Testing ECUs and Networks with CANoe

Analysis of Network Communication with CANoe

CANoe users can analyse the multi-bus communication of ECUs and entire systems at their desk as well as in the vehicle. Theses smart windows support your analysis:

1. Trace Window (1) for listing all bus activities such as messages or error frames. For each massages there is the possibility of displaying the individual signal values.
2. Graphics Window (2) for graphical online display for values transmitted in messages and diagnostic requests, such as rpm or temperature values, over a time axis.
3. Statistics Window (3) for displaying useful network and node statistics, e.g. bus load on node and frame levels, burst counter/duration, counter/rate for frames and errors, controller states.
4. Data Window (4) for displaying preselected data, eg. numeric or bar graph data.
5. State Tracker (5) for displaying states and bit signals.

... further analysis windows and blocks are:

• Measurement Setup for graphical display and parameterization of function blocks and evaluation functions
• Scope Window for offline display of bit level measurements recorded with the Option .Scope
• Interactive Generator for stimulating the buses and for easy sending of modified signals
• Signal Generator for generating signal waveforms (sine, ramp, pulse, value list, etc.)
• Logging/Replay for logging and later analysis or replay of measurements
• Trigger and Filter for specific reactions to bus events and to reduce the amount of data that is displayed or logged
• Write Window for system messages and user-specific outputs from CAPL programs

Diagnostics with CANoe

The Diagnostic Feature Set included with CANoe supports you in analyzing diagnostic communication via the KWP2000 and UDS standards. CANoe may be used both as a diagnostic tester and to simulate ECU diagnostics; it is parameterized via ODX or CANdelaStudio description files. In addition a complete OBD-II Tester is integrated in CANoe.

With CANoe.DiVa you can perform automated testing of diagnostic software implementations in ECUs. Reproducible test cases are generated based on an ECU diagnostic description in CANdela or ODX format. CANoe automatically executes these test cases and generates a conclusive test report.

With CANoe, you can also implement the diagnostic simulation of ECUs. In addition, the included Test Feature Set allows you to perform automated tests programmed in CAPL, XML,. NET, or with the help of vTESTstudio. CANoe can also automatically generate a test report in XML and HTML format on request.

• Watch also the webinar recording "Diagnostics with CANoe - Setting up a diagnostic test system easily" (60 min.)

Simulation of Entire Networks and Remaining Bus Simulation with CANoe

A simulation can be generated manually or automatically from the underlying communication data base. This remaining bus simulation of communication behavior of complete networks or individual ECUs is the basis for the subsequent analysis and testing phases.

Via specific OEM Packages the CANoe simulation can be adjusted to the requirements of the respective OEM. Such an OEM-specific remaining bus simulation is the basis for the function development. The developer may implement different test scenarios along the development process.

• SIL (Software-in-the-Loop) – Execution of ECU code with vVITRUALtarget
• MIL (Model-in-the-Loop) – Integration of MATLAB/Simulink models
• HIL (Hardware-in-the-Loop) – Execute the simulation in real time with real hardware like VT System

Hardware "CANoe RT Rack" for simulations

CANoe RT Rack is an industrial PC with optimized real-time operating system

CANoe offers in combination with the hardware CANoe RT Rack options for executing real-time relevant simulation and test functions on a dedicated platform, i.e. separate from the graphic user interface. CANoe RT Rack is an industrial PC with a real-time operating system that is optimized for CANoe RT operation. This simply involves increasing total system performance as necessary, and it is possible to implement shorter latency times and more precise timers.

Stimulation with CANoe

In stimulation with CANoe, you intentionally send out individual messages or signals to elicit reactions from ECUs in the network in a simple and quick way. The ECUs‘ responses give an indication abour their correct functionality. CANoe offers many different ways to stimulate ECUs in the network. The bandwidth ranges from pre-defined user interfaces to different programming options:

• CAPL or .NET programs for setting signal and variable values.
• Visual Sequencer to create command sequences easily
• Signal Generator and Signal Replay for generating signal responses (sinusoidal, ramp, pulse, value list, etc.)
• Interactive Generator or Frame Panel for stimulating the buses and conveniently sending modified signals
• Panels for users to create customized graphic user interfaces.

Testing of ECUs and Entire Networks with CANoe

CANoe represents the state-of-the-art test environment. It is the ideal testing tool as well for the entire system as for efficient ECU testing. CANoe supports you with impressive performance on:

• ECU tests
• Module tests
• Integration tests
• Conformance tests
• Regression tests
• Testing of ECU prototypes

For your convenience the Test Feature Set (TFS) is integrated in CANoe. It performs both application-specific tests and standardized conformance tests.

On increased real-time requirements, you may also operate CANoe as a HIL (Hardware-in-the-Loop) system.

In the CANoe RT (Real Time) mode, real-time relevant simulation and test functions are executed on a dedicated computer, i.e. separate from the graphic user interface. This offers you an easy way to increase the overall system performance if necessary. Additionally it results in shorter latency times and more precise timers.

Application examples

CANoe’s many open interfaces make it easy to adapt it in your testing environment:

• Integrating hardware for stimulation, measurement and injecting errors:
  VT System, digital and analog I/Os, automated measuring devices, controllable power supplies
• Interfacing simulation and test models: MATLAB/Simulink models
• Controlling test systems from third parties: via program calls, script calls
• Integration in higher-level test controllers: via the CANoe COM server, e.g. from Python or .NET
• Linking to external software tools: e.g. to DOORS for traceability requirements

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GENERAL
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BAP

• BAP channels can be disabled individually without loosing the database configuration.

Logging

• BLF and MDF4 logging files get unambiguous Measurement IDs and trigger IDs.
• These IDs can be used to assign measurement files in offline mode.

Multi CANoe

• With Multi CANoe you can combine multiple instances of CANoe for a joint measurement.

Symbol Explorer

• New navigation line displays the path to the chosen element and allows navigation inside the tree.
• Improved search functionality:
  • The search can be suspended anywhere in the search result to select a sub-element of a hit.
  • The wildcards * and ? are supported now.

Symbol Mapping

• You can combine relations to groups in the Mapping dialog.
• Dynamic mapping sets allow changing of mapping relations during runtime.

System Variables (user-defined)

• The available properties for namespaces, system variables, struct definitions and struct members can be edited directly in the table.
• Several elements of the same type (e.g. struct definitions) can be edited simultaneously.

Offline Mode Window

• For the Video Window, video files and image series can be added for offline analysis.
• Automatic grouping of the split video files.

Video Window

• Video files can be split during recording. Field functions are supported.
• Video and logging files can be simultaneously recorded and split.
• Now, you can select the offline source for offline analysis in the Offline Mode Window.

VN8900

• The devices VN8910A, VT6010 and VT6050A are no longer supported in distributed mode (CANoe RT).
  They can still be used in network interface mode.

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CAPL
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General

• New/extended General CAPL functions: Screenshot automation in Graphics Window
• New/extended A429 CAPL Functions: New event procedure
• New/extended CANopen CAPL Function
• New/extended Car2x CAPL Functions: New CAPL functions for Car2x Scenario Editor/ Manager.
• New/extended Diagnostic CAPL Functions
• New/extended Ethernet CAPL Functions
• New/extended ISO11783 CAPL Functions
• New/extended LIN CAPL Functions
• New/extended Security CAPL Functions: New Crypto CAPL functions
• New/extended TCP/IP CAPL Functions:
  • Add a host route/ gateway route/ interface route to the TCP/IP Stack.
  • Delete a host route/ gateway route/ interface route from the TCP/IP Stack.

• New/extended Test CAPL Functions
• New/extended VT System CAPL Functions

CAPL Browser

• Improved usability with ribbon and tabs

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GRAPHICS WINDOW
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• CAPL API for the screenshot automation (fit, time interval, pause)

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PANEL DESIGNER
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• Switch/Indicator: During a state change, besides concrete values, you can also enter value ranges to map, for example a digital fuel indicator.
• Panel Overview: The new window lists controls which are integrated into the currently selected panel. In the tabular overview, you can:
  • quickly identify which symbols are assigned to which controls
  • assign symbols to the controls
  • find controls which are hidden or located outside the panel.

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Domain Test
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General

• Further dialogs for tester interaction; usage is possible now also in CAPL.
• Information about used diagnostic descriptions is now reported automatically.

CANoe Test Report Viewer

• New analysis window 'Timeline'. Purpose is the analysis of tests solely on a timely basis, independent of structuring by test cases etc.
• Control of the CANoe global measurement based on timestamps.
• Navigation to CANoe based on test cases and further structural elements within test configurations.
• Navigation to elements of vTESTstudio (see below).
• Navigation to vSignalyzer based on timestamps.
• Logical operators within queries can be cascaded.
• Export of images.

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Domain VT System
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Offline VT System
For the VT System, there is now an offline mode available which offers the following add-on value:

• Measurements which use VT Systemmodules can now also be started when single or all modules are configured but not available as real hardware.
• VT System modules can be switched individually or commonly into offline or online mode in the VT SystemConfiguration dialog.
• The offline/online state of each module can be read on each channel by a corresponding read-only system variable.
• The offline/online state of each module is displayed in the VT SystemControl dialog.
• Activation / deactivation of the VT System is now performed automatically, only dependent on the configuration of VT System modules. The formerly available manual VT System activation in the Options menu is therefore obsolete.
• All measurement system variables can be written via an additional name space "Offline" to obtain the expected test results also in the offline mode.
• CAPL and .NET commands which involve VT System modules return the expected result also when VT System modules are not physically present or set offline.
• The network adapter for the VT System is now selected directly in the Configuration dialog of the VT System. This results in a single access point for all VT System relevant settings.
• The offline/online mode of all VT System modules is stored in an additional file (*.vtcfg.local) by configurations who use the VT System. It can therefore be used workplace specific.

VT7820 — Rotation Sensor Simulation Board

• New application Board for the Extension Module VT7900 FPGA for the simulation of rotational sensors.
• Simulation of "s" type, "i" type and "v" type wheel speed sensors is supported on four sensor simulation channels.
• Simulation of cam or crank shaft sensors.
• The sensor signal can be either voltage or current modulated with user configurable voltage or current levels.

VT6104A — Network Interface Module

• The new Network Interface Module VT6104A replaces the discontinued VT6104.
• Like VT6104, VT6104A supports up to 4 CAN/LIN/J1708 channels, freely configurable by piggy backs (separate articles).
• In addition, you can operate CAN FD on all four channels.
• Electrical fault injection like shortcuts between signal lines / external potentials or line breaks is available for all channels.
• The bus termination resistance of 120 Ohms can be connected or disconnected to each bus channel

General

• Diagnostic authentication using security sources configured with the Security Manager.
• Sending and receiving of CAN frames with different types, e.g. sending frames with 11 bit ID and receiving frames with 29 bit ID (or vice versa).
• New/extended CAPL functions to enable parallel testing using the CAPL Callback Interface (CCI).

Diagnostic Parameters

• In the Diagnostic Parameters Window, you can insert diagnostic response parameters and configure the associated requests. After that you can send requests interactively via mouse click, or cyclically immediately after the measurement starts, and the parameter values contained in the responses will be displayed both in the Diagnostic Parameters Window and in the other analysis windows (the State Tracker, Data Window, and Graphics Window).
• Diagnostic parameters as Trigger Condition.
• Display of DTC related parameters (e.g. DTC status byte) in analysis windows (State Tracker, Data Window and Graphics Window) only depend on the corresponding DTC, no longer on the position of the DTC in the diagnostic response.

Improved Symbol Explorer for Diagnostics

• Better representation of complex data structures and improved selection of highly nested parameters.

Mixed operation of CAN 2.0 and CAN FD

• Support for diagnostic channel on tester side (new setting in Diagnostics/ISO TP Configuration dialog).

DoIP

• Improved simulation behavior for IPv6 in combination with VLAN tags.

A429 interactive generator: new signal generator variable

What´s the difference to CANape ?

• CAN interactive generator: new signal generator variable

• CANopen Safety support mapping of identical objects. The inverted value is calculated automatically.
• The function CANopenUpload handles an SDO abort correctly now.
• Improvement for handling of the XDC format.
• For TPDO COB-IDs the RTR bit is not evaluated any more.

Support in the creation of application tests:

• Car2x Scenario Editor
  Editor tool for creation of Car2x scenarios. The Scenario Editor supports the creation of traffic scenarios. You can create routes on a map and move ITS stations (vehicles and RSUs) on the routes. Attriutes can be freely defined for each station. With the help of these attributes events and states can be configured via signal values at any position of the route.
• Car2x Scenario Manager
  The Car2x Scenario Manager can load Car2x scenario files in CANoe and provides them to the Car2x Interaction Layer. The Car2x Interaction Layer uses the communication parameters stored in the database to generate the communication and uses the data from the scenario for the contents of the application messages defined in the database. This creates Car2x communication as described in the Scenario Editor. You can also access the scenario data from CAPL. This is helpful, for example, to supply an ECU to be tested with the necessary positions via Ethernet or CAN, so that it is virtually at the correct position in the test scenario.
• Advanced analysis of Car2x applications
  Automatic visualization of events in the map window. Contents of BSM and DENM messages are automatically visualized in the map window without the need to write CAPL code. Event codes are visualized using individual icons, waypoints (PathPoints) and the relevance area. The events are also listed in the detail view of the map window and provide a quick overview of which events have already been received. This list can also be used to quickly find events on the map. To view the data of the corresponding frame, simply double-click on the event and the trace window will jump to the corresponding frame and select it.
• Window synchronization
  With active window synchronization it is possible to click on a frame with an event content in the trace window and thereby jump to the corresponding position in the map window. Conversely, selecting an event in the map window selects the corresponding frame in the trace window.
• Trace Window
  The new Event Info column in the Trace window shows at a glance which event is transferred in a frame.
• CAPL
  There are several functions to control the Scenario Manager. E.g. you can start a scenario from CAPL. In addition to that, you can access attributes of the scenario via CAPL.
• Car2x Interaction Layer
  Automatic generation of the communication based on the scenario file.
• Security
  Support of the new specification ETSI TS 103097 v1.3.1
• GeoNetworking Protocol
  Support of the new specification of the GeoNetworking ETSI EN 302 636-4-1 V1.3.1
• WLAN Channels
  32 channels instead of 8 are now supported.
• Sample Configurations
  • US Demo changed to IL
  • Scenario Editor Demo

General

• New Ethernet Network Monitor to display SOME/IP communication.
• Improved handling of CAT-PGT PDU configuration.
• Fix an issue which may prevent the mapping of a service signal in the Symbol Mapping dialog that appears in two networks.
• Fix an issue in CAP-PGT implementation which may prevent signal access in Graphics Window after measurement stop.
• Support synchronous receive for UDP when using .NET socket API.
• Improved handling of network streams (TCP) when using .NET socket API.
• Fix an issue with miscalculation of timing in DHCPv6 solicit-frames.
• Fix an issue with interchanged PDU types (setRequest and getResponse) of SNMP frames.
• Fix an issue which may not show hardware channels information in offline mode.
• Fix an issue that may lead to showing a wrong send node in the Trace Window for DHCP frames.
• Fix an issue which prevents the usage of the upper limit of a signal defined by a FIBEX database.
• Fix an issue with some IPv6 hardware filter rules which may lead to modify other filter rules.

AVB/TSN

• Improved timing of the PTP packets.
• Improved handling of the PTP follow-up and PTP sync packets.
• Fix an issue with function PtpSetProperty "RequestLogPdelayReqInterval".
• Stability improvement when using Windows N edition.

• Tractor Implement Management (TIM)
• With the ISO11783 Interaction Layer you can simulate both the TIM Server and the TIM Client.
• A comprehensive set of CAPL functions allows you to configure a TIM simulation as you wish.
• There are many possibilities for control and fault injection.
• The Trace-Window contains specialized intelligent filters that clearly display TIM-relevant messages.
• Virtual Terminal Window
• A YouTube video explains briefly and comprehensibly the most important functions of the Virtual Terminal Window and is available under this link: Virtual Terminal Window of CANoe

J1939-82 Compliance Test

• New implementation of the 2015 specification (Tables 3, 4, 5, 6 and 7):
  • Simple and transparent configuration.
  • Meaningful and easy to interpret reports.

J1939 AUTOSAR (Version 4.2.2)

• J1939 ARXML system descriptions can be used as well as DBC files.

New LIN Interactive Scheduler

• Simple interactive configuration of a LIN master simulation
• Allows control of the schedule tables defined in the LDF file
• Control of the NM by simply sending sleep mode frames and wake-up signals
• Easily start and stop the scheduler
• Replaces the LIN Interactive Master
• Works as an independent LIN master and does not require configuration of the master node from the database

Control of the LIN Master Mode

• New CAPL API for the dynamic control of the master mode and master node
• Switch the master mode on and off dynamically per channel during the measurement
• Switch the active master node: Allows to explicitly select the node which can transmit headers: e.g. simulation node, replay block etc.

New Transmission Mode

• Non-interruptible headers: New CAPL API for configuring headers to be transmitted even if the network is still busy

Support of bitmask analysis for LIN: New sample configuration LINScope

Support of the User FPGA on the VT2710 module for high performance and time critical sensor applications (since CANoe 10.0 SP4).

Monitoring and Debugging of AUTOSAR ECUs with CANoe

Workflow of CANoe .AMD/XCP

The CANoe option .AMD/XCP (AUTOSAR Monitoring and Debugging) supports access to internal parameters in the ECU. It gives you extensive test options and shortens your debug times substantially.

Especially with complex ECUs or distributed functions, a pure blackbox test is no longer adequate. Access to internal information in ECUs opens up new and comprehensive test options for your application or ECU stack. AUTOSAR ECUs, in particular, offer defined interfaces for measuring and stimulating test parameters due to their structured layout consisting of basic software (BSW), a runtime environment (RTE) and software components (SWCs).

Highlights:

• Easy access to internal ECU parameters over XCP/CCP
• Extensive measurement of the MICROSAR stack (supports all monitoring features, including generic measurement)
• Update of A2L files with new addresses from the linker-map files (via the included ASAP2 Updater)

Application Areas:

• Extended test options through access to ECU internal values
• Analyzing and automated testing of ECU internal values, bus signals and I/O signals
• Analysis of distributed functions with parallel access to several ECUs
• Debugging in BSW and SWCs
• Automatic configuration via ASAM A2L file

Further information:

• Webinar recording "Testing and debugging of ECUs using MICROSAR.AMD and CANoe .AMD" (47 min.)
• CANoe option .AMD/XCP
• Web page AUTOSAR technologies

Special CANoe Functions for E-Mobility

• Go to web page E-Mobility technologies

Extended Real Time for CANoe

Performance diagram with and without using the Vector Tool Platform

The “Vector Tool Platform” is a free system extension, which is available for CANoe as well as other products. The “Extended Real Time” (ERT) component is part of the Vector Tool Platform and has been supported since CANoe 9.0.

Extended Real Time improves the latency and determinism (see figure) of CANoe in connection with the VT System. You will benefit by:

• predefined functions can be executed under real-time conditions
• higher sampling rates, i.e. additional transfer rates of 200 µs and 500 µs are achievable in connection with the VT system modules VT1004, VT7001, and VT2816

What is the Vector Tool Platform?

The “Vector Tool Platform” is a free system extension, which is available for CANoe as well as other products.

The Vector Tool Platform is a free system extension for PC-based Vector network interfaces.  It consists of the following  components:

1. Platform Manager
   This programm simplifies system configuration of the PC-based network interfaces VN8800, VN8900 and VT6000 as well as CANoe RT (Real Time) racks. It allows to configure system settings, install device updates and controll installed applications.
2. Extended Real Time
   It improves the latency and determinism of CANoe and CANape. In order to achieve this, the PC-based network interfaces VN8912A and VT6051A are divided logically into two areas. The interface works just as before in one area. “Extended Real Time” is available in a different area in which the predefined functions are executed under real-time conditions.
3. Smart Device Access
   This component allows the user to select and control diagnostic scripts with a smartphone or a tablet on the VN8810 diagnostic hardware.

Interfaces to Modeling Tools

CANoe supports simulation of complex ECU models with various modeling tools, here for example MATLAB

CANoe has interfaces to these modeling tools, which can be used to integrate complex models of individual ECUs into a simulation:

• MATLAB®
• Simulink®
• Stateflow®

The interface provides a blockset for reading/writing system variables and bus signals. It provides 2 operation modes:

1. Online/HIL for executing generated code in the CANoe real time environment
2. Offline/Synchronized for simulated systems

CANoe provides the interaction layer and a signal API which can directly be used in the MATLAB/Simulink model. All communication aspects are handled inside CANoe.

Specific Extensions

Vector offers free of charge OEM specific function extensions for CANoe. These simulation extensions are composed of several components. The components are typically based on a standard and are extended with OEM specific add-ons.
 

Content:

• Interaction Layer
• Transport Protocol
• Network Management
• Panels to display and modificate signals
• Model Generator to generate a complete CANoe environment

Available extensions resp. "OEM packages":

Communication Concepts: Current Development

The classic signal-based communication is increasingly supplemented by service-oriented communication patterns. The AUTOSAR Adaptive platform, for example consistently uses service-oriented approach. Service-oriented communication is often based on the TCP/IP protocol stack and uses communication middleware, for example SOME/IP. The transmitted network message, i.e. the Ethernet frame, and the actual application view drift here much more apart than in case of signal based communication via CAN. In addition, the service interfaces and the associated data structures are defined in a way which is detached from a specific network transmission or network topology.

CANoe´s Communiaction Model

CANoe supports this new design paradigm. To do so, databases are imported into the CANoe communication model. Via a built-in communication object editor you can define your own communication objects and edit the existing ones.

CANoe enables the use of the service interfaces directly as modeling artifact. The service interfaces support methods and events. Complex data types, used for example in the area of object detection, are supported directly. Endpoints which provide or use a service interface (providers and consumers) can be directly simulated in CANoe.

This variant supports the full range of functional features. Simulation models are created with CAPL, test cases are easy to model with the Test Feature Set.

This variant is intended for advanced users who want to use CANoe’s full functionality.

• More information on the scope of functions for each variant can be found in the "CANoe/CANalyzer Feature Matrix" (PDF)

The "Runtime" variant supports unchangeable configurations, full analysis functions and simple connection and disconnection of network nodes.

This variant is intended for users who wish to test their ECU quickly and easily in interaction with a prescribed remaining bus simulation.

• More information on the scope of functions for each variant can be found in the "CANoe/CANalyzer Feature Matrix" (PDF)

The "Project Execution" variant supports an exclusively graphic user interface. Simulation, test cases and results are easy to control without requiring special evaluation of the underlying messages.

• More information on the scope of functions for each variant can be found in the "CANoe/CANalyzer Feature Matrix" (PDF)

Fact Sheet:

Brief overview of facts (PDF)

Feature Matrix:

Comprehensive table with CANoe features (PDF)

Product Informations:

CANoe - incl. .AMD/XCP and .Scope (PDF)

CANoe .A429  (PDF)

CANoe. AFDX (PDF)

CANoe .CANaero (PDF)

CANoe .CANopen (PDF)

CANoe .Car2x (PDF)

CANoe .Ethernet (PDF)

CANoe .FlexRay (PDF)

CANoe .ISO11783 (PDF)

CANoe .J1587 (PDF)

CANoe .J1939 (PDF)

CANoe .LIN (PDF)

CANoe .MOST (PDF)

• 2018-02-21 How to optimally disturb CAN and CAN FD networks with the new...
• 2017-06-07 CANoe/CANalyzer 10.0 – New Features
• 2017-06-06 CANoe/CANalyzer 10.0 – New Features
• 2017-04-06 Automated Testing of Diagnostic Protocol Implementation and...
• 2017-03-28 Diagnostics with CANoe - Setting up a Diagnostic Test System...

¹  CANoe benefits from higher clock rates rather than higher number of cores.
²  Depending on the options used and the operating system components.

CANoe is available in these languages:

• English
• German
• Japanese

• 2018-11-06 - 2018-11-07 Vector HandsOn Workshop and Advanced TechDay
• 2018-11-15 Karel de Grote and Vector TechDay 2018
• 2018-11-20 - 2018-11-21 9th Vector Congress
• 2018-11-27 Webinar: Freie Fahrt voraus: Toolgestützte Entwicklung für Automotive...
• 2018-11-28 Webinar: Moving Forward: Tool Supported Development for Automotive...
• 2019-03-19 - 2019-03-20 19. Stuttgart International Symposium