2. CAN © CiA Node 2 Node 3 Node 4 Node n Node 1 Ld Ld = Drop Length Lt Lt = Trunk Length ISO 11898-2 Topology

3. CAN © CiA node 1........ node n CAN Bus Line 120  CAN_H CAN_L 120  ISO 11898-2 Network Set- up

4. CAN © CiA EMI CAN Bus Line 120  CAN_H CAN_L t V V diff = const V diff Electromagnetic Interference

5. CAN © CiA Time Voltage 5 V 3.5 V 2.5 V 1.5 V 0 V min. 1 µs Recessive CAN_H + CAN_L CAN_H CAN_L Dominant Recessive Nominal Bus Level

6. CAN © CiA CAN Station 1 (Consumer) CAN Station 2 (Producer) CAN Station 3 (Consumer) CAN Station 4 (Consumer) Frame I Local Intelligence Local Intelligence Local Intelligence Local Intelligence bus lines Filter Broadcast Communication

7. CAN © CiA CAN Station 1 (Requester) CAN Station 2 (Producer) CAN Station 3 (Consumer) CAN Station 4 (Consumer) Local Intelligence Local Intelligence Local Intelligence Local Intelligence bus lines Filter RTR I Frame I Remote Request

8. CAN © CiA CAN Station 1 CAN Station 2 CAN Station 3 CAN Station 4 Local Intelligence Local Intelligence Local Intelligence Local Intelligence bus lines Filter Frame IFrame 3 Frame 2 Multiple Bus Access

9. CAN © CiA SOFSOF Bus Idle Arbitration Field Data Field CRC Field ACK Field EOF IFS 12 or 32 Bit6 Bit 0 to 8 Byte 16 Bit2 Bit 7 Bit 1Bit 3 Bit Remark: CAN Specification 2.0 B passive implementations can’t store or transmit Extended Data Frames; CAN Specification 2.0 B active implementations can store and transmit Standard Data Frames as well as Extended Data Frames. Control Field CAN Data Frame

10. CAN © CiA SOFSOF Bus Idle Arbitration Field CRC Field ACK Field Inter- Mission 12 or 32 Bit6 Bit 16 Bit2 Bit 7 Bit 1 Bit 3 Bit Control Field EOF u CAN controller with receive buffer or receive FIFOs answers Remote Frames only under CPU control. u CAN Controller with standard message storing answers Remote Frame automatically without CPU control. u CAN Controller with advanced message storing answers Remote Frames automatically and optionally under CPU control. CAN Remote Frame

11. CAN © CiA Base Frame Format 11 bit Identifier RTR IDE r0 DLCSOF Arbitration Field Control Field Data Field Extended Frame Format SOF Arbitration Field Control Field 11 bit Identifier SRR IDE 18 bit Identifier RTR r1 r0 DLC Trade-off: longer bus latency time (20 bit-times) longer frames (20 bit-times plus stuff-bits) reduced CRC performance Arbitration Field

12. CAN © CiA Node 1 Node 2 Node 3 Bus ID 20 ID 80 ID 20 Data ID 80Data ID 80Data ID 100Data ID 100Data Frame transmission request Bus Arbitration Method

13. CAN © CiA Bus (4 x Rx) S R O Identifier T Control Data F 10 9 8 7 6 5 4 3 2 1 0 R Field Field dominant recessive Listening Mode Collision Avoidance DLC Data Listening Mode Node 1 (Tx) Node 2 (Tx) Node 3 (Tx) Node 4 (Tx)

14. CAN © CiA 0 to 8 Byte request indication(s) Producer Consumer(s) CAN Data Frame Write Object confirmation(s) 0 to 8 Byte response indication request(s) CAN Remote Frame CAN Data Frame Read Object Communication Services

15. CAN © CiA ddddddd bit-sequence to be transmitted rrrrrrrrr r d stuffed bit-sequence rrrrrr ddddddrrddddddrr r drrrrrr de-stuffed bit-sequence received SdSd SrSr Bit-stuffing Rule

16. CAN © CiA 0.1 0.2 0.3 0.4 0.5 0.6 0.7 0.8 0.9 1.0 1.1 1.2 [km] 1.0 0.9 0.8 0.7 0.6 0.5 0.4 0.3 0.2 0.1 1.6 [Mbit/s] u u u u u u u u Data-rate/Bus-length Ratio

17. CAN © CiA Bit Rate 1 Mbit/s 800 kbit/s 500 kbit/s 250 kbit/s 125 kbit/s 62.5 kbit/s 20 kbit/s 10 kbit/s Bus Length 30 m 50 m 100 m 250 m 500 m 1000 m 2500 m 5000 m Nominal Bit-Time 1 µs 1.25 µs 2 µs 4 µs 8 µs 20 µs 50 µs 100 µs Practical Bus Length

18. CAN © CiA DC Parameter • Length-Related Resistance (r): 70 m  /m • Termination Resistor (Rt): nominal 120  (min. 108 , max. 132  ) AC Parameter • Impedance (Z): nominal 120  (min. 108 , max. 132  ) •Specific Line Delay: 5 ns/m ISO11898-2 Parameter

19. CAN © CiA Bus Length Bus Length 0.. 40 m 40.. 300 m 300.. 600 m 600 m.. 1 km Bus Cable Length- Related Resistance Length- Related Resistance Bus-Line Cross-Section Bus-Line Cross-Section 70 m  /m 0.25 mm 2.. 0.34 mm 2 AWG23, AWG22 0.25 mm 2.. 0.34 mm 2 AWG23, AWG22 <60 m  /m 0.34 mm 2.. 0.6 mm 2 AWG22, AWG20 0.34 mm 2.. 0.6 mm 2 AWG22, AWG20 <40 m  /m 0.5 mm 2.. 0.6 mm 2 AWG20 0.5 mm 2.. 0.6 mm 2 AWG20 <26 m  /m 0.75 mm 2.. 0.8 mm 2 AWG 18 0.75 mm 2.. 0.8 mm 2 AWG 18 Termination Resistance Termination Resistance 124  (1%) 127  (1%) 150    150    150    150    Max. Baudrate Max. Baudrate 1 Mbit/s at 40 m 1 Mbit/s at 40 m 500 Kbit/s at 100 m 500 Kbit/s at 100 m 100 Kbit/s at 500 m 100 Kbit/s at 500 m 50 Kbit/s at 1k m 50 Kbit/s at 1k m DC Characteristics

20. CAN © CiA Rules of thumb for the maximum length of a unterminated cable drop Ld and for for the cumulative drop length Ldi: n Ld < t PROPSEG / ( 50 * t P )  Ldi < t PROPSEG / ( 10 * t P ) i=1 t PROPSEG : length of the propagation segment of the bit period t P : specific line delay per length unit Example: bit rate = 500 kbit/s: t PROPSEG = 12 * 125ns = 1500 ns; t P = 5 ns/m n Ld < 1500 ns / (50 * 5 ns/m) = 6 m;  Ldi < 1500 ns /(10 * 5 ns/m) = 30 m i=1 Cable Drop Length

21. CAN © CiA CiA DS-102 Baudrate

22. CAN © CiA Pin Signal Description 1 -Reserved 2 CAN_LCAN_L bus line dominant low 3 CAN_GNDCAN Ground 4 - Reserved 5 (CAN_SHLD)Optional CAN Shield 6 GNDOptional Ground 7 CAN_HCAN_H bus line dominant high 8 - Reserved 9 (CAN_V+)Optional CAN external supply 9-pin D-Sub: DIN 41652 CiA DS-102 Pin Assignment

23. CAN © CiA 31 203 273 355 120 2003 1998 2002 2000 2001 57 1999 40,502,60 18,77102,10 120,82 14,45 37,07 59,20 10,10 57,77 10,70 25,70 141,50 45,47 15,20 203,27 71,95 171,80 92,48 15,30 273,82 15,70 355,58 75,6045,0732-bit µC 16-bit µC stand-alone 8-bit µC total in million units 2000 sales by regions: Europe: 85% America: 9% Asia: 6% Application CAN node sales figures

24. CAN © CiA CAN-based Profiles CAN-based Application Layer LayersImplementation Transceiver CAN Controller CAN Data Link Layer CAN Physical Layer Software CAN Reference Model

25. CAN © CiA CAN standardization ISO 11898-1 (11-bit ID) ISO 11898-2 Data Link Layer Physical Layer CAN 2.0A RS-485 ISO 11898-1 (11-bit ID) ISO 11898-1 (11-bit and 29-bit ID) ISO 11898-2 Application Layer SDS EN 50325-3 DeviceNet EN 50325-2 CANopen EN 50325-4 Device Profile ODVA Device Profiles CiA Device Profiles Application Profile CiA Application Profiles ISO 11898-2 ISO 11898-1 (29-bit ID) SAE J1939 -based Application Profiles

26. CAN © CiA CAN History Milestones • 1982: Start of the Bosch-internal CAN development • 1986: First public presentation of CAN in Detroit at SAE conference • 1987: First CAN controller chip from Intel • 1990: Introduction of CAN Kingdom protocols • 1992: Foundation of CiA international users and manufacturers group • 1993: Publishing of ISO 11898 (CAN standard) • 1993: Introduction of CAN Application Layer (CAL) • 1993: Introduction of SAE J1939 application profile • 1994: 1st international CAN Conference in Mainz • 1994: Introduction of DeviceNet • 1994: Smart Distributed System (SDS) • 1994: Introduction of CANopen profile family • 1995: Foundation of ODVA • 2000: Foundation of CAN Kingdom International • 2001: Introduction of Time-triggered CAN (TTCAN) protocol • 2002: DeviceNet, SDS, and CANopen become European standards (EN50235) • 2003: ISO 11898-1 and ISO 11898-2 are published

27. CAN © CiA CiA Operations Structure Business CommitteeManaging DirectorTechnical Committee GENERAL ASSEMBLY elects CANopen USA Russia Benelux CAL approves and manages Interest Groups Marketing Groups * Progr. Devices SafetyMaritimeMedical Truck Gateway Weaving Machine Lift Control Electronic Door Passenger Info IEC 61131-3 Generic I/O Drive Virtual Terminal Closed- Loop Encoder ASAM Railways Off-road Vehicles Hydraulics CANopen Special Interest Groups * temporarily inactive * * ** * ** * Municipal vehicles TF Battery TF Extruder down- stream TF Road construct- ion

28. CAN © CiA CiA Members 1992-2003

29. CAN © CiA CiA Services • CANschool (technical training for newcomers) • CANopen seminar (technical training) • In-house seminars ( customer-specific training) • CANopen product guide (free-of-charge) • Quarterly CAN Newsletter (free-of-charge) • Review of proprietary CANopen profiles • CANopen device certification • CAN literature and specification sales