A Frame Packing Mechanism Using PDO Communication Service Within CANopen
The utilization of the CAN open-based network needs to be minimized in order to improve the communication performance such as worst-case response time of CAN open 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 CAN open. The performance of this mechanism is evaluated using SAE benchmark data, and from this it is seen that the network utilization of CAN open decreased by about 10% in comparison to the result of the previous research, called 'Piggyback' mechanism.