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CANopen is a can based communication system.

OSI:

CANopen implements network layer and above. Usually uses CAN for data link and physical layer

Limitations of CANopen

CANopen usually operates on CAN for the lower layers which means that datarates can be adjusted from
10kbit/s to 1000kbit/s, but Higher speeds usually limits network length.

Amount of devices are limited to 127 since CANopen divides a 11bit CAN frame into a 4-bit function
code and 7-bit CANopen ID effectively giving us 128 unique IDs where 0 is for broadcast and 127 for
devices. There also exists CAN 2.0B which allows for extended frame ids that are 29 bits.