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Visitor Address: Holderäckerstr. 36

70499 Stuttgart

Allemagne

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Fax: +49 711 80670-111

E-mail:

Address for Deliveries:
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Germany

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Borsteler Bogen 27

Hamburg

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Frankfurter Str. 286

38122 Braunschweig

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Vector Consulting Services GmbH

Ingersheimer Str. 20

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Postal address:
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Otto-Hahn-Str. 20

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Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

70499 Stuttgart

Allemagne

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Technical Sales Embedded Software and AUTOSAR

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Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

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Business hours: Monday to Friday from 8:30 am to 5:00 pm (CET/CEST).

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Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

70499 Stuttgart

Allemagne

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Vector Informatik GmbH

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Vector Informatik GmbH

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70499 Stuttgart

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Vector Informatik GmbH

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70499 Stuttgart

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Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

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Your contact:
Katja Hahmann
Manager Customer Projects for CANoe and automated Test Systems

Vector Informatik GmbH

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Vector North America

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Vector North America

39500 Orchard Hill Place
Suite 500

Novi, Michigan 48375

USA

Téléphone: +1 248 449 9290 Option 1

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Vector North America

39500 Orchard Hill Place
Suite 500

Novi, Michigan 48375

USA

Téléphone: +1 248 449 9290 Option 2

Fax: +1 248 449-9704

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2480 Regents Court
The Crescent
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West Midlands B37 7YE

Royaume-Uni

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VAT No.: GB 941 2528 36
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Vector GB Ltd.

2480 Regents Court
The Crescent
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West Midlands B37 7YE

Royaume-Uni

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Vector GB Ltd.

2480 Regents Court
The Crescent
Birmingham Business Park

West Midlands B37 7YE

Royaume-Uni

Téléphone: +44 121 788 7901

Fax: --

E-mail:

Vector GB Ltd.

2480 Regents Court
The Crescent
Birmingham Business Park

West Midlands B37 7YE

Royaume-Uni

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Fax: --

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Seafort Square Center Bldg.
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Global Gate,
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Aichi, 453-6110

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Fax: --

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Vector Japan Co. Ltd.

東京都品川区東品川2-3-12 シーフォートスクエア センタービル

〒140-0002

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愛知県名古屋市中村区平池町4-60-12 グローバルゲート

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Vector Japan Co. Ltd.

Seafort Square Center Bldg.
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Tokyo 140-0002

Japon

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Fax: +81 3 4586 1830

E-mail:

Vector Japan Co. Ltd.

Tokyo Seafort Square Center Building
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Tokyo 140-0002

Japon

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Fax: +81 3 4586 1830

E-mail:

Online: https://portal.vector.com

Please refer to the following for reception hours:
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Vector Japan Co. Ltd.

Seafort Square Center Bldg.
2-3-12 Higashi-shinagawa, Shinagawa-ku

Tokyo 140-0002

Japon

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Fax: +81 3 4586 1830

E-mail:

Vector Japan Co.Ltd...

Seafort Square Center Bldg.
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Tokyo 140-0002

Japon

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Fax: +81 3 4586 1830

E-mail:

Vector Automotive Technology (Shanghai) Co., Ltd.

Sunyoung Center
Room 2701-2703, No.398 Jiang Su Road
Changning District

Shanghai 200050

Chine

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E-mail:

Vector Automotive Technology (Shanghai) Co., Ltd.

801, 8th Floor, Indigo Plaza,
No.20 Jiuxianqiao Road,
Chaoyang District

Beijing 100016

Chine

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Vector Automotive Technology (Shanghai) Co., Ltd.

Sunyoung Center
Room 2701-2703, No.398 Jiang Su Road
Changning District

Shanghai 200050

Chine

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E-mail:

Vector Automotive Technology (Shanghai) Co., Ltd.

Sunyoung Center
Room 2701-2703, No.398 Jiang Su Road
Changning District

Shanghai 200050

Chine

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E-mail:

Vector Automotive Technology (Shanghai) Co., Ltd.

Sunyoung Center
Room 2701-2703, No.398 Jiang Su Road
Changning District

Shanghai 200050

Chine

Téléphone: +86 21 2283 4688

E-mail:

Vector Automotive Technology (Shanghai) Co., Ltd.

Sunyoung Center
Room 2701-2703, No.398 Jiang Su Road
Changning District

Shanghai 200050

Chine

Téléphone: +86 21 2283 4688

E-mail:

Vector Automotive Technology (Shanghai) Co., Ltd.

Room 1008, Galaxy Development Building, No. 18, Zhongxin 5th Road
Futian District

Shenzhen 518048

Chine

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Vector Korea IT Inc.

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69, Hangang-daero, Yongsan-gu

Seoul 04378

Corée

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Fax: +82 2 807 0601

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Vector Korea IT Inc.

9F, Yongsan Prugio Summit Office-dong,
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Seoul 04378

Corée

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Fax: +82 2 807 0601

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Vector Korea IT Inc.

용산구 한강대로 69 용산 푸르지오 써밋 업무동 9층

서울 04378

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Fax: +82 2 807 0601

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Vector Korea IT Inc.

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Seoul 04378

Corée

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Fax: +82 2 807 0601

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Vector Korea IT Inc.

602, Yongsan Prugio Summit Office-dong

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Corée

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Vector Italia s.r.l.

Corso Sempione 68

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Fax: +39 02678171 35

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Vector Italia s.r.l.

Corso Sempione 68

20154 Milano

Italie

Téléphone: +39 02678171 70

Fax: +39 02678171 35

E-mail:

Business hours: Monday to Friday from 9:00 am to 6:00 pm (CET/CEST).

Online: https://portal.vector.com

Vector Italia s.r.l.

Corso Sempione 68

20154 Milano

Italie

Téléphone: +39 02678171 10

Fax: +39 02678171 35

E-mail:

Vector Italia s.r.l.

Corso Sempione 68

20154 Milano

Italie

Téléphone: +39 02678171 10

E-mail:

Vector Informática Brasil Ltda.

Rua Verbo Divino 1488, 3º andar

4719-904 São Paulo - SP

Brésil

Téléphone: +55 11 5180 2350

Fax: +55 11 5181 7013

E-mail:

Vector Informática Brasil Ltda.

Rua Verbo Divino 1488, 3º andar

4719-904 São Paulo - SP

Brésil

Téléphone: +55 11 5180 2350

Fax: +55 11 5181 7013

E-mail:

Vector Informática Brasil Ltda.

Rua Verbo Divino 1488, 3º andar

4719-904 São Paulo - SP

Brésil

Téléphone: +55 11 5180 2351

Fax: +55 11 5181 7014

E-mail:

Vector Informática Brasil Ltda.

Rua Verbo Divino 1488, 3º andar

4719-904 São Paulo - SP

Brésil

Téléphone: +55 11 5180 2350

E-mail:

Vector North America

1351 South County Trail, Suite 310

East Greenwich, RI 02818

USA

Téléphone: +1 401 398 7185

E-mail:

Development software testing
Operational sales non-automotive
 

Vector North America

1351 South County Trail, Suite 310

East Greenwich, RI 02818

USA

Téléphone: +1 401 398 7185

E-mail:

Vector North America

1351 South County Trail, Suite 310

East Greenwich, RI 02818

USA

Téléphone: +1 401 398 7185

E-mail:

Vector France S.A.S.

106 avenue Marx Dormoy

92120 Montrouge

France

Téléphone: +33 1 73 28 42 00

E-mail:

Vector France S.A.S.

106 avenue Marx Dormoy

92120 Montrouge

France

Téléphone: +33 1 73 28 42 00

E-mail:

Vector France S.A.S.

106 avenue Marx Dormoy

92120 Montrouge

France

Téléphone: +33 1 73 28 42 42

E-mail:

Vector France S.A.S.

9 rue Matabiau

31000 Toulouse

France

Téléphone: +33 170 952 200

E-mail:

Squoring Technologies SAS

9 Rue Matabiau

31000 Toulouse

France

Téléphone: +33 170 952 200

E-mail:

Vector France S.A.S.

106 avenue Marx Dormoy

92120 Montrouge

France

Téléphone: +33 1 73 28 42 00

E-mail:

Vector Informatik India Pvt. Ltd.

No 11-14, 5th & 6th floor, Tara Heights,
Old Mumbai Pune Road, Wakadewadi

Shivaji Nagar, Pune 411003

Inde

Téléphone: +91 20 6634 6600

E-mail:

Vector Informatik India Pvt. Ltd.

No 11-14, 5th & 6th floor, Tara Heights,
Old Mumbai Pune Road, Wakadewadi

Shivaji Nagar, Pune 411003

Inde

Téléphone: +91 20 6634 6600

E-mail:

Vector Informatik India Pvt. Ltd.

No 11-14, 5th & 6th floor, Tara Heights,
Old Mumbai Pune Road, Wakadewadi

Shivaji Nagar, Pune 411003

Inde

Téléphone: +91 20 6634 6634

E-mail:

Vector Informatik India Pvt. Ltd. – Bengaluru office

Kalyani Solitaire 2nd & 3rd Floor
No.165/2, Krishna Raju Layout
Doraisanipalya, Off Bannerghatta Road

Bengaluru 560076

Inde

Téléphone: +91 80 6822 9600

E-mail:

Vector Informatik India Pvt. Ltd.

No 11-14, 5th & 6th floor, Tara Heights,
Old Mumbai Pune Road, Wakadewadi

Shivaji Nagar, Pune 411003

Inde

Téléphone: +91 20 6634 6600

E-mail:

VecScan AB

Theres Svenssons Gata 9

417 55 Gothenburg

Suède

Téléphone: +46 31 764 76 00

Fax: +46 31 764 76 19

E-mail:

VecScan AB

Theres Svenssons Gata 9

417 55 Gothenburg

Suède

Téléphone: +46 31 764 76 00

Fax: +46 31 764 76 19

E-mail:

VecScan AB

Theres Svenssons Gata 9

417 55 Gothenburg

Suède

Téléphone: +46 31 764 76 00

Fax: +46 31 764 76 19

E-mail:

VecScan AB

Theres Svenssons Gata 9

417 55 Gothenburg

Suède

Téléphone: +46 31 764 76 00

Fax: +46 31 764 76 19

E-mail:

VecScan AB

Teknikringen 9

SE-583 30 Linköping

Suède

Téléphone: +46 (0)13–560 18 14

Fax: +46 31 764 76 19

E-mail:

Vector North America

66 Bovet Road, Suite 300

San Mateo, CA 94402

USA

Vector North America

66 Bovet Road, Suite 300

San Mateo, CA 94402

USA

Vector North America

66 Bovet Road, Suite 300

San Mateo, CA 94402

USA

Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

70499 Stuttgart

Allemagne

Téléphone: +49 711 80670-0

E-mail:

Address for Deliveries:
Motorstr. 56
70499 Stuttgart
Germany

Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

70499 Stuttgart

Allemagne

Téléphone: +49 711 80670 200

E-mail:

Business hours: Monday to Friday from 8:30 am to 5:00 pm (CET/CEST).

Online: https://portal.vector.com

Vector Informatik GmbH

Visitor Address: Holderäckerstr. 36

70499 Stuttgart

Allemagne

Téléphone: +49 711 80670 500

E-mail:

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CANopen

CAN-based Communication System

CANopen - Higher-Layer CAN Protocol

CANopen is a "Layer 7" CAN protocol that defines communication and device functions for CAN-based systems. CANopen is a standardized, highly flexible, and highly configurable embedded network architecture used in industries such as Railway, Medical, Industrial, Agriculture, Heavy Truck & Bus, Marine, Off-Highway, Factory Automation, Aerospace.  CANopen is also becoming a popular choice for closed, company-specific embedded networks. 

The CANopen profile family specifies standardized communication mechanisms and device functionalities. The CANopen Standard is maintained by "CAN in Automation (CiA) International Users and Manufacturers Group" and can be implemented without a license.

Advantages

  • Open architecture
  • Real-time transfer of process data without protocol overhead
  • Modular and scalable
  • Interoperability and interchangeability
  • Profile concept similar to Interbus-S and Profibus
  • Supported by many international manufacturers

Fundamentals

CANopen Standard

The framework of this standard was developed as part of a project funded by the European Union. In 1995 the specifications that had been created up to that point were transferred to the organization CiA e.V. (CAN in Automation). Since then the standard has been maintained and further developed under the auspices of this CAN user organization. Since 2002 it has been available as a European standard (EN 50325-4 2002 Part 4: CANopen).

CANopen Device Structure

The CANopen standard describes the exchange of data in a CAN-based network. This standard defines both the fundamental communication mechanisms (communication profile) and the functionalities of communicating devices (device profile). This means that interpretation of process data that are transmitted over the bus are also defined under CANopen.

CANopen Device Model
Object Directory
Communication Principles
Network Structure

Object Directory

Every CANopen device makes internal data (process data, parameters) available on the bus via a defined interface, whereby these internal data are organized in an object directory. Entries in the object directory are accessed via a 16-bit index and supplemental 8-bit sub-index. The index range is subdivided into logical segments to organize the structure so that it easier to comprehend by users. The name of a device, for example, can be read from index 0x1008 (sub-Index 0).
 

Index (hex)

Object

0000

not used

0001-025F

Data Types

0260-0FFF

Reserved for further use

1000-1FFF

Communication Profile Area

2000-5FFF

Manufacturer Specific Profile Area

6000-9FFF

Standardized Device Profile Area

A000-AFFF

Network variable area

B000-BFFF

System variable area

C000-CFFF

Reserved for further use

 

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Communication Principles

There are two fundamental types of communication on a CANopen bus.

SDO

Service data objects (SDO) permit optional access to any desired entry of the object directory. Since these entries frequently exceed the maximum allowable size of a CAN message, i.e. 8 bytes, segmenting of data is performed by the SDO. The SDO server provides access to its object dictionary to an SDO client. The client can upload (read) or download (write) data from / to the server.

PDO

If information is sent cyclically to one or more devices, the use of Process Data Objects (PDO) is appropriate. In principle, a PDO is a CAN message that is fully configurable. Each CANopen device can have multiple transmit and receive PDOs. PDOs are configured with the corresponding entries in the object directory. These special entries allow changing the CAN ID as well as mapping bytes of the message to objects of the object dictionary.

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Network Structure

Up to 127 logical devices may be addressed in a CANopen network. One of these devices must have CANopen Master functionality. This means that the Master can monitor other devices called Slaves and change their states. Each device is uniquely identified by its node address (1 to 127).

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Specification

CANopen Documents

The CANopen specifications can be obtained from the home page of CiA. e.V.
The most important specification documents are:

  • DS 301 - This document is also known as the Communication profile and it describes the fundamental services and protocols used under CANopen.
  • DS 302 - Framework for programmable devices (CANopen Manager, SDO Manager)

Information on cables and connectors is contained in DR 303-3.


The behaviors of many device classes are already defined under CANopen in so-called device profiles (DS 4xx). These profiles describe:

  • Run-time behavior
  • Device-specific objects in the object directory
  • Error handling
  • Standard configuration of PDOs

CANopen Development Process

0
1
2
3
4
5
6
7
Find out how the tools can support you comprehensively throughout the development process here.
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CANopen devices are selected based on the definition of overall functionality of a CANopen system. In the selection process, it does not matter whether the devices are purchased or developed in-house. For devices not yet developed, a suitable tool should be used to create an EDS/XDD file before device implementation. Advantages of this method are realized over the further course of the development process.
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In this example, the total system consists of 3 CANopen devices whose functionality is described in the associated EDS/XDD file.
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The EDS/XDD files are linked to a suitable configuration tool. The tool can then be used to set device parameters. This work step includes tasks such as configuring the PDOs (setting up mapping parameters, defining CAN identifiers), defining a CANopen Manager and parameterizing a heartbeat producer.
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The configuration tool stores the device parameters in configuration files in a standardized format (DCF/XDC files). These are copies of the EDS/XDD files in which the configured device parameters are also saved
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The sum of all configuration files represents a description of the total system. Based on this data, the developer can use a suitable tool to generate a simulation environment. Here we speak of a simulated total system.
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For each DCF/XDC file, a reasonable simulation model is generated that reflects the behavior of the physical device. The behavior of a simulated node is produced from the DCF/XDC file; this file, together with the object directory, contains the device parameters configured using the configuration tool.
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Initial tests may also be created based on the configuration data. Along with device-specific tests to check for CANopen conformity, application-specific tests may also be created. Device-specific tests can be fully generated based on the DCF/XDC files.
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Tools for CANopen

Software tools from Vector offer a wide range of capabilities for simulation, development, analysis, testing and diagnostics of CANopen systems and components.

Tools  

Development and Test of CANopen networks:

  • Create simulation environments (rest-of-bus simulation) for CANopen systems
  • Run environment for the simulation
  • Test generation

CANoe .CANopen

Analysis of CANopen networks:

  • Analyze and log the data traffic in CANopen networks
  • Stimulate message sequences
  • Play back recorded message sequences (Replay)
  • Configure CANopen devices

CANalyzer .CANopen

Project planning and configuration of CANopen networks:

  • Comprehensive graphic configuration of CANopen devices in the network
  • Project planning for entire CANopen networks

ProCANopen

EDS Editor for CANopen:

  • Create and check EDS files (Electronic Data Sheet)

CANeds

Hardware for CANopen

Software tools used to develop, simulate, test and maintain distributed systems require powerful and flexible hardware interfaces and logging solutions.

Vector offers you interfaces for CAN, LIN, J1708, Ethernet/IP and FlexRay as well as driver software and programming interfaces for use with Vector software tools and in customer-specific solutions.

Bus System

Interface

PC Connection

CAN, CAN FD, LIN and J1708:

VN8900
VN1600

VN7572
VN8810

USB (RT PC)
USB

PCIe
USB (OBD)

Ethernet and CAN / CAN FD:

VN5620/VN5430
VN5650/VN5240

USB

FlexRay and CAN / CAN FD:

VN8900
VN7572
VN7600*, VN7610
VN7640

USB (RT PC)
PCIe
USB
USB

Bus Transceiver for CAN, LIN, J1708 and FlexRay

 

* = not CAN FD capable

Additional Information

Application Notes
KnowledgeBase
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Do you have technical questions and are you looking for suitable answers? Our knowledge base provides the most important FAQs for you.

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