CANopen for Python

A Python implementation of the CANopen standard. The aim of the project is to support the most common parts of the CiA 301 standard for a master node wrapped in a Pythonic interface.

The library supports Python 2.7 and 3.4+.

Features

• Object Dictionary from EDS
• NMT master
• SDO client
• PDO producer/consumer
• SYNC producer
• EMCY consumer
• TIME producer

Installation

Install from PyPI using pip:

$ pip install canopen

Install from latest master on GitHub:

$ pip install https://github.com/christiansandberg/canopen/archive/master.zip

If you want to be able to change the code while using it, clone it then install it in develop mode:

$ git clone https://github.com/christiansandberg/canopen.git
$ cd canopen
$ pip install -e .

Documentation

Documentation can be found on Read the Docs:

http://canopen.readthedocs.io/en/latest/

It can also be generated from a local clone using Sphinx:

$ python setup.py build_sphinx

Hardware support

This library supports multiple hardware and drivers through the python-can package. See the list of supported devices.

It is also possible to integrate this library with a custom backend.

Quick start

Here are some quick examples of what you can do:

import canopen

# Start with creating a network representing one CAN bus
network = canopen.Network()

# Add some nodes with corresponding Object Dictionaries
network.add_node(6, '/path/to/object_dictionary.eds')
node = network[6]

# Connect to the CAN bus
# Arguments are passed to python-can's can.interface.Bus() constructor
# (see https://python-can.readthedocs.io/en/latest/bus.html).
network.connect()
# network.connect(bustype='socketcan', channel='can0')
# network.connect(bustype='kvaser', channel=0, bitrate=250000)
# network.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
# network.connect(bustype='ixxat', channel=0, bitrate=250000)
# network.connect(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)
# network.connect(bustype='nican', channel='CAN0', bitrate=250000)

# Read a variable using SDO
device_name = node.sdo['Manufacturer device name'].raw
vendor_id = node.sdo[0x1018][1].raw

# Write a variable using SDO
node.sdo['Producer heartbeat time'].raw = 1000

# Read PDO configuration from node
node.pdo.read()
# Re-map TxPDO1
node.pdo.tx[1].clear()
node.pdo.tx[1].add_variable('Statusword')
node.pdo.tx[1].add_variable('Velocity actual value')
node.pdo.tx[1].add_variable('Some group', 'Some subindex')
node.pdo.tx[1].trans_type = 254
node.pdo.tx[1].event_timer = 10
node.pdo.tx[1].enabled = True
# Save new PDO configuration to node
node.pdo.save()

# Transmit SYNC every 100 ms
network.sync.start(0.1)

# Change state to operational (NMT start)
node.nmt.state = 'OPERATIONAL'

# Read a value from TxPDO1
node.pdo.tx[1].wait_for_reception()
speed = node.pdo['Velocity actual value'].phys
val = node.pdo['Some group.Some subindex'].raw

# Disconnect from CAN bus
network.sync.stop()
network.disconnect()

Debugging

If you need to see what's going on in better detail, you can increase the logging level:

import logging
logging.basicConfig(level=logging.DEBUG)