Model based development and verification of CANopen components

This paper demonstrates a software framework and a model based design approach to flexible industrial system architectures. The paper primarily focusses on testing and verification of systems with CANopen network. As an example, the design of passenger elevators is demonstrated. Testing and verification of the system, consisting of simulated components, real components and components available off the shelf, can be performed in an early development phase long before in-situ integration. This approach also helps maintaining safety and integrity of the system while matching development schedules. Simulation is performed with Matlab/Simulink while CANopen communication with real components and/or neighboring networks is realized via stubs written in JAVA. Finally, applications of the new framework are shown which are beyond the sole component and system verification.