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LEMON is the spiritual successor to CHARM, I recommend you try it!

Link: lemon-manuals.la or lemon-manuals.org.ua

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Fail-Safe Chart

CAN COMMUNICATION SYSTEM: FAIL-SAFE CHART

FAIL-SAFE CHART

1. FAIL-SAFE FUNCTION
(a) When communication fails in any of the CAN bus wires (communication wires), a fail-safe function(s) will operate. The fail-safe function that is specified for each system operates to prevent those systems from malfunctioning.
(b) The following chart shows the relationships between components and system functions and effects of communication failure on these functions.