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Iveco in-house seminar

Holger Zeltwanger 2013-10-14

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Agenda Welcome

Introduction on CAN & CANopen

SAE J1939 and CANopen •  Protocols and functions •  Pros ‘n’ cons •  Standardization process

Lunch break

Presentation of CiA specifications •  CiA 413, CiA 422, CiA 850 Market on mobile/automotive applications

Future CAN technology trends Discussion, questions and answers

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Volvo ÖV4 “Jacob” (1927)

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Volvo 242 (1980)

ECU = electronic control unit S = sensor

S S S

ECU 1

S S S

ECU 2

S S S

ECU 3

S S S

ECU 4

S S S

ECU 5

S S S

ECU 6

S S S

ECU 7

S S S

ECU 8

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Transport of data

•  Transport (protocol) mechanism •  Source and destination addressing •  Transport (network) topology •  Right of access (to speak)

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Parallel versus serial

through-put = men volume speed

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Parallel/serial conversion

Bit 1 Bit 2

Bit 64

to Payload Enve-

Bit 1 Bit 2

Bit 64

to

Parallel

Parallel Serial

Serial

Memory Memory Converter Converter Serial communication system

lope

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Network topologies

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Addressing methods •  Destination with source address •  Destination without source address •  Broadcast with source address •  Broadcast without source address

(Content-based addressing)

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Right to speak

•  Polling • Master/slave

•  Time slot •  Token

• Multi-master •  Repetition •  Priority

CSMA/CA: Carrier sense multiple access / collision avoidance

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CAN protocol disclosure “It is now 25 years since Bosch presented an effective networking solution at the SAE International Congress in February 1986 in Detroit (SAE-Paper 860391): the Controller Area Network (CAN). After the presentation of the paper, there was at first complete silence in the overcrowded meeting room. ... "

... Then there came a remark from

someone in the audience: “They’ve done it!”. This was

an indication – already at that early

point in time – that CAN would later

profoundly change"automotive electronics. "

Today, CAN has established itself worldwide as the"

backbone for the networking of embedded systems – and this not

only in automotive technology.”"

Dr. Siegfried Dais, Prof. Dr. Uwe Kiencke, Martin Litschel

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First press release

Intel’s 82526 CAN stand-alone controller chip supported data-rates up to 1 Mbit/s

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CAN Station 1

(Consumer)

CAN Station 2

(Producer)

CAN Station 3

(Consumer)

CAN Station 4

(Consumer)

Frame I

Local Intelligence

Local Intelligence

Local Intelligence

Local Intelligence

bus lines

Filter Filter Filter Filter

Broadcast communication

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CAN Station 1

(Requester)

CAN Station 2

(Producer)

CAN Station 3

(Consumer)

CAN Station 4

(Consumer)

Local Intelligence

Local Intelligence

Local Intelligence

Local Intelligence

bus lines

Filter Filter Filter Filter RTR I Frame I

Remote request

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CAN Station 1

CAN Station 2

CAN Station 3

CAN Station 4

Local Intelligence

Local Intelligence

Local Intelligence

Local Intelligence

bus lines

Filter Filter Filter Filter Frame I Frame 3 Frame 2

Multiple bus access

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Message content identifier The CAN message content is defined by a unique identifier.

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Node 1

Node 2

Node 3

Bus ID 20

ID 80

ID 20

Data

Data

ID 80 Data

ID 80 Data ID 100 Data

ID 100 Data

Frame transmission request

CAN-ID priority Rule: The lower the ID, the higher the priority

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S O F

Bus Idle

Arbitration Field

Data Field

CRC Field

ACK Field EOF IMF

12 or 32 bit 6 bit 0 to 8 byte 16 bit 2 bit 7 bit 1 bit 3 bit

Remark: New CAN implementations shall support the CAN base (11-bit IDs) and extended frame formats (29-bit IDs). However, the storage and transmission of extended frames is optional.

Control Field

CAN data frame

SOF = Start of frame CRC = Cyclic redundancy check ACK = Acknowledgement EOF = End of frame IMF = Intermission field

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0,1 0,2 0,3 0,4 0,5 0,6 0,7 0,8 0,9 1,0 1,1 1,2 [km]

1,0 0,9 0,8 0,7 0,6 0,5 0,4 0,3 0,2 0,1

1,6

[Mbit/s]

◆

◆

◆

◆

◆

◆

◆ ◆

Data-rate/bus-length ratio

Typical data-rate: 250 kbit/s @ 250 m cable length (max)

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History of CAN

1986: First public announcement at SAE conference in Detroit (USA)

1988: First CAN controller chips available

1991: Bosch CAN 2.0 A/B specification

1993: ISO 11898 standard (high-speed transmission and data link layer)

2003: ISO 11898-1 (data link layer)

ISO 11898-2 (high-speed physical layer)

2004: ISO 16845 (CAN conformance test)

ISO 11898-4 (time-triggered CAN)

2006: ISO 11898-3 (fault-tolerant physical layer)

ISO 11898-5 (low-power, high-speed physical layer)

2013: ISO 11898-6 (high-speed selective wake-up physical layer)

2014: ISO 11898-1 (classic and CAN FD data link layer)

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Physical layer options

CAN physical layer standards: ISO 11898-1: Generic bit-timing ISO 11898-2: High-speed transceiver (used by J1939) ISO 11898-3: Fault-tolerant transceiver with low-power mode ISO 11898-5: High-speed transceiver with low-power capability ISO 11898-6: High-speed transceiver with partial wake-up function ISO 11992-1: Fault-tolerant transceiver for truck/trailer connection SAE J2411: Single-wire transceiver

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Robust and reliable

CAN networks are quite immune against EMI and very resistant against electrical disturbances. The CAN protocol is able to detect nearly any failure on the bus-lines (Hamming distance of 6 meaning detects 5 randomly distributed bit-failure in each data frame) and retransmits automatically the corrupted frames. "

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7: Application Layer

6: Presentation Layer

5: Session Layer

4: Transport Layer

3: Network Layer

All

People

Seem

To

Need

Data

Processing 2: Data Link Layer

1: Physical Layer

OSI reference model

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AL-based application profile

AL-based device profile

CAN-based application layer

Layers

CAN data link layer

CAN physical layer

CAN reference model Implementation

Transceiver

CAN controller

Software

Software

Latin characters

Paper + pen

Grammar + basic vocabulary

Vocabulary + pre-defined phrases

Pre-defined dialogues

OS

I lay

ers

Software

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◆ 1991: CAN Kingdom

◆ 1992: CAN Application Layer (CAL)

◆ 1994: Smart Distributed System (SDS)

◆ 1994: IEC 62026-3 (DeviceNet)

◆ 1994: SAE J1939 ◆ 1995: EN 50325-4 (CANopen) ◆ 1999: ISO 11992-1/-2/-3

◆ 2000: IEC 61162-3 (NMEA 2000)

◆ 2002: ISO 11783 (ISOBUS)

◆ 2004: ISO 14229/15765 (Diagnostic)

◆ 2007: Arinc 825

HLP history

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CAN-related books

19941 19942 1996 1997 1999 2000 2000 2001 20013

20033 2004 2005 2006 2007 2007 2008 2008 2010

DE DE FR EN FR EN DE EN DE

1 last new release at 2011 2 last new release at 2001 3 last new release at 2008

EN JP CN CN EN CN EN CN CN

2010 2010 2010 2011 2011 2011 2012 2012 2012

JP CN CN CN JP CN EN EN CN

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XXX-Das ist BlindtextXXX-Und da weiß ich

auch nicht, was stehen sollXXX-Und wieder ein

wunderschöner Blindtext

CAN NewsletterHardware + Software + Tools + Engineering

June 2012

B 25361

Ener

gy e

ffi ci

ency

CiA publications

www.can-newsletter.org

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Agenda Welcome



Lunch break



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Truck network topology

Central gateway

Doors

HVAC

Seats

Lights

etc.

Engine

ABS/EBS

Gearbox

etc.

Dash-board

Tacho-graph

Display cluster

Engine-train network (e.g. J1939)

Body-train network

(e.g. J1939)

Instrument-train network (e.g. J1939)

Infotainment-train network (non-CAN)

FMS

net

wor

k (J

1939

)

OB

D li

nk (I

SO

ISO

157

65-4

)

Bod

y bu

ilder

net

wor

k (C

AN

open

) Tr

uck/

traile

r lin

k (IS

O 1

1992

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Why was J1939 developed? THE SAE TRUCK AND BUS CONTROL AND COMMUNICATIONS SUBCOMMITTEE DEVELOPED J1939 FOR THE FOLLOWING REASONS:   The [horizontally integrated] trucking industry needed a standardized, high-speed

way for component suppliers to share information.   A network that could support class A, B, and C functions--and send control,

diagnostic, and proprietary information--was needed.   A network with more bandwidth was sought to replace J1587 and J1708 networks.   North American Agricultural and Construction Industries (CON/AG) supported the

effort with a framework for adding agriculture-specific messages

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How it started

Engine Oil Pressure

Engine Oil Temperature

Engine Speed

ABS Active

Pool of signals

ABS Pressure

Engine Oil Pressure

Engine Oil Temperature

Engine Speed

ABS Active

ABS Pressure

Parameter groups Parameter Group Number (PGN) 00FF00h to 00FFFFh: manufacturer-specific

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Interoperable products

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Signal defined by the following: - Data length - Resolution, offset - Type - Range - SPN (suspect parameter number)

Parameters grouped by common: - Function - Update rate - Subsystem

Message specifics defined by the following: - Repetition rate or by request - Data length - Parameters - PGN (parameter group number) - Priority, control or informational values

Signal and messages

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MESSAGE 3.3.35 AMBIENT CONDITIONS Transmission repetition rate: 1 s Data length: 8 byte PGN FEF5h Byte: 1 Barometer pressure

2, 3 Cab interior temperature 4, 5 Ambient air temperature

6 Air inlet temperature 7, 8 Road surface temperature

PARAMETERS 3.2.5.43 Barometric pressure- Absolute air pressure of the atmosphere Data Length: 1 byte Resolution: 0,5 kPa/bit gain, 0 kPa offset Data Range: 0 kPa to + 125 kPa (0 psi to + 18,1 psi) SPN: 108 Type: Measured 3.2.5.11 Cab interior temperature- Temperature of air inside the part of the vehicle encloses the driver and vehicle operating controls. Data Length: 2 byte Resolution: 0,03125 °C/bit gain, -273 °C offset Data Range: -273 C to + 1735.0 C SPN: 170 Type: Measured 3.2.5.12 Ambient air temperature- Temperature of air surrounding vehicle Data Length: 2 byte Resolution: 0,03125 °C/bit gain, -273 °C offset Data Range: -273 °C to + 1735,0 °C SPN: 171 Type: Measured 4.2.5.13 Air inlet temperature- Temperature of air entering vehicle air induction system Data Length: 1 byte Resolution: 1 °C/bit gain, -40 °C offset Data Range: -40 °C + 210 °C SPN: 172 Type: Measured

Ambient conditions

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Engine temperature

Transmission repetition rate: 1 s Data length: 8 byte PGN FEEEh PDU format 254 PDU specific 238 Default priority 6

PG: 1 Engine coolant temperature 2 Fuel temperature 3, 4 Engine oil temperature

5, 6 Turbo oil temperature 7 Engine inter-cooler temperature 8 Not used (reserved)

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J1939 main features •  CAN data link layer using data frames with 29-bit identifier •  Peer-to-peer and broadcast communication •  Transport protocol for up to 1785 byte •  Network management •  Definition of parameters and parameter groups

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J1939 development process

  Four one-week meetings per year by the J1939 committee within the SAE

  Submitted proposals and ad-hoc submissions are discussed and decided on

  Not discussed and agreed submissions may be postponed to the next meeting

  When the submitter is not present in the meeting, the risk of postponing this topic is high

  Publication of PGNs have been improved due to the digital annex solution

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J1939 specifications   J1939 Recommended Practice for a Serial Control and Communications Vehicle Network   J1939-01 Recommended Practice for Control And Communications Network for On-Highway

Equipment   J1939-02 Agricultural and Forestry Off-Road Machinery Control and Communication Network   J1939-03 On Board Diagnostics Implementation Guide   J1939-05 Marine Stern Drive and Inboard Spark-Ignition Engine On-Board Diagnostics

Implementation Guide   J1939-11 Physical Layer - 250 bit/s, Twisted Shielded Pair   J1939-13 Off-Board Diagnostic Connector   J1939-15 Reduced Physical Layer, 250 kbit/s, Un-Shielded Twisted Pair (UTP)   J1939-21 Data Link Layer   J1939-31 Network Layer   J1939-71 Vehicle Application Layer   J1939-73 Application Layer - Diagnostics   J1939-74 Application - Configurable Messaging   J1939-75 Application Layer - Generator Sets and Industrial   J1939-81 Network Management   J1939-82 Compliance - Truck and Bus   J1939-84 OBD Communications Compliance Test Cases for Heavy Duty Components and

Vehicles

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Protocol families

◆  SAE J1939 for on-highway trucks and buses ◆  SAE J1939 for off-highway Diesel-engine powered vehicles ◆  ISO 11992 for truck/trailer communication ◆  ISO 11783 (Isobus) for agriculture and forestry vehicles ◆  IEC 61162-3 (NMEA2000) for ships and vessels ◆  RV-C for recreation vehicles

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“Data link layer” (J1939-21)   J1939 messages provide always 8 byte of user data  One-to-many messages (broadcast transmission)

  Request message (polling)   RTS/CTS protocol for confirmed segmented data transfer

  BAM protocol for unconfirmed segmented data transfer

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J1939 tools

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J1939/CANopen gateway

J1939 ECU

J1939 ECU

Truck

CAN-based J1939 network

CANopen device

CANopen device

CANopen

Truck gateway architecture

CiA 413

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CANopen history 1994: First multi-vendor show on CiA Hanover fair booth

1995: Commercial off-the-shelf CANopen protocol stacks

1995: Commercial off-the-shelf CANopen devices available

1995: First CANopen device profiles (CiA 401, CiA 404, etc.)

1996: Commercial off-the-shelf CANopen tools

1998: CANopen (CiA 301/EN 50325-4) certification

2000: CANopen safety (CiA 304/EN 50325-5) specification

2001: CANopen-to-ISO11992 gateway profile

2004: CiA 422 profile for municipal vehicles (refuse collecting trucks)

2012: CiA 850 vehicle gateway for truck-mounted cranes

2014: CANopen on CAN FD (CiA 301 version 5.0)

1994

Today

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Vertical CANopen markets •  Truck superstructures •  Light electric vehicles •  Special purpose cars •  Light rail vehicles •  Locomotives and passenger coaches •  Maritime electronics •  Off-shore •  Sub sea applications •  Military applications

•  Cranes •  Construction machineries

•  Factory automation •  Production line •  Process automation

•  Embedded machine control

•  Textile machines •  Plastic machines •  Printing machines •  Packaging machines

•  Medical devices •  Operating room •  Patient bed

•  HVAC control •  Lift control •  Embedded door control

•  Renewable energy

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CANopen protocol stack

PDO protocol SDO protocol Sync protocol Time protocol

EMCY protocol NMT protocol

Heartbeat protocol etc.

Object dictionary

Data types Communication objects

Process data Configuration

parameter Diagnostic info

Application Software

Application or device profile

implementation Device-specific

software routines

I/O CAN

Internal device structure

Control IF Configuration IF Diagnostic IF Process IF

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Object dictionary layout

1 16-bit index plus 8-bit sub-index

Index1 range Description

0000h Reserved

0001h to 025Fh Data types

0260h to 0FFFh Reserved

1000h to 1FFFh Communication profile area

2000h to 5FFFh Manufacturer-specific profile area

6000h to 9FFFh Standardized profile area

A000h to AFFFh Network variables

B000h to BFFFh System variables

C000h to FFFFh Reserved

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◆ Network management ◆ NMT Message protocol ◆ Boot-up/Heartbeat protocol ◆ Error control ◆ Heartbeat protocol ◆ Service Data Object (SDO) ◆ Standard SDO protocols ◆ SDO block protocols ◆ Process Data Object (PDO) ◆ Special COBs ◆ Synchronization (SYNC) protocol ◆ Time Stamp (TIME) protocol ◆ Emergency (EMCY) protocol

CANopen protocols

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Node n SDO server

Node n-1

OD

SDO client

Peer-to-peer communication

Data ID n

Data ID p

Service Data Object (SDO)

CAN-ID client-to-server for Default-SDO = 600h + node-ID (server) CAN-ID server-to-client for Default-SDO = 580h + node-ID (server)

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indication

CAN Remote Frame

PDO triggered by RTR

request(s)

Application object(s) request indication(s)

Consumer(s)

DLC = 1 to 8

Asynchronous or synchronous PDO Producer

Application object(s) response confirmation(s)

DLC = 1 to 8

Process data object

CAN-ID = pre-defined or user-specific

CAN-ID = pre-defined or user-specific

DLC: Data length code; RTR: Remote Transmission Request

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1.  Event (change of state) or event-timer driven

2.  Remote requested

3.  Synchronous transmission (cyclic)

4.  Synchronous transmission (acyclic)

producer consumer(s)

PDO scheduling modes

Remote frame

Sync message Sync producer

Internal event

PDO

PDO

PDO

Sync message Sync producer PDO

Internal event

NO

TE B

old

(gre

en) m

arke

d m

odes

hav

e no

equ

ival

ent i

n J1

939

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request indication(s)

Sync-producer Sync-consumers(s)

Sync protocol

Default CAN-ID = 080h configurable by means of the COB-ID parameter (1005h)

DLC = 0 or 1

Counter

time

Sync Sync Sync Sync Sync Sync

communication cycle period [µs]

(1006h)

synchronous window length [µs]

(1007h)

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time

Actuation based on COMMAND at next SYNC

Command messages

Actual messages

Samples taken at SYNC for

actual message

synchronous window length(s)

Command messages

Actual messages

Sync

Synchronous operations Communication_Cycle_Period

Sync

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6140h 01h 0BFFh (speed upper limit)

614Ah 01h 0BB8h (engine speed value)

6146h 01h 1Ah (vehicle speed limit)

6144h 01h F0h (torque limit) 6143h 01h Not used

6142h 01h 0B00h (speed lower limit)

6141h 01h Not used

Object Dictionary

0BB8h

RPDO_1

Index Sub Object contents

01h 614Ah 01h 10h

02h 6140h 01h 10h

03h 6142h 01h 10h

1600h

1600h

1600h

RPDO mapping

Static (const) Variable (rw only in Pre-operational) Dynamic mapping

04h 6144h 01h 08h 1600h

04h 6146h 01h 08h 1600h

0BFFh 0B00h F0h 1Ah

The PDO mapping is like parameter groups in J1939, but optionally configurable.

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CiA 301 CiA 302 CiA 303 CiA 304 CiA 305 CiA 306 CiA 307 CiA 308 CiA 309 CiA 310 CiA 311 CiA 312 CiA 313 CiA 401 CiA 402 CiA 404 CiA 406 CiA 408 CiA 410 CiA 412 CiA 413 CiA 414 CiA 415 CiA 416 CiA 417 CiA 418 CiA 419 CiA 420 CiA 421 CiA 422

CiA 423 CiA 424 CiA 425 CiA 426 CiA 427 CiA 428 CiA 429 CiA 430 CiA 431 CiA 432 CiA 433 CiA 434

CiA 435 CiA 436 CiA 438 CiA 439 CiA 440 CiA 441 CiA 442 CiA 443 CiA 444 CiA 445 CiA 446 CiA 447

CiA 448 CiA 449 CiA 450 CiA 451 CiA 452 CiA 453

CiA 454 CiA 455 CiA 456 CiA 457 CiA 458 CiA 459

CANopen specifications

1995: 60 DIN A4 pages 2013: 15000+ DIN A4 pages

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Decentralized control system

FEq

FE2

FE1

Input Input Input Output Output Output

Dia

gnos

tic Local

inputs

Local outputs

FE = functional element

CAN network

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Like a classic orchestra ..

Master device

Slave device

Slave device

Slave device

Slave device

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Pre-defined CAN-ID set Object Offset CAN Identifier

NMT 000h 0 SYNC 080h 128 (080h)

TIME STAMP 100h 256 (100h)

EMERGENCY 080h 129 (081h) - 255 (0FFh)

TPDO1 (tx) 180h 385 (181h) - 511 (1FFh) RPDO1 (rx) 200h 513 (201h) - 639(27Fh)

TPDO2 (tx) 280h 641 (281h) - 767 (2FFh) RPDO2 (rx) 300h 769 (301h) - 895 (37Fh)

TPDO3 (tx) 380h 897 (381h) - 1023 (3FFh)

RPDO3 (rx) 400h 1025 (401h) - 1151 (47Fh) TPDO4 (tx) 480h 1153 (481h) - 1279 (4FFh)

RPDO4 (rx) 500h 1281 (501h) - 1407 (57Fh) SSDO (tx) 580h 1409 (581h) - 1535(5FFh)

SSDO (rx) 600h 1537 (601h) - 1663 (67Fh) Boot up, Heartbeat 700h 1793 (701h) - 1919 (77Fh)

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Distributed controller

FE3 FE2 FE1

Input Input Input Output Output Output

Diagnostic

FE = functional element

CAN network

Local inputs and outputs

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.. or like a jazz band

Device (leader)

Device Device

Device

Device

Cross communication Peer-to-peer connections

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Communication object (COB)

Function code (binary)

CAN identifier Communication parameters at index

NMT 0000 0 - Sync 0001 128 (80h) 1005h, 1006h, 1007h Time 0010 256 (100h) 1012h, 1013h

Emergency 0001 129 (81h) – 255 (FFh) 1014h, 1015h PDO1 to 512 (tx) – Profile specific 1800h to 19FFh PDO1 to 512 (rx) – Profile specific 1400h to 15FFh SDO (tx) 1011 1409 (581h) – 1535 (5FFh) 1200h SDO (rx) 1100 1537 (601h) – 1663 (67Fh) 1200h Error Control 1110 1793 (701h) –1919 (77Fh) 1016h, 1017h

Pre-defined CAN-ID set

All PDOs use pre-defined CAN-IDs, which doesn’t derive from the node-ID.

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ISO/OSI reference model

Application or device profiles

J1939-71/81 CiA 4XX

Application layer J1939-21/31 CiA 301

Session layer

Presentation layer

Transport layer

Network layer CiA 302-7

Data link layer ISO 11898-1 (29 bit) ISO 11898-1 (11/29 bit)

Physical layer J1939-1X CiA 102/301/303-1

SAE J1939 CANopen

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Flexibility

The CANopen application layer provides enhanced configuration functions to optimize the process data communication in order to meet very different application requirements. Nevertheless it is an open network approach supported by many device and tool suppliers."

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North America (31): 27 (US) 4 (CA)

Far East (31): 13 (JP) 14 (CN/TW) 3 (KR) 1 (SI)

Near/Middle East (4): 3 (IL) 1 (IR)

North Europe (58): 22 (SE) 15 (FI) 14 (NO) 7 (DK)

Central Europe: * See left

East Europe (22): 8 (RU) 5 (PL) 4 (CZ) 2 (RO) 1 (HU) 1 (LT) 1 (SK) South

Europe (58): 45 (IT) 11 (ES) 1 (BG 1 (GR)

Australia (3): 3 (AU)

India: 6 (IN)

CiA worldwide 2013

Middle and South America (1): 1 (BR)

Africa (0): 0 members

Worldwide: 568 members (2013-01-14)

* Central Europe (352): 250 (DE) 37 (CH) 20 (UK) 15 (FR) 13 (NL) 11 (AT) 3 (BE) 2 (LI) 2 (SI) 1 (IE)

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Specification development

  Request on CANopen device/application/interface profile   Call for experts (CiA internally and externally)   Submitting of the work draft proposals (WDP)   Inaugural meeting with acceptance of the WDP as work draft (WD)   Further technical meetings and improvement of the work draft (WD)   Final work draft (FWD) for last editorial comments   Specification is published CiA internally as draft standard proposal

(DSP) and is available for first implementations   Submission to IG CANopen for approval as draft standard (DS)   Submission to CiA Technical Committee for approval as public

available specification (PAS)   DS/PAS may be submitted for (inter)national standardization

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Agenda Welcome



Lunch break



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CiA 413 series CANopen device profile for truck gateways   CiA 413-1: General definitions (e.g. connector)   CiA 413-2: Brake and running gear devices

Index 6000h to 60FFh

  CiA 413-3: Other than brake and running gear devices Index 6100h to 62FFh

  CiA 413-5: Superstructure objects Index 6300h to 63FFh

  CiA 413-6: Framework for J1939-based networks Index 6400h to 64FFh

  CiA 413-8: Framework for HMI control Index 6600h to 6650h

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CiA 413 connectors CiA F413 (7-pin frame connector) Pin 1: VCC Battery voltage (clamp 30), fused with 10 A Pin 2: GND Battery ground max. 10 A (not fused) Pin 3: ENABLE Enable superstructure application when switched

to GND (max. 200 mA) on truck-side Pin 4: CAN_H Pin 5: CAN_GND Pin 6: CAN_L Pin 7: reserved for future use by CiA CiA C413 (9-pin cabin connector) Pin 1: VCC Battery voltage (clamp 30), fused with 10 A Pin 2: GND Battery ground max. 10 A (not fused) Pin 3: ENABLE Enable superstructure application when switched

to GND (max. 200 mA) on truck-side Pin 4: CAN_H Pin 5: CAN_GND Pin 6: CAN_L Pin 7: reserved for future use by CiA Pin 8: reserved for future use by CiA Pin 9: reserved for future use by CiA

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Analog parameter 6167h: body_fluid_level 00h: number_of_entries (Unsigned8) 01h: body_fluid_level_value (Unsigned16) 02h: maximum_value_range (Unsigned16) 03h: minimum_value_range (Unsigned16) 6168h: body_fluid_level_scaling_and_offset 00h: number_of_entries (Unsigned8) 01h: resolution_numerator (Integer16) 02h: resolution_denominator (Integer16) 03h: offset (Integer16) Digital parameter 6133h 00h: starter_active (Boolean2)

Parameter structure

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Truck-mounted crane

CiA 850: Recommended practice for CiA 413

Definition of three classes: A – base functionality B – normal functionality C – sophisticated functionality

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CiA 850 PDOs Not

used

6333h 6334h 610Fh 6124h

6335h 634Dh 6134h 6316h

6304h 6117h 6113h

Not used

Not used

Not used

Not used

Not used

Not used

6132h 6150h

4 x 6700h

612Eh 612Fh 6130h 6131h

Not used

Not used

Not used

Not used

634Eh 634Fh

4 x 0001h

613Eh 613Fh 6313h 634Bh

614Ah

6333h: Transmission low range sense switch active 6334h: Transmission high range sense switch active 610Fh: Engine control allowed 6124h: Engine oil pressure warning 6304h: Electrical potential value etc.

TPD

O 1

TPD

O 2

RPD

O 1

CA

N

© CiA

CleANopen overview CiA 422 CANopen application profile for refuse collecting vehicles

•  One system completely defined and easy to integrate •  Connection of non CiA 422 generic CANopen devices is not easy

CA

N

© CiA

CleANopen (CiA 422 series)

LEGEND BC = Body controller FSU = Foot step unit LU = Lifter unit BCU = Bin classification unit GPSU = GPS unit MU = Measuring unit CCU = Container change unit IDU = Identification unit TGU = Truck gateway unit CU = Compaction unit IOU = Input/output unit WU = Washing unit

1 x TGU 8 x IDU 1 x CCU 1 x CU 1 x GPSU 4 x FSU

1 x BC (NMT master) 8 x BCU 8 x LU 8 x MU-A 8 x MU-B 8 x WU 8 x IOU

1 x CRU Crane unit

CA

N

© CiA

Trucks and body application

CiA 422 CANopen application profile for refuse collecting vehicles

J1939 ECU 1

J1939 ECU n

CAN-based J1939 or proprietary network

Gateway

Device 1

Device n

CiA 422

CiA 413

Truck chassis

CA

N

© CiA

Truck gateway unit (TGU)

J1939 ECU

J1939 ECU

In-vehicle network


Body controller

(BC)

Lifter unit (LU)

CiA 422 application profile for refuse

collecting vehicles

CiA 422 virtual devices

Other units

CA

N

© CiA

I/O- ECU

ECU 1

ECU n

Truck chassis


Unit 1

Unit m

CANopen network

Combined BC/TGU device

BC/ TGU 422

CA

N

© CiA

I/O ECU

ECU 1

ECU n

Truck chassis

CAN-based J1939 or proprietary network

Unit 1

Unit m

CANopen network

Separate BC and TGU

TGU BC

CA

N

© CiA

Truck interface options

BC (CiA 422)

Gateway

CANopen CleANopen)

IVN (e.g. J1939/71, February 2010)

EN 1501

TGU (CiA 422)

TGU + BC (CiA 422)

Gateway

I/O

CANopen (CleANopen)

EN 1501

Other CleANopen

units (CiA 422)

Other CleANopen

units (CiA 422)

TGU + BC (CiA 422)

Gateway

CANopen (CleANopen)

EN 1501

Other CleANopen

units (CiA 422)

EN 1501

J1939/71

a) b) c)

CA

N

© CiA

Commercial vehicles

World market: 2012: 21 025 505 2011: 20 147 802 2010: 19 362 284 (Source: www.oica.net)

CA

N

© CiA

Truck body builder   Refuse collecting vehicles

  Road service vehicles  Winter service vehicles

  Concrete mixing vehicles  Other construction machines

  Truck-mounted cranes  Other mounted equipment

CA

N

© CiA

Special purpose trucks

Thompson (UK) Rosenbauer (Austria)

Mulag (Germany)

Highly fragmented market with low

volumes requires flexible interfaces to

the in-vehicle networks and an

open network for the body application.

CA

N

© CiA

Road construction machines

Drilling machine

Roller

Asphalt paver Excavator Cold milling machine

Kilver

Dozer

Grader

CA

N

© CiA

CiA 447 for light trucks Police, ambulance, and fire-fighting add-on functions

•  Blue-light and horn •  Digital radio •  Radar •  etc.

Handicapped driver add-on functions •  Special user interfaces •  Special aid equipment •  etc.

Taxi/cab add-on functions •  Taximeter •  Digital radio •  Printer •  Card reader •  etc.

Other special-purpose car add-on functions •  Special protection equipment •  etc.

CA

N

© CiA

CiA 447 application profile   Part 1: General definitions   Part 2: Virtual device definition   Part 3: Detailed process data specification   Part 4: Pre-defined CAN-IDs and communication objects

Key features of CiA 447: •  Data-rate: Only 125 kbit/s shall be used •  Connector: 18-pin VDA interface connector •  Automatic mechanism for Node-ID assignment (Fast LSS) •  Pre-defined CAN-IDs for SDO/Emergency/Heartbeat deriving from the

Node-ID, CAN-IDs for PDOs are content-related •  Node-ID range 1 to 16 •  Bidirectional SDO communication (peer-to-peer) between all devices •  Error and diagnostic handling over Emergency message and/or UDS*

* UDS = unified diagnostic services

CA

N

© CiA

Future enhancements ◆  CiA 447 supports fleet management systems ◆  Additional necessary parameters can be added

by means of ➙  standardized parameters (update) ➙  proprietary parameters

CA

N

© CiA

Future-proofed extensions ISO 11898-1 (2014)"Classic and improved (flexible data-rate) CAN data link layer protocol supporting bit-rates up to 8 Mbit/s and pay-loads up to 64 byte.""ISO 11898-6 (2013)"High-speed transceiver with low-power mode and selective wake-up capability""

Faster and greener

CA

N

© CiA

Higher efficiency

The CAN protocol as specified in ISO 11898-1/2 allows a maximal transmission rate of 1 Mbit/s. The recently introduced CAN-FD protocol to be standardized within the reviewed ISO 11898-1 will support higher data-rates. Also the data-field (payload) will increase from 8 byte to 64 byte without reducing the failure detection capability."

CA

N

© CiA

64-byte data-field

Oscilloscope of a CAN-FD data frame with an arbitration speed of 500 kbit/s and data transmission speed of 15 Mbit/s at a network length of 42 m.

Photo: Bosch

CA

N

© CiA

CAN FD plug-fest

Three CAN FD nodes in different topologies and with different bit-rates for arbitration and data-phase. The arbitration/data-phase bit-rate ratio should not exceed 1:8. This means in bus-line topologies you can run at 250 kbit/s (arbitration bit-rate) a data-phase bit-rate of 2 Mbit/s.

CA

N

© CiA

Stricter CO2 regulations

FTF 2010BMW; EI-30120.06.2010Page 5

Changes to emissions legislation.CO2 regulations becoming much stricterworldwide.

www.cs-group.de communication & systems group

Situation – CO2 emissions from passenger cars in EU

Road transport is the second biggest source after power generation (~20%)

Emissions from other sectors are decreasing

The emissions from road transport sector

are still rising rapidly:

Passenger cars alone are responsible for12% of the EU emissions

EU is applying an extensive strategy to reduce CO2 emissions

3

Source: European Commission

Between 1990 and 2008 increased by 26% This increase brakes the EU's progress in

cutting overall emissions (fell by 7%)

Although vehicle technology improved! (fuel efficiency CO2 emissions)

The new technologies couldn‘t balance the

increases in traffic and vehicle size

“EU Strategy to reduce CO2 emissions from light-

duty vehicles”

  Engine efficiency (52%)   Weight (16%)   Air resistance (14%)   Rolling resistance (13%)   Electrical power consumption (5%)

CA

N

© CiA

Switching-off functionality   Device degradation: Device (ECU) needs to level electrical

power consumption to a minimum, which is needed to fulfill the actual used functions.

  Pretended networking: Device (ECU) „hibernate“ till a certain wake-up signal.

  Partial networking: Selective wake-up of a single device (ECU) or a group of devices.

CA

N

© CiA

Device degradation

  Shut-down of unused micro-controller cores - independent from other devices in the network or by external command

  Partially not powering of micro-controller peripherals

  Reducing (oscillator) frequency   Reducing (high) voltage

CA

N

© CiA

Partial networking

  Even CAN transceiver chips can be in deep-sleep mode (see ISO 11898-6)

  CAN transceiver wakes-up CPU only if a dedicated CAN message has been received

  CAN transceiver needs to implemented partly the CAN data link layer protocol

  Robustness and reliability of the communication should not be decreased

CA

N

© CiA

Partial networking example

Parking assistant system (active up to 35 km/h)

Rear-camera (active at gear-shifted to “R”)

Trunk-lift system

(active at standstill +

push-button)

Night vision system for pedestrian detection (active in night)

CA

N

© CiA

CAN FD summary  CAN FD overcomes current bandwidth limitations  CAN FD overcomes current payload limitations  Partial networking will improve energy efficiency  Partial networking is suitable for migration to CAN FD  CANopen will support CAN FD

www.can-cia.org www.can-newsletter.org

CA

N

© CiA

CANopen versus J1939   J1939 requires using the 29-bit identifiers only   J1939 messages have always an 8-byte payload   J1939 messages are normally transmitted periodically   CANopen PDOs are transmitted on change-of-state   CANopen provides synchronous PDO transmission   PDOs have a configurable payload (1 to 8 byte)   CANopen provides a dedicated network management   CANopen provides EMCY messages   The CANopen Safety protocol is qualified for SIL 3   CANopen will support CAN FD with version 5.0

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