Protocol Stacks

Protocol Stack

CANopen / CANopen FD Slave

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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 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:

Logo CANopen safety - easy to use
Logo CANopen FD - CANopen slave stack
Logo CANopen - CANopen slave stack
CANopen slave protocol stack - API layout
  • Service Data Objects (SDO / USDO Server)
  • Process Data Objects (PDO Consumer & Producer)
  • Network Management (NMT Slave)
  • Emergency Messages (EMCY Consumer & Producer)
  • Synchronization 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.

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.


  • 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)
  • Various add-ons available (device profiles / safety)
  • 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 by download link.

Documentation in English is available at Github.

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

Option Mini-Master

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
  • LSS master: adjustment of bit rates and node ID

Option Safety

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

Fair Partnership policy offers company licence and free support service

Icon Fair partnership MicroControl - CANopen slave stack

Users of MicroControl protocol stacks benefit from 12 months free support from date of purchase. A subsequent optional maintenance agreement will contain automatic updates of the software.

Logo CANopen

To complement the Microcontrol product portfolio, we also offer CANopen workshops, software tools as well as technical advice and support in the development of your CANopen device.

Ordering Information

Item no.
CANopen / CANopen FD Slave Protocol stack

Protocol stack in C99 source code, example programmes, documentation in English, provided by download link

Option Mini-Master for CANopen Slave Protocol stack

The option mini-master extends the functional range of the CANopen slave protocol stack

Option Safety for CANopen Slave Protocol stack

Functional expansion of the API of the CANopen Slave Protocol stack in compliance with the European standard EN50325-5

CANopen Device Profile CiA 401

Device profile for digital and analogue I/O modules

CANopen Device Profile CiA 402

Device profile for drives and motion control

CANopen Device Profile CiA 404

Device profile for sensors and actuators

CANopen Device Profile CiA 406

Device profile for encoders

CANopen Device Profile CiA 410

Device profile for inclinometers

CANopen Application Profile CiA 417

Application profile for lifter control systems

CANopen Device Profile CiA 418

Device profile for batteries

CANopen Device Profile CiA 419

Device profile for charging devices

CANopen Application Profile CiA 437

Application profile for photovoltaic components
CANpie FD Driver

API for the CAN implementation for the respective microcontroller



Datasheet, Rev. L
CANopen / CANopen FD Slave Protocol Stack
PDF [258 KB]

MicroControl Flyer Protocol Stacks
PDF [715 KB]

Any questions?

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