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CANopen / CANopen FD Slave Protocol Stack

The CANopen / CANopen FD slave protocol stack has been optimized for low resource requirements and is, thus, well suited for intelligent sensors and actuators. The CANopen / CANopen FD protocol stack offers the complete functionality for integration of the CANopen standards CiA 301 (FD: CiA 1301) and CiA 305 into your devices. The following CANopen services are supported:

  • Service Data Objects (SDO / USDO Server)
  • Process Data Objects (PDO Consumer / Producer)
  • Network Management (NMT Slave)
  • Emergency Messages (EMCY Consumer / Producer)
  • Synchronisation Messages (SYNC Consumer / Producer)
  • Layer Setting Services (LSS Slave)
  • Time Server (TIME Producer / Consumer


All services can be parameterized during runtime via the application or via the local object dictionary. Users may extend the local object dictionary according to their specific purposes. A variety of device profiles and application profiles are available to complement the protocol stack. Various callback functions can be used to send on messages of the CANopen / CANopen FD protocol stack to the application.


The number of PDOs can be configured within a range from 0 to 32 for Transmit-PDOs (TPDO) as well as for Receive-PDOs (RPDO). For any configuration the pre-defined connection set (CIA 301 / 1301) will be respected automatically. In addition, PDO linking can be disabled for safety-critical applications.


The option Mini-Master adds the following functions to our CANopen slave protocol stack:

  • SDO Client: parameterization of other CANopen slave devices
  • NMT master: change NMT condition of other CANopen slave devices
  • Network Management (NMT)
  • LSS master: adjustment of bit rates and node ID


The option Safety provides an implementation of the European standard EN 50325-5 featuring the following functions:

  • max. 8 SRDOs (SR Data Object)
  • global fail-safe command
  • expansion of the CANopen Slave object dictionary


Versatile configuration options allow individual customization to the target system. Example codes facilitate the startup phase, enabling the user to focus on the implementation of their own application. The open CAN driver (CANpie FD) provides the flexibility to use any CAN controller available on the market.

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  • functional range according to CANopen specification CiA 301 / CANopen FD specification CiA 1301
  • support of Layer Setting Services (LSS, CiA 305)
  • modular software structure with versatile configuration options
  • adjustment to target product without affecting the code structures
  • optimized for low resource requirements (ROM / RAM)
  • broad range of supported CAN controllers
  • consistent interface for the CAN driver (CANpie FD)
  • easy enhancement of object dictionary (vendor specific parameters)
  • miscellaneous add-ons available (device profiles / mini-master)
  • support of network variables (CiA 302-4)
  • bridge function to J1939 protocol software

Scope of delivery

The CANopen / CANopen FD Slave protocol stack will come as C99 source code with a user manual in English (electronic and printed version). The scope of delivery also contains:

  • Site-related company licence, no additional runtime costs
  • 12 months technical support by email or telephone
  • Ready-to-run examples for various demo boards

Supplementary services

As a supplement to our CANopen slave protocol stack we provide CANopen workshops, software tools as well as technical advice and support in the development of your individual CANopen devices. The maintenance and support period may be extended if desired.

Ordering information

Order Number


50.01.020 CANopen / CANopen FD slave protocol stack
Protocol stack as C source code, example programs, documentation in english language, provided by download link
50.01.030 Option Mini-Master
Support NMT Master, SDO-Client and LSS Master, in C source code
50.01.031 Option Safety for CANopen Slave protocol stack
Funktional expansion of the object dictionary of the CANopen Slave protocol stack according to European standard EN50325-5
50.09.401 CANopen Device Profile CiA 401
Device profile for digital and analogue i/O modules
50.09.402 CANopen device profile CiA 402
Device profile for drives
50.09.404 CANopen device profile CiA 404
Device profiles for sensores and actuators
50.09.406 CANopen device profile CiA 406
Device profile for encoders
50.09.410 CANopen device profile CiA 410
Device profile for inclinometer
50.09.417 CANopen Application Profile CiA 417
Application profile for lift control systems
50.09.418 CANopen Device Profile CiA 418
Device profile for batteries
50.09.419 CANopen Device Profile CiA 419
Device profile for charging devices
50.09.437 CANopen Application Profile CiA 437
Application profile for photovoltaic components
50.10.zzz CANpie FD driver
API for CAN implementation for the respective microcontroller

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