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The Controller Area Network (CAN) is a serial communications protocol whichefficiently supports distributed realtime control with a very high level of security.Its domain of application ranges from high speed networks to low cost multiplex wiring.In automotive electronics, engine control units, sensors, anti-skid-systems, etc. areconnected using CAN with bitrates up to 1 Mbit/s. At the same time it is cost effective tobuild into vehicle body electronics, e.g. lamp clusters, electric windows etc. to replacethe wiring harness otherwise required.The intention of this specification is to achieve compatibility between any two CANimplementations. Compatibility, however, has different aspects regarding e.g. electricalfeatures and the interpretation of data to be transferred. To achieve designtransparency and implementation flexibility CAN has been subdivided into differentlayers.•the (CAN-) object layer•the (CAN-) transfer layer•the physical layerThe object layer and the transfer layer comprise all services and functions of the datalink layer defined by the ISO/OSI model. The scope of the object layer includes•finding which messages are to be transmitted•deciding which messages received by the transfer layer are actually to be used,•providing an interface to the application layer related hardware.There is much freedom in defining object handling. The scope of the transfer layermainly is the transfer protocol, i.e. controlling the framing, performing arbitration, errorchecking, error signalling and fault confinement. Within the transfer layer it is decidedwhether the bus is free for starting a new transmission or whether a reception is juststarting. Also some general features of the bit timing are regarded as part of thetransfer layer. It is in the nature of the transfer layer that there is no freedom formodifications.The scope of the physical layer is the actual transfer of the bits between the differentnodes with respect to all electrical properties. Within one network the physical layer, ofcourse, has to be the same for all nodes. There may be, however, much freedom inselecting a physical layer.The scope of this specification is to define the transfer layer and the consequences ofthe CAN protocol on the surrounding layers.