| 1993: |
Pre-development of CANopen within an Esprit project (European information technologies programme) under the chairmanship of Bosch |
| 1994: |
Publication of the CANopen predecessor CAL-based communication profile version 1.0 |
| 1995: |
Publication of CiA 301, CANopen application layer and communication profile 2.0 (DSP) |
| 1996: |
Publication of CiA 301, CANopen application layer and communicaion profile 3.0 (DS) |
| 1999: |
Publication of CiA 301, CANopen application layer and communicaion profile 4.0 (DS) |
| 2006: |
Publication of CiA 301, CANopen application layer and communication profile 4.1 (DSP) |
