Abstract
The author deals with the problem of information flow management in a CANOpen network. CAN ISO IS-11898 physical medium access mechanism. adopted in CANOpen, features an arbitration protocol based on an identifier assigned to each message to be transmitted. The lack of a centralised scheduling for the identifier assignments in CANOpen does not allow achieving any guarantee to meet the deadlines of time-critical messages. The aim of the paper is to propose a protocol for dynamic and centralised assignment of identifiers to each message to be transmitted, in such a way that its transmission requirements are fulfilled. The main features of the protocol proposed are the operational flexibility it offers and full compatibility with the CANOpen standard.
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