Residual error analyses for CAN networks have been performed for years. It is well documented, that commonly used equations do not fully apply for analytic computing of the residual error probability of CAN networks. Also too high bit error probability values have commonly been used in the analyses. Furthermore, CANopen networks have been analyzed as CAN networks, without taking into account the additional safeguards provided by various CANopen services. Results have been very pessimistic, which has lead to significant unnecessary cost and complexity in various applications.
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