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    CAN Network

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    Devon perera

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    CAN Network

    Uploaded by

    Devon perera
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    2 views8 pages

    CAN Network

    Uploaded by

    Devon perera

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    © All Rights Reserved
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    You are on page 1of 8

    Controller

    Area
    Network
    (CAN)

    By: Vishal Galahitiyawa S30733 GD04

    1
    1. Introduction

     CAN bus was developed by Robert Bosch GmbH and it is now an ISO
    (International Standards Organization) approved communication interface ISO
    11898 with multiple specifications released over the years.

     CAN bus is a system that allows different parts of a vehicle or machine to


    communicate with each other without needing a central computer.

     Since different electronic systems may be placed in different places on a


    vehicle, there should be some way to make them communicate with each other
    so that one system knows what is happening to some other system.

     For example, the CAN bus enables quick and reliable sharing of information
    between your car's brakes and engine.

     Terminal resistor: these close the circuits between CAN high and low. They also
    prevents reflections in CAN bus lines.

    2
    2. How does it work?
    The CAN is an electronic bus system for the transmission of data via 2 lines. The CAN
    consists of a twisted 2-core data line that connects all CAN participants (control units)
    via a parallel connection

    CAN uses a bus topology for its network. Multiple devices can connect to the same
    shared bus.
    Both ends of the bus should be terminated with 120 Ohms resistors. These resistors
    help to keep the bus in a predictable state and reduce signal reflections.
    Both signal lines are differential in nature. That means, they both carry the same
    information at the same time but in opposite polarities.
    The bus can operate at data rates of up to 1 Mbps. CAN is a multi-master, message-
    based protocol. This means that all the CAN devices can transmit data, and several
    CAN devices can request the use of the bus simultaneously.

    The CAN offers the following advantages:


     Fast data exchange between individual control units.
     Sensor signals are available for many systems.
     The number of electric lines is reduced.
     The electromagnetic compatibility is improved.

    3
    3. Types of CAN and its variants
    Low-speed CAN: Fault-tolerant CAN is a low cost option when fault tolerance is critical
    - but is increasingly replaced by LIN bus.

    High-speed CAN: Classical CAN is the most common variant today across automotive.

    CAN FD: Offers longer payloads and faster speed (radar/ microphones/ E-calls)

    CAN XL: Offers even longer payloads and faster speed to bridge the gap between CAN
    and Automotive Ethernet

     Telematics CAN: The telematics CAN is used for the data exchange between
    the attached CAN participants. 125 kBit/s (Radio/ map)

     Interior CAN: The interior CAN is used for data exchange between the
    connected control units. 250 kBit/s. (EZS/ SAM/ OCP/ Door control modules)

     Diagnostic CAN: The diagnostic CAN is used for the data exchange of the
    external diagnostic systems with the control units in the vehicle. 500 kBit/s.
    (EZS/ diagnostic connector)

     Chassis CAN: The chassis CAN is used for the data exchange between the
    attached components and control units. 500 kBit/s. (ESP/ CDI/ Parktronic/
    Electronic power steering)

     Front end CAN: The front-end CAN is used for data exchange between the
    connected control units. 500 kBit/s. (blind spot assist/ lane keep assist)
     Drive train CAN: The drive train CAN is used for the data exchange between the
    connected components and control units. 500 kBit/s. (CDI or ME-SFI/ VGS).

    4
    4. CAN message and signals
    A CAN bus consists of two signal lines CAN High (CAN-H) and CAN Low (CAN-L) with an
    additional GND line for common reference. Each device connected to a CAN bus is
    called a node.

     0V is the GND potential and 5V as the maximum positive potential. In an idle


    condition, both CAN-H and CAN-L stay around at half of the maximum positive
    potential, which is 2.5V here.

     The two signal lines can together indicate two other states called dominant
    which indicates a digital 0 and recessive which indicates a digital 1.

     The reason why dominant is regarded as 0 is that the CAN bus is a shared and
    asynchronous line. Any devices connected to the CAN bus may transmit data at
    any time by driving the common bus lines.

     CAN data transmission consists of sending and receiving bits. Any node can
    initiate a transmission if the bus is free. The process of gaining bus access is
    called arbitration.

     If two nodes send a 0 at the same time, the resultant bit will be 0. Similarly for
    bit 1. But if a node sends 0 but another one sends a 1, the resultant bit will
    always be 0

    5
    1) Start of Frame (SOF): SOF is simply a transition from an idle state to a
    dominant state. Every node connected to the CAN bus will recognize this
    transition as the start of a new frame and adjust their timings
    accordingly (synchronization).

    2) Identifier: This is part of the value that is used to win the arbitration. In
    standard frames, this will be an 11-bit value. For extended this will be
    29-bit, but encoded in a different way which we will see further.

    3) Remote Transmission Request (RTR): Generally, nodes with data will


    send their data autonomously at regular intervals. Other nodes can poll
    the CAN bus for the data they need.This is accomplished by the RTR bit.
    If a node wants data from another node on the bus, it can simply set the
    RTR bit to 1.

    4) Control Field: used to guarantee data transmission.


    5) Data field: This is our actual data ranging from 0 to 8 bytes. The number
    of bytes is determined by the value of DLC.

    6) Cyclic Redundancy Check (CRC): Cyclic Redundancy Check (CRC) is a


    type of error detection mechanism used in digital data links. CRC can
    only detect errors and cannot fix those errors.
    7) DEL: This indicates where the CRC data ends. This must be 1 always.

    8) ACK: ACK stands for Acknowledgement. When a transmitter node sends


    data through a CAN bus, all other nodes can read the transmission.

    9) End of Frame (EOF): This is a 7-bit field indicating the end of a single
    frame. It must be all recessive. Unlike the previous fields, bit stuffing is
    not added for EOF.

    6
    5. Diagnosis

    Common CAN Failures include:


     Device configuration settings
     Missing termination resistors
     CAN Hi and CAN Low wired backwards/ short circuits
    Verifying Network Termination Resistance
     With power off unplug connector from any device on the network and measure
    resistance between CAN Hi and CAN Low.
     Resistance should be 60 ohms if both termination resistors are present.
     If measurement is 120 ohms only one terminating resistor is present, two
    resistors are required.
     If 40 ohms is measured a third terminating resistor is installed and should be
    removed.
     If less than 40 ohms is measured there could be a short in the harness or a
    damaged CAN Port of one of the devices connected to the network.
    Ohm reading Cause
    Ω
    55- 70 Ω No fault
    O.L Open in bus wiring
    70Ω < High resistance, bad terminal contacts
    120Ω Open circuit in between terminal resistors
    55Ω> Short circuit between CAN HI & CAN LO

    Checking CAN Voltage


     Disconnect all devices except for the device being tested, then power on.
     Measure voltage on any of disconnected plugs between CAN HI and GROUND.
    The resulting voltage should be between 2.5 and 3.0V.
     At the same location, measure voltage between CAN LOW and GROUND. The
    resulting voltage should be between 2.5 and 2.0 V.
     A low voltage of 1.4V or less on either of these indicates a potential failure on
    the CAN port of the device.

    7
    6. Case Study
    Customer complaint: Vehicle not starting. Fan running at high speed.
    Diagnosis:
    1. Check battery voltage as low battery can affect CAN lines. (Battery 12.6V
    ok)
    2. Multiple error messages were displayed during Xentry diagnosis.
    3. Vehicle can be cranked but cannot be started.
    4. The fault was identified to be chassis CAN related.
    Rectification:
    1. Vehicle is turned off and all the systems in sleep mode.
    2. Locate the Chassis CAN (CAN E) potential distributor electrical connector.

    3. Check resistance of all the systems. Connect the ends to a multimeter and
    remove each pin while taking measurements. Correct measurements should
    indicate 60 Ωs.
    4. When removing the 3rd pin the resistance value was 1.8Ωs. The pin was
    identified to be ESP control unit.
    5. The CAN lines were short circuited with each other.

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