CANopen

CANopen is the internationally standardized (EN 50325-4) CAN-based higher-layer protocol for embedded control system. The set of CANopen specification comprises the application layer and communication profile as well as application, device, and interface profiles. CANopen provides very flexible configuration capabilities. These specifications are developed and maintained by CiA members.
CANopen networks are used in a very broad range of application fields such as machine control, medical devices, off-road and rail vehicles, maritime electronics, building automation as well as power generation.

CiA’s website provides CANopen technical information dedicated for system designers or for device designers  respectively.