Versions Compared

Old Version 2

changes.mady.by.user Former user

Saved on

compared with

New Version Current

changes.mady.by.user Former user

Saved on

Key

  • This line was added.
  • This line was removed.
  • Formatting was changed.
Multiexcerpt
MultiExcerptNameCOS_V5_Features

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.

...

width

35%

Key Features

excerptBLOCK
  • Node guarding / life guarding and heartbeat
    • producer
    • max. 8 consumer
  • PDO mapping
  • NMT Slave
  • SYNC protocol (consumer)
width
30%On this page

Section
Column
Column
Panel
title
Table of Contents


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

...

standard mode default setting: 16

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

...

Extended Mode*

  • 256

...

number of transmit PDOs

Standard Mode

standard mode default setting: 16

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

Extended Mode*

  • 256
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.

Info

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

Configuration

For configuration of standard mode with default settings:

...

  • Packet API based configuration by host application

  • Data base configuration (config.nxd)

...

  • created by

...

For configuration of standard mode with default settings and configured settings and extended mode:

  • by packet to transfer configuration parameters.

Diagnostic

...

  • configuration tool

Diagnostic

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