+<p>
+The projects includes blocks library <b>socketcan_lib.slx</b>, simple
+example of provided blocks use <b>cantransmit_ert.slx</b> and more
+complex model <b>canopen_2j_arm_ert.slx</b> which demonstrates
+use of the block to send PDO messages to two stepper motors
+controlled robotic arm. This simple CAN library does not
+provide CANopen support yet so initial motors SDO parameters
+setup is solved by <b>canopen_2j_arm_setup</b> setup shell
+script which invokes <tt>cansend</tt> command.
+The variant of the model (<b>canopen_2j_arm_rpi.slx</b>) with
+build parameters preset for crosscompilation to Raspberry Pi
+is provided as well.
+The CAN-USB converter from 8devices has been used in this case.
+</p>
+