CAN, general

CAN, general
This is an overview of the CAN communication
network. If communication is down in any of
the units, the unit will show in red, and a
warning for communication breakdown will be
shown on the status bar.

CAN
There are various types of control modules (PLC, ECM, main display, CAN nodes etc.).
Common to all of these is that they each contain a separate processor. The modules
communicate with each other over a CAN bus. The CAN bus uses serial communication. One
piece of data at a time is sent over the bus until all
the data has been transmitted. This is a simple
method that requires only 4 conductors (CAN+,
CAN-, CAN high, CAN low) and a screen. The
CAN network is supplied with 24 V, and the CAN
high / low signal lies at approximately 2.6 V and
2.4 V respectively.

Display D501
All CAN data is handled by the display shown graphically or digitally. The program for the
HEC (Hole/Engine Control) system is stored in the display and the software is downloaded
via a PC or a USB-flash drive (see installation instructions in a separate section).

The display shows engine data, angle/hole information and the status of switches/sensors, etc.
CPU2 receives the information sent from ECM in J1939 protocol and translates this to
CANopen protocol, which is then shown on the display. Other information is sent directly
from the CPUs, CAN nodes, D169 module and D171 module to the display by using
CANopen protocol.

PLC
The PLC system consists of three CPU units (CPU1, CPU2, CPU3). They are each
programmed to handle certain inputs and outputs together with inputs from CAN nodes, and
for some functions inputs from the HEC software is required.

There is a led installed on each CPU unit, a green blinking signal at 2 Hz indicates the CPU is
working normally; a green blinking signal at 5 Hz indicates no operating system is loaded; a
green stable signal indicates a PLC stop. If the led appears to be red or yellow, then the CPU
is experiencing error, contact the factory in this case. And if the led does not light at all, check
the power supply.

All the direct PLC input/output signals are connected to the PLC via 9 indication cards
(marked X10-X18), the led on the indication cards will light in red if the corresponding
input/output is being activated.

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 CAN, general

CAN nodes
The CAN nodes (D550, D551, D552, D553, D554) translate all the input signals for all the
switches located on the operating panels; also the output signals for all the leds and magnets
located in the drill lever, so the modules can communicate in CAN “high”/“low” signals
directly. Every input/output on the CAN nodes each has its own led. The led will light in
constant yellow when their corresponding input/output is activated.

There are also two CAN communication leds on every CAN node, one lights in green and the
other one lights in red. A green stable signal indicates the CAN node is in its preoperational
mode; a green blinking signal indicates that the CAN node is in operation, but both signals
can not indicate whether the CAN node is correctly installed to match the CAN Node ID
number shown in the display. The CAN node ID number has to be set manually on the
module when installed. When a communication fault occurs during operation, the red led will
be activated.

ECM
CAT’s engine control module that controls engine operation.

D169/D171/D173 Module
D169 module is a CAN-based aiming device that communicates with the display directly.
D171 module is a CAN-based angle sensor that communicates with the display directly.
D173 module (option) is a CAN-based GPS compass that communicates with the display
directly.

Terminal plug
At the start and end of the CAN network there are terminal plugs installed. A terminal plug
consists of a resistor (120Ω) which terminates the network’s both ends in the correct way so
that the signal does not “bounce back to the system”. There are 4 terminal plugs installed in
the CAN network (see figure below).

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 CAN, general

CAN system overview

X5 X6 X7
RIG CONTROL SYSTEM
F1

F2
X2
F3 D501
X1 F4

ESC
15 circuit

X4 X3
End plug

D554 D169

D173
option
Ignition D552
D171

D553
15 circuit

End plug

D551

CAN +/-
D550
CAN H/L
F23
J1939
CPU3

To PLC processor End plug

& input sensors CPU2
ECM
CPU1

End plug

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 CAN, general

Sensor/switch monitoring system

The CAN system can present switch and sensor status on the display screen. The analogue
sensors are connected via the CPUs, except potentiometer R189 (adjusting engine revolution)
is connected via the CAN node and the coolant water level sensor B361 is connected directly
to the ECM, though sensor B361 is powered from external power source (M12 box X34:8).

The digital (ON/OFF) switches are connected via the CAN nodes, and the digital sensors are
connected via the CPUs, except sensor B379 (operator in chair) is connected via CAN node.

By selecting a module with the curse on the screen, and press the enter button, status of each
module could be checked (in the event of a red module).

By selecting in/outputs for the CPUs or the CAN nodes modules on the screen, status for all
inputs and outputs could be checked in the system. An actuated function is displayed as “1”
while and un-actuated function is displayed as “0”.

Note that for an input, “0” or “1” is the status that is received by the CPUs; while “0” and “1”
for an output is the signal sent from the CPUs. I.e. there is not any confirmation that the signal
actually is received by the valve, etc. Broken cables are not noticed by the system.

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 Control panel

Control panel
The control panel is comprised of a touch panel user interface and a power
board for function actuation.

Before ignition, the power board is powered with 24 V via fuse F25, the
button for light in engine compartment and the indication lamp for battery
start to blink in green.

After ignition, the power board is powered with 24 V via fuses F4, F5 and
F10, and the power board is lit up in white.

A CAN cable is used as the communication media between the power board
to the touch panel; also used to power up the touch panel. This CAN
network exists as a separate circuit, aside from the CAN network mentioned
in the chapter before.

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