CANBUS Overview

GMK-4.
1 Generation 2 ECOS
CANBUS Overview
CANBUS Overview
Grove Manitowoc National Crane Potain

1 CANBUS Overview
CANBUS Overview
As ECOS uses ESX modules, sensors and displays etc.

networked over several CAN bus circuits, it is important to treat
each as an individual circuit when troubleshooting. With the
ignition off and measuring resistance, the value across CAN low
and CAN high should be approximately 60 Ohms. With the
ignition on and measuring voltage, CAN low and CAN high
should show approximately 2.5 volts to ground.

2 CANBUS Overview
CANBUS Overview
Why CAN Bus Systems?

 Higher Flexibility  Cost Savings  Error Detection
Conventional Technology Serial Bus System
Load Sensor Load Sensor

Range Range
Selector Selector
etc.
ECU ECU
etc.

3 CANBUS Overview
CANBUS Overview
Basic Concepts
Multimaster Easy
Concept CAN connection /
Nodes Disconnection
Number of of nodes
nodes are not Node A Node n
limited by e.g. e.g. Broadcast /
protocol Multicast
ABS EMS
capability
No node
addressing,
Message
identifier
specifies CAN - Bus
contents &
priority
• Can is a multi-master bus with an open linear structure with one logic bus line
and equal nodes. The number of nodes is not limited by the protocol.
• In the CAN protocol the bus nodes do not have a specific address. Instead, the
address information is contained in the identifiers of the transmitted messages,
indicating the message content and the priority level of the message.

4 CANBUS Overview
CANBUS Overview
1000 Meters (Max)

Can_H Bus Length Microcontroller
Rx Tx
Can_L
Differential CAN Controller

Tx Driver / Receiver
Rx TXD RXD RX1
GND
120Ω TXD RXD Ref Rs +5V
Termination Tx
Vcc
Resistor CAN Transceiver
Gnd
120Ω
Termination CAN_L CAN_H
GND
Resistor Rx
Bus Termination Bus Termination
CAN_H
CAN Bus Lines
GND
CAN_L
• All of the Nodes (modules, sensors, I/O, etc.) connected to the Bus line
incorporate CAN transceivers that allow the nodes to send and receive data.
Data is sent to all participants simultaneously with the individual node deciding
if the data is to be acted upon.

5 CANBUS Overview
CANBUS Overview
• The high-speed CAN physical layer is described by ISO 11898-2. ISO 11898-2
primarily defines differential signal transmission at a maximum data transfer rate
of 1Mbit/sec with a maximum network length of 40 meters and maximum of 30
bus nodes. Due to the high data transfer rate, ISO 11898-2 calls for a bus
termination resistor at each end. The network can be easily extended by
reducing the data transmission rate.

6 CANBUS Overview
CANBUS Overview
• The differential voltages defined in ISO 11898 are implemented with the help of
the CAN transceivers. The illustration above shows the physical levels (recessive
and dominant) when a high speed CAN transceiver is used, the recessive bus level
(logic 1) is characterized by a differential voltage of 0 Volt. Both communication
lines lie at a voltage level of 2.5 Volt, in the case of a dominant bus level (logic 0)
the CAN high line assumes a voltage of 3.5 Volt and the CAN low line a voltage of
1.5 Volt. This yields a differential of 2 Volt.

7 CANBUS Overview
CANBUS Overview
 Interferences equally influence both CAN lines

and are almost eliminated by the CAN controller
 Twisted wiring greatly reduces capacitive and

inductive interferences
 Twisted wiring is much cheaper and can be

technically handled better than typical shielded wire
• Due to the differential nature of transmission, CAN I insensitive to Electro-

Magnetic Interference because both bus lines are affected in the same way which
leaves the differential signal unaffected.
• To help reduce the sensitivity against electro-magnetic interference even more,
the bus lines can additionally be shielded. Shielding the twisted wires also reduces
the electro-magnetic emission of the bus itself, especially at higher baud rates.

8 CANBUS Overview
CANBUS Overview

9 CANBUS Overview
CANBUS Connections
 Ring Structure
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
 CAN lines are directly wired through each control unit.
 Resistors are installed at the first and the last control unit.
 Advantage: Low sensitivity towards reflection/overwriting (incorrect and/or

incomplete information).
 Disadvantage: Higher technical effort due to additional pins at the control unit.
Disconnection of one control unit interrupts the whole Bus line.

10 CANBUS Overview
CANBUS Connections
 Ring Structure
 Ring structure connection as used on LMI system.

11 CANBUS Overview
CANBUS Connections
 Star Point
ECU
2
CAN_H
ECU ECU
CAN_L
1 3
Bus resistance is
integrated in the star point
ECU
..n
 CAN lines are connected to each other in the star point.
 Advantage: With Star Point, only ECU’s without resistors are used. The
wiring effort is low and no additional pins are needed at the ECU.
 Disadvantage: Control units need to be assembled close together

(Max distance 2 meters).

12 CANBUS Overview
CANBUS Connections
 Star Point
 Star Point connection as used in the GMK generation 1 ECOS machines

13 CANBUS Overview
CANBUS Connections
 Spur Line
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
 Individual CAN lines to the control units (spur line).
 Resistors are installed on the first and the last control unit (end user).
 Advantage: Low technical effort due to no additional pins are needed at the
control unit.
 Disadvantage: High sensitivity towards reflection / overwriting (incorrect and/or

incomplete information.

14 CANBUS Overview
CANBUS Connections
 Spur Line
 Spur Line connection as used on GMK generation 2 machines.

15 CANBUS Overview
CANBUS Faults
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
As a service technician, the ability to recognize different types of failures or

faults (excluding nodes) of the Bus line is very important. The failure types are
applicable to all styles of Bus line connection structures.

16 CANBUS Overview
CANBUS Faults
Line bound CAN-Bus error

Battery voltage potential
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
+ U-Batt
 Short circuit from CAN_H to U-Batt (Bus off error)
 Data communication not possible
 All control units are affected

17 CANBUS Overview
CANBUS Faults

Battery voltage potential
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
+ U-Batt
 Short circuit from CAN_L to U-Batt (Bus off error)

18 CANBUS Overview
CANBUS Faults

Ground potential
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
Ground
 Short circuit from CAN_H to Ground (Bus off error)

19 CANBUS Overview
CANBUS Faults

Ground potential
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
Ground
 Short circuit from CAN_L to Ground
 Data communication is possible with the remaining intact line, however

the signal will be weaker.

20 CANBUS Overview
CANBUS Faults

Cross connection
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
 Short circuit from CAN_H to CAN_L (Bus off error)

21 CANBUS Overview
CANBUS Faults

Stray voltage potential
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
Arbitrary Potential
 Short circuit from CAN_L to Arbitrary potential
 Effect can not be predicted

22 CANBUS Overview
CANBUS Faults

Stray voltage potential
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
Arbitrary Potential
 Short circuit from CAN_H to Arbitrary potential
 Effect can not be predicted

23 CANBUS Overview
CANBUS Faults

Circuit interruption
ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
 CAN_L is interrupted (bus off error)
 Data communication between knots on the opposite side of the interruption

Is not possible. Communication between knots on the same side of the
interruption can remain, however the signal will be weaker.

24 CANBUS Overview
CANBUS Faults

ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
 CAN_H is interrupted (bus off error)
 Data communication between knots on the opposite side of the interruption

Is not possible. Communication between knots on the same side of the
interruption can remain, however the signal will be weaker.

25 CANBUS Overview
CANBUS Faults

ECU ECU ECU ECU

1 2 3 ..n
120Ω 120Ω
CAN_L
CAN_H
 A connection to the end resistor is interrupted
 Data communication between the knots is possible with a weaker signal.

26 CANBUS Overview
CANBUS Basic Checks
Measurement between Specified Actual Possible Cause

Value Value
CAN_H and CAN_L Approx. 60Ω Approx. 0Ω Short circuit from CAN_H to CAN_L
Approx. 120Ω Connection to the end resistor is cut off
Approx. mΩ End resistor is cut off or damaged

27 CANBUS Overview
CANBUS Basic Checks

Value Value
CAN_H and Ground 2.4V – 2.9V Approx. 24V Short circuit from CAN_H to U-Batt
Approx. 0V Short circuit from CAN_H to ground
0V - 2.3V
Short circuit from CAN_H to arbitrary potential
3.0V - 24V

Value Value
CAN_L and Ground 2.2V – 2.7V Approx. 24V Short circuit from CAN_L to U-Batt
Approx. 0V Short circuit from CAN_L to ground
0V - 2.1V Short circuit from CAN_L to arbitrary potential

2.8V - 24V

28 CANBUS Overview
CANBUS Structures
Model Comparison

29 CANBUS Overview
Model 3055 Overview

30 CANBUS Overview
Model 3055 CAN-1

31 CANBUS Overview
Model 3055 CAN-2

32 CANBUS Overview
Model 3055 CAN-3

33 CANBUS Overview
Model 3055 CAN-4

34 CANBUS Overview
Model 4075 Overview

35 CANBUS Overview
Model 4075 CAN-1

36 CANBUS Overview
Model 4075 CAN-2

37 CANBUS Overview
Model 4075 CAN-3

38 CANBUS Overview
Model 4075 CAN-4

39 CANBUS Overview
Model 4080 Overview

40 CANBUS Overview
Model 4080 CAN-1

41 CANBUS Overview
Model 4080 CAN-2

42 CANBUS Overview
Model 4080 CAN-3

43 CANBUS Overview
Model 4080 CAN-4

44 CANBUS Overview
Model 4100 Overview

45 CANBUS Overview
Model 4100 CAN-1

46 CANBUS Overview
Model 4100 CAN-2

47 CANBUS Overview
Model 4100 CAN-3

48 CANBUS Overview
Model 4100 CAN-4

49 CANBUS Overview
Model 5130-1 Overview

50 CANBUS Overview
Model 5130-1 CAN-1

51 CANBUS Overview
Model 5130-1 CAN-2

52 CANBUS Overview
Model 5130-1 CAN-3

53 CANBUS Overview
Model 5130-1 CAN-4

54 CANBUS Overview
Model 5220 Overview

55 CANBUS Overview
Model 5220 CAN-1

56 CANBUS Overview
Model 5220 CAN-2

57 CANBUS Overview
Model 5220 CAN-3

58 CANBUS Overview
Model 5220 CAN-4

59 CANBUS Overview
Model 7450 Overview

60 CANBUS Overview
Model 7450 CAN-1

61 CANBUS Overview
Model 7450 CAN-2

62 CANBUS Overview
Model 7450 CAN-3

63 CANBUS Overview
Model 7450 CAN-4

64 CANBUS Overview

CANBUS Overview

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GMK-4.

Grove Manitowoc National Crane Potain

As ECOS uses ESX modules, sensors and displays etc.

Grove Manitowoc National Crane Potain

Why CAN Bus Systems?

Conventional Technology Serial Bus System

Load Sensor Load Sensor

Grove Manitowoc National Crane Potain

Grove Manitowoc National Crane Potain

1000 Meters (Max)

Differential CAN Controller

Grove Manitowoc National Crane Potain

Grove Manitowoc National Crane Potain

Grove Manitowoc National Crane Potain

 Interferences equally influence both CAN lines

 Twisted wiring greatly reduces capacitive and

 Twisted wiring is much cheaper and can be

• Due to the differential nature of transmission, CAN I insensitive to Electro-

Grove Manitowoc National Crane Potain

Grove Manitowoc National Crane Potain

ECU ECU ECU ECU

 CAN lines are directly wired through each control unit.

 Advantage: Low sensitivity towards reflection/overwriting (incorrect and/or

Grove Manitowoc National Crane Potain

 Ring structure connection as used on LMI system.

Grove Manitowoc National Crane Potain

 CAN lines are connected to each other in the star point.

 Disadvantage: Control units need to be assembled close together

Grove Manitowoc National Crane Potain

 Star Point connection as used in the GMK generation 1 ECOS machines

Grove Manitowoc National Crane Potain

ECU ECU ECU ECU

 Individual CAN lines to the control units (spur line).

 Disadvantage: High sensitivity towards reflection / overwriting (incorrect and/or

Grove Manitowoc National Crane Potain

 Spur Line connection as used on GMK generation 2 machines.

Grove Manitowoc National Crane Potain

ECU ECU ECU ECU

As a service technician, the ability to recognize different types of failures or

Grove Manitowoc National Crane Potain

Line bound CAN-Bus error

ECU ECU ECU ECU

 Short circuit from CAN_H to U-Batt (Bus off error)

 Data communication not possible

 All control units are affected

Grove Manitowoc National Crane Potain

Line bound CAN-Bus error

ECU ECU ECU ECU

 Short circuit from CAN_L to U-Batt (Bus off error)

 Data communication not possible

 All control units are affected

Grove Manitowoc National Crane Potain

Line bound CAN-Bus error

ECU ECU ECU ECU

 Short circuit from CAN_H to Ground (Bus off error)

 Data communication not possible

 All control units are affected

Grove Manitowoc National Crane Potain

Line bound CAN-Bus error

ECU ECU ECU ECU

 Short circuit from CAN_L to Ground

 Data communication is possible with the remaining intact line, however

Grove Manitowoc National Crane Potain