1. Remote control - CAN bus1 Remote control of CAN-based industrial equipment using Internet technologies Prof. Dr.-Ing. Gerhard Gruhler, University of Applied Sciences Reutlingen, Steinbeis Technology Transfer Center Automation (STA), Germany

2. Remote control - CAN bus2 For demonstration purposes the described systems are online 7 days / 24 hours and can be accessed by everyone from all over the world.

3. Remote control - CAN bus3 CAN is not only used to great extent in cars and other mobile applications but also in industrial equipment, machine control, building control, medical and other devices in the service/public area. Due to the global market place, in most these fields remote system access becomes more and more important.

4. Remote control - CAN bus4 ISO 11898 defines the Physical Layer. The CAN bus [CANbus] is a Balanced (differential) 2-wire interface running over either a Shielded Twisted Pair (STP), Un- shielded Twisted Pair (UTP), or Ribbon cable. Each node uses a Male 9-pin D connector. The Bit Encoding used is: Non Return to Zero (NRZ) encoding (with bit- stuffing) for data communication on a differential two wire bus(NRZ)

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6. 6 A number of different data rates are defined, with 1Mbps (Bits per second) being the top end, and 10kbps the minimum rate. All modules must support 20kbps. Cable length depends on the data rate used. Normally all the devices in a system transfer uniform and fixed bit-rates. The maximum line length is 1Km, 40 meters at 1Mbps. Termination resistors are used at each end of the cable. The worst-case transmission time of an 8-byte frame with an 11-bit identifier is 134 bit times (that's 134 microseconds at the maximum baud rate of 1Mbits/sec).

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8. 8 Advantages: These are e.g.: - more reliable communication channels, - use of PC-based standard technologies and software like TCP/IP-stack, web servers, browsers, Java, XML etc. - significant cost reduction for development, equipment and operation - less effort in particular on the client´s side: usually the client just needs a standard web browser, - worldwide availability of internet access at low costs

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10. 10 The range of possible remote access applications and the related benefit is large: - remote production and machine data collection, - remote system monitoring, - remote error detection, - remote observation purposes, also for security reasons, - customer support for programming and running the system, help for bug fixing, - remote device parameterisation, - software/firmware updates via internet, - better support for maintenance staff, - sometimes even avoiding service trips,

11. Remote control - CAN bus11 direct system control by remote operator interface, - and last but not least better marketing support: some device manufacturers not only provide the usual bunch of documentation on their web-site but start to make accessible real devices for demonstration purposes to their perspective customers.

12. Remote control - CAN bus12 High-level web interfaces High-level remote access to a KUKA robot via internet and CAN

13. Remote control - CAN bus13 High-level web interfaces High-level remote programming and control concept for a FESTO handling robot using CAN

14. Remote control - CAN bus14 Remote access to and monitoring of lower CAN layers CAN Message Manager's web interface

15. Remote control - CAN bus15 Remote access to and monitoring of lower CAN layers Concept of extending CAN systems over the internet using CAN-TCP/IP-CAN gateways

16. Remote control - CAN bus16 Remote access to and monitoring of lower CAN layers Software structure of CAN-TCP/IPCAN gateways

17. Remote control - CAN bus17 PC-based and embedded systems for web server and client Examples of embedded web servers, partially available with CAN interface

18. Remote control - CAN bus18 PC-based and embedded systems for web server and client Remote access concept, not capable of passing firewalls.

19. Remote control - CAN bus19 PC-based and embedded systems for web server and client Modified access method, to overcome firewalls