (RPDO). For any configuration the pre-defined connection set (CIA 301 / 1301) will be respected automatically. In addition, PDO linking can be disabled for safety-critical applications. Versatile configuration options allow individual customization to the target system. Example codes facilitate the startup phase, enabling the user to focus on the implementation of their own application. The open CAN driver (CANpie FD) provides the flexibility to use any CAN controller available on the market.
The add-on module Safety provides an implementation of the European standard EN 50325-5 featuring the following functions:
- Max. 8 SRDOs (SR Data Object)
- Global fail-safe command
- Expansion of the CANopen Slave object dictionary
The option Mini-Master adds the following functions to our CANopen CC and CANopen FD Slave protocol stack:
- SDO Client: parameterization of other CANopen Slave devices
- NMT master: change NMT condition of other CANopen Slave devices
- LSS master: adjustment of bit rates and node ID
The CANopen CC and CANopen FD Slave protocol stack is provided as C99 source code by download link. The documentation in English is available at GitHub.
The scope of delivery also contains:
- Site-related company license, no additional runtime costs
- Support flatrate: MicroControl engineers will respond to your questions and give further support for 12 months (from purchase date), either by phone or by email during our usual business hours. If desired, MicroControl offers „on site“ support during the initial startup of your system. Additional or supplementary services may be agreed upon in individual maintenance agreements
- Updates: for 12 months (from purchase date) customers of MicroControl will get updates according to current technical developments. Due to our intensive participation in the relevant expert panels our customers will have immediate access to improvement and optimization potentials
- Ready-to-run examples for various demo boards
