CAN bus signal monitoring

using the DL850V

Yokogawa Meters &

Instruments Corporation
 What is CAN?
Controller Area Network
Developed by BOSCH in 1983. It is a de facto standard protocol, being used for
communication between ECUs in a vehicle.
It is used for data communication such as speed, RPM, break status,
diagnosis information.
It is widely being used for not only for vehicle but also power, vessel,
railroad, medical equipment, FA, elevator, etc.

Master Slave
Serial communication

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 Merit of using CAN

Cutting Harnesslow-cost, simple-design

Cutting weight..more economical
Differential signalnoise reduction (safety)
Error detection.higher reliability

Wire Harness
complicated

Using CAN

Simple
Light weight

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 (Reference) Example of in-vehicle network
For Body Control
For Safety
Switch Switch
Sensor Sensor

Sub-Network
Sub-Network
Door
Squibb Squibb

Instrument
For Power Train
Lamp Keyless
panel Chassis
Air-bag
Gateway Control Tire
MD/CD Pressure
changer

Sub-Network
Engine Steering

For Multi-Media

For Fault-diagnosis (controlled legally) Fault-diagnosis CAN

diagnosis tool
The source: Renesas Electronics Corporation (Japan)
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 (Reference) CAN regulation

Both datalink layer and Physical layer are defined.

Application Layer Data Link Layer (ISO11898, ISO11519-2)
Acceptance, Filtering
Presentation Layer (1:1, 1:n communication)
LLC Overload (not ready yet) Notice
Session Layer Resend when an error is occurred Processed
Frame Generation (Data, Remote, Error, by
Transport Layer Overload frame) CAN controller
Bus monitoring, Error detection and notice
MAC Acknowledgement
Network Layer
Arbitration
Data Link Layer
Physical Layer (ISO11898, ISO11519-2)
Physical Layer Bit, Timing, Synchronization, Resynchronization, Communication speed
Processed by CAN
Bus characteristic, Driver, etc. Transceiver
Controlled by Software

Controlled by Hardware
OSI basic reference model
In addition to ISO-defined standards, there are some other
CAN-regulated standards such as SAE J2284, J2411.
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 CAN bus and Node(s)

Max. 30 nodes

ECU
ECU ECU
ECU

CAN bus
= Two wire
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 Signal flow in the CAN.1

ECU
ECU ECU
ECU
FRAME

CAN bus

Packet signal, called FRAME,

carried and received.
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 Signal flow in the CAN.2

ECU
ECU ECU
ECU
FRAME
FRAME
FRAME
CAN bus

Multi-master Each node can send a frame freely,

also can receive a frame freely.
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 Features of CAN
Differential Signal
Multi-master
Any node can send out a message when the bus is open.
The order of priority for sending
Identifier field in a message determines the order of priority.
System flexibility
Each node has no specific address, so easy for adding and removing.
Flexibility for communication speed
It can be set according as a scale of network, function of system.
Advanced error handling
Excellent in error detection, notice and recovery
Data request
Any node can generate data output request for the other node.
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 ECU (Node) connection
Communicate via differential signal (CAN_H/CAN_L)
Max. 30 nodes can be connected. CPU
Terminators must be placed at the end of bus line.
It is classified into two type of standards, Hi-speed CAN Controller
CAN and Low-speed CAN. The boundary is 125kbps. TX0 TX1 RX0 RX1
The figure below shows an example of Hi-speed CAN.
(Terminated by 120 ohm) Transceiver
Each node is connected to CAN bus via the CAN
Controller and CAN Transceiver.

Node N
Node 1 Node 2
(max.30)
Terminator CAN_H
120 ohm Terminator
CAN Bus Line 120 ohm
CAN_L
Differential
signal
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 CAN Topology

1. Bus type
The Bus type is
typically being used.

3. Ring type
2. Star type

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 A variety of frames
Data Frame
A DATA FRAME carries data from a transmitter to the receivers.
The DL850V can monitor only a data frame. Start of Arbitration
Frame Field
Data
Field
CRC
Field
ACK
Field
End
of
Control Frame
Field

Remote Frame
A REMOTE FRAME is transmitted by a bus unit
to request the transmission of the DATA
Control
FRAME with the same IDENTIFIER. Start of
Frame
Arbitration
Field Field
CRC
Field
ACK
Field
End
of
Frame

Error Frame
An ERROR FRAME is transmitted by any unit
on detecting a bus error.

Overload Frame
An OVERLOAD FRAME is used to provide for an extra delay
between the preceding and the succeeding DATA or
REMOTE FRAMEs.

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 Data Frame format (Packet structure)
Arbitration Control Data CRC ACK
Recessive Field Field

SOF ID RTR r r DLC 0-64 EOF

Bit 4 (0-8 byte) 15 1 1 1 7 3

Dominant

Start of Frame: Marks the beginning of DATA FRAMES and REMOTE FRAMEs.
Identifier Field: Indicates the contents of message, also can be used for the order of priority for bus
access. Standard format:11bitExtended format:29bit (DL850V supports both.)
RTR: Remote Transmission Request BIT. In DATA FRAMEs the RTR BIT has to be dominant. Within a
REMOTE FRAME the RTR BIT has to be recessive.
Control Field: It includes the DATA LENGTH CODE and two bits reserved for future expansion.
Data Field: The DATA FIELD consists of the data to be transferred within a DATA FRAME. (Max. 8-byte(64-
bit))
CRC Sequence & CRC Delimiter
: It is the frame check sequence. The CRC SEQUENCE is followed by the CRC DELIMITER which
consists of a single recessive bit.
Ack Slot & Ack Delemiter
: All nodes having received the matching CRC SEQUENCE report this within the ACK SLOT by
superscribing the recessive bit of the TRANSMITTER by a dominant bit.
End Of Frame: A flag sequence consisting of seven recessive bits.

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 CAN data frame and physical data

With CAN data frames, multiple data (physical data)

are carried and received under a single ID.

Identifier Field Data Field

b0 - - - -15 16 17 32 - - 47 48 - - 63
Ex.)
142h 0006h 1 0 2468h 0302h

Integrating Oil RPM

revolution pressure
counter
Air cond. High beam indicator
ON/OFF
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 Tool lineup for CAN bus

ECU
ECU ECU
ECU
FRAME

CAN bus

DLM2000 CANalyzer
WE7000 DL850V
SB5000 (Vector)

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 Measurement targets of the CAN tools

Model WE7000
Target DLM2000 CANalyzer
DL850V
Physical layer wavefoem
observation
Protocaol Analysis
Signal trend waveform
observation

Mainly for CAN Mainly for CAN

hardware design software design

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 The difference of observed waveform

DLM2000, SB5000

waveform = Trend of voltage signal of the CAN bus

DL850V
waveform = Trend of physical value(signal)
that is transmitted on the CAN bus

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 Simultaneous observation of CAN data and the analog signal(s)

Acceleration ECU CAN bus

ECU
Sensor ECU Strain
Engine Transmission
Pressure gauge
sensor Brake
thermocouple

CAN data
Analog
signals
Analog Signals

DL850V

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 CAN bus data monitoring
Comparison and verification of actually measured signals and CAN bus signals
You can check physical value trends of
CAN bus data and the corresponding What is CAN monitor function?
actually measured waveforms on the
same screen at once. monitoring of CAN protocol
Multi kinds of data transmitted on the communication data(signal) as
CAN bus can be monitored at the same an analog trend wafeform(s).
time via a single wire.
720240
CAN Frame
Each signal(s) can be
Data Data
E/G RPM Vehicle speed
extracted from a single
CAN bus line.

ECU3
CAN

ECU2 Trend of RPM

ECU1
Trend display
Trend of speed
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 Sampled Data and Displayed Waveforms
Extracted data is stored in memory at up to 100 ks/s while
simultaneously being displayed on screen as trends.

Sampled data (trend waveform data) can be saved into files.

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 Observed waveform example
You can use Vector Informatik's CANdb CAN bus 1 frame
database file (.dbc format) to indicate
the field being monitored (acquired).

Pressure sensor
(analog)

CAN signal
(Physical layer)

Current
The timing of analog
(CAN monitor signal and CAN
waveform 1) communication signal
can be checked.
Pressure Two signals transmitted by a
(CAN monitor single frame are trend-
waveform 2) displayed as two waveforms.

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 Sub channel definition
720240 Sub channel(s) means the signal definitions of target item(s)

b0 - - - - - - - - - 31 32 - - 47 48 - - 63

142h 00069012h 2468h 0302h

Up to
16CH(Signal)/por
t can be defined.
CH1 CH2 CH3 (sub-CH)

Number of ID Start bit Bit length

sub CH (Note)
1 142 0 32 Integrating revolution
Note: counter
Up to 16 of bit length Oil pressure
2 142 32 16
can be defined by
3 142 48 16 RPM
720240 module.

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 Sub channel definition display (Preliminary)
Byte Count :Target byte length
Signal definition Start Bit :Position of the start bit (counted from LSB)
setting Bit Count
Byte Order
:Target bit length
: (Big): transmitted in from upper byte to lower byte order
(see the previous page) (Little): transmitted in from lower byte to upper byte order
Note: The bit data in a byte is transmitted by MSB first.

Port Setup
(refer to the
next page)

Import of setup
configuration file

Factor, Offset, Unit:

Scaling factor and unit
for converting physical
value.
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 Port Setup Preliminary
Bit Rate:
Communication speed of the bus
Setup configuration
Sample Point:
for 720240 input port Position for detecting dominant or
recessive in a single bit.
Sync Jump Width:
It can be used for correction of
clock cycle in a single bit for
re-synchronization.

Bit Sample Num:

It can be used for designating the
number of sample point(s).
Listen Only:
When it turns to ON, any
signal(Frame, Ack) is not outputted
from the DL850V.

Terminator:
When it turn to ON, the module-
built-in terminator is inserted
between CAN_H and CAN_L.

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 Usage of CAN db database
Signal labels can be imported from CANdb database*1
Using Symbol Editor free software, a message and
signal can be selected(imported) from CANdb, then Edits
export as the signal labels to the DL850V.

**.dbc
CAN db file
imports
Drug & Drop

Definition file for

exporting to the DL850V.
*1The CANdb file(.dbc) is a signal definition database defined by
CANdb or CANdb++ presented by Vector Informatik.
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 Outputting Frame Data (Preliminary)
Single specified (defined) data frames or remote frames
can be output (manually, at desired timing).

Setting the
condition of frame
output

A designated frame
is output when
Execute is set.

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 Model 720240 CAN Bus Monitor module main specifications
Input ports: 2 (16 signals x 2 ports)
Number of Channels : 16 signals/1port
There are some competitive memory
recorders which has CAN monitoring
capability. However, the DL850V has a
certain advantages over them such as higher
sampling rate, easy for handling and costs.

Connector type: D-sub 9 pin (male),

Isolated (across port and main unit, across each port)
Supported protocols:
Physical layer: ISO-11898 (High Speed Communication)
CAN in Automation: CAN2.0B (Standard & extended message format)
Bit rates: 10 k, 20 k, 33.3 k, 50 k, 62.5 k, 66.7 k, 83.3 k, 125 k, 250 k,
500 k, 800 k, 1 Mbps
Max. sampling rate: 100kS/s(when using 1signal/1port)

Max. 2 modules can be installed for the specified

slot(s) in a single DL850V main frame.
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