# CAN Bus and CANopen Protocol in Practice

- Source: 古月居 · 微信公众号
- Published: 2026-10-22T09:20:00.000Z
- RoboHot: https://robohot.news/en/items/r4xlklyt1lygnysdu63slniri
- Original: https://mp.weixin.qq.com/s?__biz=MzU1NjEwMTY0Mw==&mid=2247622304&idx=1&sn=007e90e09108106dbae0a59df23b8c37&chksm=fafaf73c13ce8cef5c17a892c6ce6173d6198538e59a3cbcbd047f6d566041d5860d3ee4358d&scene=126&sessionid=1792665042#rd

## Summary

The article explains the CAN bus and CANopen protocol commonly used in industrial settings, covering frame formats, arbitration mechanisms, the object dictionary, SDO/PDO transmission, and heartbeat network management. It includes transmit and receive code for STM32F407 with a TJA1050 transceiver, a Linux SocketCAN integration example, and engineering experience and troubleshooting methods such as 500 kbps baud rate configuration, 120-ohm termination resistors, and CAN FD at up to 8 Mbps.