Product Training

CAN Bus

230810

Terex Centre of Excellence

Terex Equipment Limited
Newhouse Industrial Estate
Motherwell, ML1 5RY
United Kingdom
Technical Online Assistance: http://constructionsupport.terex.com
What is CAN?

• It is a network connecting controllers on a

machine e.g. truck or excavator, which allows
information to be shared among the controllers.
• First developed by Bosch and Intel in 1984.
• It has been in use in the automotive and truck
industry since late 80’s.
• CAN is an abbreviation of Controller Area Network
Why have CAN?

• Replacement of mechanical components by

electronic components.
• More comfort, safety and features from inside the
vehicle.
• Requirements can no longer be implemented by
conventional hard wiring.
• Linking various electronic modules with data bus,
gives us less hardware and more software.
Benefits of CAN:

• Reduce the number of wires and overall length of

wiring harness.
• To ensure all signal information is available to all
controllers on the network (sharing).
• Less wiring, less connectors gives increased reliability
and durability.
• Multiple use of signals therefore there are fewer
sensors.
• Better and more exact diagnostic possibilities.
Terminology:

CAN Controller Area Network

ECU Electronic Control Module
EMC Electromagnetic Compatibility
BUS The network ie. the connection
between the controllers
(computing terminology)
CAN_HI Signal carrying wire
CAN_LO Signal carrying wire.
Terminator Electrical resistor, or circuit placed at
either end of a network.
Discreet wire A normal electrical wire to/from a
sensor or solenoid to a controller
 Sensors
ECU
Discreet Wiring

Processor

CAN Stubs

CAN Hi
CAN Backbone
CAN Lo

Terminators
Magnetic Field Around a Wire Carrying Current
 Discreet Wiring
Flywheel sensor
Crankshaft sensor
Boost Pressure
Engine
Air Inlet Temp
Exhaust Temp
Coolant Temp
Processor Engine Controller

Synchro Pots
Solenoids
Pressure switches Processor Instrument Cluster
Transmission Speed Sensors
Oil Temp
Clutch Pot

Processor Transmission +
Crosshaft Pot Hydraulic Controller
Load Sensing Pins
Drop Rate Pot
Hydraulics
Sensitivity Pot
Fender Switches
Solenoid
CAN System Function

Sensors

Solenoid
Processor Processor

Can Lo

Can Hi

Processor
Sensors
CAN Overview

Signal Digital
Switch Processor
Message

CAN Digital Signal

Processor End user
Network Message

Signal Digital
Sensor Processor
Message

Analogue Analogue
Digital
Inputs Outputs
Printed Circuit Boards, fibre optics, flat
cable, standard cable
Digital Technology

Two Conditions:-
Zero One

BIT
binary digit

Condition Electrical Magnetic Light

0 No current Not Dark

Magnetized

1 Current Magnetized Bright

CAN Signal

Number BIT Possibilities

Amount of information is always
doubled for each extra bit. 1 2
2 4
3 8
Number of possibilities = 2n
4 16
n = number of BITs 5 32
1 BYTE = 8 BITs 6 64
7 128
1 BYTE 28 = 256 Various Conditions
8 256
0000 0000 = Condition No 1 29 5377
1111 1111 = Condition No 256
 CAN Signal
How a CAN signal is made up

0 1 1 0 1 0 0 1
1
3.5V
CAN HI

2.5V 0

CAN LO
1.5V 1
3 B it
2 B it

6 B it

7 B it

8 B it
4 B it

5 B it
1 B it
Signal Transmission Breakdown

MESSAGE MESSAGE
MESSAGE

CAN Hi
CAN Lo

MESSAGE MESSAGE MESSAGE

SOF 29 BIT IDENTIFIER 8 BYTES CRC EOF

DATA
Terminators

Two types Passive and Active

Terminators

Processor Processor

Processor
Terminators

Faulty
Terminator

Processor
Testing the CAN Circuit

Processor Processor

60 Ω

Can Lo

Can Hi

Processor
Testing the CAN Circuit

60.00 Ω
240.00 Ω

1 / RT = 1 / R1 + 1 / R2

RT = R1+R2
1 / RT = 2 / 120 120 + 120 = 240 Ω
1 / RT = 0.002

RT = 60 Ω
Testing the CAN Circuit

CAN Voltage

2.0 Volts
3.0 Volts
Processor Processor

3.0 Volts 2.0 Volts

Can Hi

Can Lo

CAN Lo

CAN Hi Processor
Testing the CAN Circuit

Short to Battery Voltage

24 Volts
Processor
24V

24 Volts
Can Hi

Can Lo

Processor
Testing the CAN Circuit
Short to Earth

Continuity

0.00 Ω
Processor
24V

0.00 Ω

Can Lo

Can Hi

Processor
Testing the CAN Circuit

Open Circuit 0.L

Processor Processor

Can Hi

Break in CAN

Can Lo

Processor
Testing the CAN Circuit

Open Circuit 0.L

Processor Processor

Break in CAN
Can Hi

Can Lo

Processor
Testing the CAN Circuit

Open
120
36k
18k
12k
60Circuit
ΩΩ 36k
18k
12k
120Ω
OL
60ΩΩ
Ω

Processor Processor

Processor