CANopen
CANopen is a standard specified by CAN-in-Automation(CiA), which is based on the CAN bus and uses a subset of the CAN Application Layer( CAL) for communication and network management.
The modeling of the devices is based on the description of the device functions in a device directory. This approach essentially corresponds to the way devices are described in other fieldbuses, such as Interbus or Profibus. Here, the standard devices are specified as device profiles.
CANopen networks provide point-to-point connections for the service data objects( SDO) and multicast connections for the process data objects (PDO). The network management function is initiated by the CANopen Manager.