CANopen Protocol Stack Source Code
Discover unexpected performance for your CANopen applications

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

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: Multiplexed PDO (MPDO) 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

CANopen device and application profiles (extract)		Source Code product(*)
Multi-level networking	CiA 400	SO-877 or SO-877-VP
Generic I/O Modules	CiA 401	SO-877 or SO-877-VP
Electric drives (servo controller, stepper motor controller, frequency inverter)	CiA 402	SO-1081 with  SO-877 or SO-877-VP
Measuring devices and closed-loop controllers	CiA 404	SO-877 or SO-877-VP
IEC 61131-3 programmable devices (i.e. PLC, HMI)	CiA 405	SO-1063
Rotating and linear encoders	CiA 406	SO-877 or SO-877-VP
Passenger information systems	CiA 407	SO-877 or SO-877-VP
Fluid power technology proportional valves and hydraulic transmissions	CiA 408	SO-877 or SO-877-VP
Inclinometers	CiA 410	SO-877 or SO-877-VP
X-ray collimators (medical devices)	CiA 412	SO-877 or SO-877-VP
Truck gateways	CiA 413	SO-877 or SO-877-VP
Weaving machines	CiA 414	SO-877 or SO-877-VP
Road construction machinery	CiA 415	SO-877 or SO-877-VP
Building door control systems	CiA 416	SO-1059 with SO-877 or SO-877-VP
Lift control systems	CiA 417	SO-1066 with SO-877, SO-877-VP or SO-1063
Battery modules	CiA 418	SO-877 or SO-877-VP
Battery charger	CiA 419	SO-877 or SO-877-VP
Extruder downstream devices	CiA 420	SO-877 or SO-877-VP
Railway vehicle control system	CiA 421	SO-877, SO-877-VP or SO-1063
Municipal vehicles - CleANopen	CiA 422	SO-877 or SO-877-VP
Power-diesel drive sub-network	CiA 423	SO-877 or SO-877-VP
CANopen application profile for medical diagnostic add-on modules	CiA 425	SO-877 or SO-877-VP
Railway vehicle - exterior lighting control	CiA 426	SO-877 or SO-877-VP
Railway vehicle - interior lighting control	CiA 433	SO-877 or SO-877-VP
HVAC systems	CiA 435	SO-877 or SO-877-VP
Laboratory Automation	CiA 436	SO-877 or SO-877-VP
Photovoltaic systems	CiA 437	SO-877 or SO-877-VP
Crane add-on devices (Spreader)	CiA 444	SO-877 or SO-877-VP
RFID reader	CiA 445	SO-877 or SO-877-VP
AS-i interface profile	CiA 446	SO-877 or SO-877-VP

(*) 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