Features - V5

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

Feature	Description
number of input data	standard mode default setting: 128 bytes, extended mode: maximum 1020 bytes
number of output data	standard 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 layer	CAN 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