CANopen¶

The panel can be the manager of a CANopen bus, and it can be a node on somebody else's. Devices that do not speak CANopen at all share the same wire — see raw CAN.

The panel as manager¶

To be written. Covers: network management, parameter access at start-up, the synchronisation message, and watching each node's heartbeat.

Importing a device¶

To be written. Covers: reading an EDS file, picking objects from the dictionary, and what arrives in the tag table.

Process data¶

To be written. Covers: mapping objects onto tags, and why the transmission type matters. The short version, which will not change: received data is taken in at the top of the cycle and sent at the end of it, never asynchronously — otherwise the timing stops being predictable.

The panel as a node¶

To be written. Covers: what a supervisory system sees, and which tags it may write.

Traps¶

To be written. One is already known and belongs here: parameter access inside the cycle wrecks the timing, so it happens only at start-up.