To search, Click below search items.


All Published Papers Search Service


A Frame Packing Mechanism Using PDO Communication Service within CANopen


Minkoo Kang, Kiejin Park


Vol. 12  No. 8  pp. 28-34


The utilization of the CANopen-based network needs to be minimized in order to improve the communication performance such as worst-case response time of CANopen messages. To achieve this end, the messages should be packed together as many as possible so that the message frame overhead will be decreased. This paper suggests a frame packing mechanism using an object dictionary (OD) and a process data object (PDO) communication service within CANopen. The performance of this mechanism is evaluated using SAE benchmark data, and from this it is seen that the network utilization of CANopen decreased by about 10% in comparison to the result of the previous research, called ‘piggyback’ mechanism. Furthermore, the worst-case response times of the CANopen messages are similar to or less than the previous research.


CANopen, Controller Area Network (CAN), Network Utilization, Process Data Object (PDO), Worst-Case Response Time (WCRT)