DCS Design Method based on CAN's RTR

Traditional control systems that consist of sensors, actuators and a controller centralized and connected with point-to-point links, have become distributed because of their performance limits and maintenance problems. Sensors and actuators are changed to smart devices having a processor and these devices and controllers are connected with fieldbuses such as Profibus, FIP, CAN, LonWorks and so on. Because they are distributed, it takes any delay to transmit data from sensor to controller and data from controller to actuator according to network characteristic. Also, the execution times of tasks in a node are not regular and depend on the node characteristic and the number of tasks and so on...