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CANopen stack implementation

Project description

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 3.6+.


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

If you want to be able to change the code while using it, clone it then install it in develop mode:

$ git clone
$ cd canopen
$ pip install -e .

Unit tests can be run using the pytest framework:

$ pip install pytest
$ pytest -v


Documentation can be found on Read the Docs:

It can also be generated from a local clone using Sphinx:

$ python build_sphinx

Hardware support

This library supports multiple hardware and drivers through the python-can package. See the list of supported devices.

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

Quick start

Here are some quick examples of what you can do:

The PDOs can be access by three forms:

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

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

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

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

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')

# Connect to the CAN bus
# Arguments are passed to python-can's can.Bus() constructor
# (see
# network.connect(bustype='socketcan', channel='can0')
# network.connect(bustype='kvaser', channel=0, bitrate=250000)
# network.connect(bustype='pcan', channel='PCAN_USBBUS1', bitrate=250000)
# network.connect(bustype='ixxat', channel=0, bitrate=250000)
# network.connect(bustype='vector', app_name='CANalyzer', channel=0, bitrate=250000)
# network.connect(bustype='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
# Re-map TPDO[1]
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

# Transmit SYNC every 100 ms

# Change state to operational (NMT start)
node.nmt.state = 'OPERATIONAL'

# Read a value from TPDO[1]
speed = node.tpdo[1]['Velocity actual value'].phys
val = node.tpdo['Some group.Some subindex'].raw

# Disconnect from CAN bus


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

import logging

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