CANopen history
The CANopen application layer and communication profile was originally based on the CAN Application Layer (CAL) specified by CiA. Since version 4.0 of CAL all used CAL definitions have been included in the CANopen specifications.
| 1993: | Pre-development of CANopen within an Esprit project (European information technologies programme) under the chairmanship of Bosch |
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| 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 |
| 1996: | Publication of CiA 301, CANopen application layer and communicaion profile 3.0 |
| 1999: | Publication of CiA 301, CANopen application layer and communicaion profile 4.0 (EN 50325-4) |
| 2006: | Publication of CiA 301, CANopen application layer and communication profile 4.1 (for CiA members only) |
| 2007: | Publication of CiA 301, CANopen application layer and communication profile 4.2 (for CiA members only) |
