C1_Introduction C2_System_architecture C3_Realtime_Requirement C4_1_ICN_Introduction C4_3_Medium_Access_Control C4_4_Error_Checking C4_5_Bit_Encoding C4_6_Signal_Transmission_Technology C4_7_Protocol_Architecture C5_Network_Components C6_1_Profibus C6_2_Interbus C6_3_CAN C6_4_ASI C6_6_Ethernet * Summary