CANopen Communication Stack Comparison
| Feature | MicroCANopen | MicroCANopen Classic | MicroCANopen Plus |
|---|---|---|---|
| CANopen Architect EDS for automatic code generation included |  |
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| Network Management state machine with autostart option | |
|
|
| Heartbeat producer, object [1017h] | |
|
|
| Heartbeat consumers, objects [1016h] | |
|
|
| Emergency Producer, objects [1014h] and [1015h] | |
|
|
| Error and Emergency History, objects [1003h] | |
||
| Emergency Consumer, objects [1028h] | |
(M) |
|
| Node Guarding responses (deprecated by CiA) | |
|
|
| Run-time configuration of OD and PI via Task Setup File |
|
||
|
Object Dictionary support for any data type per entry |
Only up to 4 bytes |
|
|
| Dynamic PDO communication parameters (objects [14xxh] and [18xxh] writable) | |
|
|
| Dynamic PDO mapping parameters (objects [16xxh] and [1Axxh] writable) | |
||
| Store PDO parameters in non-volatile memory (objects [1010h], [1011h] and [1020h]) | |
|
|
| TPDO trigger by Event Time | |
|
|
| TPDO trigger by COS with Inhibit Time | |
|
|
| TPDO and RPDO trigger by SYNC | |
|
|
| TPDO trigger by RTR (deprecated by CiA) |
|
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| TPDO trigger by application | |
||
| CiA305 Layer-Setting Services (LSS) |
Regular |
Regular/FastScan |
|
| SDO Clients | |
(M) |
|
| NMT Master | |
(M) |
|
| Time Stamp Object processing | |
||
| CANopen Wake-up support | |
||
| Flexible integration into RTOS | |
|
|
| Maximum number of RPDOs/TPDOs | 4/4 | 512/512 | 512/512 |
| Maximum size of process image storing all data that can be mapped to PDOs (in bytes) | 254 | 65,534 | 65,534 |
| Smallest timer tick resolution available | 1ms | .1ms | 1ms |
| Minimal SDO Manager | |
||
| CiA447 Car Add On Devices Support | (447) |
(M) = With optional Manager Add-on (447) = With optional CiA447 Add-on
pip/canopen-architect-eds.html
