Error detection function, error notification function, and error recovery function: all units can detect errors, and the detected errors will immediately notify all other units. Once the unit that is sending the message detects an error, it will forcefully end the current transmission. The sent unit is repeatedly resent until it is successfully sent.
Fault closure: CAN can determine whether the type of error is a temporary data error on the bus or a persistent data error (such as unit internal failure, driver failure, disconnection, etc.). With this function, when a continuous data error occurs on the bus, it can be Isolate the unit causing the fault from the bus.