The networking standard CANopen does not specify or standardize an application programming interface (API) for accessing the CANopen network protocol stack of CANopen nodes. Most existing CANopen implementations use their own API and as a result once a specific CANopen solution is implemented, there is no easy migration path to port an existing CANopen application to a different CANopen protocol stack. This document describes an open application programming interface (API) for CANopen slave nodes. All CANopen solutions providing this API are interchangeable and allow the developer of a CANopen node to switch between different implementations with different functionality or performance. A CANopen design started based on a basic or minimal CANopen implementation could still be upgraded later. One of the main goals of the API is to hide as many CANopen specific details from the host (application process) as possible. The host only worries about the process data it exchanges with the network. When and how the data is transmitted

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CANopenAPI.pdf

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