Basic Technology Series

"Vehicle Mounted Multiplex Communication CAN Basics"

3rd Session: Communication Protocol and Frames
In this session, in addition to CAN basics, a detailed explanation of signal structure will be provided to facilitate an
understanding of CAN communication protocol (communication regulations.)

1 COMMUNICATION PROTOCOL (COMMUNICATION REGULATIONS)

1-1 Outline
Communication protocol is a set of regulations necessary for communication. Communication can be
likened to delivering a package to someone with a delivery service. Think of the data desired to be sent as
the contents of a package. The contents of a package are wrapped to prevent damage and destruction. At
the same time, a package without an address cannot be delivered, so a tag with the recipient's name is
attached. The wrapping and name tag can be likened to protocol (regulations.)
Since packages are sent in accordance to pre-determined regulations, not only can a large number of
senders and recipients be handled, but packages can reach the correct recipients. In the same fashion,
since data is sent in accordance with pre-determined protocol, data will be correctly delivered, regardless of
the node (a component connected to the bus.)
Sender
Sender A
A (Node)
(Node)

Contents
(Data)

Wrapped and Tagged

(Protocol)

Recipient
Recipient A
A (Node)
(Node)

Delivery Network
(Communication Bus)

Wrapped Package
(Protocol)

Contents Unwrapped
(Data)

Sender
Sender B
B

Recipient
Recipient B
B

Sender
Sender C
C

Recipient
Recipient C
C

Additionally, when a package is late, lost and/or damaged, the delivery company tracks and warranties the
item. Similarly, if communication data is late or damaged, an error is detected, and the data is sent again.

SERVICE TECH Vol.490 07-6

Basic Technology Series

"Vehicle Mounted Multiplex Communication CAN Basics"
1-2 CAN Communication Protocol
The CAN communication system uses a Time Division Multiple Access (TDMA), bi-directional system. All
ECUs and sensors that comprise the system use a pair of communication lines (a bus) to transmit and
receive data in a time-staggered fashion. Communication is performed in accordance with common
communication protocol (communication regulations) such that data transmission/reception occurs
smoothly and accurately.
CAN uses the Carrier Sense Multiple Access with Collision Avoidance (CSMA/CA) system in
communication protocol. The CSMA/CA system establishes regulations for sending data to communication
lines such that a pair of communication lines can be shared while permission to begin transmitting data to
each ECU and sensor is being granted.

2 CAN COMMUNICATION FRAMES

2-1 Outline
One signal used for transmission is known as a frame. Signals flow on the CAN bus using the frame unit.
An actual signal waveform example is given below. The diagram to the left shows overall communication
conditions, allowing the flow of multiple frames on the bus to be understood. The diagram to the right shows
an enlarged view of the waveform for a single frame.

<Overall View of Communications>

0.5V/div 1000

<One Enlarged Frame>

0.5V/div 100

sec
Enlargement

One Frame

CAN-High

2.0V

2.5V

2.5V

CAN-Low

*1
CAN-High

2.0V

sec

10

100

200

CAN-Low

300

400

500

600

700

800

*1: With ACK signals, since all nodes reply, output accumulates, and voltage increases.

Frames used in CAN communication can be divided into the four types listed at the bottom of the page. In
addition, to separate the (1) data frame, and (2) remote frame from the preceding frames, a space called the
inter-frame space is placed before both (1) and (2). Each of the following frame types will be explained on
the proceeding page.
(1) Data Frame
(2) Remote Frame
(3) Error Frame
(4) Overload Frame

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Basic Technology Series

"Vehicle Mounted Multiplex Communication CAN Basics"
2-2 Frame Structure
(1) Data frame
The data frame is the most basic type of frame, used to send data from a transmission node to a reception
node. A data frame consists of the following seven fields.
Signal Type

Actual Data

Error Detection Use

Dominant (Logical Value: 0)

Ex.) Coolant Temperature Data

Ex.) 80C

Calculation Value

Recessive (Logical Value: 1)

Dominant/Recessive

* Numeric values show

the number of bits.
SOF

ACK Slot
RTR IDE r0
Identifier

11

DLC

Data

CRC

0-64

15

3 Control

2 Arbitration

1 Start Of Frame

CRC Delimiter

4 Data

ACK Delimiter
EOF

5 CRC

6 ACK

7 End Of Frame

Meaning

Each Field
1 Start Of Frame (SOF)

Displays the start of a data frame. Consists of one dominant bit.

2 Arbitration

Displays messages in prioritized order. Acquires transmission authority from the longest continuously dominant node.

3 Control

Displays data (number of bytes) length (zero to eight bytes.)

4 Data

Can store zero to eight bytes using actual data.

5 Cyclic Redundancy Check (CRC) Detects incorrect frame transmissions.

6 Acknowledge (ACK)

Used for correct recipient verification. Normally, the reception node transmits a dominant signal to the ACK slot.

7 End Of Frame

Displays the end of a frame. Consists of seven recessive bits.

(2) Remote frame

The remote frame requests data transmission from other nodes. Compared to the data frame, the remote
frame has no data fields.
* Numeric values show the number of bits.
SOF
Identifier
1

1 Start Of Frame

ACK Slot
CRC Delimiter
ACK Delimiter

RTR IDE r0

11

2 Arbitration

DLC

CRC

15

3 Control

(3) Error frame

The error frame is used to notify that a node has detected
an error. The error flag displays the status of an error.

EOF
1

4 CRC

5 ACK

6 End Of Frame

Error Flag
Error Delimiter
6

0-6

Maximum 12 bits when errors are overlapping.

(4) Overload frame

When a reception node reports that reception preparations
are not complete, the overload node makes transmission
from each node wait.

Overload Flag
Overload Delimiter
6

0-6

Maximum 12 bits when overloads are overlapping.

11

SERVICE TECH Vol.490 07-6

Basic Technology Series

"Vehicle Mounted Multiplex Communication CAN Basics"

3 ERROR DETECTION
CAN communication has the following five error detection functions.
Error Detection
Function

Error Detection Description

Detection Node

Bit Error

Detects when values for transmission data and data on the bus differ.

Staff Error

Detects when six or more equivalent bit levels have continued without
following bit staff regulations.

CRC Error

Detects when the delivered CRC and the CRC calculated for the
reception side do not match.

Form Error

Detects an incorrect bit (dominant) detection in a fixed bit field.

ACK Error

Detects when dominant has not been detected in the ACK slot.

Reception Side Node

Transmission Side Node

* Numeric values show the number of bits.

SOF

ACK Slot
RTR IDE r0

Identifier
1
Error
Detection
Locations

11

Transmission Side,
Reception Side Node

CRC Delimiter
DLC

Data

CRC

0-64

15

ACK Delimiter
EOF

Bit Error
Staff Error

Form Error
CRC Error

ACK Error
Form Error

A node that has detected an error using one of the error detection functions outputs an error frame, and
notifies other nodes of an abnormality. Each node is controlled according to the detected error, such that the
error frame continues to be output to prevent the bus from being completely monopolized. There are the
following three types of error states.
Error State

Control

Bus Off State

Corresponds to a red signal. Cannot participate in communication.

Error Passive State

Corresponds to a blinking red signal. Restricted participation in communication is possible.

Error Active State

Corresponds to a green signal. Communication is possible without limitation.

Bus Off (Red Signal)

Error Passive
(Blinking Red Signal)

Error Active
(Green Signal)

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