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The data below applies to CANopen Slave firmware and stack version 5.x.x.x The firmware/stack has been designed in order to meet the CiA Work Draft 301 V4.2.0 specification.

Key Features

  • Node guarding / life guarding and heartbeat
    • producer
    • max. 8 consumer
  • PDO mapping
  • NMT Slave
  • SYNC protocol (consumer)
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Technical Data

FeatureDescription
number of input datastandard mode default setting: 128 bytes, extended mode: maximum 1020 bytes
number of output datastandard mode default setting: 128 bytes, extended mode: maximum 1020 bytes
number of receive PDOs

standard mode default setting: 16

extended mode: 0..512, for mapping objects 2200 … 2203

number of transmit PDOs

standard mode default setting: 16

extended mode: 0..512, for mapping objects 2000 … 2003

Exchange of process data
  • Via PDO transfer
    • synchronized
    • remotely requested
    • event driven (change of date)
  • Requested by application
    • via packet
Acyclic communication
  • SDO Up- and Download (Server only),
  • Emergency message (producer),
  • Timestamp (producer/consumer)
Functions
  • Node guarding / life guarding, heartbeat
  • PDO Mapping
  • NMT Slave
  • SYNC protocol (consumer)
  • Error behavior in state operational:
    • change to state pre-operational
    • no state change
    • change to state stopped
Baud rates
  • 10 kBit/s to 1 MBit/s
  • Automatic detection
Data transport layerCAN Frames
CAN Frame type
  • 11 Bit

*: In extended mode, the stack offers extended functionality. To use these functions requires an application program that configures and supports these functions, e.g. to create an own object dictionary. In extended mode, more input and output data can be used and transmit and receive PDOs can be used.

Note: The actual maximum number of IO Data and PDOs depends on the available amount of memory.

Configuration

  • Packet API based configuration by host application

  • Data base configuration (config.nxd) created by configuration tool

Diagnostic

  • Dual-port memory: Common diagnostic via dual port memory
  • API: Packet API bases diagnostic
  • LED: Diagnostic LED



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