> So CANopen is way different.  Far more jitter.  If you figure that the 
> average 8 byte CAN message is really closer to 135 bits with bit stuffing and 
> CRC each message at 1Mbps is 135 uS.   That's only 7.4khz.   Even if you used 
> less data and managed to keep the bit stuffed messages under 64 bits that's 
> still 64 microseconds and 15.6kHz.  Not fast enough for step/direction 
> messages.
> John Dammeyer
> http://www.autoartisans.com

Speed is certainly a problem on several axis and why I will not use CAN but I 
want however use CANopen message format over other networks.

Nicklas Karlsson

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