µC/CANopen protocol stack

The µC/CANopen protocol stack is programmed based on µC/CAN. Thereby the stack is independent from the microcontroller and can be used with 8-bit, 16-bit or 32-bit microcontrollers.

Scalability

To satisfy the different requirements of applications, the structure of the CANopen stack is scalable on multiple levels.

On the module level (e.g. emergency, SDO, heartbeat, etc.), the number of objects to be managed can be set. If a module is not needed it can also be completely removed from the application.

With the individual application signals, it is possible to indicate for each individual signal whether it should be treated as a constant in ROM, as a variable in RAM or as a parameter in ROM and RAM. In this way, the available memory can be effectively utilized.

Basic features of the CANopen stack are determined with our CANopen stack variants. The following table compares the features of the variants:

Component	Sensor Slave	Slave	Master
SDO Server SDO Client SDO Exp. Transfer SDO Normal Transfer SDO Block Transfer	Up to 127 No Yes No No	Up to 127 Up to 127 Yes Yes Yes	Up to 127 Up to 127 Yes Yes Yes
PDO Producer PDO Consumer PDO Mapping PDO Com. Parameter PDO Remote Transfer	Up to 512 Up to 512 Static Static No	Up to 512 Up to 512 Dynamic Dynamic No	Up to 512 Up to 512 Dynamic Dynamic No
NMT Slave NMT Master NMT Heartbeat Producer NMT Heartbeat Consumer NMT Node Guarding	Yes No Yes No No	Yes No Yes No No	Yes Yes Yes Yes No
EMCY Producer EMCY Consumer EMCY History Size	Yes No 1	Yes No Up to 250	Yes Yes Up to 250
LSS Slave LSS Master	Yes No	Yes No	Yes Yes
OD Size OD Entries OD String Length OD Domains	Unlimited Static Up to 4 No	Unlimited Static Unlimited Yes	Unlimited Dynamic Unlimited Yes

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µC/CANopen protocol stack

Scalability

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