After playing with encoders equipped with SSI, SPI and RS-485 interfaces one might wrongly conclude that not much is left to experiment with. There are several other popular options for encoders. Let's focus here on CANopen widely used in factory automation. Enjoy a bit of CANopen history here. We are going to communicate over the CAN bus (using CANopen) with a multiturn absolute encoder. The part number is RM9001 [RMS0024-C24UST] (IFM).
Don't worry 🙂 Just log in to MyST and hit Alt-K to generate /Drivers/CMCIS/ and /Drivers/STM32H5xx_HAL_Driver/ based on the .ioc file. After a couple of seconds your project will be ready for building.
- stm32-ssd1306 (MIT license)
- CANopen (Wikipedia)
- CANopen Explained - A Simple Intro [2025] (CSS Electronics)
- CANopen Explained - A Simple Intro (2020) (CSS Electronics)
- EmSA CANopen (www.em-sa.com)
- CAN in Automation
- CANOpen (1) - Basics (Lenka Polaskova)
- Tutorial PCAN PEAK CANopen Read+Calculate Angular Position+Set Baud Rate (MEGATRON Elektronik GmbH & Co. KG)
- The Basics of CANopen (NI)
- CANOpen Node STM32 From basics to coding (Hamed Jafarzadeh)
- CANopenNode STM32 (Hamed Jafarzadeh)
- CANopen Basics (Open Vehicles)
- CANopen Tutorial (Siemens)
- CANopen Guide (2025): Simplified Intro to Network Protocols (AutoPi.io)
- Introducing the industry standard CANopen (frenzel + berg electronic)
- CANopen Basics (TRINAMIC, part of Analog Devices)
Create your own home laboratory/workshop/garage! Get inspired by ControllersTech, DroneBot Workshop, Andreas Spiess, GreatScott!, ElectroBOOM, Phil's Lab, atomic14, That Project, Paul McWhorter, Max Imagination, Nikodem Bartnik, and many other professional hobbyists sharing their awesome projects and tutorials! Shout-out/kudos to all of them!
Warning
Control engineering - do try this at home ❗
200+ challenges to start from: Control Engineering for Hobbyists at the Warsaw University of Technology.
Stay tuned 😎