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CANopen Protocol Stack Source Code Discover unexpected performance for your CANopen applications
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| CANopen Source Code Selection Guide |
by Source Code Product Name |
by Application or Device Type |
by CANopen Device and Application Profile |
Source Code Feature Comparison |
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 | Highlights
- Multi-instance support - Implement different logical CANopen devices on a
single physical hardware platform
- The first year of software maintenance and technical support included - free
of charge!
- Comprehensive library of CANopen master and slave services included (Feature Comparison)
- Bundled versions with complete set of fully-enabled CANopen tools included
available
- PC Tool for easy configuration of the Object Dictionary including automatic
source code generation, EDS editor with import and export functionality
- Straight-forward ANSI-C implementation and the clear modularized structure
support easy porting to new target platforms. We assist you - ask for our
Adaptation Workshop!
- Generic OS API suitable for integration with real time operating systems
- Supports all CANopen device profiles
- CAN driver source code for many target systems included
- Uniform CAN driver API for all supported CAN interfaces
- CiA 304 compliant CANopen Safety Protocol Extension (optional add-on)
- CiA 302 compliant CANopen Manager Source Code
- CiA 402 Device Profile for Motion Control and Drives (optional add-on)
- Multiplexed PDO for CiA 417 compliant devices (CANopen Lift) (optional
add-on)
- SDO Gateway for CANopen sub-networking (optional add-on)
- High resolution time stamp (optional add-on)
Our CANopen Protocol Stack meets the Requirements of Modern Automation
Systems.
The SYS TEC CANopen source code implements the complete functionality
pursuant to the CiA 301 V4.x draft standard. The CANopen source code
supports the fast and standard compliant design of own fully-featured CANopen
master or slave devices, including NMT master (Network Management), LSS master
(Layer Setting Services) or SDO client. The straightforward, event-oriented
signaling up to Application Level attains a high degree of performance. The
CANopen source code is prepared for easy integration to operating systems. The
well-defined and thoroughly thought-out API allows for an easy use of the
CANopen services without diving into details of the implementation. Many example
programs, target specific demo projects and the comprehensive documentation
assist you step-by-step. We offer two main source code packages covering the
very most part of industrial applications. Additionally, some special features
are available as add-on package.
More than just a source code package
When purchasing the CANopen Source, you get more than just a CANopen protocol
implementation. One benefit - get the first year of technical support and
software maintenance for free! Furthermore, an USB/CAN interface as well a
complete set of CANopen configuration and analysis tools come with the source
code package. Thus, you get more than just the source code; it's a convenient
environment for development, testing and integration of CANopen devices as well
as CANopen based applications. The included CANopen source configuration tool
provides you with valuable support in creating the object dictionary and
corresponding EDS files. The graphical user interface assists you in managing
the various configuration settings of the CANopen source code. You are a
mouse-click away from exporting the associated object directory as C-source
text, which can be incorporated directly into your CANopen project.
Modular, Scalable and Portable
The continuous modularization of the functionalities and implementation in
ANSI-C make possible simple porting to different target systems. Also a
considerable weight was placed on scalability and performance. Highly optimized
memory management and zero-copy implementation prevent unnecessary copying of
data. With our CANopen Source you can just as cost-effectively create
single-chip solutions and complex, multi-channel master applications. Our
CANopen protocol stack was successfully ported, along with a number of
microcontrollers, to a DSP.
The CANopen software is organized into individual modules. Some modules can
be incorporated into or removed from the project, depending on the required
functionality. The modules do not cross-call functions to another module but
only functions from subordinate or superordinate modules (as Callback function).
There are no cross-references of global variables between the modules. A central
software layer, called "CANopen Controlling Module" (CCM), provides a simplified
API of the CANopen functions to the application layer and controls the
interaction of the individual modules. Furthermore, the hardware specific
implementation is clearly decoupled from the CANopen protocol stack, resulting
in a minimum effort required for porting to a new target platform.
CANopen Safety Protocol Support
We offer a CiA 304 compliant CANopen Safety Protocol extension that can
be used to build own safety applications. A highly optimized version of our
CANopen protocol stack was used to implement the firmware of the CANopen Safety
Chip CSC01. Discuss with us the opportunities for use our CANopen in your
projects.
IEC 61131-3 ready - The CANopen Manager Source Code
The CANopen Manager Source Code provides substantial extended functionality
to implement powerful CANopen devices with managing functions compliant to
CiA 302 and CiA 405. The integrated Configuration Manager holds the
parameter sets of the assigned CANopen slave devices and handles the on-demand
configuration of connected nodes during runtime. Furthermore the CANopen Manager
Source Code allows for an easy integration to IEC 61131–3 runtime
environments and therefore is prepared for development of CiA 405 compliant
controllers. SYS TEC also has an own high-efficient IEC 61131–3 PLC
runtime system on hand, including the seamless integration of CANopen and
Ethernet communication.
No Royalties on Deployed Products
We offer an attractive pricing structure. You get the complete source on
every purchase for an economic one-time fee. There are no royalties on your
deployed products. Complementary Services
Along with our
source code products we offer a range of value adding services:
- Consulting and task analysis
- Adaptation workshop and source code Introduction
- Support in preparing your device for the CiA CANopen Conformance Test
- Customer-specific training - Knowledge transfer
- Customer-specific CAN driver development and protocol implementation
- OEM integration services
back
CANopen Source Code
Selection Guide by Product Name
Source Package (order number) |
What is it good for? What devices can I design? |
What's included? |
CANopen Source
Code (SO-877) |
Fully featured CANopen slave devices (i.e. generic I/O, sensors,
encoders).
CANopen devices with master functionality (i.e. network management, SDO and
LSS). This package complies with CiA 301 V4.1 Draft Standard.
This source code package is ideal if you already have CANopen configuration
tools in hand and now want to start with CANopen. If you do not have any CANopen
tools we recommend having a closer look at SO–877–VP (see below) |
- CANopen protocol stack source code
- CAN driver source code
- CANopen source code configuration tool
- Demo projects
- Printed documentation
- 1 year support and update service
Full list of features |
CANopen Source Code Value
Pack (SO-877-VP) |
Includes the complete functionality of SO–877, plus a complete set of tools
for CANopen configuration, device testing and traffic monitoring. With its
included toolchain and the USB/CAN interface, this package provides a most
comprehensive, all-inclusive CANopen development environment without extra cost
for CANopen tools.
It provides the best price-performance ratio to start with CANopen device
development. You just need to add your favourite IDE. |
- CANopen protocol stack source code + CAN driver source code
- Ready-to-use CANopen Master executable for the PC with access via console or
Telnet
- CiA 309-3 compliant CANopen Server (CANopen/Ethernet Gateway) as
ready-to-use Windows executable
- Complete toolchain for CANopen configuration, device testing and
commissioning
- CAN-bus monitor with CANopen protocol interpreter
- USB/CAN interface
- Source code configuration tool
- Demo projects
- Printed documentation
- 1 year support and update service
Full list of features |
CANopen Manager Source
Code (SO-1063) |
CANopen devices according to CANopen communication profile CiA 301 V4.1
and CANopen framework CiA 302 V3.3, such as PLCs or user-programmable HMI
devices.
CANopen devices featuring master and management functions, such as dynamic
SDO communication channels or remote configuration of CANopen devices.
Beside the CANopen Manager extensions, this package includes the complete
functionality listed with the CANopen source code Value Pack (SO-877-VP). |
CiA 302 compliant services:
| SDO Manager |
| Configuration Manager |
| Boot-up process |
| State machine |
| Process image |
| Network variables |
- CANopen Manager protocol stack source code
- CAN driver source code
- Ready-to-use CANopen Master executable for the PC with access via console or
Telnet
- CiA 309-3 compliant CANopen Server (CANopen/Ethernet Gateway) as
ready-to-use Windows executable
- CANopen Configuration Suite for network configuration, device testing and
commissioning
- CAN-REport CAN-bus monitor with CANopen protocol interpreter
- USB/CAN interface
- Source code configuration tool
- Demo projects
- Printed documentation
- 1 year support and update service
Full list of features |
MPDO Add-on (SO-1066) |
CANopen devices that require support of Multiplexed PDO as referenced, for
example, in CiA 417 device profile and mainly used in CANopen Lift
applications.
This package requires one of the following CANopen source code packages:
SO-877, SO-877-VP or SO-1063. |
CiA 301 compliant services:
- MPDO Add-on source code on CD
- Printed documentation
Full list of
features |
SRDO Add-on (SO-1059) |
CANopen devices used in safety relevant applications, featuring the CANopen
Safety protocol as specified in CiA 304. The CANopen Safety Protocol is
used in the CANopen Safety Chip CSC01 and has been certified for use in
applications up to SIL3 (Safety Integrety Level).
This package requires one of the following CANopen Source Code packages:
SO-877, SO-877-VP or SO-1063. |
CiA 304 compliant services
| Safety Relevant Data Objects (SRDO) |
- SRDO Add-on source code on CD
- Printed documentation
Full list of
features |
CiA 402
Add-on (SO-1081)
|
CANopen devices according to CiA 402 (CANopen device profile for drives and
motion control). Digital controlled motion products like servo controllers,
frequency converters and servo motors. It includes a plug-in to visualize the
state of an CANopen drive and modify the drive's control word.
This package requires one of the following CANopen source code packages:
SO-877-VP or SO-1063. |
CiA 402 compliant services/functions
| Profile Velocity Mode |
Velocity Mode
|
| Profile Torque Mode |
| Homing Mode |
| Profile Position Mode |
Device State Machine
|
- CiA 402 Add-on source code on CD
- DS402 plug-in for CANopen Configuration Suite
- Printed documentation
Full list of
features |
Dynamic OD
Add-on (SO-1074)
|
CANopen devices that require the functionality to replace, extend or modify
parts (objects) of an existing object dictionary at runtime (e.g. PDOs, process
data, network variables, dynamic process image). The dynamic object dictionary
is specified in CiA 302.
This package requires one of the following CANopen source code
packages: SO-877 or SO-877-VP. |
- Dynamic OD add-on source code on CD
- PC tool (DCF-Parser) to generate the needed binary format DCF
- DCF-Parser as DLL for incorporation into own applications
- Printed documentation
- This add-on package is already included in the CANopen Manager source code
Full list of features |
SDO Gateway
Add-on (SO-1078)
|
Devices which act as router or bridge to subsequent CANopen networks, capable
of transfering SDO messages between the differnt networks.
This package requires one of the following CANopen source code
packages: SO-877, SO-877-VP or SO-1063. |
- SDO-Gateway add-on source code on CD
- Printed documentation
Full list of
features | back
CANopen Source Code
Selection Guide by CANopen Device and Application Profile
(*) The SYS TEC
CANopen source code packages provide a generic API interface and therefore
basically support the implementation of any device profile as well as
manufacturer specific profiles and extensions. back
CANopen
Source Code Selection Guide by Application or Device Type
| What device do I want to design? Whats my
application?(*) |
Recommended source code products |
Digital or analog I/O devices, Temperature sensors, Temperature
controllers, Pressure sensors, Encoders, Simple digital sensors and
actuators, Hydraulic or pneumatic valves, Joysticks or simple input and
output elements like switches and LED displays, Embedded control units for
machines with fixed system configuration, HVAC controller, Simple HMI
devices, such as LED/LCD displays |
SO-877 or SO-877-VP |
Frequency converter, Servo controller, Servo drives Motion
control devices |
SO-877 or SO-877-VP and SO-1081 |
Programmable HMI devices, PLCs, Programmable embedded
controllers, Control devices with management functions such as remote
configuration of CANopen devices, Controllers for maritime
applications, Process controls, Machine controls with dynamic system
configuration, |
SO-1063 |
| Controllers, callers, tableaus, cabin controller for elevator applications
(CANopen Lift) |
SO-877 or SO-877-VP or SO-1063 and SO-1066 |
Devices with gateway functionality for SDO messages (Sub-networking in
CANopen) |
SO-877 or SO-877-VP and SO-1078 |
| Devices and components that require transfer of safety relevant data, like
automatic doors, escalators, emergency switches and actors |
SO-877 or SO-877-VP and SO-1059 |
| Devices or components that require a high precision timing, such as data
aquisition systems, laboratory devices, test equipment, data loggers |
SO-877 or SO-877-VP | (*) This table
does only list a range of possible applications and does not claim to be
complete.back
CANopen Source Code Feature
Comparison
|
SO-877 CANopen Source Code |
SO-877-VP CANopen Source Code Value Pack
|
SO-1063 CANopen Manager Source Code |
Add-on package (5) |
| SDO servers |
127 |
127 |
127 |
|
| SDO clients |
127 |
127 |
127 |
|
SDO block transfer
|
x
|
x |
x |
|
SDO segmented transfer
|
x |
x |
x |
|
| PDO |
512 RPDO 512 TPDO |
512 RPDO 512 TPDO |
512 RPDO 512 TPDO |
|
| Multiple-Instance support |
x |
x |
x |
|
| Dynamic PDO Mapping |
x |
x |
x |
|
| Static PDO Mapping |
x |
x |
x |
|
| Bitwise Mapping |
x |
x
|
x
|
|
| SYNC |
Producer/Consumer |
Producer/Consumer |
Producer/Consumer |
|
| EMERGENCY |
Producer/Consumer |
Producer/Consumer |
Producer/Consumer |
|
| SDO |
Server/Client |
Server/Client |
Server/Client |
|
| NMT |
Master/Slave |
Server/Client |
Server/Client |
|
| Heartbeat Consumer |
127 |
127 |
127 |
|
| Heartbeat Producer |
x
|
x
|
x
|
|
| Node Guarding |
Master/Slave |
Master/Slave |
Master/Slave |
|
| Life Guarding |
Master/Slave
|
Master/Slave |
Master/Slave |
|
SRD (Dynamic SDO Client)
|
x
|
x |
x
|
|
SDO Manager
|
-
|
-
|
x
|
|
| LSS |
Master/Slave |
Master/Slave |
Master/Slave |
|
Parameter storage
|
x
|
x |
x |
|
Indicator Specification (CiA 303-3)
|
x
|
x |
x |
|
Time stamp message
|
Consumer/Producer
|
Consumer/Producer |
Consumer/Producer |
|
High resolution Time stamp (CiA 301)
|
x
|
x
|
x |
|
Configuration Manager (CiA 302)
|
-
|
-
|
x |
|
| DCF-Parser and DLL (PC tool) |
- |
- |
x |
X(7) |
Boot-up procedure (CiA 302)
|
-
|
-
|
x
|
|
OD Configuration Tool and EDS Generator (PC Tool) More... |
x |
x |
x |
|
USB/CAN interface More...
|
x
|
x
|
x
|
|
CANopen Configuration Suite (PC Tool) More...
|
evaluation version(8)
|
full version (2) |
full version (2)
|
|
CAN-bus monitor (PC Tool) More...
|
evaluation version(8) |
full version (3) |
full version (3)
|
|
Support
|
1 year support and update service
included(6) |
1 year support and update service
included(6) |
1 year support and update service
included(6) |
|
Implemented CANopen Communication Profiles and
Frameworks
|
CiA 301 V4.1
|
CiA 301 V4.1 |
CiA 301 V4.1 CiA 302 V3.3
|
|
Dynamic Object Dictionary (CiA 302) More...
|
-
|
-
|
x
|
X
|
Multiplexed PDO (MPDO) (CiA 301) More... |
-
|
-
|
- |
X(1) |
Safety Communication (SRDO) (CiA 304) More...
|
-
|
-
|
- |
X
|
Device Profile for Drives and Motion Control
(CiA 402) More...
|
-
|
-
|
- |
X(4)
|
SDO Gateway function
(Manf. specific) More...
|
-
|
-
|
- |
X
| (1)
Destination Address Mode (DAM) only (2) Including LSS plug-in (3)
Including CANopen plug-in (4) Supported modes: Homing Mode, Profile Position
Mode, Profile Velocity Mode, Velocity Mode, Profile Torque Mode (5) Requires
SO-877, SO-877-VP or SO-1063 (6) Extension of support period available (7)
Part of the Dynamic OD Add-on (SO-1081) (8) Limited function version. Also
available for free downloading on the SYS TEC homepage back
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Related links
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| This page last updated: 14. October, 2009 |
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