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openPOWERLINK
An open-source POWERLINK protocol stack

Features supported by openPOWERLINK

openPOWERLINK can be used to implement both, Managing Node (MN) and Controlled Node (CN) functionality.

Protocol features

The following protocol features are supported by the stack:
Feature Available options
Modes of operation Standard Node, Multiplexed Node (only CN), PollResponse Chaining Node, Async-only Node
SDO protocol       SDO/ASnd, SDO/UDP
PDO mapping         static mapping, dynamic mapping
Object Dictionary   User-configurable (at compile-time)
Extensions         High Availability, Multiple ASnd, Modular Device

Also have a look at the Roadmap to get an overview of planned and upcoming new features!

Implementation features

The implementation offers the following features:
  • Provides Generic API for user-application
  • Event driven Communication Abstraction Layer
  • Platform independent implementation
  • Supports target platforms with and without operating system
  • Modular software structure for simple portability to different target platforms
  • Implemented in ANSI C-89
  • BSD license

Accordance to specifications

The openPOWERLINK stack is implemented according to the following specifications:
Specification Title                                     According to version
EPSG 301       Communication Profile Specification       DS 1.3.0
EPSG 302-A     Extension Part A: High Availability       DS 1.1.0
EPSG 302-B     Extension Part B: Multiple-ASnd           DS 1.1.0 (CN only)
EPSG 302-C     Extension Part C: PollResponse Chaining   DS 1.1.0
EPSG 302-D     Extension Part D: Multiple PReq/PRes       not implemented
EPSG 302-E     Extension Part E: Dynamic Node Allocation not implemented
EPSG 302-F     Extension Part F: Modular Device           DS 1.0.0