As a typical application layer protocol of CAN-bus, CANopen has been widely accepted in many fields. In this paper, CanFestival, which is a kind of open-source CANopen stack, is briefly introduced. The implementation scheme of CANopen slave node is proposed, which is based on a kind of AVR microcontroller-AT90CAN128 and open-source CANopen stack-CanFestival. In this paper the hardware design of slave node and the open-source protocol stack transplant have completed successfully. The debugging experiment of this slave node communication has been carried out, and the correctness of the scheme of hardware design and software transplant is verified by debugging experiment results in this paper.