CANopen 协议不针对某种特别的应用对象，具有较高的配置灵活性，高数据传输能力，较低的实现复杂度。同时，CANopen 完全基于CAN 标准报文格式，而无需扩展报文的支持，最多支持127个节点，并且协议开源-CANopen protocol does for some particular application object, with high configuration flexibility, high data transmission capacity, low implementation complexity. Meanwhile, CANopen based entirely on standard CAN message format, without the need for extended support messages, supports up to 127 nodes, and the protocol of open source