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INTERNATIONAL ISO
STANDARD 11898-3

First edition
2006-06-01

Road vehicles — Controller area

network (CAN) —
Part 3:
Low-speed, fault-tolerant,
medium-dependent interface
Véhicules routiers — Gestionnaire de réseau
de communication (CAN) —
Partie 3: Interface à basse vitesse, tolérant les pannes, dépendante
du support

Reference number
ISO 11898-3:2006(E)

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ISO 11898-3:2006(E)

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ISO 11898-3:2006(E)

Contents Page

Foreword............................................................................................................................................................ iv
Introduction ........................................................................................................................................................ v
1 Scope ..................................................................................................................................................... 1
2 Terms and definitions........................................................................................................................... 1
3 Abbreviated terms ................................................................................................................................ 3
4 OSI reference model ............................................................................................................................. 4
5 MDI specification .................................................................................................................................. 4
5.1 Physical medium................................................................................................................................... 4
5.2 Physical signalling................................................................................................................................ 8
5.3 Electrical specification ....................................................................................................................... 10
5.4 Network specification......................................................................................................................... 12
6 Physical medium failure definition ................................................................................................... 14
6.1 Physical failures.................................................................................................................................. 14
6.2 Failure events...................................................................................................................................... 15
7 PMA specification ............................................................................................................................... 16
7.1 General................................................................................................................................................. 16
7.2 Timing requirements .......................................................................................................................... 16
7.3 Failure management ........................................................................................................................... 20
7.4 Operating modes ................................................................................................................................ 23

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ISO 11898-3:2006(E)

Foreword
ISO (the International Organization for Standardization) is a worldwide federation of national standards bodies
(ISO member bodies). The work of preparing International Standards is normally carried out through ISO
technical committees. Each member body interested in a subject for which a technical committee has been
established has the right to be represented on that committee. International organizations, governmental and
non-governmental, in liaison with ISO, also take part in the work. ISO collaborates closely with the
International Electrotechnical Commission (IEC) on all matters of electrotechnical standardization.

International Standards are drafted in accordance with the rules given in the ISO/IEC Directives, Part 2.

The main task of technical committees is to prepare International Standards. Draft International Standards
adopted by the technical committees are circulated to the member bodies for voting. Publication as an
International Standard requires approval by at least 75 % of the member bodies casting a vote.

Attention is drawn to the possibility that some of the elements of this document may be the subject of patent
rights. ISO shall not be held responsible for identifying any or all such patent rights.

ISO 11898-3 was prepared by Technical Committee ISO/TC 22, Road vehicles, Subcommittee SC 3,
Electrical and electronic equipment.

This first edition of ISO 11898-3 cancels and replaces ISO 11519-2:1994, which has been technically revised.

ISO 11898 consists of the following parts, under the general title Road vehicles — Controller area
network (CAN):

⎯ Part 1: Data link layer and physical signalling

⎯ Part 2: High-speed medium access unit

⎯ Part 3: Low-speed, fault-tolerant, medium-dependent interface

⎯ Part 4: Time triggered communication

⎯ Part 5: High-speed medium access unit with low-power mode

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ISO 11898-3:2006(E)

Introduction
ISO 11898, first published in November 1993, covered the controller area network (CAN) data link layer as
well as the high-speed physical layer.

In the reviewed and restructured ISO 11898:

⎯ ISO 11898-1 describes the data link layer protocol as well as the medium access control;

⎯ ISO 11898-2 specifies the high-speed medium access unit (MAU) as well as the medium dependent
interface (MDI).

ISO 11898-1:2003 and ISO 11898-2:2003 cancel and replace ISO 11898:1993.

In addition to the high-speed CAN, the development of the low-speed CAN, which was originally covered by
ISO 11519-2, gained new means such as fault tolerant behaviour. The subject of this part of ISO 11898 is the
definition and description of requirements necessary to obtain a fault tolerant behaviour as well as the
specification of fault tolerance itself. In particular, it describes the medium dependent interface and parts of the
medium access control.

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INTERNATIONAL STANDARD ISO 11898-3:2006(E)

Road vehicles — Controller area network (CAN) —

Part 3:
Low-speed, fault-tolerant, medium-dependent interface

1 Scope
This part of ISO 11898 specifies characteristics of setting up an interchange of digital information between
electronic control units of road vehicles equipped with the controller area network (CAN) at transmission rates
above 40 kBit/s up to 125 kBit/s. The CAN is a serial communication protocol which supports distributed
control and multiplexing.

This part of ISO 11898 describes the fault tolerant behaviour of low-speed CAN applications, and parts of the
physical layer according to the ISO/OSI layer model. The following parts of the physical layer are covered by
this part of ISO 11898:

⎯ medium dependent interface (MDI);

⎯ physical medium attachment (PMA).

In addition, parts of the physical layer signalling (PLS) and parts of the medium access control (MAC) are also
affected by the definitions provided by this part of ISO 11898.

All other layers of the OSI model either do not have counterparts within the CAN protocol and are part of the
user’s level or do not affect the fault tolerant behaviour of the low speed CAN physical layer and therefore are
not part of this part of ISO 11898.

2 Terms and definitions

For the purposes of this document, the following terms and definitions apply.

2.1
bus
topology of a communication network where all nodes are reached by passive links which allow transmission
in both directions

2.2
bus failure
failures caused by a malfunction of the physical bus such as interruption, short circuits

2.3
bus value
one of two complementary logical values: dominant or recessive
NOTE The dominant value represents a logical “0” the recessive represents a logical “1”. During simultaneous
transmission of dominant and recessive bits, the resulting bus value will be dominant.

2.4
bus voltage
voltage of the bus line wires CAN_L and CAN_H relative to ground of each individual CAN node
NOTE VCAN_L and VCAN_H denote the bus voltage.

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ISO 11898-3:2006(E)

2.5
differential voltage
Vdiff
voltage seen between the CAN_H and CAN_L lines

NOTE Vdiff = VCAN_H − VCAN_L

2.6
fault free communication
mode of operation without loss of information

2.7
fault tolerance
ability to operate under specified bus failure conditions at least with a reduced performance

EXAMPLE Reduced signal to noise ratio.

2.8
transceiver loop time delay
delay time from applying a logical signal to the input on the logical side of the transceiver until it is detected on
the output on the logical side of the transceiver

2.9
low power mode
operating mode with reduced power consumption

NOTE A node in low power mode does not disturb communication between other nodes.

2.10
node
assembly, connected to the communication line, capable of communicating across the network according to
the given communication protocol specification

2.11
normal mode
operating mode of a transceiver which is actively participating (transmitting and/or receiving) in network
communication

2.12
operating capacitance
COP
overall capacitance of bus wires and connectors seen by one or more nodes, depending on the topology and
properties of the physical media

2.13
physical layer
electrical circuit realization that connects an ECU to the bus

2.14
physical medium (of the bus)
pair of wires, parallel or twisted, shielded or unshielded

NOTE The individual wires are denoted as CAN_H and CAN_L.

2.15
receiver
device that transforms physical signals used for the transmission back into logical information or data signals

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2.16
transmitter
device that transforms logical information or data signals to electrical signals so that these signals can be
transmitted via the physical medium

2.17
transceiver
device that adapts logical signals to the physical layer and vice versa

3 Abbreviated terms

ACK Acknowledge
CAN Controller Area Network
CRC Cyclic Redundancy Check
CSMA Carrier Sense Multiple Access
DLC Data Length Code
ECU Electronic Control Unit
EOF End of Frame
FCE Fault Confinement Entity
IC Integrated Circuit
LAN Local Area Network
LLC Logical Link Control
LME Layer Management Entity
LPDU LLC Protocol Data Unit
LSB Least Significant Bit
LSDU LLC Service Data Unit
LS-MAU Low-Speed Medium Access Unit
MAC Medium Access Control
MAU Medium Access Unit
MDI Medium Dependent Interface
MPDU MAC Protocol Data Unit
MSB Most Significant Bit
MSDU MAC Service Data Unit
NRZ Non-Return-to-Zero
OSI Open System Interconnection
PL Physical Layer
PLS Physical Layer Signalling
PMA Physical Medium Attachment
RTR Remote Transmission Request
SOF Start of Frame

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ISO 11898-3:2006(E)

4 OSI reference model

According to the OSI reference model shown in Figure 1, the CAN architecture represents two layers:

⎯ data link layer;

⎯ physical layer.

This part of ISO 11898 describes the physical layer of a fault tolerant low-speed CAN transceiver. Only a few
influences to the data link layer are given.

Figure 1 — OSI reference model/CAN layered architecture

5 MDI specification

5.1 Physical media

5.1.1 General

The physical media used for the transmission of CAN broadcasts shall be a pair of parallel (or twisted) wires,
shielded or unshielded, dependent on EMC requirements. The individual wires are denoted as CAN_H and
CAN_L. In dominant state, CAN_L has a lower voltage level than in recessive state, and CAN_H has a higher
voltage level than in recessive state.

5.1.2 Node bus connection

The two wires CAN_H and CAN_L are terminated by a termination network, which shall be realized by the
individual nodes themselves. The overall termination resistance of each line should be greater than or equal to
100 Ω. However, the termination resistor’s value of a designated node should not be below 500 Ω, due to the
semiconductor manufacturers’ constraints. To represent the recessive state CAN_L is terminated to VCC and
CAN_H is terminated to GND. Figure 2 illustrates the normal termination of a designated bus node.

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Key
a Optional.

Figure 2 — Termination of a single bus node

In Figure 2, the termination resistors are denoted as optional. That means that under certain conditions not all
nodes need an individual termination, if the requirements of proper overall termination are fulfilled.

5.1.3 Operating capacitance

The following specifications are valid for a simple wiring model which in general is used in automotive
applications. It consists of a pair of twisted copper cables which are connected in a topology described in
5.1.4. The following basic model shown in Figure 3 and 4 is used for the calculations.

Key
a Driver.
b Wire.

Figure 3 — Substitute circuit for bus line

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