CAN and CANopen

CAN-Bus

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In this eBook the basics of CAN and CANopen will be
described step by step.
The properties of CAN will be shown with some animation and films.

CAN Bus

On a simply example gate-control the tool CANoe from the company
VECTOR will be explained. The tool handling is shown in some films.

To the end CANopen and TT-CAN will be also described.

Basics on bus-systems

Communication
Direct connection
Point-to-Point Interface
Bus-System
Only one can send, all other are listening
Master-driven
Priority-driven
Time-driven
All speak the same language
How fast is allowed to speak?
Transmission medium
Topologies
Central versus local
Serial transmission
Parallel transmission
OSI-layer model

Basics CAN

History
Topologies
Differential mode voltage
Dominant and recessive
Transceiver (Physical Layer)
Bit-Synchronisation
CAN-Controller (Data Link Layer)
The application
The example

CAN protocol

Frame
Start frame
Identifier
Arbitration
Control field
RTR
Standard/Extended
2.0A and 2.0B
Data field
Signals
CRC-field
ACK-field
EOF-field
Acceptance filter
Buffer
Basic- and Full-CAN
NRZ-coding, Bit-Stuffing and Synchronisation
Gross/net datarate
Flash loader

CANoe example

Introduction
CANoe simulation
Start CANoe
3 nodes
Transmission rate
Data base
Signal definition
Signals in data base
Frame definition
Frame definition
Signal assign to the frame
Signals in frame
Environment variables
Environment variables definition
Creating panels
Creating panels
Panels configuration
CAPL programming
CAPL variables
CAPL procedures
Node configuration
CAPL-program for node 1
CAPL-program for node 2
CAPL-program for node 3
Project simulation

Error handling

Introduction
Network management (NM)
Error handling in CAN
CRC-check
Frame-check
ACK-error
Bit-monitoring
Bit-stuffing
Error frame
Error frame
Overload frame
Error isolation
Error counter
Statecharts
Passive Error Frame
Physical errors

CANopen

Fieldbus
Layer 7 applicationlayer
Device profile
Device profile
Object folder
CANopen communication
Master/Slave
Client/Server
Producer/Consumer
PDO
Events
Request
Synchron
SDO
Identifier
The SYNC-Object
The Emergency-Object
Test frame
Network management
The 4 states of NMT
Pre-defined Connection Set
EDS and DCF description files
Conformance test and SIL 3
SAE J1939 and DeviceNet
ProCANopen tool

TTCAN

Introduction
Local time
Global time
Time-triggered frames
Time Triggered CAN
Basic Cycle
Matrix Cycle
Fault-tolerance

END

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Last Update: 22.01.2021

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CAN bus

Controller Area Network

bus-system

Automotive

CANoe

CANopen

communication

Transceiver

Topologie

OSI-Schichtenmodell

Data Link Layer

Frame

Arbitrierung

Transmission rate

CRC

LIN

FlexRay