UK Supplier of Data Acquisition & Thermal Imaging systems, software and services

CANopen Slave Protocol Stack

Manufacturer: Microcontrol GmbH

The CANopen slave protocol stack has been optimised for low resource requirements and is, thus, well suited for intelligent sensors and actuators.

The CANopen protocol stack offers the complete functionality for integration of the CANopen standards CiA 301 and CiA 305 into your devices.

The following CANopen services are supported:

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


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 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) will be respected automatically. In addition, PDO linking can be disabled for safety-critical applications.


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
  • Network Management (NMT)
  • LSS master: adjustment of bit rates and node ID


Versatile configuration options allow individual customisation 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) provides the flexibility to use any CAN controller available on the market.



  • Complete functionality according to CANopen specification CiA 301
  • 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)
  • Easy enhancement of object dictionary (vendor specific parameters)
  • Miscellaneous add-ons available (device profiles / mini-master)

Scope of delivery

  • CANopen slave protocol stack in ANSI-C source code
  • Ready-to-run examples for various demo boards
  • Manual in English (electronic and printed version)
  • Site-related company licence without any additional runtime costs
  • 12 months technical support by email or telephone



 CANopen Slave Protocol Stack
Communication ProfileCiA 301, version 4.1 
device profiles as optional add-on available
NMT MasterBoot up message
Heartbeat producer / consumer
SDO ClientExpedited upload / download
Segmented upload / download
Block upload / download
PDO HandlerPre-defined connection set for 4 transmit / receive PDOs
Support for standard / extended frames
Static / variable PDO mapping
CANopen ServicesEmergency message upon error conditions (EMCY handler)
Synchronisation message (SYNC consumer / producer)
Layer Setting Services (CiA 305, LSS)
Special FunctionsLED status information
Parameter store / restore
OptionsMini master (NMT Master, SDO Client)
Device profiles (CiA 401, CiA 402, CiA 404, CiA 406, CiA 418, CiA 419, etc.)
CAN driverCANpie, available for a wide range of CAN controllers (refer to separate datasheet)
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