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CANopen is a communication protocol for layer 7 (user layer in the ISO/OSI model), which features a high degree of flexibility for configuration and uses CAN as layer 2 transport medium. Originally developed for motion applications, it is now an established protocol in a wide range of application areas, such as medical engineering, naval navigation, railroading and even building automation.


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    CANopen is not a classic master-slave system; instead, it runs with client-server services and follows the producer-consumer principle.
    It provides standardized communication objects: Service Data Objects (SDO) for configuring object directory entries, Process Data Objects (PDO) for transporting real-time data, Network Management objects (NMT) for controlling and monitoring nodes as well as other objects such as synchronization objects, timestamps and emergency telegrams.

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