CANopen Library

CANopen library implements CiA application layer and communication profile in accordance with CiA 301 V.4.2.

Supported protocols:

• SDO (Client, Server, including block protocol)
• RPDO, TPDO (all transmission types, dynamic mapping with the granularities 1 and 8, static mapping with the granularity 8)
• SYNC (producer, consumer, sync counter)
• TIME (producer, consumer)
• EMCY (producer, consumer)
• NMT (master, slave)

Both mandatory and optional functionality is maintained for each communication object and all of them are configurable in compliance with CiA 301. ANSI C language is used for the library development, providing high level of cross-platform interoperability. Uniformed CAN data link layer access is implemented with Marathon CHAI driver. User guides and manuals for all Marathon products are in Russian.

CANopen tool kit

CANopen analyzer

Analyses and interprets CAN data link layer frames as CANopen protocol objects. Tracks SDO transaction context for expedited, segmented and block SDO protocols. The interpreted CANopen network traffic can be stored in a file.

Interactive CANopen configurator

On the basis of the device EDS file, the configurator composes interactive table of the CANopen objects. It is possible to access any entry in the table (object dictionary index and sub-index), reading and/or writing data with the SDO protocol. Supports CANopen NMT master protocols.

Script CANopen configurator

Interprets and executes instructions, listed in the script file of ASCII format. The script includes CANopen, control and description operators. CANopen instructions support data exchange with SDO, Sync, and NMT master protocols. Beside those, the configurator allows to transmit any CAN data link layer frame, representing PDO, Emergency or some other CANopen objects. Control operators maintain loops, delays and branch commands, as well as CAN node ID selection. Description operators are used to improve the script presentation.

CANopen OPC server

CANopen OPC server creates OPC address space, based upon CANopen devices EDS files. It supports soft real-time control of any CANopen device profile, as well as CANopen network configuration and maintenance with SCADA tools.