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ISIT CANopen Safety Stack

ISIT’s CANopen Safety stack adds Safety Extensions compliant to CiA 304 (EN50325-4) to meet the Safety requirements of CANopen applications.

ISIT also offers 2 other versions of its CANopen stack:

CANopen Safety

CANopen Safety is an extension of the widely proven CANopen standard protocol (EN50325-4). CANopen security has been specified by the CAN in Automation association (CiA) under the name of DS304 and transferred to standard EN50325-5. It therefore provides the user with a standardized protocol which allows him to transfer information or proces data in complete functional safety.

This is done using SRDO (Safety Relevant Data Objects). Thanks to the definition of SRDOs, it is possible to transmit secure and unsafe information via the same CAN medium. Therefore, safety functions can be integrated into existing systems.


Based on its “standard” CANopen protocol stack, ISIT offers a “Safety” extension for the development of CANopen devices, demanding in terms of operational safety, compliant with the CiA 304 standard (CANopen Framework for safety relevant communication). This Safety extension provides all the services and functionalities for designing CANopen devices with safety constraints, and has already proven itself in many industrial applications.

Features and Benefits

  • Compliant with the safety extension of CANopen (CiA 304)
  • OS and CPU independent architecture
  • Delivery in binary or source code

SRDOs allow reliable transmission of process data, as opposed to PDOs which cannot guarantee a sufficient level of confidence. To meet safety requirements, SRDOs have special features and transmission behavior. A SRDO consists of two CAN (redundancy) messages, which are transmitted cyclically, with inverted data content, a different CAN identifier, and strict transmission timing. On the consumer side, the SRDOs are monitored and controlled with regard to their transmission time, sequence order and data consistency.

The SRDO add-on module therefore includes a special extension module for monitoring CANopen device messages (which is part of the CANopen configuration suite) and their transmission, as well as an adapted CAN driver, all linked to an interface for configuration. consistent events and data objects relevant to the security of a CANopen device.

In some application cases, the use of the Safety extension is not sufficient, especially if the final application must receive certification for an official safety standard (eg IEC61508, ISO13849, ISO25119 or DO178). ISIT therefore offers a certified version of its CANopen Safety Stack

Functions overview

  • Master & Slave
  • SDO : Client/serveur in expedited mode
  • PDO Rx/Tx : Mapping statique
  • SYNC
  • EMCY
  • SRDO : Safety producer / consumer – Static Mapping
  • Dictionnaire d’objets :
    • Independent and editable before use
    • Source code generation from EDS file


Upon request, ISIT can adapt the stack onto a specific system and perform the necessary test sets to approach the certification process with confidence.

Content of the delivery

  • CANopen Safety stack: Software provided in the form of source code for the stack and the driver
  • Usage and certification documentation:
  • Safety manual (optional)
    • User manual
    • Support and maintenance included for 90 days

Additional services

  • Trainings on CAN/CANopen
  • Operating System and CPU porting
  • Integration with customer application
  • Application development