Expedited transfer protocol (read/write)
Client SDO: Read and write parameter data of size 1-4 bytes in the Object Dictionary of the remote node using the expedited transfer protocol. SDO transfers are non-blocking, allowing easier implementation of applications. Operation result callback at the end of SDO transfers. Configurable timeouts and time delays.
Segmented transfer protocol (read/write)
Client SDO: Read and write parameters of unlimited size in the Object Dictionary of the remote node using the segmented transfer protocol. SDO transfers are non-blocking, allowing easier implementation of applications. Operation result callback at the end of SDO transfers. Configurable timeouts and time delays
Block transfer protocol (write only)
Client SDO: Write data of unlimited size in the Object Dictionary of the remote node using the block transfer protocol, typically new firmware. SDO transfers are non-blocking, allowing easier implementation of applications. Operation result callback at the end of SDO transfers. Configurable timeouts and time delays
Network Management
NMT Master: Global or node specific Network Management commands (for example start, stop and reset) to nodes on network.
Also includes network supervision with node guarding service and heart beat monitoring of the nodes.
PDO - Process Data
Monitoring (via callbacks to application) and sending of process data (PDO) async or with periodic intervals, both transmit and receive PDO services.
Emergency Service
Monitoring (via callbacks to application) and sending of emergency data (EMCY).
Synchronisation Messaging
Sync-Producer and sync-consumer functionality is supported (SYNC).
DCF-file configuration
Parse and send configuration data stored in DCF-files.
LSS
Able to find and interrogate LSS slaves on the network. Able to configure the node IDs and bit timings of LSS slaves
CAN-layer services
Remote Transmission Request messages supported. Transmit and receive plain CAN messages. Callbacks for CAN messages sent and received. Can connect to internal networks with no CAN interface for CANopen® network simulation