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MicroCANopen Plus

European customers must order from our European store at www.canopenstore.eu.

Powerful and flexible CANopen compliant source code. Designed for small footprint applications. Provides an extended feature set including synchronous PDO transmit/receive, emergency objects, heartbeat consumption and non-volatile save/restore parameters.

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Price: Varies depending on requirements

MicroCANopen Plus is a small-footprint, commercial-grade CANopen implementation with advanced features. Ideal for situations requiring medium configurability during run-time and great performance on any type of platform, and for building networks that include manager nodes, MicroCANopen Plus provides the most flexible solution. Auto-generated configuration from the EDS/DCF file makes its setup a quick and painless one-step process.

Portable. MicroCANopen Plus is written in 100% standard ANSI C code allowing for straightforward porting. For targets without standard support packages, designers familiar with their target processor can easily perform the port themselves. Or, ask us for a quote to add support to your target!

Compact. ROM Specifications: 7K - 14K bytes (for CANopen Slaves) depending upon processor and options selected.

An Affordable Pricing Structure. MicroCANopen Plus offers a low, one-time fee and no royalties on deployed products and includes all source code with every purchase.

Feature Highlights

The following is a non-exhaustive overview of features in MicroCANopen Plus:

What's Included

MicroCANopen Plus is delivered with an example CiA401 (Generic I/O) implementation and drivers for NXP ARM and CANopen Magic Ultimate simulation.

Customized examples for other device profiles are available under our consulting services.

Our stack passes the official CANopen Conformance Test!

Full documentation is supplied. All software products include a one-year maintenance and priority support agreement that can be extended anytime.

Also included is a single licence for CANopen Architect Standard, an EDS/DCF editor with code generation for quick stack configuration.

Currently Available Ports

The following list is an example of the microcontrollers and compiler combinations that MicroCANopen Plus is currently available for as optional add-ons. More combinations are available, please contact us with your requirements. For currently unsupported combinations you can either perform the port yourself or we can perform it for you. 

Feature List

FeatureMicroCANopen Plus
CANopen Architect Standard for automatic code generation included check
Network Management state machine with autostart option check
Heartbeat producer, object [1017h] check
Heartbeat consumers, objects [1016h] check
Emergency Producer, objects [1014h] and [1015h] check
Error and Emergency History, objects [1003h] check
Emergency Consumer, objects [1028h] check(M)
Node Guarding responses (deprecated by CiA) check
Run-time configuration of OD and PI via Task Setup File  

Object Dictionary support for any data type per entry
SDO Expedited, Segmented and Block Transfer mode supported

Dynamic PDO communication parameters (objects [14xxh] and [18xxh] writable) check
Dynamic PDO mapping parameters (objects [16xxh] and [1Axxh] writable)  
Store PDO parameters in non-volatile memory (objects [1010h], [1011h] and [1020h]) check
TPDO trigger by Event Time check
TPDO trigger by COS with Inhibit Time check
TPDO and RPDO trigger by SYNC check
TPDO trigger by RTR (deprecated by CiA)  
TPDO trigger by application check
CiA305 Layer-Setting Services (LSS) checkRegular/FastScan
SDO Clients check(M)
NMT Master check(M)
Time Stamp Object processing check
CANopen Wake-up support check
Flexible integration into RTOS check
Maximum number of RPDOs/TPDOs 512/512
Maximum size of process image storing all data that can be mapped to PDOs (in bytes) 65,534
Smallest timer tick resolution available 1ms
Minimal SDO Manager  
CiA447 Car Add On Devices Support check(447)
check(M) = With optional Manager Add-on
check (447) = With optional CiA447 Add-on

Price: Varies depending on requirements