A Python implementation of the CANopen_ standard. The aim of the project is to support the most common parts of the CiA 301 standard in a simple Pythonic interface. It is mainly targeted for testing and automation tasks rather than a standard compliant master implementation.

The library supports Python 3.9 or newer.

The library is mainly meant to be used as a master.

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

Incomplete support for creating slave nodes also exists.

• SDO server
• PDO producer/consumer
• NMT slave
• EMCY producer
• Object Dictionary from EDS

Install from PyPI_ using pip::

$ pip install canopen

Install from latest master on GitHub::

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

Unit tests can be run using the pytest_ framework::

$ pip install -r requirements-dev.txt
$ pytest -v

You can also use unittest standard library module::

$ python3 -m unittest discover test -v

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_::

$ pip install -r doc/requirements.txt
$ make -C doc html

This library supports multiple hardware and drivers through the python-can_ package. See the list of supported devices <https://python-can.readthedocs.io/en/stable/configuration.html#interface-names>_.

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

Here are some quick examples of what you can do:

The PDOs can be access by three forms:

1st: :code:node.tpdo[n] or :code:node.rpdo[n]

2nd: :code:node.pdo.tx[n] or :code:node.pdo.rx[n]

3rd: :code:node.pdo[0x1A00] or :code:node.pdo[0x1600]

The :code:n is the PDO index (normally 1 to 4). The second form of access is for backward compatibility.

.. code-block:: python

import canopen

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

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

# Connect to the CAN bus
# Arguments are passed to python-can's can.Bus() constructor
# (see https://python-can.readthedocs.io/en/latest/bus.html).
network.connect()
# network.connect(interface='socketcan', channel='can0')
# network.connect(interface='kvaser', channel=0, bitrate=250000)
# network.connect(interface='pcan', channel='PCAN_USBBUS1', bitrate=250000)
# network.connect(interface='ixxat', channel=0, bitrate=250000)
# network.connect(interface='vector', app_name='CANalyzer', channel=0, bitrate=250000)
# network.connect(interface='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.tpdo.read()
node.rpdo.read()
# Re-map TPDO[1]
node.tpdo[1].clear()
node.tpdo[1].add_variable('Statusword')
node.tpdo[1].add_variable('Velocity actual value')
node.tpdo[1].add_variable('Some group', 'Some subindex')
node.tpdo[1].trans_type = 254
node.tpdo[1].event_timer = 10
node.tpdo[1].enabled = True
# Save new PDO configuration to node
node.tpdo[1].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 TPDO[1]
node.tpdo[1].wait_for_reception()
speed = node.tpdo[1]['Velocity actual value'].phys
val = node.tpdo['Some group.Some subindex'].raw

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

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

.. code-block:: python

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

.. _PyPI: https://pypi.org/project/canopen/ .. _CANopen: https://www.can-cia.org/canopen/ .. _python-can: https://python-can.readthedocs.org/en/stable/ .. _Sphinx: http://www.sphinx-doc.org/ .. _develop mode: https://packaging.python.org/distributing/#working-in-development-mode .. _logging: https://docs.python.org/3/library/logging.html .. _pytest: https://docs.pytest.org/