| Services |
Basic Slave |
Master/Slave |
Manager |
| SDO Server |
2 |
128 |
128 |
| SDO Client |
|
128 |
128 |
| SDO expedited/ segmented/block |
●/●/- |
●/●/● |
●/●/● |
| PDO Producer |
32 |
512 |
512 |
| PDO Consumer |
32 |
512 |
512 |
| PDO Mapping |
static |
static/dynamic |
static/dynamic |
| MPDO Dest Mode |
|
● |
● |
| MPDO Src. Mode |
|
● |
● |
| SYNC Producer |
|
● |
● |
| SYNC Consumer |
● |
● |
● |
| Time Producer |
|
● |
● |
| Time Consumer |
|
● |
● |
| Emergency Producer |
● |
● |
● |
| Emergency Consumer |
|
127 |
127 |
| Guarding Master |
|
|
● |
| Guarding Slave |
● |
● |
● |
| Bootup Handling |
|
● |
● |
| Heartbeat Producer |
● |
● |
● |
| Heartbeat Consumer |
1 |
127 |
127 |
| NMT Master function |
|
● |
● |
| NMT Slave |
● |
● |
● |
| LED CiA-303 |
● |
● |
● |
| LSS CiA-305 |
● |
● |
● |
| SDO Requester (SRD) CiA-302-5 |
|
○ |
● |
| CANopen Router CiA-302-7 |
|
○ |
○ |
| Master Bootup CiA 302 |
|
|
● |
| Configuration Manager |
|
|
● |
| Flying Master |
|
○ |
● |
| Redundancy |
|
○ |
○ |
| Safety |
○ |
○ |
○ |
| Multiline |
|
○ |
○ |
| ISO-TP Client |
|
●
|
●
|
| ISO-TP Server |
●
|
●
|
●
|
| C#-API-Wrapper for Windows |
○ |
○ |
○ |
| Delphi-API-Wrapper for Windows |
○ |
○ |
○ |
|
|
|
|
| CANopen Profiles |
| CiA 401 (U8/INT16) |
○ |
○ |
○ |
| CiA 402 |
○ |
○ |
○ |
| CiA 404 |
○ |
○ |
○ |
| CiA 406 |
○ |
○ |
○ |
| CiA 413 |
○ |
○ |
○ |
| CiA 418 |
○ |
○ |
○ |
| CiA 419 |
○ |
○ |
○ |
| CiA 437 |
○ |
○ |
○ |
| CiA 443 |
○ |
○ |
○ |
| CiA 447 |
○ |
○ |
○ |
| CiA 454 |
○ |
○ |
○ |
● – included
○ – optionally available