CAN Bus system

INTRODUCTION

C ontrolled
A rea
N etwork
Bus
INTRODUCTION

Traditional Communications
INTRODUCTION

CAN Bus communication

1111
1001

1001 10
11 00
01
10
11
INTRODUCTION

Why CAN Bus communication

> Reduction of wires

> Reduction of system complexity

> Use extra intelligence for diagnostic

INTRODUCTION

An example, conventional

- +
BAT.
INTRODUCTION

An example, CAN Bus

CAN CAN lines

Controller

CAN
I/O unit

- +
BAT.
INTRODUCTION

Why CAN Bus communication

> Reduction of wires

?
> Reduction of system complexity

> Use extra intelligence for diagnostic

INTRODUCTION

An example, conventional

- +
BAT.
INTRODUCTION

An example, CAN Bus

CAN
I/O unit

CAN CAN lines

Controller

- +
BAT.
INTRODUCTION

An example

CAN
I/O unit

CAN CAN lines

Controller

- +
BAT.
INTRODUCTION

An example, CAN Bus

Distance

CAN
I/O unit

CAN CAN lines

Controller

- +
BAT.
INTRODUCTION

An example, CAN Bus

Complex
conditional
switching
CAN
I/O unit

CAN CAN lines

Controller

- +
BAT.
CAN Bus
basics

Can LO

BACK BONE

Can HI

Digital information:
> Digital
Binary information
codes ( 101100101101
can reflect )against the end of the
backbone wire and result in noise ( echo ) on the
> messages
Positive voltage, 0 = 0V 1 = 5V

Can HI Can LO

5V 5V

0V 0V
1 0 1 1 0 0 1 0 1 1 0 1 0 1 0 0 1 1 0 1 0 0 1 0
CAN Bus
basics

Can LO

BACK BONE

Termination Can HI Termination

Shield
resistor resistor
120Ω 120Ω
STUB or Termination Diagnose
BRANCH
> Digital information can reflect against the end of the
backbone wire and result in noise ( echo ) on the
messages

engine > Reflection is terminated with 120Ω resistors on

transmission
both ends of the backbone wires
ECU ECU

ECU’s ( Electronic
Shield
Diagnose plug Control Units ):
> One
The
To protect
ECU
or more
receives
thediagnose
digital
information
messages
plugs will
from
from
be the
foreseen
disturbance
sensors
in the
and
caused
CAN by
bus,
processes
outside
which
( magnetic
the
provide
information,
)the
influences
possibility
when a shield
the
to connect
information
around
a computer
the
is CAN for
processed
Diagnose
wires is provided
purposes
an output is given to the actuators. The ECU is
also called computer.
> The shield has to make contact to all ECU’s and other
> ECU’s
auxiliaries.
are connected with both the Can-HI and Can-LO wire
(Back Bone). This assembly is referred to as network or data
link
CAN Bus
basics
Controller
s

E lectrical
C ontrol
U nit

Variation in names:

> TCM (Transmission Control Module)

> TCU (Transmission Control Unit)
> ADM (ADaption Module)
> MR2 (Motor Regelung / engine management)
> CC (Central Controller)
> DRC (DRiver seat Controller)
CAN bus applied in Terberg YT-**2

Cummins QSB- Allison 4th gen

Termination
resistor
120 
ECU
Allison

Termination 120 
resistor inside ECU

ECU
Cummins
QSB

> Can Bus system as used in the YT-**2 series tractors

> Termination resistor is located inside the Allison ECU
CAN bus applied in Terberg RT-**2

Mercedes OM900 - ZF WG211

> Can Bus system as used in the RT-**2 series tractors

> Termination resistor is missing on the Engine ECU side
CAN bus applied in Terberg RT-**3

CAN Bus 3 CAN Bus 2 CAN Bus 1

DRC
Slave
R3
Termination resistors
120 Ωresistor
Termination
120
R2

Controller
Transm.
EST
R1

Central Engine
Controller ADM
Controller
Fault finding

Ignition on
Can LO

BACK BONE

Termination Shield Can HI Termination

resistor resistor
120Ω 120Ω
STUB or Diagnose
BRANCH

V or Ω ?

engine ECU
ECU transmission
Fault finding

Ignition on
Can LO

BACK BONE

Termination Shield Can HI Termination

resistor resistor
120Ω 120Ω
STUB or Diagnose
BRANCH

? V 2~4V

engine ECU
ECU transmission
Fault finding

Ignition off
Can LO

BACK BONE

Termination Shield Can HI Termination

resistor resistor
120Ω 120Ω
STUB or Diagnose
BRANCH

Ω or V ? 60 Ω

engine ECU
ECU transmission
Fault finding

120 Ω

engine
ECU
Fault finding

Can LO

Can HI Termination
resistor
120Ω
Diagnose

∞Ω
ECU
transmission
Fault finding

Ignition off
Can LO

BACK BONE

Termination Shield Can HI Termination

resistor resistor
120Ω 120Ω
STUB or
BRANCH

0,01 Ω

engine ECU
ECU transmission

Short circuit
transferring signals

Digital
Between 0 and 5V
CAN Bus
Cabin controller Engine controller

Analog/digital
Analog/digital
Between 0 and 24V
Between 0 and 24V
Hard wiring
Hard wiring
Analog => digital

Converting signals.

Analog Sensor Signal Fase 2: convert sample to binair number

Fase 1: the analog signal is sampled Fase 3: digital signals from different
components on one wire: MULTIPLEXING
standardization

CAN Bus protocol: SAE J1939

> SAE J1939 defines the physical hardware

> SAE J1939 defines software communications

overvie
w

2A
Thank you for you attention
Are there any questions?

13B