| Electrical Type |
Single-ended (TTL/±12V) |
Differential, 4-wire (Full-duplex) |
Differential, 2-wire (Half-duplex) |
Differential, 2-wire (Half-duplex) |
| Communication Mode |
Full-duplex |
Full-duplex |
Half-duplex |
Half-duplex (Multi-master) |
| Nodes Quantity |
Point-to-point (1:1) |
1 master, multi-slave |
32/128/256 nodes (Bus) |
Multi-master, multi-slave |
| Anti-interference |
Weak |
Strong |
Strong |
Extremely strong |
| Transmission Distance |
Short (≤15m) |
Long (≈1200m) |
Long (≈1200m) |
Medium-long (40m@1Mbps, 1km@50kbps) |
| Transmission Rate |
Low (9600/115200bps) |
Medium-high |
Medium-high |
High (Up to 1Mbps, CAN FD higher) |
| Error Handling |
Software check only |
No hardware error correction |
No hardware error correction |
Hardware auto retransmission, CRC, error confinement |
| Protocol Features |
Simple transparent stream |
Simple transparent stream |
Simple transparent stream |
Message ID, priority, collision avoidance |
| Typical Applications |
Debug printing, short-range communication |
Long-distance point-to-point, high-speed acquisition |
Industrial instruments, inverters, access control |
Automotive ECU, industrial control, BMS, robotics |
| Wiring |
TX/RX/GND (3 wires) |
TX+/TX-/RX+/RX- (4 wires) |
A/B (2 wires) + GND |
CAN_H/CAN_L (2 wires) + Ground |
