iso 11898-2 topology
DESCRIPTION
ISO 11898-2 Topology. Ld. Lt. Lt = Trunk Length. Ld = Drop Length. Node 3. Node 2 . Node 4. Node 1. Node n. ISO 11898-2 Network Set-up. node 1 . . . . . . . . node n. CAN_H. CAN Bus Line. 120 . 120 . CAN_L. Electromagnetic Interference. V - PowerPoint PPT PresentationTRANSCRIPT
CAN
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Node 2 Node 3 Node 4
Node n Node 1 Ld
Ld = Drop Length
Lt
Lt = Trunk Length
ISO 11898-2 Topology
CAN
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node 1 . . . . . . . . node n
CAN Bus Line
120
CAN_H
CAN_L
120
ISO 11898-2 Network Set-up
CAN
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EMI
CAN Bus Line 120 120
CAN_H
CAN_L
t
V
Vdiff = const
Vdiff
Electromagnetic Interference
CAN
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Time
Voltage
5 V
3.5 V
2.5 V
1.5 V
0 V
min. 1 µs
Recessive
CAN_H + CAN_L
CAN_H
CAN_L
Dominant Recessive
Nominal Bus Level
CAN
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CANStation 1
(Consumer)
CANStation 2
(Producer)
CANStation 3
(Consumer)
CANStation 4
(Consumer)
Frame I
LocalIntelligence
LocalIntelligence
LocalIntelligence
LocalIntelligence
bus lines
FilterFilter Filter Filter
Broadcast Communication
CAN
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CANStation 1
(Requester)
CANStation 2
(Producer)
CANStation 3
(Consumer)
CANStation 4
(Consumer)
LocalIntelligence
LocalIntelligence
LocalIntelligence
LocalIntelligence
bus lines
FilterFilter Filter FilterRTR I Frame I
Remote Request
CAN
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CANStation 1
CANStation 2
CANStation 3
CANStation 4
LocalIntelligence
LocalIntelligence
LocalIntelligence
LocalIntelligence
bus lines
FilterFilter Filter FilterFrame I Frame 3Frame 2
Multiple Bus Access
CAN
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SOF
BusIdle
ArbitrationField
DataField
CRCField
ACKField EOF IFS
12 or 32 Bit 6 Bit 0 to 8 Byte 16 Bit 2 Bit 7 Bit1Bit 3 Bit
Remark: CAN Specification 2.0 B passive implementations can’t store or transmit Extended Data Frames; CAN Specification 2.0 B active implementations can store and transmit Standard Data Frames as well as Extended Data Frames.
ControlField
CAN Data Frame
CAN
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SOF
BusIdle
ArbitrationField
CRCField
ACKField
Inter-Mission
12 or 32 Bit 6 Bit 16 Bit 2 Bit 7 Bit1 Bit 3 Bit
ControlField EOF
CAN controller with receive buffer or receive FIFOs answers Remote Frames only under CPU control.
CAN Controller with standard message storing answers Remote Frame automatically without CPU control.
CAN Controller with advanced message storing answers Remote Frames automatically and optionally under CPU control.
CAN Remote Frame
CAN
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Base Frame Format
11 bit Identifier RTR IDE r0 DLC SOF
Arbitration Field Control Field Data Field
Extended Frame Format
SOF
Arbitration Field Control Field
11 bit Identifier SRR IDE 18 bit Identifier RTR r1 r0 DLC
Trade-off: longer bus latency time (20 bit-times)longer frames (20 bit-times plus stuff-bits)reduced CRC performance
Arbitration Field
CAN
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Node 1
Node 2
Node 3
Bus ID 20
ID 80
ID 20
Data
Data
ID 80 Data
ID 80 DataID 100 Data
ID 100 Data
Frame transmission request
Bus Arbitration Method
CAN
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Bus (4 x Rx)
S RO Identifier T Control DataF 10 9 8 7 6 5 4 3 2 1 0 R Field Field
dominant
recessive
Listening Mode
Listening Mode
Collision Avoidance
DLC Data
Listening Mode
Node 1 (Tx)
Node 2 (Tx)
Node 3 (Tx)
Node 4 (Tx)
CAN
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0 to 8 Byterequest
indication(s)
Producer Consumer(s)
CAN Data Frame
Write Object
confirmation(s)0 to 8 Byte
response
indication request(s)
CAN Remote Frame
CAN Data Frame
Read Object
Communication Services
CAN
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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]
1.00.90.80.70.60.50.40.30.20.1
1.6
[Mbit/s]
Data-rate/Bus-length Ratio
CAN
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Bit Rate
1 Mbit/s800 kbit/s500 kbit/s250 kbit/s125 kbit/s
62.5 kbit/s 20 kbit/s10 kbit/s
Bus Length
30 m50 m
100 m250 m500 m
1000 m2500 m5000 m
Nominal Bit-Time
1 µs1.25 µs
2 µs4 µs8 µs
20 µs50 µs
100 µs
Practical Bus Length
CAN
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DC Parameter• Length-Related Resistance (r): 70 m /m• Termination Resistor (Rt): nominal 120 (min. 108 , max. 132 )
AC Parameter• Impedance (Z): nominal 120 (min. 108 , max. 132 )•Specific Line Delay: 5 ns/m
ISO11898-2 Parameter
CAN
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BusLength
0 .. 40 m
40 .. 300 m
300 .. 600 m
600 m .. 1 km
Bus CableLength-Related
Resistance
Bus-LineCross-Section
70 m/m 0.25 mm2 .. 0.34 mm2
AWG23, AWG22
<60 m/m 0.34 mm2 .. 0.6 mm2
AWG22, AWG20
<40 m/m 0.5 mm2 .. 0.6 mm2
AWG20
<26 m/m 0.75 mm2 .. 0.8 mm2
AWG 18
TerminationResistance
124 (1%)
127 (1%)
150
150
Max.Baudrate
1 Mbit/sat 40 m
500 Kbit/sat 100 m
100 Kbit/sat 500 m
50 Kbit/sat 1k m
DC Characteristics
CAN
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Rules of thumb for the maximum length of a unterminated cable drop Ld and for for the cumulative drop length Ldi:
n
Ld < tPROPSEG / ( 50 * tP ) Ldi < tPROPSEG / ( 10 * tP ) i=1
tPROPSEG : length of the propagation segment of the bit period tP : specific line delay per length unit
Example: bit rate = 500 kbit/s: tPROPSEG = 12 * 125ns = 1500 ns; tP = 5 ns/m n
Ld < 1500 ns / (50 * 5 ns/m) = 6 m; Ldi < 1500 ns /(10 * 5 ns/m) = 30 m i=1
Cable Drop Length
CAN
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Bit rate
Bus length (1)
Nominalbit time
tb
Number oftime quanta
per bit
Length oftime
quantum tq
Location ofsamplepoint
BTR 0at 16 MHz(82C200)
BTR 1at 16 MHz(82C200)
1 Mbit/s25 m
1 µs 8 125 ns 6 tq
(750 ns)
00h 14h
800 kbit/s50 m
1.25 µs 10 125 ns 8 tq
(1 µs)
00h 16h
500 kbit/s100 m
2 µs 16 125 ns 14 tq
(1.75 µs)
00h 1Ch
250 kbit/s250 m (2)
4 µs 16 250 ns 14 tq
(3.5 µs)
01h 1Ch
125 kbit/s500 m (2)
8 µs 16 500 ns 14 tq
(7 µs)
03h 1Ch
50 kbit/s1000 m (3)
20 µs 16 1.25 µs 14 tq
(17.5 µs)
09h 1Ch
20 kbit/s2500 m (3)
50 µs 16 3.125 µs 14 tq
(43.75 µs)
18h 1Ch
10 kbit/s5000 m (3)
100 µs 16 6.25 µs 14 tq
(87.5 µs)
31h 1Ch
CiA DS-102 Baudrate
CAN
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Pin Signal Description 1 - Reserved 2 CAN_L CAN_L bus line dominant low 3 CAN_GND CAN Ground 4 - Reserved 5 (CAN_SHLD) Optional CAN Shield 6 GND Optional Ground 7 CAN_H CAN_H bus line dominant high 8 - Reserved 9 (CAN_V+) Optional CAN external supply
9-pin D-Sub: DIN 41652
CiA DS-102 Pin Assignment
CAN
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31
203
273
355
120
2003
1998
2002
2000
2001
57 1999
40,502,6018,77 102,10
120,8214,4537,0759,2010,10
57,7710,7025,70
141,5045,4715,20
203,27
71,95171,8092,48
15,30273,82
15,70355,58
75,6045,0732-bit µC16-bit µC
stand-alone8-bit µC
total in million units
2000 sales by regions:Europe: 85%America: 9%Asia: 6%
Application
CAN node sales figures
050
100150200250300350400 32-bit µC
16-bit µC
8-bit µC
stand-alone
1999 2000 2001 2002 2003
CAN
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CAN-based Profiles
CAN-based Application Layer
Layers Implementation
Transceiver
CAN ControllerCAN Data Link Layer
CAN Physical Layer
Software
Software
CAN Reference Model
CAN
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CAN standardization
ISO 11898-1(11-bit ID)
ISO 11898-2
Data LinkLayer
PhysicalLayer
CAN 2.0A
RS-485
ISO 11898-1(11-bit ID)
ISO 11898-1(11-bit and29-bit ID)
ISO 11898-2
ApplicationLayer
SDSEN 50325-3
DeviceNetEN 50325-2
CANopenEN 50325-4
DeviceProfile
ODVADeviceProfiles
CiADeviceProfiles
ApplicationProfile
CiAApplication
Profiles
ISO 11898-2
ISO 11898-1(29-bit ID)
SAE J1939-based
ApplicationProfiles
CAN
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CAN History Milestones
• 1982: Start of the Bosch-internal CAN development• 1986: First public presentation of CAN in Detroit at SAE conference• 1987: First CAN controller chip from Intel• 1990: Introduction of CAN Kingdom protocols• 1992: Foundation of CiA international users and manufacturers group• 1993: Publishing of ISO 11898 (CAN standard)• 1993: Introduction of CAN Application Layer (CAL)• 1993: Introduction of SAE J1939 application profile• 1994: 1st international CAN Conference in Mainz• 1994: Introduction of DeviceNet• 1994: Smart Distributed System (SDS)• 1994: Introduction of CANopen profile family• 1995: Foundation of ODVA• 2000: Foundation of CAN Kingdom International• 2001: Introduction of Time-triggered CAN (TTCAN) protocol• 2002: DeviceNet, SDS, and CANopen become European standards (EN50235)• 2003: ISO 11898-1 and ISO 11898-2 are published
CAN
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CiA Operations Structure
Business Committee Managing Director Technical Committee
GENERAL ASSEMBLY
elects
CANopen
CANopen
USA
Russia
Benelux
CAL
approves and manages approves and manages
approves and manages
Inte
rest
Gro
ups
Mar
ketin
g G
roup
s
*
Progr.Devices Safety Maritime Medical Truck
Gateway
WeavingMachine
LiftControl
ElectronicDoor
PassengerInfo
IEC61131-3
GenericI/O Drive Virtual
TerminalClosed-
Loop
EncoderASAM
Railways
Off-roadVehicles Hydraulics
CA
Nop
en S
peci
al In
tere
st G
roup
s
* temporarily inactive
*
****
***
Municipalvehicles
TF BatteryTF Extruder
down-stream
TF Roadconstruct-
ion
CAN
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CiA Members 1992-2003
1642
84142
193250
284320 347
372 393 413
050
100150200250300350400450
March'92
Jan'94
Jan'96
Jan'98
Jan'00
Jan'02
CAN
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CiA Services• CANschool (technical training for newcomers) • CANopen seminar (technical training)• In-house seminars ( customer-specific training)• CANopen product guide (free-of-charge)• Quarterly CAN Newsletter (free-of-charge)• Review of proprietary CANopen profiles• CANopen device certification• CAN literature and specification sales