importcanopen# Start with creating a network representing one CAN busnetwork=canopen.Network()# Add some nodes with corresponding Object Dictionariesnode=canopen.RemoteNode(6,’/path/to/object_dictionary.eds’)network.add_node(node)# Connect to the CAN bus# Arguments are passed to python-can’s can.interface.Bus() constructor# (see https://python-can.readthedocs.io/en/stable/bus.html).network.connect()# network.connect(bustype=’socketcan’, channel=’can0′)# network.connect(bustype=’kvaser’, channel=0, bitrate=250000)# network.connect(bustype=’pcan’, channel=’PCAN_USBBUS1′, bitrate=250000)# network.connect(bustype=’ixxat’, channel=0, bitrate=250000)# network.connect(bustype=’vector’, app_name=’CANalyzer’, channel=0, bitrate=250000)# network.connect(bustype=’nican’, channel=’CAN0′, bitrate=250000)# Read a variable using SDOdevice_name=node.sdo[‘Manufacturer device name’].rawvendor_id=node.sdo[0x1018][1].raw# Write a variable using SDOnode.sdo[‘Producer heartbeat time’].raw=1000# Read PDO configuration from nodenode.tpdo.read()node.rpdo.read()# Re-map TPDO[1]node.tpdo[1].clear()node.tpdo[1].add_variable(‘Statusword’)node.tpdo[1].add_variable(‘Velocity actual value’)node.tpdo[1].add_variable(‘Some group’,’Some subindex’)node.tpdo[1].trans_type=254node.tpdo[1].event_timer=10node.tpdo[1].enabled=True# Save new PDO configuration to nodenode.tpdo[1].save()# Transmit SYNC every 100 msnetwork.sync.start(0.1)# Change state to operational (NMT start)node.nmt.state=’OPERATIONAL’# Read a value from TPDO[1]node.tpdo[1].wait_for_reception()speed=node.tpdo[1][‘Velocity actual value’].physval=node.tpdo[‘Some group.Some subindex’].raw# Disconnect from CAN busnetwork.sync.stop()network.disconnect()