CANopen Specification


The CANopen specifications can be obtained from the home page of CiA. e.V.
The most important specification documents are:

  • DS 301 - This document is also known as the Communication profile and it describes the fundamental services and protocols used under CANopen.
  • DS 302 - Framework for programmable devices (CANopen Manager, SDO Manager)

Information on cables and connectors is contained in DR 303-3.

The behaviors of many device classes are already defined under CANopen in so-called device profiles (DS 4xx). These profiles describe:

  • Run-time behavior
  • Device-specific objects in the object directory
  • Error handling
  • Standard configuration of PDOs