A Python implementation of the CANopen standard. The aim of the project is to support the most common parts of the CiA 301 standard for a master node wrapped in a Pythonic interface.

The library supports Python 2.7 and 3.3+ and runs on Windows, Linux and Mac.

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

Install from PyPI using pip:

$ pip install canopen

Install from latest master on GitHub:

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

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:

$ python setup.py build_sphinx

This library supports multiple hardware and drivers through the python-can package. At the time of writing this includes:

• SocketCAN on Linux
• Kvaser
• Peak CAN
• IXXAT
• USB2CAN
• NI-CAN

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

Here are some quick examples of what you can do:

import canopen

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

# Add some nodes with corresponding Object Dictionaries
node = network.add_node(6, '/path/to/object_dictionary.eds')
network.add_node(7, '/path/to/object_dictionary.eds')

# Connect to the CAN bus
# Arguments are passed to a python-can bus
# (see https://python-can.readthedocs.io/en/latest/bus.html).
network.connect(channel=0, bustype='kvaser', 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.pdo.read()
# Transmit SYNC every 100 ms
network.sync.start(0.1)

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

# Read a value from Tx PDO 1
node.pdo.tx[1].wait_for_reception()
speed = node.pdo.tx[1]['ApplicationStatus.ActualSpeed'].phys

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

There are a lot of things that still needs implementing and fixing. Pull requests are most welcome!

• More unit test coverage
• Period transmits using python-can cyclic API
• SDO block transfer
• XDD support