CAN specifications are international standards. Two versions are now in use: CAN 2.0A, the low-speed version (125kbps) that is sometimes known as Basic or Standard CAN, is defined by the ISO-11519 standard. CAN 2.0B, the high-speed version (1Mbps) that is known as Full CAN or extended-frame CAN, is defined by the ISO- 11898 standard. Bosch developed CAN technology in the mid 1980’s for automotive systems, which remain the biggest users of the over 200 million nodes per year. But CAN usage is growing in industrial control systems and many other applications, where it replaces point-to-point wiring. There are at least six main reasons for CAN’s popularity. One is its previously mentioned ability to provide essentially error-free communication. It has low wiring and node-connection costs and is readily scalable. Off-the-shelf development tools aid network designs and a growing number of ICs support the technology. Also, there is an increasing knowledge base of implementation experience.