ECOS

Electronic Control Operating System

(A Short Ride on the CAN-Bus)

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1 CAN - Bus
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2 CAN - Bus
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3 CAN - Bus
 Why CAN Bus Systems?
 Higher Flexibility  Cost Savings  Error Detection

Conventional Technology Serial Bus System

Load Sensor Load Sensor

Range Range
Selector Selector

etc.
ECU ECU
etc.

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4 CAN - Bus
 Basic Concepts

Multimaster Easy
Concept CAN connection /
Nodes Disconnection
Number of of nodes
nodes are not Node A Node n
limited by e.g. e.g. Broadcast /
protocol Multicast
ABS EMS
capability
No node
addressing,
Message
identifier
specifies CAN - Bus
contents &
priority

• Can is a multi-master bus with an open linear structure with one logic bus line
and equal nodes. The number of nodes is not limited by the protocol.
• In the CAN protocol the bus nodes do not have a specific address. Instead, the
address information is contained in the identifiers of the transmitted messages,
indicating the message content and the priority level of the message.

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5 CAN - Bus
 1000 Meters (Max)
Can_H Bus Length Microcontroller

Rx Tx
Can_L

Differential CAN Controller

Tx Driver / Receiver
Rx TXD RXD RX1

GND
120Ω TXD RXD Ref Rs +5V
Termination Tx
Vcc
Resistor CAN Transceiver
Gnd
120Ω
Termination CAN_L CAN_H
GND
Resistor Rx
Bus Termination Bus Termination
CAN_H
CAN Bus Lines
GND
CAN_L

• All of the Nodes (modules, sensors, I/O, etc.) connected to the Bus line
incorporate CAN transceivers that allow the nodes to send and receive data.
Data is sent to all participants simultaneously with the individual node deciding
if the data is to be acted upon.

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6 CAN - Bus
 • The high-speed CAN physical layer is described by ISO 11898-2. ISO 11898-2
primarily defines differential signal transmission at a maximum data transfer rate
of 1Mbit/sec with a maximum network length of 40 meters and maximum of 30
bus nodes. Due to the high data transfer rate, ISO 11898-2 calls for a bus
termination resistor at each end. The network can be easily extended by
reducing the data transmission rate.

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7 CAN - Bus
 • The differential voltages defined in ISO 11898 are implemented with the help of
the CAN transceivers. The illustration above shows the physical levels (recessive
and dominant) when a high speed CAN transceiver is used, the recessive bus level
(logic 1) is characterized by a differential voltage of 0 Volt. Both communication
lines lie at a voltage level of 2.5 Volt, in the case of a dominant bus level (logic 0)
the CAN high line assumes a voltage of 3.5 Volt and the CAN low line a voltage of
1.5 Volt. This yields a differential of 2 Volt.

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8 CAN - Bus
 Interferences equally influence both CAN lines
and are almost eliminated by the CAN controller

 Twisted wiring greatly reduces capacitive and

inductive interferences

 Twisted wiring is much cheaper and can be

technically handled better than typical shielded wire

• Due to the differential nature of transmission, CAN I insensitive to Electro-

Magnetic Interference because both bus lines are affected in the same way which
leaves the differential signal unaffected.
• To help reduce the sensitivity against electro-magnetic interference even more,
the bus lines can additionally be shielded. Shielding the twisted wires also reduces
the electro-magnetic emission of the bus itself, especially at higher baud rates.

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9 CAN - Bus
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10 CAN - Bus
  Ring Structure

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

 CAN lines are directly wired through each control unit.

 Resistors are installed at the first and the last control unit.

 Advantage: Low sensitivity towards reflection/overwriting (incorrect and/or

incomplete information).

 Disadvantage: Higher technical effort due to additional pins at the control unit.
Disconnection of one control unit interrupts the whole Bus line.

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11 CAN - Bus
  Ring Structure

 Ring structure connection as used on LMI system.

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12 CAN - Bus
  Star Point

ECU
2

CAN_H
ECU ECU
CAN_L
1 3

Bus resistance is
ECU integrated in the star point.
..n Resistance measured across
CAN H to CAN L is 120 ohms.

 CAN lines are connected to each other in the star point.

 Advantage: With Star Point, only ECU’s without resistors are used. The
wiring effort is low and no additional pins are needed at the ECU.

 Disadvantage: Control units need to be assembled close together

(Max distance 2 meters).

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13 CAN - Bus
  Star Point

 Star Point connection as used in the GMK generation 1 ECOS machines

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14 CAN - Bus
  Star Point

 Mercedes Star Point connection such as that on GMK machines utilizing

Mercedes controls for the engine / transmission management.

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15 CAN - Bus
  Spur Line

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H
Resistance measured
across CAN H to CAN L is
120 ohms.

 Individual CAN lines to the control units (spur line).

 Resistors are installed on the first and the last control unit (end user).

 Advantage: Low technical effort due to no additional pins are needed at the
control unit.

 Disadvantage: High sensitivity towards reflection / overwriting (incorrect and/or

incomplete information.

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16 CAN - Bus
  Spur Line

 Spur Line connection as used on GMK generation 2 machines.

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17 CAN - Bus
 ECU ECU ECU ECU
1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

As a service technician, the ability to recognize different types of failures or

faults (excluding nodes) of the Bus line is very important. The failure types are
applicable to all styles of Bus line connection structures.

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18 CAN - Bus
 Line bound CAN-Bus error
Battery voltage potential

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

+ U-Batt

 Short circuit from CAN_H to U-Batt (Bus off error)

 Data communication not possible

 All control units are affected

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19 CAN - Bus
 Line bound CAN-Bus error
Battery voltage potential

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

+ U-Batt

 Short circuit from CAN_L to U-Batt (Bus off error)

 Data communication not possible

 All control units are affected

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20 CAN - Bus
 Line bound CAN-Bus error
Ground potential

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

Ground

 Short circuit from CAN_H to Ground (Bus off error)

 Data communication not possible

 All control units are affected

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21 CAN - Bus
 Line bound CAN-Bus error
Ground potential

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

Ground

 Short circuit from CAN_L to Ground

 Data communication is possible with the remaining intact line, however

the signal will be weaker.

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22 CAN - Bus
 Line bound CAN-Bus error
Cross connection

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

 Short circuit from CAN_H to CAN_L (Bus off error)

 Data communication not possible

 All control units are affected

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23 CAN - Bus
 Line bound CAN-Bus error
Stray voltage potential

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

Arbitrary Potential

 Short circuit from CAN_L to Arbitrary potential

 Effect can not be predicted

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24 CAN - Bus
 Line bound CAN-Bus error
Stray voltage potential

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

Arbitrary Potential

 Short circuit from CAN_H to Arbitrary potential

 Effect can not be predicted

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25 CAN - Bus
 Line bound CAN-Bus error
Circuit interruption

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

 CAN_L is interrupted (bus off error)

 Data communication between knots on the opposite side of the interruption

Is not possible. Communication between knots on the same side of the
interruption can remain, however the signal will be weaker.

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26 CAN - Bus
 Line bound CAN-Bus error
Circuit interruption

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

 CAN_H is interrupted (bus off error)

 Data communication between knots on the opposite side of the interruption

Is not possible. Communication between knots on the same side of the
interruption can remain, however the signal will be weaker.

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27 CAN - Bus
 Line bound CAN-Bus error
Circuit interruption

ECU ECU ECU ECU

1 2 3 ..n

120Ω 120Ω
CAN_L

CAN_H

 A connection to the end resistor is interrupted

 Data communication between the knots is possible with a weaker signal.

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28 CAN - Bus
 Measurement between Specified Actual Possible Cause
Value Value

CAN_H and CAN_L Approx. 120Ω Approx. 0Ω Short circuit from CAN_H to CAN_L
(Generation – 1)

CAN_H and CAN_L Approx. 60Ω Approx. 0Ω Short circuit from CAN_H to CAN_L
(Generation – 2)

Approx. 120Ω Connection to the end resistor is cut off

Approx. mΩ End resistor is cut off or damaged

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29 CAN - Bus
 Measurement between Specified Actual Possible Cause
Value Value

CAN_H and Ground 2.4V – 2.9V Approx. 24V Short circuit from CAN_H to U-Batt

Approx. 0V Short circuit from CAN_H to ground

0V - 2.3V
Short circuit from CAN_H to arbitrary potential
3.0V - 24V

Measurement between Specified Actual Possible Cause

Value Value

CAN_L and Ground 2.2V – 2.7V Approx. 24V Short circuit from CAN_L to U-Batt

Approx. 0V Short circuit from CAN_L to ground

0V - 2.1V Short circuit from CAN_L to arbitrary potential

2.8V - 24V

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30 CAN - Bus