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uvs:programs [2023/02/05 16:30] (current) – Version 0.5 uvsoftware
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 +====== Programs ======
 +
 +===== CANopen Object Browser for Windows =====
 +{{http://www.uv-software.de/files/dokuwiki/programs/COPbrowser.PNG?300  }}
 +**CANopen Object Browser for generic CAN Interfaces**
 +
 +The CANopen Object Browser is a tool to display and browse through a CANopen Object Dictionary based on EDS-Files.
 +The program allows an online access to any connected CANopen device.
 +This means to read and to write individual parameter values of a connected device.
 +
 +The Object Dictionary window displays the CANopen object dictionary of a CANopen device taken either from an EDS-File or from a XML-File.
 +On the left side of the window all objects are listed in a tree view order by categories.
 +To navigate through the object tree use either the cursor-up/-down keys or click with the mouse on an item.
 +On the right side all attributes and attribute values of the highlighted object are shown.
 +
 +Parameter values can be entered in hexadecimal, decimal or octal form according to ANSI-C syntax.
 +The value range of the data type will be checked by the program.
 +But the value range of the parameter will be check by the device.
 +Data access is only possible if a device is connected to the CAN-Interface board.
 +
 +__**Please note**__:
 +Do not connect the program to a real application with a running CANopen network.
 +This can damage your application.
 +
 +==== Supported Interface ====
 +Currently (COPbrorwser v0.5) the following CAN devices are supported:
 +  * IXXAT Automation: all CAN devices with VCI driver (VCI V2; tested with iPC-I320/PCI and USB-to-CAN compact)
 +  * PEAK-System Technik: all CAN devices with PCAN driver (PCAN-Basic V1.0 + PCAN-Light V1.55; tested with PCAN-USB)
 +  * Vector Informatik: all CAN devices with VXL driver (VXL library V3.0; tested with CANcaseXL, USB)
 +  * M+K GmbH: RS-CAN-Wandler with ASPopen Interface (SW.M16C.MEW.C1R1.CANopen.ASP.2005.06)
 +  * UV Software: CANopen-over-TCP/IP (CANopen Gateway using BerliOS SocketCAN)
 +
 +|{{ http://www.uv-software.de/files/dokuwiki/programs/COPbro_vci.PNG?140 }}|{{ http://www.uv-software.de/files/dokuwiki/programs/COPbro_pcl.PNG?140 }}|{{ http://www.uv-software.de/files/dokuwiki/programs/COPbro_vxl.PNG?140 }}|{{ http://www.uv-software.de/files/dokuwiki/programs/COPbro_asp.PNG?140 }}|{{ http://www.uv-software.de/files/dokuwiki/programs/COPbro_tcp.PNG?140 }}|
 +^  IXXAT VCI V2  ^  PEAK PCAN-Basic  ^  Vector VX library  ^  RS-CAN-Wandler  ^  TCP/IP Client  ^
 +
 +==== Summary ====
 +^  CANopen Object Browser (Windows)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/COPbrowser/COPbrowser_v0.5.msi|Version 0.5.100.243]] of 11.11.2010  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/COPbrowser/COPbrowser.pdf|Getting started]] (pdf) and Online-help (context-sensitive)  |
 +^License           |[[http://www.uv-software.de/files/downloads/COPbrowser/License.txt|UVS Freeware License]] (without warranty or support)  |
 +^Standard(s)       |CANopen specifications: CiA DS-301, CiA DS-305, CiA DS-306, CiA DS-309  |
 +^Driver(s)         |IXXAT VCI V2, PEAK PCAN-Basic + PCAN-Light, Vector XL Driver, ASPopen (RS-232/CAN-Wandler), \\ Winsock (CANopen-over-TCP/IP)  |
 +^Category          |Industrial communication, CANopen, CAN, TCP/IP, RS-232  |
 +^Operating system  |Windows 2K/XP, but it is also running on Windows 10  |
 +^Download server   |[[uvs:programs:copbrowser_files|http://www.uv-software.de/files/downloads/COPbrowser/]]  |
 +
 +
 +===== CANopen Object Browser for Linux =====
 +{{  http://www.uv-software.de/files/dokuwiki/programs/COPbrowser_linux.png?300}}
 +**CANopen Object Browser for Linux with BerliOS SocketCAN**
 +
 +The CANopen Object Browser is a tool to display and browse through a CANopen Object Dictionary based on EDS-files.
 +The program allows an online access to any connected CANopen device.
 +This means to read and to write individual parameter values of a connected device.
 +
 +The CANopen Object Browser for Linux is a Qt3 GUI application (http://www.trolltech.com/qt/) running on Linux systems (Kernel 2.6.x) and uses BerliOS socketCAN to access the CAN-Bus (http://socketcan.berlios.de/).
 +Furthermore the program offers a gateway function for interfacing CANopen with TCP/IP.
 +
 +__**Please note**__:
 +Do not connect the program to a real application with a running CANopen network.
 +This can damage your application.
 +
 +==== Summary ====
 +^  CANopen Object Browser (Linux)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/COPbrowser/COPbrowser.elf|Version 0.2 Build 61]] (testing) of 09.11.2009  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/COPbrowser/COPbrowser_linux.pdf|Getting started]] (pdf) and Online-help (context-sensitive)  |
 +^License           |[[http://www.uv-software.de/files/downloads/COPbrowser/License.txt|UVS Freeware License]] (without warranty or support)  |
 +^Standard(s)       |CANopen specifications: CiA DS-301, CiA DS-306, CiA DS-309  |
 +^Driver(s)         |BerliOS SocketCAN, CANopen-over-TCP/IP)  |
 +^Category          |Industrial communication, CANopen, CAN, TCP/IP  |
 +^Operating system  |Linux 2.6.x  |
 +^Download server   |[[uvs:programs:copbrowser_files|http://www.uv-software.de/files/downloads/COPbrowser/]]  |
 +
 +
 +===== CANopen Commandline Tool =====
 +{{http://www.uv-software.de/files/dokuwiki/programs/Tux_102px.png  }}
 +The //CANopen Commandline Tool// is a text-based program to request CANopen services from CANopen devices on the command line by entering commands at the program´s prompt or processing them from a batch file.
 +
 +The syntax for these commands is taken from the CANopen specification CiA DS-309/3 (//Interfacing CANopen with TCP/IP -- ASCII Mapping//).
 +The program is build on the UVS [[uvs:programs#CANopen_Master_Library|CANopen Master library]], which exists for several microcontrollers and even for some CAN interface boards from different vendors and for different operating systems.
 +Here the //CANopen Commandline Tool// uses the [[wp>Socketcan|SocketCAN]] interface on Linux operating systems;
 +it runs well with a PEAK PCAN-USB-Dongle on Debian Etch and on a MPC5200B evaluation board with an Embedded Linux.
 +Furthermore the program offers a gateway function for interfacing CANopen with TCP/IP.
 +
 +The program allows reading and writing of individual parameter values of any connected CANopen device.
 +Due to the fact, that the UVS CANopen Master library is not a complete CANopen stack, some limitations must be taken into account.
 +But the missing CANopen services can be build up manually from the CAN layer 2 commands of the program.
 +
 +==== Syntax ====
 +
 +  Usage: can_open <interface> [<option>...]
 +  Options:
 +   -g, --gateway=<port>         operate in gateway mode on <port>
 +   -i, --id=<node-id>           node-id of CANopen Master (default=-1)
 +       --net=<network>          set default network number (default=1)
 +       --node=<node-id>         set default node-id (default=1)
 +       --echo                   echo input stream to output stream
 +       --prompt                 prefix input stream with a prompt
 +       --syntax                 show input syntax and exit
 +   -h, --help                   display this help and exit
 +       --version                show version information and exit
 +  Examples:
 +   1. Local mode:     can_open <socket-can> --prompt
 +   2.1 Gateway mode:  can_open <socket-can> --gateway <port> --echo
 +   2.2 Remote mode:   can_open <ip-addr>:<port> --prompt
 +  In local mode and in remote mode press ^D to leave the interactive input.
 +  In gateway mode press ^C to close the port and exiting the program.
 +
 +==== Summary ====
 +^  can_open (CANopen Commandline Tool)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/socketCAN/can_open/can_open_2009-02-25_v0.2.tar.gz|Version 0.2.34]] of 25.02.2009  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/socketCAN/can_open/README|README]], [[http://www.uv-software.de/files/downloads/socketCAN/can_open/can_open.pdf|Syntaxbeschreibung]] and program options ''--help'' and ''--syntax''  |
 +^License           |[[http://www.uv-software.de/files/downloads/socketCAN/can_open/LICENSE|UVS Freeware License]] (without warranty or support)  |
 +^Standard(s)       |CANopen specifications: CiA DS-301, CiA DS-309. IEEE 802.3, RFC 2045  |
 +^Driver(s)         |berliOS socketCAN, PEAK Linux driver  |
 +^Category          |Industrial communication, CANopen, socketCAN, TCP/IP  |
 +^Operating system  |Linux (2.6.x)  |
 +^Download server   |[[uvs:programs:can_open_linux|http://www.uv-software.de/files/downloads/socketCAN/can_open/]]  |
 +
 +
 +===== CANopen-over-TCP/IP Client =====
 +{{  http://www.uv-software.de/files/dokuwiki/programs/Win_logo.jpg?160x120}}
 +
 +This little program is for accessing a CANopen-over-TCP/IP gateway (e.g. the UVS [[uvs:programs#canopen_commadline_tool|CANopen Commandline Tool]] in gateway mode) from a Windows console.
 +
 +With this text-based program you can access any CANopen device connected to a CANopen-over-TCP/IP gateway over ethernet by entering commands for CANopen services at the program´s prompt or processing them from a batch file.
 +The syntax is taken from the CANopen specification CiA DS-309/3 (Interfacing CANopen with TCP/IP - ASCII Mapping) and is described [[http://www.uv-software.com/files/pub/utilities/socketCAN/can_open/can_open.pdf|here]].
 +
 +
 +==== Syntax ====
 +  copnet <address>:<port> [/PROMPT | /P] [/ECHO | /E]
 +  copnet (/HELP  | /?)
 +  copnet (/ABOUT | /µ)
 +  Options:
 +   /P, /PROMPT  prefix input stream with a prompt
 +   /E, /ECHO    echo input stream to output stream
 +   /?, /HELP    display this help and exit
 +   /µ, /ABOUT   show version information and exit
 +
 +==== Summary ====
 +^  copnet (CANopen-over-TCP/IP Client)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/socketCAN/can_open/copnet_2009-01-26_v0.1.zip|Version 0.1.1]] of 26.01.2009  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/socketCAN/can_open/README|README]] and program option ''/HELP''  |
 +^License           |[[http://www.uv-software.de/files/downloads/socketCAN/can_open/LICENSE|UVS Freeware License]] (without warranty or support)  |
 +^Standard(s)       |IEEE 802.3, RFC 2045  |
 +^Driver(s)         |Winsock  |
 +^Category          |Industrial communication, CANopen, TCP/IP  |
 +^Operating system  |Windows 2K/XP  |
 +
 +
 +===== CAN Monitor using SocketCAN =====
 +{{http://www.uv-software.de/files/dokuwiki/programs/Tux_102px.png  }}
 +
 +Yes, this is another CAN monitor using [[wp>Socketcan|SocketCAN]] on Linux OS.
 +The [[http://developer.berlios.de/projects/socketcan|BerliOS CAN utilities]] already offers the great ''candump'' program,
 +but I hate this messing around with binary masks for identifier filtering.
 +So I wrote this little program to have an //exclude list// for single identifiers or identifier ranges (see program option ''--exclude'' or just ''-x''). Precede the list with a ''~'' and you get an //include list//.
 +
 +==== Syntax ====
 +  Usage: can_moni <interface> [<options>]
 +  Options:
 +   -t, --time=(abs|rel|zero)    absolute or relative time
 +   -i, --id=(hex|dec|oct)       display mode of COB-IDs
 +   -d, --data=(hex|dec|oct)     display mode of data bytes
 +   -a, --ascii=(on|off)         display data bytes as ascii
 +   -x, --exclude=[~]<id-list>   exclude COB-IDs: <id>[-<id>]{,<id>[-<id>]}
 +   -h, --help                   display this help and exit
 +       --version                output version information and exit
 +
 +==== Summary ====
 +^  can_moni (CAN Monitor using SocketCAN)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/socketCAN/can_moni/can_moni_2007-08-20_v0.1.tar.gz|Version 0.1.17]] of 20.08.2007  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/socketCAN/can_moni/README|README]] and program option ''--help''  |
 +^License           |[[http://www.uv-software.de/files/downloads/socketCAN/can_moni/COPYING|GNU General Public License]] (GPL 2)  |
 +^Standard(s)       |CAN Spezifikation 2.0  |
 +^Driver(s)         |BerliOS SocketCAN, PEAK Linux driver  |
 +^Category          |Industrial communication, CAN, socketCAN  |
 +^Operating system  |Linux (2.6.x)  |
 +^Download server   |[[uvs:programs:can_moni_linux|http://www.uv-software.de/files/downloads/socketCAN/can_moni/]]  |
 +
 +
 +===== CAN Monitor goes Mac OS X =====
 +{{  http://www.uv-software.de/files/dokuwiki/programs/MacCAN_logo.png?124}}
 +
 +This is a port of the CAN Monitor program from Linux to Mac. It is running with a PCAN-USB device or PCAN-USB FD device on macOS Mountain Lion and hopefully on later versions of the world´s mostest advanced OS.
 +
 +==== Syntax ====
 +  Usage: can_moni <interface> [<options>]
 +  Options:
 +   -m, --mode=(2.0|FDF[+BSR])  CAN operation mode: CAN 2.0 or CAN FD format
 +       --listen-only           monitor mode (transmitter is off)
 +   -b, --baudrate=<baudrate>   CAN 2.0 bit timing in kbps (default=250)
 +       --bitrate=<bit-rate>    CAN FD bit rate (as a string)
 +   -v, --verbose               show detailed bit rate settings
 +   -t, --time=(ABS|REL|ZERO)   absolute or relative time (default=0)
 +   -i  --id=(HEX|DEC|OCT)      display mode of CAN-IDs (default=HEX)
 +   -d, --data=(HEX|DEC|OCT)    display mode of data bytes (default=HEX)
 +   -a, --ascii=(ON|OFF)        display data bytes in ASCII (default=ON) 
 +   -x, --exclude=[~]<id-list>  exclude CAN-IDs: <id>[-<id>]{,<id>[-<id>]}
 +   -L, --list-boards           list all supported CAN interfaces and exit
 +   -T, --test boards           list all available CAN interfaces and exit
 +   -h, --help                  display this help screen and exit
 +       --version               show version information and exit
 +  Interfaces:
 +    PCAN-USB1
 +    PCAN-USB2
 +    PCAN-USB3
 +    PCAN-USB4
 +    PCAN-USB5
 +    PCAN-USB6
 +    PCAN-USB7
 +    PCAN-USB8
 +  CAN 2.0 baud rate index (default=3):
 +    0 = 1000 kBit/s
 +    1 = 800 kBit/s
 +    2 = 500 kBit/s
 +    3 = 250 kBit/s
 +    4 = 125 kBit/s
 +    5 = 100 kBit/s
 +    6 = 50 kBit/s
 +    7 = 20 kBit/s
 +    8 = 10 kBit/s
 +  CAN FD bit rate as comma-separeted <key>=<value>-list:
 +    f_clock=<value>      frequency in Hz or
 +    f_clock_mhz=<value>  frequency in MHz
 +    nom_brp=<value>      bit-rate prescaler (nominal)
 +    nom_tseg1=<value>    time segment 1 (nominal)
 +    nom_tseg2=<value>    time segment 2 (nominal)
 +    nom_sjw=<value>      sync. jump width (nominal)
 +    nom_sam=<value>      sampling (only SJA1000)
 +    data_brp=<value>     bit-rate prescaler (FD data)
 +    data_tseg1=<value>   time segment 1 (FD data)
 +    data_tseg2=<value>   time segment 2 (FD data)
 +    data_sjw=<value>     sync. jump width (FD data).
 +  Examples:
 +    125kbps:1000kbps     f_clock_mhz=80,nom_brp=2,nom_tseg1=255,nom_tseg2=64,nom_sjw=64,data_brp=2,data_tseg1=31,data_tseg2=8,data_sjw=8
 +    250kbps:2000kbps     f_clock_mhz=80,nom_brp=2,nom_tseg1=127,nom_tseg2=32,nom_sjw=32,data_brp=2,data_tseg1=15,data_tseg2=4,data_sjw=4
 +    500kbps:4000kbps     f_clock_mhz=80,nom_brp=2,nom_tseg1=63,nom_tseg2=16,nom_sjw=16,data_brp=2,data_tseg1=7,data_tseg2=2,data_sjw=2
 +    1000kbps:8000kbps    f_clock_mhz=80,nom_brp=2,nom_tseg1=31,nom_tseg2=8,nom_sjw=8,data_brp=2,data_tseg1=3,data_tseg2=1,data_sjw=1
 +    2000kbps:10000kbps   f_clock_mhz=80,nom_brp=1,nom_tseg1=31,nom_tseg2=8,nom_sjw=1,data_brp=2,data_tseg1=2,data_tseg2=1,data_sjw=1
 +
 +==== Summary ====
 +^  can_moni (CAN Monitor using PCAN-USB)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Utilities/can_moni/can_moni.0.5.6.tar.gz|Version 0.5 SR6 Build 1679]] of February 4, 2023  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Utilities/can_moni/can_moni.0.5.6.readme|README]] and program option ''--help''  |
 +^License           |[[http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Utilities/can_moni/LICENSE|UVS Freeware License]] (without warranty or support)  |
 +^Standard(s)       |CAN Specification 2.0 and CAN FD Specification  |
 +^Driver(s)         |[[uvs:programs:pcbusb_library|macOS Library for PCAN-USB Interfaces]] from [[http://www.uv-software.de|UV Software]]  |
 +^Category          |Industrial communication, CAN, CAN FD, MacCAN  |
 +^Operating system  |OS X 10.13 (x86_64), since version 0.5 SR3 macOS 11.0 (x86_64 & arm64)  |
 +^Download server   |[[uvs:programs:can_moni_mac|http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Utilities/can_moni/]]  |
 +
 +
 +===== CAN Monitor App for OS X =====
 +{{http://www.uv-software.de/files/dokuwiki/programs/MacCAN_Monitor_icon.png?96  }}
 +
 +The MacCAN Monitor App is a little demo program to show the functionally of the PCBUSB library: the [[http://www.mac-can.com|macOS Library for PCAN-USB interfaces]].
 +
 +The program displays received CAN messages in a table view; its size is limited to 1024 rows. Furthermore it is possible to send single standard CAN messages with 0 to 8 data bytes.
 +Only PCAN-USB devices from PEAK-System Technik GmbH are supported; and only the first channel of a device. The PCAN-USB interface number is taken from the IO registry. 
 +USB interface and CAN baud rate must be chosen once the program is started; they cannot be changed afterwards.
 +
 +
 +__Please note__: Do not connect your CAN device to a real CAN network when using this program, this might damage your application.
 +
 +
 +==== Summary ====
 +^  MacCAN Monitor App (Demo)  ^^
 +^Developer         |[[uwe.vogt@uv-software.de|Uwe Vogt]]  |
 +^Current version   |[[http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Applications/MacCAN_Monitor_App
 +/MacCAN_Monitor.0.5_uni.dmg|Version 0.5]] of February 4, 2023  |
 +^Documentation     |[[http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Applications/MacCAN_Monitor_App
 +/MacCAN_Monitor.0.5.pdf|Readme]] file and a screen [[http://www.uv-software.de//files/downloads/MacCAN/PCANUSB/Videos/MacCAN_Monitor_App
 +/MacCAN_Monitor.mov|video]]  |
 +^License           |[[https://opensource.org/licenses/BSD-2-Clause|BSD 2-Clause]]  "Simplified" License  |
 +^Source code       |[[https://github.com/mac-can/PCBUSB-Monitor|PCBUSB-Monitor]] repo on GitHub  |
 +^Standard(s)       |CAN Specification 2.0  |
 +^Driver(s)         |[[uvs:programs:pcbusb_library|macOS Library for PCAN-USB Interfaces]] from [[http://www.uv-software.de|UV Software]]  |
 +^Category          |Industrial communication, CAN, [[https://www.mac-can.com/|MacCAN]]  |
 +^Operating system  |OS X 10.13 (x86_64) or macOS 11.x (Universal macOS Binary)  |
 +^Download server   |[[uvs:programs:maccan_monitor_app|http://www.uv-software.de/files/downloads/MacCAN/PCANUSB/Applications/MacCAN_Monitor_App/]]  |
 +^Additional information |PCAN is a registered trademark of [[http://www.peak-system.com/|PEAK-System Technik GmbH]], Darmstadt  |
 +
 +
 +===== CANopen Master Library =====
 +[[http://www.can-cia.org/|{{  http://www.uv-software.de/files/dokuwiki/programs/canopenlogo_web.png?222}}]]
 +**CANopen Master Library in C**
 +
 +[To Be Continued]
 +
 +**Softwarepaket CANopen Master Library für Infineon C16x**
 +  * Initialisierung des on-chip CAN Controllers (82527-kompatibel):
 +    * Baudraten: 10kBit/s bis 1MBit/s (gemäß CiA Bit-timing Tabelle)
 +  * SDO-Protokoll (segmented und expedited, gemäß CiA DS-301 Version 4.0):
 +    * Einfacher Zugriff auf 8-bit, 16-bit und 32-bit Objektwerte (CiA Encoding Rules)
 +    * Einstellbare Time-out Überwachung (bei Time-out wird ein SDO-Abort gesendet)
 +    * Detaillierte Fehlerrückgabe (Kommunikationsfehler bzw. SDO-Abort Codes)
 +  * NMT-Broadcast (Network Management gemäß CiA DS-301 Version 4.0): 
 +    * Start_remote_node
 +    * Stop_remote_node
 +    * Enter_preoperational_state
 +    * Reset_node
 +    * Reset_communication
 +  * LSS-Services (Layer Settings Services gemäß CiA DSP-305 Version 1.0): 
 +    * Switch_mode_global
 +    * Switch_mode_selective
 +    * Configure_node_id
 +    * Configure_bit_timing
 +    * Activate_bit_timing
 +    * Store_configuration
 +    * Inquiry Services
 +  * Baudraten-Detektor und Node-Scanner (***Special Feature by UV Software***):
 +    * Der Baudraten-Detektor erkennt die aktuelle Baudrate des CAN-Netzwerk.
 +    * Der Node-Scanner liefert die Anzahl der angeschlossenen CANopen-Knoten.
 +  * Event-Queue für ereignis-gesteuerte Nachrichtenverarbeitung, z.B. für:
 +    * asynchrone PDOs
 +    * Emergency-Messages
 +    * Heartbeat-Messages
 +  * Zugriff auf CAN Layer 2:
 +    * Transmit Message (z.B. für TxPDOs, SYNC-Objekt, TIME-Objekt)
 +    * Request Message (z.B. für RTR-PDOs, Node-Guarding)
 +  * ASCII-codierte RS-232 Schnittstelle (***Special Feature by UV Software***):
 +    * Zugriff auf das Objektverzeichnis aller angeschlossenen CANopen-Knoten über RS-232
 +    * Syntax in Anlehnung an DriveServer Spezifikation (siehe http://www.DriveCom.org)
 +
 +Das Paket zeichnet sich durch die minimale Verwendung von Mikrocontroller-Ressourcen aus.
 +Die Softwarelibrary liegt auch für Mikrocontroller Infineon XC16x (TwinCan) und Mitsubishi M16C (Renesas) vor.
 +
 +Preise: //auf Anfrage//
 +
 +
 +----
 +^To Be Continued|