CAN Book Contents

1. Data Communication in the Field Domain 1

1.1 The Reference Model of Data Communication 3
1.2 Client-Server and Producer-Consumer Model 6
1.3 Node- and Message-Oriented Protocols 9
1.4 Medium Access Control 10
1.5 Error Checking and Control 23
1.6 Network Topologies 27
1.7 Requirements and Application of Field Bus Systems 30
1.8 The Main Characteristics of CAN 38

2. CAN Data Link Layer 43

2.1 The Principle of Bus Arbitration 43
2.2 Frame Formats 47
2.3 Error Detection and Error Handling 62
2.4 Fault Confinement 67
2.5 Extended Frame Format 73
2.6 Time-Triggered Communication 75

3. Physical Layer 97

3.1 Physical Signaling 78
3.2 Transmission Media 93
3.3 Network Topology 101
3.4 Bus Medium Access 108
3.5 Physical Layer Standards 111
3.6 Measures for Improving the Electromagnetic Compatibility (EMC) 127

4. CAN Protocol Controllers 131

4.1 Overview 131
4.2 Available CAN Controllers 137
4.3 CAN Transceiver Chips 184

5. Higher Layer Protocols and Profiles 189

5.1 CAL - CAN Application Layer 192
5.2 CANopen 201
5.3 DeviceNet 290
5.4 SAE J1939 334
5.5 Time-Triggered CAN 356

6. Implementation and Systems Aspects 365

6.1 Design of CAN-based Systems 365
6.2 Real Time Behavior of CAN Networks 376
6.3 Implementation of CAN Nodes 377
6.4 Implementation of a Distributed I/O-System (Example) 389

7. Components and Tools 397

7.1 CAN Interface Cards 397
7.2 Bus Monitoring and Analyzing Tools 401
7.3 CAN Function Libraries 407
7.4 Components for Higher Layer CAN-based Automation Systems 408