Fieldbus technology has long been recognized as the future in industrial control applications. This text is intended for those wishing to embark on implementing CANopen protocols in their products, system integrators and for those planning to do pre-conformance testing of their products before going before a certification authority. It is also a reference book for teaching fieldbuses and distributed control systems. Designed to address the needs of those at shop floor level, the book describes the application of CAN, the CANopen protocol and communication technology at the shop floor. In particular at the "work cell" level and below where the use of decentralized or distributed control can effect and improve the design and performance of manufacturing systems. Although this book concentrates on the technology, the reader should never lose sight of why the technology is used. The book assists and enables those in the automation product manufacturing arena to make use of the technology to obtain commercial benefits.