A METHOD FOR CONTROLLING CAN BY CAN COORDINATOR

摘要

Disclosed is a Controller Area Network (CAN) control method performed by a CAN coordinator, which can mitigate transmission delay in a CAN system and can implement a plug and play function for a new node capable of transmission and reception. The CAN control method comprises the steps of: transmitting a registration mode start message to a plurality of nodes in a CAN in response to entrance into a registration mode; receiving response messages, indicating completion of preparation for the registration mode and including information about the numbers of pieces of per-function control data of corresponding nodes, from one or more of the nodes; counting the number of nodes having responded among the nodes and the numbers of pieces of per-function control data of the individual nodes having responded based on the response messages; transmitting per-function control data transmission right messages; receiving per-function control data information messages including information about requests for function and operation conditions for the corresponding nodes; and setting the function and operation conditions for the nodes having responded based on the per-function control data information messages, and transmitting node setting messages.