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CANopen Master Protocol Stack

Software package for development of CANopen master devices.

SKU 50.02.003 Category

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The CANopen master protocol stack offers a variety of configuration options and forms the basis for controlling and monitoring complex CANopen networks. The protocol stack provides complete functionality for integration of the CANopen standards CiA 301, CiA 302 and CiA305 into control systems.

Implementation supports the following CANopen services:

  • Service Data Objects (SDOs), Client and Server
  • Process Data Objects (PDOs)
  • Network Management (NMT)
  • Emergency Messages (EMCY)
  • Synchronisation Messages (SYNC)
  • Layer Setting Services (LSS)


All services can be parameterized during runtime via the application or via the local object dictionary. You may extend the local object dictionary according to your specific purposes.

Versatile configuration options allow individual customization to the target system. In addition to the maximum number of supported PDOs, you may also adjust the number of SDO–client connections as well as multichannel support, thus adapting the use of resources (RAM/ROM) in an optimum way to the target application prerequisites.

Example codes facilitate the start-up phase, enabling the user to focus on the implementation of their own application. A consistent driver interface provides the flexibility to use any CAN controller available on the market.

The optional Safety added-on (SKU: 50.02.031) provides an implementation of the European standard EN 50325-5 featuring the following functions:

  • max. 64 SRDOs (SR Data Object)
  • global fail-safe command
  • Expansion of the CANopen Master APIs


Product Features

  • CANopen services according to CiA 301
  • network management in compliance with CiA 302
  • layer setting services according to CiA 305
  • multichannel support (1 to 250 CAN channels)
  • number of client SDOs individually adjustable (1 to 127)
  • number of PDOs individually adjustable (0 to 512 RPDO / TPDO)
  • local object dictionary (expandable)
  • optional CANopen Safety Add-on available
  • broad range of supported CAN controllers (CANpie)


The CANopen Master protocol stack will come as ANSI-C source code with a user manual in English (provided by download link). 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
CANopen Master Protocol Stack
Communication Profile CiA 301, version 4.1, CiA 1301
CiA 302
CiA 305
NMT Master Boot up message
Heartbeat producer / consumer
SDO Client Expedited upload / download
Segmented upload / download
Block upload / download
PDO Handler Assignment of PDO data to a process image
Support for Standard / Extended Frames
Static / Dynamic mapping
CANopen Services Emergency Messages
Synchronisation Message (SYNC consumer / producer)
Layer Setting Services (CiA 305, LSS)
Miscellaneous LED Status Information
Parameter Store / Restore
CAN Driver CANpie FD, available for a wide range of CAN controllers
(refer to separate specifications)
CANopen and CANopen FD Master Protocol Stack Specifications CANopen and CANopen FD Master Protocol Stack Specifications

CANopen Master Protocol Stack User Manual CANopen Master Protocol Stack User Manual

Protocol Stacks CANopen, J1939 Brochure Protocol Stacks CANopen, J1939 Brochure

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