Embedded Networking
with CAN and CANopen
Embedded Networking
with CAN and CANopen
Copperhill Technologies Corporation
http://www.copperhillmedia.com
iv
Embedded Networking with CAN and CANopen
by Olaf Pfeiffer, Andrew Ayre and Christian Keydel
Revised First Edition
Published by
Copperhill Technologies Corporation
158 Log Plain Road, Greenfield, MA 01301
http://www.copperhillmedia.com
Formerly published by
RTC Books, San Clemente, CA
Copyright © 2008 the authors, except for Glossary copyright © 2003 CAN in Automa-
tion international users’ and manufacturers’ group. Used by permission.
All rights reserved. No part of the contents of this book may be reproduced or trans-
mitted in any form or by any means without the prior written consent of the authors,
except for the inclusion of brief quotations in a review.
Printed in the United States of America
ISBN 978-0-9765116-2-5
formerly ISBN 0-929392-78-7
First Printing November 2003
Information provided in this publication is derived from various sources, standards,
and analyses. Any errors or omissions shall not imply any liability for direct or indirect
consequences arising from the use of this information. The publisher, authors, and re
-
viewers make no warranty for the correctness or for the use of this information, and
assume no liability for direct or indirect damages of any kind arising from technical in
-
terpretation or technical explanations in this book, for typographical or printing errors,
or for any subsequent changes.
The publisher and authors reserve the right to make changes in this publication with-
out notice and without incurring any liability. All trademarks mentioned in this book
are the property of their respective owners. The publisher has attempted to properly
capitalize and punctuate trademarks, but cannot guarantee that it has done so properly
in every case.
We welcome your comments. Email us at author@canopenbook.com. Errata and clari-
fications will be posted to www.CANopenBook.com.
v
About this Book
“Few things in life are less efficient than a group of people trying to write
a sentence. The advantage of this method is that you end up with
something for which you will not be personally blamed.”
Scott Adams
Being three authors, we divided Embedded Networking with CAN and CANopen into
three parts so that each of us could focus on one of them.
Part One “Using CANopen” (Chapters 1 through 4) by Olaf Pfeiffer focuses on CAN-
open up to the system integrator level. Any technician or engineer that needs to be able
to configure and/or maintain a CANopen network will find the required knowledge to
do so in this part. The last chapter in this part contains a step-by-step example of a net
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work configuration and test cycle.
Part Two “CANopen Engineering” (Chapters 5 and 6) by Christian Keydel is for engi-
neers that either need to have a detailed knowledge of how CAN and CANopen work
or that will be developing their own CANopen devices. Different implementation
methods are introduced and compared with each other.
Part Three “CANopen Reference” (Appendices) by Andrew Ayre is a pure reference
section for all CANopen users. Key elements of CANopen are summarized in a way
that allows for quick look-up. The core of this part is an Object Dictionary reference list
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ing all Object Dictionary entries specified by [CiADS301] and [CiADS302].
In this book we will often use text boxes to provide the reader with additional personal
opinions, recommendations, experiences, goals and objectives. Although not always
critical to the topic under discussion these texts often provide additional insight that
might help the reader better understand how or why something was specified or im
-
plemented.
Be sure to visit the companion website, www.CANopenBook.com for additional re-
sources, examples, downloads and much more.
