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CAN Bus

Mark Scherer ABE 425


Presentation Overview:

Mengapa kita perlu CAN
Sejarah dari CAN
Apa itu CAN?
Bagaimana CAN bekerja
CAN Standards
Bus Description
CAN Formats
Error Identification
Aplikasi
Exhaust Temp
Injectors
Cam Position
Hitch Position
Hydraulic Valve Block
Implement
Alternator / Engine Speed
Articulation Degree
Virtual Terminal
Transmission
Engine Controller
Tractor Controller
GPS
Steering Valve Block
Without CAN Bus
Why do we need CAN Bus?
Why do we need CAN Bus?
Exhaust Temp
Injectors
Cam Position
Hitch Position
Hydraulic Valve Block
Implement
Alternator / Engine Speed
Articulation Degree
Virtual Terminal
Transmission
Engine Controller
Tractor Controller
GPS
Steering Valve Block
With CAN Bus
Sejarah
CAN pertama kali dikembangkan oleh Robert Bosch GmbH, Jerman pada
tahun 1986 ketika mereka diminta untuk mengembangkan sistem komunikasi
antara tiga ECU (unit kontrol elektronik) di kendaraan yang dirancang oleh
Mercedes.

Mereka menemukan bahwa titik ke titik komunikasi tidak lagi cocok dalam
situasi ini. Kebutuhan untuk sistem komunikasi multi-master menjadi
keharusan.

Pertama CAN silicon telah di produksi 1987 by Intel
Apa itu CAN?
Controller Area Network (CAN) adalah jaringan serial.
Sebuah jaringan antara sensor, mikrokontroler dan aktuator.
Sekarang populer di otomasi industri dan aplikasi pertanian.
Sistem dua kawat, sangat cocok untuk aplikasi kecepatan
tinggi menggunakan pesan singkat.
Menawarkan komunikasi rate sampai 1 Mbits /sec kontrol
real-time memungkinkan.

Bagaimana kerja CAN
CAN adalah jaringan multi-master yang menggunakan pesan Prioritas
Pesan prioritas tinggi dijamin untuk mendapatkan akses bus seolah-olah itu
hanya pesan yang sedang dikirim.
Pesan prioritas yang lebih rendah secara otomatis dikirimkan kembali pada
siklus bus berikutnya, atau dalam siklus bus berikutnya jika masih ada yang
lain, pesan prioritas tinggi menunggu untuk dikirim.
Sebelum mengirim pesan pemeriksaan node CAN jika bus sibuk.
. Ini juga menggunakan deteksi tabrakan untuk menentukan apakah pesan
telah diubah
Isi pesan diberi label oleh pengenal yang unik di seluruh jaringan. Semua
node lain pada jaringan menerima pesan dan setiap melakukan tes
penerimaan pada pengenal untuk menentukan apakah pesan tersebut, dan
dengan demikian isinya, adalah yang relevan dengan node tertentu.
Jika pesan yang relevan, maka akan diproses, kalau tidak diabaikan.
CAN Standards
Original specifications set by Bosch.
Version 2.0 of this specification is divided into two parts:
Standard CAN (Version 2.0A). Uses 11 bit identifiers.
Extended CAN (Version 2.0B). Uses 29 bit identifiers.
Main difference being the identifier length.
ISO standards
ISO 11898 handles high speed applications up to 1Mbit/second
ISO 11519 has an upper limit of only 125kbit/second.

Bus Description:
The bus is a 2-wire interface running over either a Shielded Twisted Pair
(STP), Un-shielded Twisted Pair (UTP), or Ribbon cable.
Bus transfers information to and from all locations.
Can handle multiple controllers.
Ex. Engine, Transmission, Guidance and Controls.
All Controllers send and receive information
on Bus.
All sensors send information on bus.
All actuators / relays are activated by signal
from bus.
According to the ISO 11898 standard, the impedance of the
cable shall be 120 +- 12 ohms. It should be twisted par,
shielded or unshielded. Work is in progress
on the single-wire standard SAE J2411.
Messages are transmitted over CAN low and high wires
through 2 to 5 volts.
V+ and V- provide transformed power to components.
Cable
Format of a CAN message

In a CAN system, data is transmitted and received using Message
Frames. Message Frames carry data from a transmitting node to one, or
more, receiving nodes.
The CAN protocol supports two Message Frame formats.
The two formats are:
Standard CAN (Version 2.0A)
Extended CAN (Version 2.0B)

Frame Compatibility


Message Format / CAN Chip Type A B Passive B
11 bit ID OK OK OK
29 bit ID ERROR!! Tolerated on Bus, but ignored OK
2.0A Format

2.0B Format

The CAN 2.0B format provides a 29 bit identifier as opposed to the 11 bit identifier in 2.0A.
CAN Error Identification Process

1. The error is detected by the a CAN controller (a
transmitter or a receiver).
Transmitters re-read message after it has been sent.
Receivers can tell if message doesnt make sense.
2. An error frame is immediately transmitted.
3. The message is cancelled at all nodes.
4. The status of the CAN controllers are updated.
5. The message is re-transmitted. If several controllers have
messages to send, normal arbitration is used.

Operator Interface with CAN Bus

Operator is able to communicate with the CAN Bus through
the use of instrument controls for basic functions.
Virtual Terminal is used to communicate with the CAN Bus
responsible for controlling the piece of equipment and Auto
Guidance if equipped.
Laptop service tools can also be connected to diagnose
problems or change software in controllers.
Applying CAN Bus to Agriculture
Lighting systems on tractors and implements.
Connecting Auto Guidance Controller with Virtual Terminal,
position sensors and steering valve.
Seeding monitors.
Variable rate technology.
Depth control on implements.
Combine applications:
Yield monitor, moisture sensor, threshing mechanism
controls, header controls drive train controls, etc.
Entire farming system integration linking tractors, trucks,
combines, elevators etc.

Applying CAN Bus to Soil and Water
Can be used in applications similar to industrial
automation.
Can automate weather stations combining a central
processing unit, data logger and various environmental
sensors.
Small scale structure control, such as
irrigation units, flood control systems
and other automated systems.
Questions?

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