CANopen Master Source Code

The Configuration Manager has the task of saving parameter sets of the CANopen slaves and distributing them at a certain time to the connected nodes on the network. The time of this distribution can be determined in the following manner:

• When the master is started, a configuration is performed for all nodes that have been entered in the list of assigned slaves and for which a configuration is available.
• If guarding or heartbeat fails, the configuration is initiated again.
• Initiating the configuration of a specific node at any time by the application – for example in order to subsequently configure connected sub-networks.

In this context, the configuration of CANopen devices refers to setting parameters in their object directory. The parameters in question are mainly PDO parameters and mapping information.