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The Controller Area Network (CAN) specification defines the Data Link Layer, ISO 11898 defines the Physical Layer. The CAN bus [CANbus] is a Balanced (differential) 2-wire interface running over either a Shielded Twisted Pair (STP), Un-shielded Twisted Pair (UTP), or Ribbon cable. Each node uses a Male 9-pin D connector. The Bit Encoding used is: Non Return to Zero (NRZ) encoding (with bit-stuffing) for data communication on a differential two wire bus. The use of NRZ encoding ensures compact messages with a minimum number of transitions and high resilience to external disturbance.
A low speed CANbus may be employed to operate window and seat controls. A high speed CANbus may be employed for engine management or brake control. Many other applications are possible [Engine Sensors, Anti-Skid Systems]. Equivalent Input and Output IC Schematic Diagrams. For additional information refer to: CAN Bus Specification; Version 2.0, ISO 11898/11519. CANbus is used as a vehicle bus, for other vehicle Buses see Automotive Buses. CANbus is also used as an Industrial Field bus, for other Field Buses see Field Buses. Detailed info on CANbus {Robert Bosch GmbH}, Detailed info on CANbus {Kvaser}
9 Pin (male) D-Sub CANbus PinOut Pin # Signal Names Signal Description 1 Reserved Upgrade Path 2 CAN_L Dominant Low 3 CAN_GND Ground 4 Reserved Upgrade Path 5 CAN_SHLD Shield, Optional 6 GND Ground, Optional 7 CAN_H Dominant High 8 Reserved Upgrade Path 9 CAN_V+ Power, Optional
Some systems may use pin 8 as an error line, to indicate an error on the net. Listing of 'D-sub' Connectors Manufactures ........ Listing of Cable Manufactures
ISO/DIS 11898-1: Road vehicles -- Controller area network (CAN) -- Part 1: Data link layer and physical signaling ISO/DIS 11898-2: Road vehicles -- Controller area network (CAN) -- Part 2: High-speed medium access unit ISO/CD 11898-3: Road vehicles -- Controller area network (CAN) -- Part 3: Low-speed fault tolerant medium dependent interface ISO/CD 11898-4: Road vehicles -- Controller area network (CAN) -- Part 4: Time triggered communication CAN Bus Specification Version 2.0 All other Interface bus specifications [Non-CANbus]
Yamar Electronics {DC-BUS for digital communication overcome hostile in-vehicle power line communication environment. Power line Communication multiplex semiconductor transceivers for automotive and industrial CAN, LIN networks.} TI {TMS320F241 with CANbus Interface-3.3v Line Transceiver ICs} IC Manufacturers Listing {All other types} V62/09611: SN65HVD233; Controller area network (CAN) transceiver V62/06629: SN65HVD230; 3.3 V CAN transceiver
CANbus Signal Type Output Voltage (High) Output Voltage (Low) Output Voltage Output Current Impedance Circuit Type Bit Times Encoding Format Transmit/Receive Frequency Topology Medium Access Control
CAN Bus I/O Characteristics Digital Interface VOH +4 volts min, +5.5 volts max VOL +0 volts min, +1.5 volts max +16 volts (Absolute Max) 100mA 124 ohm termination between +/- terminals Differential 1uS @ 1Mb/s; 2uS @ .5Mb/s 4uS @ .25Mb/s Non-Return-to-Zero (NRZ) 1Mb/s @ 40 meters Point-to-Point Shielded Twisted Pair (STP) @ 9 pin D-Sub Carrier Sense, Multiple Access with Collision Detect (CSMA/CD). Non-destructive bit wise arbitration
TTCAN
TTCAN: Time Triggered CAN protocol. Allows the bus to appear more deterministic
CANOpen
CANopen is based on the CANbus data link layer and high-speed transceiver as specified in ISO 11898, part 1 and 2. In addition, CANopen specifies bit-timing and recommends pin-assignments for connectors. Uses Device profiles [defines four types of messages]; Manufactures follow guidelines in the CANOpen spec producing devices with characteristics which will operate with each other. There are a number of Bit rates based on bus length: [based on 5nS/m cable propagation delay]. 1Mbps [Maximum transfer speed] up to a 25 meter maximum bus length [Nominal bit time is 1uS] 800kbps [Maximum transfer speed] up to a 50 meter maximum bus length [Nominal bit time is 1.25uS] 500bps [Maximum transfer speed] up to a 100 meter maximum bus length [Nominal bit time is 2uS] 250kbps [Maximum transfer speed] up to a 250 meter maximum bus length [Nominal bit time is 4uS] 125kbps [Maximum transfer speed] up to a 500 meter maximum bus length [Nominal bit time is 8uS] 50kbps [Maximum transfer speed] up to a 1000 meter maximum bus length [Nominal bit time is 20uS] 20kbps [Maximum transfer speed] up to a 2500 meter maximum bus length [Nominal bit time is 50uS] 10bps [Maximum transfer speed] up to a 5000 meter maximum bus length [Nominal bit time is 100uS] Pinout for a number of CANopen connectors are listed on the CAN Bus Connector Pin out page. CANopen Software description/ Specs {B.Hallgren ATLAS DCS}
CAN Kingdom
CAN Kingdom defines a set of protocol primitives, based on the CAN protocol. A bus Master is defined during initialization, the Master checks to see which nodes are connected to the network. CAN Kingdom uses either an Event driven or Time driven timing model.
DeviceNet
CENELEC standard - EN50325 DeviceNet identifies the physical layer but does not use the same physical layer interface as ISO 11898, and is based on the CanBus protocol. DeviceNet provides optical isolation for additional protection and does not use 9-pin sub-D connectors.
DeviceNet only supports three baud rates: 125, 250 and 500 Kbaud ( @ 500 meters) with up to 64 devices on the (differential) bus. In addition the cable carries 24 volts which powers the devices. DeviceNet description {ODVA.org} Info {Rockwell Automation ~ Allen Bradley} DeviceNet Cable Specifications (Appendix B)