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Keysight Technologies
Characterizing CAN Bus Arbitration
Using InfiniiVision 4000/6000 X-Series Oscilloscope




           Application Note
Introduction

     The differential CAN bus, which is used extensively in automobiles for drive-train and body control, is
     based on asynchronous transmission of packets of data from multiple nodes in the system. The CAN
     bus is also used in many non-automotive applications including control of industrial machinery, as
     well as medical equipment. Because of the asynchronous nature of packet transmission, there are
     often collisions of data when two or more nodes begin transmission at the same time... or nearly
     same time. When collisions occur, although there is a non-destructive bit-wise arbitration process
     that determines which CAN message has the highest priority to continue data transmission,
     transmission of lower priority messages can be delayed. In addition, CAN bus error rates can
     theoretically increase based on the level of bus load and number nodes in the system. This
     directly affects the frequency-of-occurrence of data collisions. This application note will review
     the CAN non-destructive bit-wise arbitration process, and will use the InfiniiVision 4000 and
     6000 X-Series oscilloscopes to show examples of the following:
      

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