Design Studio | CAN bus Protocol | User Guide

2
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PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019
 Design Studio | CAN bus Protocol | User Guide

Contents
Page No.
1. Introduction 4

1.1 SAE J1939 CAN bus Standards 4

2. Getting Started with CAN bus 5

2.1 Installing the S70-CAN Adapter 5

3. Design Studio Elements for CAN bus 7

4. CAN bus Device Hardware Element Properties 8

5. The CAN Variable 9

6. CAN Frame Builder 11

7. Runtime & Error Handling 12

7.1 Active State 12

7.2 Comms Error Handler 12

7.3 Resolve Connection Action 12

8. Address Limitations 13

9. Tutorial: Basic Data Transfer 13

9.1 Send PDU1 type data frame to bus 13

9.2 Create a CAN bus device in the Design Studio 13

9.3 Add a CAN bus Variable to a project 14

9.4 Add a CAN Frame Builder to a project 15

9.5 Link to a button 16

9.6 Examine the results with a CAN bus analyser 16

9.7 Examine the results with another PanelPilotACE device 16

9.8 Auto reply “Request PGN” 17

9.9 Acknowledge Supported Feature 18

9.10 Encode/Decode CAN Frame with String Type Data 19

Change the linked project variable default value in

9.11 20
different values

10. Tutorial: Transport Data 21

Contact us for more
10.1 Transport Data with BAM 21
PanelPilotACE products,
10.2 RTS/CTS: Request to Send/Clear to Send 22 services and support:
11. Tutorial: Non-reconfigurable Address Claim 24
UK & Europe
11.1 Address Claim with contention 24 www.lascarelectronics.com
[email protected]
11.2 Address Claim with contention 25
+44(0)1794 884567
12. Tutorial: Reconfigurable Address Claim 26
Americas
13. Tutorial: Error Handling 27 www.lascarelectronics.com
13.1 Using Communication Error Element 27 [email protected]
(814) 835 621
13.2 Disable Error Dialog for a specific error 27
Asia
www.lascarelectronics.com
[email protected]
(814) 835 621

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 3

PanelPilotACE The CAN bus Protocol has
been added to the SGD 70-A
SAE Standards J1939-73 Application
layer “Diagnostics” and J1939-74

Design Studio PanelPilotACE colour capacitive

touch display.
Application Configurable Messaging
are NOT supported by the

CAN bus The set-up and control of

PanelPilotACE CAN bus.

Protocol
PanelPilotACE devices with CAN bus Standard J1939 defines a device
added is implemented through the connected and operated via CAN

User Guide PanelPilotACE Design Studio.

The CAN bus Protocol has been

bus as an Electronic Control Unit
(ECU) or node.

added to Design Studio software J1939-21 uses Parameter Group

version 4.0.1.4050 onwards. Numbers (PGN) and Suspect
1. Introduction This and many other PanelPilotACE Parameter Numbers (SPN). Each SPN
resources can be downloaded specifies the properties of a single
A CAN bus (Controller Area Network) free from: parameter such as data length,
is a message-based communications resolution, offset, range and unit.
protocol. It was originally used www.lascarelectronics.com/ PGN specifies which SPNs belong
within the automotive industries. panelpilotace-university to it. J1939-21 also provides a
CAN bus allows microcontrollers user defined PGN range named
and devices to communicate with 1.1 SAE J1939 CAN bus “Proprietary A”, “Proprietary A2” and
each other without the need for a Standards “Proprietary B”
host PC. The PanelPilotACE CAN bus adapter
has been created to comply with the J1939-71 specifies that all PGN and
As well as the Automotive industry, Society of Automotive Engineers SPNs can be used in a vehicle.
CAN bus can be used in many other (SAE) set of standards, specifically
areas including Aviation, Industrial PanelPilotACE CAN bus J1939
SAE J1939 and the following:
Automation and Mechanical Control, Elements provide a flexible way to
Building Automation and Medical i) J1939-21 Data Link Layer create SPNs and PGNs. Users can
Equipment. ii) J1939-71 Vehicle Application create any PGN or SPN covered by
Layer J1939-71 and J1939-75 (Application
Layer - Generator Sets and
iii) J1939-81 Network Management
Industrial) or Proprietary PGN.

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 Design Studio | CAN bus Protocol | User Guide

Data can be regularly reported by The PanelPilotACE J1939 CAN bus 1. Make sure the SGD 70-A is
an ECU or by a Request PGN from Element also provides the ability to powered-off.
another ECU. reconfigure it’s address according to 2. Plug the S70-CAN Adapter into
a “Commanding Address” message. the SK2 Pin Header on the
Commanding ECUs can also send However, note that it is not able to reverse of the SGD 70-A device
queries to other ECUs to check the issue this message. (see Figure 1).
support feature. Users can create
PGNs by using the PanelPilotACE Each PGN contains 8 bytes. A PGN The CAN bus adapter can be wired
CAN Frame Builder in Design Studio. with a data length of more than 8 point to point or by multi-drop
This will automatically setup the bytes will be carried by a transport wiring.
response of the Request PGN and protocol message as defined by
acknowledge available features. J1939-21. Both Broadcast and An example of wiring an S70-CAN
RTS/CTS transport protocols are to a DB9-F connector can be seen in
Each ECU has its own 8 bit address supported. Figure 3.
and a 64 bit ECU Name. Public,
preferred addresses for ECUs can be Figure 2 shows a multi-drop
found in the J1939 Appendix that is wiring to system with multiple ECUs
available to view at www.sae.org. 2. Getting Started or SGD-70-A.

The preferred address is the default with CAN bus

one used by ECUs on a network
however, conflicts can occur. 2.1 Installing the S70-CAN
Standard J1939-81, includes a Adapter
procedure to resolve these conflicts The S70-CAN adapter is available
(view the tutorials in section 11 as an Add-on board for the
& 12). PanelPilotACE SGD 70-A model.
The following are the instructions
for installing the adapter.

The PanelPilotACE SGD 70-A with S70-CAN Adapter.

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 S70-CAN Adapter

Figure 1. Plugging in the S70-CAN Adapter.

GND

CANL

CANH

S70-CAN
Terminal Block

ECU ECU ECU

S70-CAN
Terminal Block

Figure 2. Multiple ECU connections diagram.

CAN bus DB9-F

GND Optional GND Wire 1

CANL

CANH
5
Twisted Pair Signal Wires
S70-CAN
Terminal Block

Figure 3. S70-CAN to DB9-F wiring diagram.

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 Design Studio | CAN bus Protocol | User Guide

3. Design Studio
Elements for
CAN bus
The PanelPilotACE Design Studio
contains two Elements and one
Project Variable for a user to enable
the CAN bus Protocol.

1. CAN bus Device

Hardware Element
This Hardware Element includes
properties to control the
S70-CAN hardware port and
setup the ECU information.

2. CAN Frame Builder

Function Element
This Function Element provides
the construct service. It can
create J1939 CAN frame data
encode, data decode and
mapping to other Design Studio
resources such as Project
Variables or Element Properties.

Figure 4. The Properties Editor showing CAN bus

Device Properties.

3. CAN Project Variable

This Variable provides a flexible
way to construct CAN frame data
in terms of PGNs and SPNs. It can
be used to create a simulated ECU
(Provide Service) or to remote control
another ECU (Request Service).

Figure 5. The ECU Construct Name dialogue box.

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4. CAN bus Device Property Name Description

Hardware Name Element Name

Element Channel S70-CAN includes a signal CAN bus port. This is always Channel 1

Properties The Frame Rate can be set as 125, 256, 512 or 1 Mbits. All devices
using CAN bus use the same frame rate.

The configurable properties of the Frame Rate Note: Do not connect a PanelPilotACE device to an active CAN bus
CAN bus Device Element can be with an unknown frame rate. Mismatched frame rates may cause
found in the Properties Editor within network nodes to switch to passive or bus-off mode.
the Design Studio. The Properties This allows selection of the version of the CAN bus Protocol to be
Editor is located in the top right- CAN Network used.
hand side of the Design Studio Type Note: Only CAN J1939 Protocol is functional at this time. Open CAN
workspace (see Figure 4). Table 1 and Native mode are reserved for future expansion.
describes which of the values and Every ECU controller connected to a CAN bus will process all data
fields within the Properties Editior frames on the bus and de-assert the ACK bit if any controller is
that can be configured. found with errors on a data frame. The original controller will
resend data frames until the accumulated error count exceeds the
Listen Only threshold that activates “Passive” or “Bus-off’ mode.
Mode
A user can configure the controller to operate in “Listen Only
Mode”.
It does not de-assert the ACK bit if an ECU is just used as a monitor
or to display an SPN parameter (i.e. read only).
Each ECU on a network will have at least one 64 bit Name and one
address assigned to it. A complex ECU can have multiple addresses
and names.

The Device Address, PGN and Message Priority form the CAN ID.
This affects the message priority. Addresses can be allocated
statically or dynamically using the “Address Claim” arbitration
process. An address with a higher priority is dependant on the
64bit Name (small values on the device address have higher
priority).

Device Addresses are reconfigurable in runtime. This is why it is

sometimes known as the Preferred Address. The Device Address
can be reconfigured using the following steps:
Device Address
zz In the Properties Editor, click the Add button below the Device
Address field. This will add an Emulated ECU to the Element.
Double-click the field for the Construct Device Name dialogue
box to appear.

The “Arbitrary Address” field determines whether the address is

configurable or fixed.

When the “Arbitrary Address” field is set to True the PanelPilotACE

will retry a new address using the address claim process if the
address is already taken by something with a higher priority.

If the PanelPilotACE fails to claim a new address then it will

report an Address Claim Fail Error (see section 10 for error handler
details). See J1939 Appendix & J1939-81 for further details.
The S70-CAN Adapter hardware provides the bus termination. The
Bus Terminate Control Property can control the Bus Termination
Bus Terminate
Enable/Disable. If a PanelPilotACE is the last ECU on a bus wire
Control
and the network wiring is long, terminating the bus can improve
signal quality.

Table 1.

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 Design Studio | CAN bus Protocol | User Guide

5. The CAN J1939 PDU

Variable P
E
D D
P P PF PS SA
-----
Data Field
3 1 1 8 8 8 0 - 64
The J1939 data frame structure
called a Protocol Data Unit (PDU) is
Key: P = Priority, EDP = Extended Data Page, DP = Data Page, PF = PDU Format, PS = PDU
displayed in Figure 6.
Specific, SA = Source Address.

It shows the PDU data structure.

Figure 6: J1939 PDU
The Priority, Extended Data Page,
Data Page, PDU Format (PF) and
PDU specific (PS) formatted the 29 SPN 2433, SPN 2434 Data Value = A user can search the J1939 spec
bits extended. 16 bit raw data * 0x03125 + (- 273) to locate the parameter required.
The CAN ID is used in the CAN data unit in °C. These are to send or receive, find
link layer. PF, PS/Group Extension the SPN and PGN and input to the
The first 2 data bytes belong to CAN bus variables.
(GE) create the PGN. SPN2433, value 0x2EE0 decoded
There are two PDU formats PDU1 value is 102°C. The next 2 bytes Alternatively a user can create their
and PDU2. PDU1 has a PF value belong to SPN2434, value 32C8 own “Proprietary” PGN. Figures 7
of less than 240. and the PS bytes decoded as 133.25°C. and 8 show examples of PGN 65169
store the Destination Address (DA). and SPN as found in the spec.
CAN Variables should be used to
PDU2 has a PF value of more than or store PGN and SPN information.
equal to 240 and PS bytes the Group
Extension (GE).
pgn65169 - Fuel Leakage - FL
Each PGN is defined by the
Transmission Repetition Rate 1s
individual parameter specified in
Data Length 8 bytes
terms of SPN. The data field itself
Data Page 0
does not carry any information or
PDU Format 254
properties for decoding raw data
PDU Specific 145
such as resolution or offset. It only
Default Priority 7
carries the parameters value. Parameter Group Number 65169 (00FE9116)
For example, if a PDU with CAN Bit Start Position/Bytes Length SPN Description SPN
1.1 2 bits Fuel Leakage 1 1239
ID 0x18FE0710, Data field is 0xE0,
1.3 2 bits Fuel Leakage 2 1240
0x2E, 0xC8, 0x32, 0xFF, 0xFF, 0xFF,
0xFF. Figure 7. PGN65169 data structure

PF = 0xFE, Since PF > 240, the spn1239 - Fuel Leakage - 1 - status signal indicates fuel leakage in the fuel rail of
second byte is GE not SA and the the engine. The location can be either before or after the fuel pump.
value is 0x07. 00 - no leakage detected
01 - leakage detected
Source Address (SA) = 0x10.
Bit Length 2 bits
Therefore, the PGN = 0xFE07= Type Status
65031. Suspect Parameter Number 1239
Parameter Group Number [65169]
According to specification, PGN spn1240 - Fuel Leakage - 2 - status signal indicates fuel leakage in the fuel rail of
65031 have 2 SPNs, SPN 2433 and the engine. The location can be either before or after the fuel pump.
SPN 2434. 00 - no leakage detected
01 - leakage detected
SPN 2433 is Right Manifold Exhaust Bit Length 2 bits
Gas Temperature a 16 bit, resolution Type Status
0.03125, offset -273°C. SPN 2434 Suspect Parameter Number 1240
which is the left side temperature. Parameter Group Number [65169]

Figure 8. SPN1239 and SPN1240 meanings

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The CAN Variable Properties found
in the Properties Editor are listed in
Table 2 (below).

Property Name Description

Name Variable Name
PGN Parameter Group Number
Priority Message default priority
If this address is matched to the Preferred Device Address in the CAN
bus Device Element, then the PGN will be processed as an out-going
PGN and used to Encode the CAN frame.

If a CAN Frame Builder links to this CAN variable it can send a CAN
Source Address Frame to another device.

If this address is not matched in CAN bus Device Element then the PGN
will be processed as an incoming PGN and used to Decode CAN frame.
If a CAN Frame Builder links to this CAN variable it can capture CAN
frames from another device with source address matched.
If the length is larger than 8 bytes then the PanelPilotACE device will
Total Length automatically process the data using a Transport Message.

This stores the SPN information belonging to the PGN.

Click the “Add” button to activate a blank SPN, or click the SPN row to
SPN List edit it. Figure 8 shows the dialogue box to add and edit SPNs.

Note: Input order of the SPN in the list must match the J1939 spec.

Table 2.

The SPN Editor Dialogue Box

shows SPN Properties that can
be configured. Table 3 contains a
description of these properties.

Property Name Description

SPN Suspect Parameter Number
Byte Positon SPN data byte start position within the PGN. Start from 1 Figure 7. CAN Variable Properties
Bit Position SPN data bit start position within the PGN. Start from 1
Length Data size in number of bits
Offset Date value offset
Range Data value range
Scale Scale between integer value and actual value of the parameter
Reverse Checked means the scale value is inverse value
Unit Unit field only for reference, PanelPilotACE do not use this field.

Table 3.

In J1939 CAN Frame, the real Resolution Property as an integer

numbers are not Encoded/Decoded and does not lose decimal places.
in the IEEE floating point data
format. It uses “Resolution” to scale e.g. SPN1135 resolution can either
integer values into real numbers input as 0.03125 or 32 with the
with decimal places. Reverse check box enabled.

If the Resolution Number has Note: Users can also set the scale as
several decimal places, you can 1 and use a Maths Builder or a Logic
check the “Reverse” check box. This Builder to process the parameter Figure 8. SPN Editor Dialogue Box
uses an inverse value to keep the externally.

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 Design Studio | CAN bus Protocol | User Guide

6. CAN Frame
Builder
The CAN Frame Builder creates the
connection between a CAN Variable and
other PanelPilotACE project resources such
as Project Variables, Element Properties
or Actions (see Figure 9). A description of
the available properties for this Element is
listed in the Table 4 below:

Property Name Description

Name CAN Frame Builder Name.
CAN bus Port Which CAN bus Port / CAN bus Device is selected for use.

Which CAN bus Variable is being used. CAN Frame Builder will use
CAN bus Variable the CAN bus Variable PGN and SPN information to Encode/Decode
the CAN Frame.

Destination Address This is the Target device address.

A PGN can be a record type. Each record contains 1 set of SPNs. If
the PGN is not a record type, set the record count to 1. If the PGN is
a record type, configure the PanelPilotACE device with the number
of records it is required to process.

If the PGN is set as “Incoming” it will only process the number

Record Count of records it has been configured for. For example, if the device
receives 10 records, but the record count is set to 4, it will only
process the first 4 records. The remaining 6 records will be ignored.

If the PGN is set as “Outgoing”, the record count sets the exact
record write. When the record count is set to more than 1, more
properties will appear in the Property Editor as seen in Figure 10.

Set “Enable Count Field” to true if the PGN has a first SPN to store
Enable Count Field
the record count.
A PanelPilotACE device does not have array or record type variables,
therefore PanelPilotACE will not process all records. Set the “Enable
Enable FIFO Access FIFO Access” to choose either process start from first or last records. Figure 9. CAN Frame Builder Properties
Enable FIFO is also a Runtime Property; a user can Enable/Disable
FIFO access using set rule action.

Configure Resource link to SPN. After selecting the CAN bus

Variable, it will automatically check the number of SPNs contained
in the PGN and reserve the same amount of un-configured links.
Parameters/Data Select the resource that links to SPN. The first item will link to the
– CAN Data Field first SPN in the CAN bus variable.

Note: If the record count is 2 and the PGN has 4 SPN as a record, it will
reserve 8 CAN Data fields and a total of 8 resources to link.

Some ECU (e.g. Engine, Throttle Position) will keep exchanging data
with a very high repetition rate (e.g. 20-50ms ). If you process all
the data and perform screen updates, the screen may overload the
PanelPilotACE CPU. Update Frequency controls how many repeated
Update Frequency PGN captures will trigger the Post Action.

Update and perform a Post Action. e.g. Set update frequency to 5

means update the project Variable/Property value once after target
PGN captured 5 times.

Post Action Action taken when a target PGN is captured or transmitted.

Select which Error Handler Element will process the error generated
Error Handler
by this CAN Frame Builder.
Table 4.
Figure 10. More CAN Variable Properties

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7. Runtime &
Error Handling
ECU Hardware controllers include
an Error Counter to detect
transmission faults. The Counter
will reduce when the transmission
returns to normal. If the Counter
exceeds 127, the device will enter
an Error Passive State. If the Counter
exceeds 255, the device will enter
a Bus-Off State and will stop all
transmissions until the controller
has been reset. Figure 11. Values for the Property Trigger.

Figure 13. Values for Resolve Connection.

7.1 Active State
Transmissions will continue when
the controller is in a Passive State.

The CAN bus Device Element

includes a runtime property called
“Active State” that monitors the
status of the controller. The status
is either “Active” or “Passive”.

A user can add an Element

Property Trigger to capture any
status changes (see Figure 11). It is
possible to configure an action in a
Property Trigger to update a Visual
Element to indicate the status as an
indication of signal quality.

7.2 Comms Error Handler Figure 12. Values for the Communications Error Handler.
The Communication Error Handler
can be configured to manage CAN
bus errors. All CAN Frame Elements can link to Property Name Description
a Communication Error Handler. If a Name connectionResolve
Figure 12 shows an example of this
CAN Frame Element cannot connect Select the CAN bus
set-up in the Property Editor. The
to the Communication Error Handler Port Connection Port/Device to be
properties have been configured as used.
then an Error Dialogue message will
shown in the Table 5. Two Resolve options
appear to notify the user. need to be set:
Property Name Description i) Reset Connection
- Resets the CAN bus
Name errorHandler 7.3 Resolve Connection Action port hardware.
Select CAN bus The Resolve Connection Action
Port/Device to Resolve Type ii) Reallocate Address -
Communication Port
be used (e.g.
controls different communication
Retries the Address
CANBusPort1) ports to resolve connection failures Claim procedure and
CAN bus including CAN bus. Figure 13 shows tries to claim the
Communication Type
Communication an example configuration set-up in device address if the
Add the link for Address Claim has
the Property Editor. The properties
Error Handlers individual Error to failed before.
Action. have been configured as shown in
Table 6. Table 6.
Table 5.

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 Design Studio | CAN bus Protocol | User Guide

8. Address to a PanelPilotACE device, the

PanelPilotACE will follow the rules
Destination Address of CAN Frame
used for write and Source Address of
Limitations defined by J1939-81 which is to CAN Frame used for Read must be
compare the ECU name. If the ECU reconfigured in the Design Studio if
PanelPilotACE devices include the has a higher priority, then it will the target ECU has changed address.
functions Address Claim and Self- add the address to an “occupied
configurable Address. Following address list”. The PanelPilotACE will PanelPilotACE devices also manage
power-up, the device will send an randomly pick a new address that “Request PGN” for address claims
Address Claim PGN for each address is not in the “occupied address list” and “commanded address” from
in the Device Address table. It will and attempt to claim a new address. other ECUs. It will automatically
also record other ECU devices’ If the claim is successful the Source send “Request PGN” for address
claimed addresses (whether or not Address for CAN Frame used for claims when powered-on if
another ECU has claimed success). write will be updated to the new Configurable Address is enabled.
address. PanelPilotACE devices do not
If such conflicts occur and other provide a “Commanded Address”.
ECUs attempt to claim the PanelPilotACE does not trace other A user can build one using the CAN
address that already belongs ECU address claims, therefore the frame builder function.

pgn0 - Torque/ Speed Control 1 - TSC1

Transmission Repetition Rate When active: 10 ms to engine -
50 ms to retarder
Data Length 8 bytes
Data Page 0
PDU Format 0
PDU Specific DA
Default Priority 3
Parameter Group Number 0 (00000016)
Bit Start Position/Bytes Length SPN Description SPN
1.1 2 bits Override Control Mode 695
1.3 2 bits Requested Speed Control Conditions 696
1.5 2 bits Override Control Mode Priority 897
2-3 2 bytes Requested Speed/Speed Limit 898
4 1 byte Requested Torque/ Torque Limit 518
Note: Retarder may be disabled by commanding a torque limit of 0%. Use of the limit mode allows the use of the retarder only up to the limit
specified in the request. This can be used to permit retarding of up to 50%. For example, if that limit is required by some device such as ABS, or it can
disable the use of the retarder by others when an ABS controller detects wheel slip.

Figure 14. Table for pgn0 - Torque/ Speed Control 1 - TSC1.

9. Tutorial: Basic Choose a PGN that has SPNs with

different types. In the example
Property Name
Name
Description
canBusDevice
Data Transfer above “PGN0 – Torque/Speed Channel 1 (COMTYPE)
Control 1 – TSC1”. Details of the Frame Rate 125kbit/s
This section is a tutorial PGN0 can be found in the J1939- CAN Network Type CAN J1939
that describes how to use a 71 spec. See Figure 14. for this Listen Only Mode Off
PanelPilotACE with CAN bus information. Bus Terminate Control On
enabled to perform a basic data Table 7.
transfer. 9.2 Create a CAN bus device in
the Design Studio 2. Click the “Add” button to add a
9.1 Send PDU1 type data 1. Add a “CAN bus device” new ECU address with an ECU
frame to bus Hardware Element into a Design name with the default value.
PDU1 format data has a PF byte Studio project. Configure its
value of less than 240 and a PS byte Properties as follows:
store for the Destination address.

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3. Click on the newly added row
and edit the address and name
(see Figure 15 for the values).

4. Set the Device Address to

12 and check the “Arbitrary
Address” box. Select OK to close Figure 16. New ECU Name.
the dialogue box. A new ECU
name will be displayed (see
Figure 16).

9.3 Add a CAN bus Variable

to a Project
1. Go to the Project Browser in
the top left-hand area of the
workspace and select Project
Variables from the tree. Right-
click and select “Add CAN
Variable” from the context Figure 15. Values for Construct Device Name.
menu (see Figure 17).

2. Name the new Variable

“canVariablePGN0”.

3. Go to the Properties Editor and

input the values as shown in
Table 8 below:

Property Name Description

Name canVariablePGNO
PGN 0
Priority 3
Source Address 12
Total Length 8
Figure 17. Adding a CAN Variable in the Figure 18. Values for Construct Device Name.
Table 8. Project Browser.

The PanelPilotACE will know that

this CAN Variable is used to write
data to the bus. spn695 - Override Control mode - The override control mode defines which sort of
command is used:
PGN 0 has 5 SPNs inside. These are: 00 Override disabled
Disable any existing control commanded
by the source of this command.
SPN 695, SPN 696, SPN 897, SPN
Govern speed to the included ‘desired
898, SPN 518. 01 Speed control
speed’ value
Control torque to the included ‘desired
5. Add 5 new SPN settings. 10 Torque control
torque’ value
Limit speed and/or torque based on the
6. Click-on the first SPN row to
included limit values. The speed limit
edit the first SPN setting. Speed/torque limit governer is a droop governor where the
11
control speed limit value defines the speed at
7. Combining the data displayed in the maximum torque available during
Figures 14 and 19, SPN 695 will this operation.
start with byte/bit position 1.1 Bit Length 2 bits
Type Status
and size 2 bits. Input SPN 695,
Suspect Parameter Number 695
Byte Position 1, Bit Positon 1,
Parameter Group Number [0]
Length 2 bits. Offset to 0 and
scale to 1 Figure 19. SPN695 data.

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 Design Studio | CAN bus Protocol | User Guide

8. Set the Range as 0 to 3 and

make sure Reverse is unchecked
(see Figure 20).

9. Use the same method to edit

SPN 696 as position 1.3, and
SPN 897 as position 1.5.

10. Set SPN 898 as position 2.1,

16 bits long, offset 0, Range 0
to 8031.88, scale 0.125.
(see Figure 21).

11. Input SPN 518 as position 4.1,

8bits long, offset -125, Range +/-
125, Scale 1 (see Figure 22).
Figure 20. Values for SPN 695. Figure 21. Values for SPN 898.
9.4 Add a CAN Frame Builder
to a project
The following steps explain how
to add a CAN Frame Builder to a
project (see Figure 23).

1. Add a CanFrameBuilder Element

from the Library.

2. Go to the Properties Editor and

select “canBusDevice for the
CAN bus Port field that was
created in section 9.2.

3. Next choose “canVariablePGN0”

as the CAN bus Variable.

4. Once you have selected a

CAN bus Variable, the correct
number of rows will appear in Figure 22. Values for SPN 518.
the “Parameters/Data” table.

5. For this example, input

constant values 1, 0, 2, 1500.5,
89 in correct order as seen in
Figure 23.

6. Input 50 in the Destination

Address field. Other fields can
be left with their default values.

Figure 23. Values for CAN Frame Builder.

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9.5 Link to a button Press the “Rectangle” button on 3. Create 4 Integers and 1 float
Add a Rectangle Visual Element to SGD 70-A to trigger it to send out Project Variable as seen in
the screen. Configure the Rectangle the designed CAN frame. Figure 29.
as a Button Image and configure the
You will see that one new frame has 4. Replace the values in
button to perform an Action to the
been captured from Device Address “Parameter/Data” in the CAN
CAN Frame Builder as just created in
12 to Device Address 50 (Figure Frame Builder with the Project
step 9.2.
25). Select that message. The detail Variables shown in Figure 29.
The button can be previewed in the of the SPN data will show in the (i.e. items 1,2,3,5 use integer
PanelPilotACE Emulator (press F5) lower part of the window (Figure variables, item 4 uses the float
or upload the project to a SGD 70-A 25). The Analysers decode the SPN variable).
device. and values as 1,0,2,1500.5 and 89
matching the CAN Frame Builder. 5. Add a Text Box and a Set Rule
Action “logicActions” to display
9.6 Examine results with a the value on the screen (see
CAN bus Analyser 9.7 Examine results with Figure 30).
We suggest using a CAN bus another PanelPilotACE device
Analyser to capture RAW CAN If the CAN Variable has a Source 6. Go back to the CAN Frame
frames on the bus. USBCAN-E- Address that is not the same as Builder Post Action Property,
min (USBCAN-E-min can also the Device Address and linked select “logicActions”.
decode CAN frames). Microchip to a CAN Frame Builder, the CAN
Frame Builder will be automatically 7. Upload the project to a second
APGDT002 CAN bus analysers are
configured to capture incoming PanelPilotACE and connect it to
recommended for this task.
frames as described in Figure 27. the CAN bus.
Power-up the SGD 70-A and both To do this, take the following steps: 8. Press the “Button” on the
analysers. They will capture 2 CAN
1. Save the project in the Design first PanelPilotACE. The
Frames from the SGD 70-A. (Figures
Studio as a new project. second PanelPilotACE will
24 and 25).
update the text box with the
The First message sent is “Request 2. Change the Device Address value and send from the first
PGN 60928”. This requests the other to 50 in the CAN bus Device PanelPilotACE.
ECU to start an Address Claim. Element. Also change the Name
as seen in Figure 28.
Next is the Address Claim SGD 70-A
owned address “0x0C’ (i.e. Device
address 12).

Num Direction Time Name ID(H) AD Src(H) AD Dest(H) Type Format Length Data(H)
0 Receive 18959.6842 RQST 18EA0CFE FE 0C Extend Data Frm 3 00 EE 00

1 Receive 18961.6827 ACL 18EEFF0C 0C FF Extend Data Frm 8 0A 00 C0 00 25 03 04 81

Figure 24. CAN bus Analyser output example.

TRACE ID DLC DATA 0 DATA 1 DATA 2 DATA 3 DATA 4 DATA 5 DATA 6 DATA 7 TIME STAMP (sec) TIME DELTA (sec)
RX 0x18EEFF0Cx 8 0x0A 0x00 0xC0 0x00 0x25 0x03 0x04 0x81 1637.2693 1.998

RX 0x18EA0CFEx 3 0x00 0xEE 0x00 1635.2714 75.914

Figure 25. APGDT002 Analyser example.

16 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019

 Design Studio | CAN bus Protocol | User Guide

Figure 26. Incomming frame captured.

Figure 27. Name values.

9.8 Auto reply “Request PGN”

The CAN Frame Builder operates as 1st SGD-70A 2nd SGD-70A
an “Outgoing CAN Frame” sending Device Address: 12 Device Address: 50
a CAN frame to a bus via an Action
trigger. CAN Variable: SA 12 CAN Variable: SA 12

It also automatically replies for CAN Frame Builder: DA 50 CAN Frame Builder: DA 50
“Request PGN”. A user can broadcast
(DA=255) Request or Send Request CAN Frame
to other PanelPilotACE devices PGN: 0, DA: 50, SA: 12
with a Destination Address by using
Request PGN (RQST, PGN 59904). CAN bus
Figure 32 shows the Request PGN
process. To activate, take the
following steps: Figure 26. Capture the CAN Frame using SGD 70-A.

1. Open the Design Studio project

as created in section in 9.3.

2. Input the CAN variable

“canCVariable1” with the values
in Table 9: Figure 28. New Name Value.

canCVariable1 Value
PGN 59904
Priority 6
Source Address 50
Data Length 3bytes
2540, Position 1.1,
SPN Length 24, Offset 0,
Scale 1, Range 0-65535.

Table 9.

Note: SPN Values are only labels used Figure 29. Creating new Integers and a Figure 30. Parameters/Data
in the Design Studio. They do not new float Variable.
affect the CAN frame Encode/Decode.
Request PGN does not have an SPN.
The data field only stores PGNs.
Inputting 0 or 2540 as the SPN value
will have the same result.

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 17

4. Add a new “canFrameBuilder1”.
Link this to “canVariable1”. Set
the Destination Address to
12. The CAN Data field should
be 0 as this is the PGN to be
requested. (see Figure 33).

5. Add a Visual Element and

configue it as a Button. Set the
“On Clicked Perform” property
to “canFrameBuilder1”.

6. Upload the Design

Studio project to the 2nd Figure 31. Logic Actions.
PanelPilotACE.

7. Start the Project on the first

2nd SGD-70A
PanelPilotACE device. Click the
Device Address: 50
button on 2nd PanelPilotACE. It
will receive the PGN 0 from 1st CAN Variable: SA 12, PGN 0
PanelPilotACE and display this 1st SGD-70A CAN Frame Builder: DA 50
on the screen. Device Address: 12
CAN Variable: SA 12 CAN Variable: SA 50, PGN 059904
9.9 Acknowledge Supported
Feature CAN Frame Builder: DA 50 CAN Frame Builder: DA 12
The J1939 Group Function includes
a Proprietary Function, Network CAN Frame CAN Frame
Management Function and PGN: 0, DA: 50, PGN: 59904, DA: 12,
Transport Functions. SA: 12 SA: 50

CAN bus
When sending a request with a PGN
of a Group Function, that ECU will
reply directly with data or reply an
acknowledge to tell you whether it Figure 32. The Request PGN process.
supports that feature or not.

e.g. if a device needs to know if

the PanelPilotACE device supports
Transport Data it will send “Request
PGN 60416” or “Request PGN
60160”. The PanelPilotACE will
reply “Acknowledge” back.

Test this feature by modifying the

Design Studio Project already used
in this tutorial with a different PGN.
Monitor the PanelPilotACE replies
with a CAN bus analyser. Replies
should be as displayed in Table 10.

Figure 33. Values for camFrameBuilder1.

18 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019

 Design Studio | CAN bus Protocol | User Guide

2nd SGD-70A
Device Address: 50
CAN Variable: SA 12, PGN 0

1st SGD-70A CAN Frame Builder: DA 50

Device Address: 12
CAN Variable: SA 12 CAN Variable: SA 50, PGN 059904

CAN Frame Builder: DA 50 CAN Frame Builder: DA 12

CAN Frame CAN Frame

PGN: 59392, DA: 50, SA: 12 PGN: 59904, DA: 12, SA: 50
ACK address: 50, PGN 60160 Request PGN 60160

CAN bus CAN bus

Analyser
Figure 34. Acknowledge Supported Feature

PGN Description Reply

PGN 59904 Request ACK
PGN 59392 Acknowledge ACK
PGN 61184 Proprietary A NACK
PGN 126720 Proprietary A2 NACK
PGN 65280 Proprietary B NACK
PGN 51456 Request 2 NACK
PGN 51712 Transfer NACK
Transport
PGN 60416 ACK
Connection Manage
Transport Data
PGN 60160 ACK
Transfer

Table 10.

Using a CAN bus Analyser, click

on the receive frame to check
“ControlByte”. Here you can see the
reply is either ACK or NACK.

Alternatively use a PanelPilotACE

CAN Variable, set PGN to 59392, Figure 35. Use CAN Bus Analyser to check the reply
with the first byte set SPN 2556
which is the Control Byte containing
the ACK. The other 7 bytes are not
processed. Only map the first byte 9.10 Encode/Decode CAN String Data Type Value

to the number variable in the CAN Frame with String Data Type PGN 61445
In J1939 some PGNs have SPNs Priority 6
Frame builder. The reply is ACK if
with String Data Types. PGN 61445 Source Address 12
the value is 0.
Total Length 8
is an example of one of these. If
using this type, then the CAN Frame Table 11.
Builder set the SPN scale to 0 in the
CAN Variable as shown in Figure 36. Note: String Data Types do not need
Offset or Range. Input 0 in the SPN
Open the existing tutorial project Editor dialogue box.
and edit the CAN variable as shown
in Table 11.

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 19

9.11 Change the linked Project
Variable default value
with different values
1. Upload the tutorial project for
sending a CAN Frame to the 1st
PanelPilotACE with the Device
Address set to 12.

2. Upload the project for capturing

a CAN Frame with the 2nd
PanelPilotACE with the Device
Address set to 50.

3. Click the Button on the 1st

PanelPilotACE. The 2nd
PanelPilotACE will receive the
CAN frame and update the
received data on the screen.

The data length of the SPNs 162

and 163 is only 2 characters.
PanelPilotACE will delete the
first 2 characters from the
String Variable in order to send
Figure 36. Setting the scale to 0 to signify the SPN as string type data.
and store only 2 characters
when receiving the frame.

4. Alternatively users can use a

CAN bus Analyser. Input a CAN
frame with frame ID=18F0050C,
data=C8 E9 2E E6 20 52 4E 31
and send it to the bus as seen in SPN Position Length (bits) Offset Scale Range Linked Project Variable
Figure 38.
524 1.1 8 -125 1 -125/125 Number Variable
5. The 2nd PanelPilotACE will 526 2.1 16 0 0.001 0/62.25 Number Variable
show value 75, 12.009, 105, “ R”,
523 4.1 8 -125 1 -125/125 Number Variable
“N1” on the screen.
162 5.1 16 0 0 0 String Variable

163 7.1 16 0 0 0 String Variable

Figure 37. SPN Data.

Figure 38. Use CAN Bus Analyser to send the PGN 61445 to PanelPilotACE.

20 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019

 Design Studio | CAN bus Protocol | User Guide

10. Tutorial: SPN Position Length (bits) Offset Scale Range Linked Project Variable

Transport Data 990

991
1.1

5.1
32

32
0

0
0.125

0.125
0/526385151.9

0/526385151.9
Number Variable (float)

Number Variable (float)

If a PGNs data length is more than 992 9.1 32 0 0.125 0/526385151.9 Number Variable (float)
8 bytes, J1939 will use a Transport
993 13.1 32 0 1 0/4227858431 Number Variable (float)
Protocol to segment the data.
Transport Protocols consist of Figure 39. SPN Data 2.
2 flow control methods:

a) BAM: Broadcast Announce

Message.

b) RTS/CTS: Request to Send/Clear

to Send.

In the case of RTS/CTS control the

Sender will send the RTS signal and
wait for CTS before replying with
the Transport Data.

Some PDUs do not have a

Destination Address field. In
this case the PanelPilotACE will
automatically use a BAM to the
handle the Transport Data.

Figure 40. BAM message content.

10.1 Transport Data with BAM
To inform a node that Transport
Data will be following, there is no
need to ACK each Transport Data
segment.

To understand how Transport Data

works with BAM, try the following
example.

1. Add a CAN bus device to a new

Design Studio project.

2. Create a CAN Variable called

“canVariable65212” with the Figure 41. Transport Data follow the BAM.
values shown in Table 12.

canVariable65212 Value 4. Add a button image. Give the “TPCM” message is BAM, with
PGN 65212 button the action function “On PGN 65212, a total of 3 packets
Priority 7 Checked Perform” to the CAN and data length as 16 (see
Source Address 12 frame. Figure 41.)
Total Length 16
5. Upload the project to a SGD 7. 3 TPDP frames follow the
Table 12.
70-A device and set an analyser BAM carrier the data as seen in
3. Create a CAN Frame Builder to begin capturing data. Figure 40.
with CAN bus variable set to
6. If the button on the SGD 70-A
“canVariable65212” and the
is pressed the analyser will
Parameters/Data properties to
capture 4 frames. The first
12000, 26000.5, 4000100.1,
frame’s detail shows that the
60000.

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 21

 SGD 70-A SGD 70-A SGD 70-A SGD 70-A
Addr: 12 Addr: 50 Addr: 12 Addr: 50
TPCM.BA TPCM.BA
M, M,
SA:12, L= SA:12, L=
16, PGN:6 16, PGN:6
Action Trigger 5212 Action Trigger 5212

TPDT (1) TPDT (1)

TPDT (2) TPDT (2)

200ms
Post Action TPDT (3) Post Action Post Action
TPDT (3)
Time Out Error

Transfer Success Receive Time Out

Figure 41. BAM Transport.

8. Modify the CAN Variable for

receiving and upload this to
the 2nd PanelPilotACE device.
It will capture the data and
decode it automatically. Post
Action only performs when all
transport is completed.

If a missing transport data frame or

a data frame interval is more than
200ms, the device will ignore the
data and trigger “Transport Receive
Time Out” Error Message as seen in
Figure 41.

10.2 RTS/CTS: Request to

Send & Clear to Send
A Sender sends RTS and waits for Figure 42. CanVariable1 Properties.
the CTS to reply before a Transport
Data transfer. Transport Data also Figure 43. CanFrameBuilder1 Properties.
ends with a End Of Message ACK
as seen in Figure 44. Take the
following steps to begin an RTS/CTS 3. Add a “request PGN” to the
transfer: project. Modify it to request
PGN 65212 with SA=50 as seen
1. Use the existing tutorial in Figures 42 and 43.
project and upload to the 1st
PanelPilotACE device. 4. Modify the button “On Clicked
Perform” to the CAN Frame
2. Save the project as a new Builder that sends the request.
project and change the
Destination Address 5. Upload this to the 2nd
to 50. PanelPilotACE, Press the button
on the 2nd PanelPilotACE
device to send the request.

22 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019

 Design Studio | CAN bus Protocol | User Guide

6. The 2nd PanelPilotACE will

capture and update PGN 65212 SGD 70-A SGD 70-A
to the value on-screen. Each Addr: 12 Addr: 50
transport data frame carries 7
:12, SA:50)
bytes of data. The PGNs total N 65212, DA Action Trigger
Reques t (PG
length is 16 bytes. Therefore,
TPCM.R
it will segment into 3 transport TS (16b
y tes, 3 fr
ames)
data frames.

7. Request, RTS, CTS, EOMA and et 1 first)

ax 3 frames, pack
CAN bus analyser will capture a TPCM.C TS (M

total of 7 CAN frames as seen in

TPDT (1)
Figure 45.
Post Action Post Action
TPDT (2)

TPDT (3)

3 frames)
A (A CK 16by tes,
TPCM.EOM

RTS/CTS Transport

Figure 44. RTS/CTS Transport diagram.

Figure 45. Captured CAN bus frames.

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 23

11. Tutorial:
Non-
reconfigurable
Address Claim
Previous sections have explained
the address claim used in J1939. In
this section different use cases for
the address claim are demonstrated.

1. Open the previous tutorial

Figure 46. Logic Actions.
project that contains a single
PGN write triggered by button.

2. Modify the project by

unchecking the “Arbitrary
Address” Check Box in Device
Name.

3. Upload this to the 1st

PanelPilotACE. The
device address will be 12.
The Name has become
“0104032500C0000A”.
Power-off the device.

4. Save the project as a new

project. Change the device
Identity Number to 5 and
upload the project to the 2nd
PanelPilotACE. This device
address is also 12, the name has
become “0104032500C00005”. Figure 47. Edit Identity Number.
Power-off the device.

11.1 Address Claim conflict:

A new node with a higher
priority name The CAN bus command could not be completed due to: Address
1. Power-up the 1st PanelPilotACE Claim unsuccessful.
device. The CAN bus analyser
will capture an Address Claim OK
Request as seen in Figure 49.
When the PGN equals 0xEE00
(Address Claim) then the Figure 48. Error Dialogue Box.
DA=0xFF (i.e. broadcast) Data
Field reads “0x0A 00 C0 25 03
04 01”. This reverses the order
of the “name”.

24 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019

 Design Studio | CAN bus Protocol | User Guide

Figure 49. CAN bus Analyser results.

2. Press the button to send a PGN.

The LCD will update the value
201326604 that is the CAN ID. SGD 70-A SGD 70-A
Convert this into hex to become Addr: 12, non-reconfigurable Addr: 12, non-reconfigurable
0xC000000C. Name: 0104032500C00005 Name: 0104032500C0000A
Power ON
3. The last byte is 0x0C, equal to 00C0 00 0A
e 0104 0325
AC L (SA:12, Nam
12 that is the device address.
ACL (SA
:12, Nam
4. Power-up the 2nd PanelPilotACE e 010 4 0
3250 0C
00 0 0A
(name “0104032500C00005”). Power ON
This device will send an address Address Claim Error
claim. The 1st PanelPilotACE
has the same Device Address
and is not reconfigurable and
so its device address became
Figure 50. Multiple ECU Connection.
invalid.

An Error dialogue box will

appear if the address claim is
unsuccessful (see Figure 48). The
1st PanelPilotACE write CAN frame SGD 70-A SGD 70-A
access rights will be disabled. Press Addr: 12, non-reconfigurable Addr: 12, non-reconfigurable
the button on 1st PanelPilotACE and Name: 0104032500C00005 Name: 0104032500C0000A
it will not respond. Power ON ACL (SA
:12, Nam
e 010 4 0
3250 0C
00 0 05
11.2 Address Claim conflict:
A new node with a lower 00C0 00 0A
priority name Nam e 0104 0325 Power ON
ACL (SA:12,
1. Reverse the power-up sequence:
ACL (SA
Power-up the PanelPilotACE :12, Nam
e 010 4 0
3250 0C
device with the name 00 0 05 Address Claim Error
“0104032500C00005” first.

2. Now Power-up the other

PanelPilotACE device with the Figure 51. Multiple ECU Connection.
name “0104032500C0000A”.

“0104032500C0000A” will fail to

claim an address again because its
name is now a lower priority (see
Figure 51).

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 25

12. Tutorial: The ECU will know that the address
was occupied and by who. There
After the address claim is successful
any further PGN CAN Frames will be
Reconfigurable will be one of two outcomes: sent using the new address. Figure

Address Claim 1. If the ECU’s name is lower

52 shows the CAN frame in this
process.
priority than itself, it will send
When a PanelPilotACE CAN the address claim to use its own Note: A Request for Address Claim
bus Device is configured with a preferred address and name to can be broadcast in J1939. All nodes
reconfigurable address, it will send force the other ECU to change on the CAN bus will reply Address
a “Request for Address Claim” its address. Claim therefore it is the fastest way to
(PGN 59904, data 60928) with the discover unused Device Addresses. The
Destination Address as its’ preferred 2. If the ECU name has a higher PanelPilotACE system does not use
device address following power-up. priority than itself, it will this method because it generates too
change to a new address and try much traffic on the BUS.
If the bus line already has an ECU to claim it.
using Device Address 12, that ECU
will reply the request PGN. The
Reply is by an Address Claim Frame.

SGD 70-A SGD 70-A

Addr: 12, non-reconfigurable Addr: 12, non-reconfigurable
Name: 0104032500C00005 Name: 0104032500C0000A

Power ON ACL (SA

:12, Nam
e 010 4 0
3250 0C
00 0 05

m
Address Cl ai 928
Reques t for 55 ,S A :12, Data: 60
Power ON
59 90 4 (DA :2
PGN :

ACL (SA:1
2, N am e
010 4 032
50 0 C0 0 0
05

00C0 00 0A Address Charge to 70

Nam e 8104 0325
ACL (SA:70,

0, DA:12
PGN 0, SA:7 Press Button

Figure 52. Reconfigurable Address Claim Process.

Figure 53. Reconfigurable Address Claim.

26 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019

 Design Studio | CAN bus Protocol | User Guide

13. Tutorial:
Error Handling
The Design Studio provides a
“Communication Error Element” to
handle communication errors.

This section describes how to

configure this Element to handle
CAN bus J1939 errors.

13.1 Using Communication

Error Element
1. Add a Communication Error
Element to the project Figure 54. Reconfigurable Address Claim Process.

2. Select the CAN bus Device in

Communication Port Property.

3. Select “CAN bus

Communication” in the
Communication Type Property.

4. Click Add to include an Error

Handler.

5. Select the handle in the “Error”

combo box as seen in Figure 55.

6. Select the action that will be

triggered when the error occurs
in the “Action” combo box as
seen in Figure 56.

7. Go to the properties for the Figure 55. Reconfigurable Address Claim Process.
CAN Frame Builder. Choose the
created Error Handler in the
“Error Handler” property.

13.2 Disable Error Dialog for a

specific error
An Error will show in the dialogue
box by default if an error handler
link to the CAN Frame Builder has
not been set.

If a user doesn’t want to display

an Error Dialogue box on screen.
Add an Error Handler but leave
Action empty. This specific error will
become muted.

Figure 56. Reconfigurable Address Claim Process.

PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019 27

 Contact us for more
PanelPilotACE products,
services and support:

UK & Europe
www.lascarelectronics.com
[email protected]
+44(0)1794 884567

Americas
www.lascarelectronics.com
[email protected]
(814) 835 621

Asia
www.lascarelectronics.com
[email protected]
+852 2389 6502

Disclaimer:
Every effort has been made to ensure the accuracy of this publication and no
responsibility or liability can be accepted by Lascar Elecyronics Limited for any
errors or omissions in the content of this document. Data and legislation may PanelPilotACE
change, and so we strongly advise you to aquire and review the most recently CAN bus Protocol User Guide
issued regulations, standards, and guidelines. This publication does not form Issue 2 10/2019
the basis of a contract. © 2019 Lascar Electronics Limited

28 PanelPilotACE | CAN bus Protocol | User Guide | Issue 2 10/2019