CANopen / CANopen FD Stack Features Comparison

Service	Basic Slave	Master/Slave	Manager
SDO Server	2	128	128
SDO Client		128	128
SDO expedited/segmented/block	●/●/-	●/●/●	●/●/●
USDO Server (CANopen FD only)	2 sessions	unlimited	unlimited
USDO Client (CANopen FD only)		unlimited	unlimited
PDO Producer	32	512	512
PDO Consumer	32	512	512
PDO Mapping	static	static/dynamic	static/dynamic
MPDO Dest Mode		●	●
MPDO Src. Mode		●	●
SYNC Producer		●	●
SYNC Consumer	●	●	●
Time Producer		●	●
Time Consumer		●	●
Emergency Producer	●	●	●
Emergency Consumer		127	127
Guarding Master			●
Guarding Slave	●	●	●
Bootup Handling		●	●
Heartbeat Producer	●	●	●
Heartbeat Consumer	1	127	127
NMT Master function		●	●
NMT Slave	●	●	●
LED CiA-303	●	●	●
LSS CiA-305	●	●	●
SDO Requester (SRD) CiA-302-5		○	●
CANopen Router CiA-302-7		○	○
Master Bootup CiA 302			●
Configuration Manager			●
Flying Master		○	●
Redundancy		○	○
Safety (SRDO)	○	○	○
Multiline	○	○	○
ISO-TP Client		●	●
ISO-TP Server	●	●	●
C#-API-Wrapper für Windows		○	○

CANopen Profile
CiA 401 (U8/INT16)	○	○	○
CiA 402	○	○	○
CiA 404	○	○	○
CiA 406	○	○	○
CiA 413	○	○	○
CiA 418	○	○	○
CiA 419	○	○	○
CiA 437	○	○	○
CiA 443	○	○	○
CiA 447	○	○	○
CiA 454	○	○	○