Corto mount for connecting to Master & Slave devices over the CANOpen protocol.
| Object Name | Comments | Supported |
|---|---|---|
| NULL | An object with no data fields | X |
| DOMAIN | Large variable amount of data e.g.executable program code. Application controls data and length. | |
| DEFTYPE | Denotes a basic type definition such as a BOOLEAN, UNSIGNED16, FLOAT and so on | X |
| DEFSTRUCT | Defines a new record type e.g. the PDO mapping structure at 21h. For use with RECORD | |
| VAR | A single value such as an UNSIGNED8, BOOLEAN, FLOAT, INTEGER16, VISIBLE STRING etc. Subindex = 0 | X |
| ARRAY | A multiple data field object where each data field is a simple variable of the SAME basic data type e.g. array of UNSIGNED16 etc. Sub-index 0 is of UNSIGNED8 and therefore not part of the ARRAY data. Subindex 1 - specifies sub-member. | |
| RECORD | A multiple data field object where the data fields may be any combination of simple variables. Sub-index 0 is of UNSIGNED8 and sub-index 255 is of UNSIGNED32 and therefore not part of the RECORD data. Subindex 1 - specifies sub-member. |
The Attribute defines the access rights for a particular object. The viewpoint is from the network into the CANOpen device. It shall be one of the following:
| Attribute | Description |
|---|---|
| rw | read and write access |
| ro | write only access |
| ro | read only access |
| const | read-only access, value is constant The value may change in NMT state Initialisation.The value shall not change in the NMT states pre-operation, operational and stopped. |
CANOpen implementation implements support for CANOpen (Layers 3-7). Library is
currently dependent on SocketCAN (available on most Linux distros). Other
CANOpen libraries such as
CANopenNode
have integrated support for native CAN data link implementations for embedded
and RTOS implementations. We look forward to assisting anyone interested in
extending the library to support additional CAN stacks.
Protocol Implementation based on the following sources:
- CAN in Automation CIA Specification 301 v4.2.0
- Wikipedia