简要介绍了CAN总线的一些基本概念和基本组织规则，详细阐述了CAN总线的报文、帧格式，错误类型以及检测错误能力。

It's basic concept and organizing rules and particularly represents the message, picture format, error style and checking error ability in CAN Bus are simply introduced.

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分析了CAN总线标准的网络拓扑结构、报文帧格式，并对标准帧和扩展帧进行了比较。

This paper analyzed topology and message frame types of CAN bus and compared the standard frame format and extended frame format.

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利用CAN总线数据帧的标识码设置传输报文的优先级，通过设计优先级晋升算法来改善多轴嵌入式数控系统报文数据通信的实时性和有效性。

The key design techniques of CAN interface were discussed. The priority of the transmitting message was set in terms of the identification code of CAN frames.

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