CANopen协议基于CAN总线的高层协议,它是为标准的嵌入式网络开发的具有灵活配置能力的开放式协议。CANopen协议起初是为运动设备控制器网络所开发的,诸如加工系统设备,现在已经发展到工业的各个领域如医疗设备、工程机械、潜艇电控系统、公共交通、楼宇自动化系统等。 CANopen预研阶段是1995年在以Bosch公司为首的团队带领下开发的,然后CANopen说明文档 CANopen protocol CAN bus-based high-level protocol, which is developed for the standard embedded network with flexible configuration ability of the open protocol. The CANopen protocol was originally developed for the network of motion controller devices such as processing system equipment and has now evolved into various industrial fields such as medical equipment, construction machinery, submarine control systems, public transportation, building automation systems and more. The CANopen pre-research phase was developed in 1995 under the leadership of Bosch and then the CANopen documentation