1. Schutzvermerk nach DIN 34 beachten CiA-Device object

2. Schutzvermerk nach DIN 34 beachten Germany Honeywell Allen Bradley France CANopenSDSDevice NetSub MMS CMS similar MMS NMT DBT L7 L2 L1 ISO / DIS 11519-1 ISO / DIS 11898, 9141 4 different, incompatible Layer 7 specifications Application layer

3. Schutzvermerk nach DIN 34 beachten Model of a CAN node Application (z.B.measure temp.) Object list (Data, Configuration) CAN- Communication (data protocols) CAN Process data objects Service daten objects PDO-Protocols SDO-Protocols Sync-Protocols etc.

4. Schutzvermerk nach DIN 34 beachten CAN and CANopen: Process data objects (PDO) CAN CANopen CAN CANopen Producer Consumer PDO CANPDO CANopen PDO

5. Schutzvermerk nach DIN 34 beachten Identifier Data Process DataObject 17 4 197 6 19 1044 6, 7, 99 Receive-Filter list Broadcast 4, 8 4, 16 11, 17 Station 1Station 2 Station 3Station 4 All stations monitor the line for messages with identifiers contained in their receive list CSMA/CA: Object orientated addressing =PDO

6. Schutzvermerk nach DIN 34 beachten SOFIdentifier ControlDATACRCHCKEOFRTR 8 ByteHD 6 10 9 8 7 6 5 4 3 2 1 0 Station 1 Station 2 Station 3 Station 2 wants to set HIGH, other still pull to LOW -> good-bye Station 2 ! Station 1 wants to remain on HIGH signal, Station 3 pulls signal to LOW -> Station 1 is out of the game !..and the winner is: Station 3 1 1 0 1 0 0 1 1 1 1 1 (1695 dez.) 1 1 0 1 0 1 1 1 1 1 1 (1727 dez.) 1 1 0 1 0 0 1 0 1 1 0 (1686 dez.) The lowest Identifier wins... All Stations send and listen simultaneously... Bus access with CSMA/CA (Dominant / Recessive)