CANopen – CANopen FD Slave Protocol Stack

Description

CANopen / CANopen FD Slave Protocol Stack.

The CANopen / CANopen FD slave source code package provides the complete functionality for integration of the CANopen standard CiA 301 / CiA 1301 in your existing devices. Versatile configuration options allow an individual customization to the target system. Example code facilitates the start-up phase, the user can focus on the implementation of their own application. A consistent driver interface gives the flexibility to use any CAN controller available on the market.

The following CANopen services are supported:

• Service Data Objects (SDO / USDO Server)
• Process Data Objects (PDO Consumer / Producer)
• Network Management (NMT Slave)
• Emergency Messages (EMCY Consumer / Producer)
• Synchronisation Messages (SYNC Consumer / Producer)
• Layer Setting Services (LSS Slave)
• Time Server (TIME Producer / Consumer

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 call-back functions can be used to send on messages of the CANopen / CANopen FD protocol stack to the application.

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.

Product Features

• functional range according to CANopen specification CiA 301 / CANopen FD specification CiA 1301
• support of Layer Setting Services (LSS, CiA 305)
• modular software structure with versatile configuration options
• adjustment to target product without affecting the code structures
• optimized for low resource requirements (ROM / RAM)
• broad range of supported CAN controllers
• consistent interface for the CAN driver (CANpie FD)
• easy enhancement of object dictionary (vendor specific parameters)
• miscellaneous add-ons available (device profiles / mini-master)
• support of network variables (CiA 302-4)
• bridge function to J1939 protocol software

The option Mini-Master adds the following functions to our CANopen slave protocol stack:

• SDO Client: parameterization of other CANopen slave devices
• NMT master: change NMT condition of other CANopen slave devices
• Network Management (NMT)
• LSS master: adjustment of bit rates and node ID

The option 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 CANopen / CANopen FD Slave protocol stack will come as C99 source code with a user manual in English (electronic and printed version). The scope of delivery also contains:

• Site-related company licence, no additional runtime costs
• 12 months technical support by email or telephone
• Ready-to-run examples for various demo boards

Stack / Profile / Driver Options