A New Design of Dynamic Priority Planning on CAN for Wire Harness Assembly MachineGUO Hui1,HE Yongyi2,GUO Shuai2,HE Jinbao2 (1: Rapid Manufacturing & Engineering Center,Shanghai University,Shanghai 200444, China; 2: Robot & CIMS Center,Shanghai University,Shanghai 200072, China)The specific features of the CAN bus is analyzed and the functional performances in the Controller Area Network (CAN) bus system of Wire Harness Assembly Machine (WHAM) is discussed. A reasonable definition of application layer which is not defined in the CAN specification is given for the control system of WHAM. So application layer planning of CAN bus for dynamic priority is presented. With the mechanism of dynamic priority,it becomes easily to find out the error nodes in the CAN bus system of WHAM and realize multi-mode operation.Controller Network Area (CAN); Wire Harness Assembly Equipment (WHAM); dynamic priority