CANopen Bus Protocol Stack

CANopen is a communication protocol stack and device configuration profile specification used in embedded systems for automation. In terms of the OSI model, CANopen implements the above layers, including the network layer. The CANopen standard consists of an addressing scheme, several small communication protocols, and an application layer defined by device configuration profiles. The communication protocols support network management, device monitoring, and communication between nodes, including a simple transport layer for message segmentation/reassembly. The lower layer protocols that implement the data link and physical layers are typically Controller Area Network (CAN), although devices using certain other communication methods (such as Ethernet Powerlink, EtherCAT) can also implement CANopen device configuration profiles. The basic CANopen device and communication configuration profiles are provided in the CiA 301 specification published by CAN in Automation. Configuration profiles for more specialized devices are built on this basic profile and are specified in many other standards published by CAN in Automation, such as CiA 401 for I/O modules and CiA 402 for motion control of I/O modules. (Copied from Wikipedia)

Official website of CAN in Automation:

https://www.can-cia.org/

Open Source Projects:

There are two well-known open source projects: CANopenNode and Canfestival, and here are two other open source protocol stacks.

1. CANopenNode

https://github.com/CANopenNode/CANopenNode

2. Canfestival

https://hg.beremiz.org/canfestival

3. Free CANopen Stack

https://gitee.com/zdevt/canopen-stack

4. Lely Core

A CANopen protocol stack that has passed aerospace-grade ECCS criticality B pre-qualified review.

https://canopen.space/#download

Learning Recommendations:

1. Learning the CANopen protocol stack or based on Canfestival is recommended by UP, A-Tong GXT.

https://space.bilibili.com/122339138

2. For the porting of CANopenNode, check out the Hard Man Embedded:

https://www.bilibili.com/video/BV1Vw411w7Dd/?spm_id_from=333.788&vd_source=1f88f15c4a8c95c1d720fa4c6218bc54

3. For the usage of CANopen in servo drives, I recommend Zhou Gong’s Bilibili, Xinflo Servo.

https://space.bilibili.com/401610170

The accompanying FlowCAN is also excellent, and the related product’s FlowServo_CANOPEN manual has received good reviews.

Documentation:

  1. Protocol Document
CANopen Bus Protocol Stack
  1. Manufacturer’s Manual for Servo
CANopen Bus Protocol Stack

If you need documentation, you can reply “canopen” to the public account or add me as a friend to share.

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