ECUMASTER

WheelSpeedToCAN
Manual
Revision 0.1

Contents
1. Copyright and trademarks...............................................................................2
2. Introduction......................................................................................................2
3. Description......................................................................................................2
4. Specification....................................................................................................2
4.1. Mechanical drawings................................................................................2
4.2. Connector description...............................................................................3
4.3. Specification table.....................................................................................3
5. PC connection.................................................................................................4
6. Software features............................................................................................4
6.1. Channels...................................................................................................4
6.2. Settings.....................................................................................................6
7. Sensor inputs..................................................................................................6
7.1. Description................................................................................................6
7.2. Sensor Types............................................................................................7
7.3. Wiring and configuration...........................................................................7
8. Document revision history...............................................................................8
1. Copyright and trademarks
All trademarks, service marks, trade names, trade dress, product names and logos appearing
on this documents are the property of their respective owners.

2. Introduction
This document provides information about ECUMASTER WheelSpeedToCAN module. It
contains device description, specification, available features and use cases.

3. Description
WheelSpeedToCAN is a device designed to measure signal frequency from 4 separate
sensors and send this data over CAN BUS. This module can measure signals from different
types of sensors or standard digital signals. Thanks to differential inputs and configurable pull
up/down resistors, sensors can be connected directly or parallel to working ABS system.

4. Specification

4.1. Mechanical drawings

(Dimensions in mm)
4.2. Connector description
Pin Description
1 Sensor 1 positive
2 Sensor 1 negative
3 Sensor 2 positive
4 Sensor 2 negative
5 Sensor 3 positive
6 Sensor 3 negative
7 +12V
8 Ground
9 CAN Low
10 CAN High
11 Sensor 4 positive
12 Sensor 4 negative

4.3. Specification table

GENERAL
Operating supply voltage 6-22V, immunity to transients according to ISO 7637
Reverse polarity protection Yes, internal up to 16V
Temperature range -40 to +85°C
Enclosure IP65, bespoke CNC machined aluminium
Size and weight 112x73x30mm, 112g
Connector Molex MX120G 12P
CAN-bus bitrate 1Mbps, 500kbps, 250kbps, 125kbps
Using USB to CAN interface
PC communication
(ECUMASTER USBtoCAN, PEAK, Kvaser)
INPUTS
Input type Differential (2 pins per input)
Differential voltage
0-7V
measurement range
Max combined frequency 50kHz
None,
1k at positive input to 5V,
Configurable pull up/down
140, 220 or 390R at positive input to ground,
140, 220 or 390R at negative input to supply voltage (12V)
Configurable gain Normal or double
Configurable logic threshold Yes
5. PC connection
Communication with PC software is done using CAN-bus. This requires a special interface
which converts CAN-bus communication to USB 2.0. Interface is an independent device and
must be purchased separately. Supported interfaces:
• ECUMASTER USBtoCAN (driver and manual here)
• PEAK-System
• Kvaser

ECUMASTER Light Client is a configuration software for WheelSpeedToCAN module.

Software is in beta stage and can be downloaded from here. Light Client can be used to
display channel values, change CAN-bus bitrate or ID and change device specific settings.

Wiring diagram:
6. Software features

6.1. Channels
Channels are different data values that are sent over CAN-bus. Channels are sent as raw
values, which means that obtaining value with correct unit requires some calculations.
Value [raw ]∗Multiplier
Value [unit ]= + Offset
Divider

Table below describes how each channel is positioned inside CAN frame and how to obtain
correct value. All values are Big Endian.

Byte Channel Data type Range Multiplier Divider Offset Unit

Output ID (default: 0x663)
0 Sensor1 output 16bit unsigned 0-65535 1 1 0 -
2 Sensor2 output 16bit unsigned 0-65535 1 1 0 -
4 Sensor3 output 16bit unsigned 0-65535 1 1 0 -
6 Sensor4 output 16bit unsigned 0-65535 1 1 0 -
Diagnostics ID (default: 0x420)
0 S1 input voltage 8bit unsigned 0-8.4 100 3035 0 V
1 S2 input voltage 8bit unsigned 0-8.4 100 3035 0 V
2 S3 input voltage 8bit unsigned 0-8.4 100 3035 0 V
3 S4 input voltage 8bit unsigned 0-8.4 100 3035 0 V
4 S1 comparator voltage 8bit unsigned 0-3.3 1 77 0 V
5 S2 comparator voltage 8bit unsigned 0-3.3 1 77 0 V
6 S3 comparator voltage 8bit unsigned 0-3.3 1 77 0 V
7 S4 comparator voltage 8bit unsigned 0-3.3 1 77 0 V
Diagnostics ID+1 (default: 0x421)
0 S1 comparator min 8bit unsigned 0-3.3 1 77 0 V
1 S2 comparator min 8bit unsigned 0-3.3 1 77 0 V
2 S3 comparator min 8bit unsigned 0-3.3 1 77 0 V
3 S4 comparator min 8bit unsigned 0-3.3 1 77 0 V
4 S1 comparator max 8bit unsigned 0-3.3 1 77 0 V
5 S2 comparator max 8bit unsigned 0-3.3 1 77 0 V
6 S3 comparator max 8bit unsigned 0-3.3 1 77 0 V
7 S4 comparator max 8bit unsigned 0-3.3 1 77 0 V
Diagnostics ID+2 (default: 0x422)
0 S1 frequency 16bit unsigned 0-6553.5 1 10 0 Hz
2 S2 frequency 16bit unsigned 0-6553.5 1 10 0 Hz
4 S3 frequency 16bit unsigned 0-6553.5 1 10 0 Hz
6 S4 frequency 16bit unsigned 0-6553.5 1 10 0 Hz
Diagnostics ID+3 (default: 0x423)
0 S1 period 32bit unsigned 0-4.29*108 1 10 0 µs
4 S2 period 32bit unsigned 0-4.29*108 1 10 0 µs
Diagnostics ID+4 (default: 0x424)
0 S3 period 32bit unsigned 0-4.29*108 1 10 0 µs
4 S4 period 32bit unsigned 0-4.29*108 1 10 0 µs
Diagnostics ID+5 (default: 0x425)
0 S1 low time 32bit unsigned 0-4.29*108 1 10 0 µs
4 S2 low time 32bit unsigned 0-4.29*108 1 10 0 µs
Diagnostics ID+6 (default: 0x426)
0 S3 low time 32bit unsigned 0-4.29*108 1 10 0 µs
4 S4 low time 32bit unsigned 0-4.29*108 1 10 0 µs
Diagnostics ID+7 (default: 0x427)
0 S1 high time 32bit unsigned 0-4.29*108 1 10 0 µs
4 S2 high time 32bit unsigned 0-4.29*108 1 10 0 µs
Diagnostics ID+8 (default: 0x428)
0 S3 high time 32bit unsigned 0-4.29*108 1 10 0 µs
4 S4 high time 32bit unsigned 0-4.29*108 1 10 0 µs

Channels description:
(X is sensor number from 1 to 4)
SensorX output – value representing wheel speed, created by modifying “SX frequency” raw
value using “Multiplier/Divider” settings
SX input voltage – sensor voltage at input pins
SX comparator voltage – voltage at internal comparator input, comparator switches between
high and low states depending on “Logic threshold” setting
SX comparator min – minimum voltage at internal comparator input
SX comparator max – maximum voltage at internal comparator input
SX frequency – sensor signal frequency
SX period – sensor signal period
SX low time – sensor signal low time
SX high time – sensor signal high time
6.2. Settings
Device settings can be changed using ECUMASTER Light Client software and connection
interface. Each setting is described below:
Output:
Output ID – output data CAN frame ID
Update frequency – CAN frames sending frequency
Multiplier – sensor frequency raw value is multiplied by this value to create output data
Divider – sensor frequency raw value is divided by this value to create output data
Diagnostics:
Diagnostics ID – diagnostic data CAN frame ID
Diagnostics enable – enable sending diagnostic data
Sensor input:
Logic threshold – voltage threshold for comparator to switch between high and low state
Double gain enable – enable double gain of input signal
Pull up/down – select different pull up/down configurations

7. Sensor inputs

7.1. Description
Sensor inputs are differential inputs with ability to monitor voltage, control gain, change logic
threshold, measure timing and switch between different pull up/down configurations. This
flexibility allows to connect almost any frequency sensor or digital signal found in vehicles.

7.2. Sensor Types

Three major types of frequency sensors are VR (Variable reluctance), MR (Magnetoresistive)
and HALL (Hall effect). ABS systems mostly use MR sensors, but other types can also be
found.

Sensor types description:

VR sensor – consists of a wire coil on a permanent magnet or ferromagnetic core. This coil is
directly connected to 2 pin connector. Changes in the magnetic field around the coil generate
voltage which will be measured. Output voltage is similar to sine wave symmetrical with
respect to ground. Main disadvantage is that signal voltage is proportional to frequency, which
creates problem with measuring slow signals.
MR sensor – consists of material that changes resistance due to magnetic field. Inside the
sensor is also electronic circuitry that behaves like a current source which is connected to 2
pin connector. This current source outputs 2 different current values (typ. 7 and 14mA)
depending on the magnetic field. Output voltage is measured across external resistor
connected in series with the sensor.

HALL sensor – consists of conductor using hall effect and electronics for signal conditioning.
Connector is 3 pin with power supply (typ. 5V), ground and open collector output which
requires pull up resistor. Output signal is square wave from 0V to pull up voltage.

Sensor type identification:

VR sensor – can be checked using ohmmeter. Coil resistance can be in range from few
hundreds to few thousands ohms. Measure resistance between 2 pins in both directions. If
values are the same and in the plausible range there is high chance this is a VR sensor.

MR sensor – this sensors have polarization, so positive and negative pins have to be
identified. Some sensors have markings on a connector case (like a “+” sign). If there are no
marking, polarization can be checked using multi-meter diode test. This sensors are protected
against reverse polarity with diode. Use diode test in both directions and direction which
shows diode voltage out of range is the correct one.

HALL sensor – there is no special identification needed since this sensor is 3 pin, comparing
to both previous sensors which are 2 pin. Pinout description must be found for specific
sensor.
7.3. Wiring and configuration
VR sensor:
This sensor have to be connected directly to positive and negative input pins (direction does
not matter). Settings information:
- Logic threshold – have to be as low as possible without creating too much noise at
frequency channel
- Double gain enable – more gain will allow to measure slower signals with low amplitude, but
can also create more noise
- Pull up/down – choose “None”, as VR does not require pull resistors

MR sensor:
There are 2 wiring configurations in which this sensor can work.
Power supply is typically car battery voltage (12V).
First case: Power supply → Sensor → Resistor → Ground.
In this case we measure voltage between sensor negative pin and ground.
Negative pin from the sensor must be connected to positive input and ground must be
connected to negative input.
Second is: Power supply → Resistor → Sensor → Ground.
In this case we measure voltage between power supply and sensor positive pin.
Power supply must be connected to positive input and sensor positive pin must be connected
to negative input.
Settings information:
- Logic threshold – check min/max voltage channels and use value between them
- Double gain enable – can be used to get proper signal range
- Pull up/down – for first case pull down on positive pin can be used instead of external
resistor, similarly pull up on negative pin can be used for the second case
HALL sensor:
Output from sensor must be connected to positive input and ground to negative input.
Settings information:
- Logic threshold – check min/max voltage channels and use value between them
- Double gain enable – not needed
- Pull up/down – pull up to 5V can be used instead of external resistor

8. Document revision history

Revision Date Changes
0.1 20-08-2018 - initial release