Adding robustness by digital isolation and compensating for propagation delays to CAN network presented in this technical article from Analog Devices. Link here (PDF)
Controller area network (CAN), standardized under ISO 11898, is widely used in industrial and automotive applications. CAN protocols such as DeviceNet or CANOpen rely on the built-in error checking and differential signaling. Galvanic isolation can further enhance robustness, offering immunity to high voltage transients at a cost of added propagation delay. The optimal configuration of CAN nodes can allow the maximum data rate and distance even when isolation is present.