CANOpen and an NI-CAN card on a PC in slave mode

[Steffan]

We have a PC with an NI-CAN card and this PC is a node in a CAN network that has to act as a slave. A master is sending NMT messages but how do I have to receive them? Our PC has to be put in the Operational State. Bottom line is that I have to send and receive PDO’s. We purchased the CANOpen Library recently but now I’m beginning to believe that it is of no use because it can only act as a master. Is this really true or am I missing something?

[DirkW]

Hi

yes you are right the Library does only support the master mode. In your case you could use the Frame API to create your own CANopen Slave API.

You need a Loop which takes care of the NMT handling and a second loop which waits for incoming PDO remote requests and answers them.

There are some requests within this forum regarding Frame API and CANopen.

DirkW

[supriya_kalangutkar@yahoo.co.in]

Hi,
first thing u should decide is 1 node will behave as slave only or master/slave configuration as in CANopen u can hav this two configuration. node will be brought up in to OPERATIONAL State by NMT itself by sending command.u need to prepare LLD 1st from whee u will get idea about different state of slave as well as NMT.
u need to download specification from CIA which is  standard all over to use for CANopen.