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Electrics level 4
M10 - CAN bus
CAN bus properties
CAN bus

CAN node CAN node CAN node

CANH

CANL
How it works

μController

CAN Controller, embedded or

CAN separate
Controller

Electrical specifications
CAN Transceivers, Connectors, Cable
Transceiver
 Voltage transmitted

Time
How it works
Signal visualized with a ScopeMeter
CANL
CANH Average voltage
Average voltage
Highest voltage
Lowest voltage (CANH)
(CANL)

Offset level ~2,5 volts

Zero level
booth channels
How it works

CAN Node CAN Node CAN Node

μController μController μController

⑤
① Accept data
Deliver data
CAN
Controller
CAN
Controller
④ CAN
Controller
④
Check data Check data
② ③ ③
CAN CAN CAN
Transceiver Send data Transceiver Receive data Transceiver Receive data
CAN message EOF IFS
ACK
CRC

Data

IDE DLC
Identifier
SOF r0
RTR

SOF - Start Of Frame

Identifier - Priority level
RTR - Remote Transmission Request
IDE - Identifier extension
r0 - Reserved (feature use)
DLC - Data Length Code
Data - Transmitted data up to 64 bits
CRC - Cyclic Redundant Check
ACK - Acknowledges bits
EOF - End Of Frame
IFS - InterFrame Space
CAN networks on PGRT
Diagnostic bus

Red bus

Green bus Body Builder

Yellow bus Truck
CAN networks on LPGRS
CAN Network L,P,G,R,S
CAN CAN CAN COO CAN

C479 C481 C100 APS

C270
BOL
MMS
C294
EMS EEC
BBS Rain/light
ALM VIS Sensor
TPM
COL GMS ECA
CAN
CSS BWE CAN CMS
AHS AL COO CMS CAN2
WTA
DCS RTC BMS SMS
C295 ELC

TCO EBS
INL TSS
ABS

CCS ICL AUS PBC

CTS AWD
CAN Network L,P,G,R,S
CAN CAN CAN COO CAN

C479 C481 C100 APS

C270
BOL
MMS
C294
EMS EEC
BBS Rain/light
ALM VIS Sensor
TPM
COL GMS ECA
CAN
CSS BWE CAN CMS
COO AHS AL COO CMS CAN2
WTA
DCS RTC BMS SMS
C295 ELC

TCO EBS
INL TSS
ABS

CCS ICL AUS PBC

CTS AWD
CAN Network L,P,G,R,S
CAN CAN CAN COO CAN

C479 C481 C100 APS

C270
BOL
MMS
C294
EMS EEC
BBS Rain/light
ALM VIS Sensor
TPM
COL GMS ECA
CAN
CSS BWE CAN CMS
COO
AHS AL
CMS COO
CAN2
WTA
DCS RTC BMS SMS
C295 ELC

TCO EBS
INL TSS
ABS

CCS ICL AUS PBC

CTS AWD
CAN Network L,P,G,R,S
CAN CAN CAN COO CAN

C479 C481 C100 APS

C270
BOL
MMS
C294
EMS EEC
BBS Rain/light
ALM VIS Sensor
TPM
COL GMS ECA
CAN
CSS BWE CAN CMS
AHS COO AL
CMS CAN2
WTA
DCS RTC BMS SMS
C295 ELC

TCO EBS
INL TSS
ABS

CCS ICL AUS PBC

CTS AWD
CAN Connector blocks -
New termination strategy
CAN Connector
New termination strategy

Main ECU
To CAN transceiver

transceiver
CAN Hi

To CAN
CAN joint connector

CAN Lo

transceiver
To CAN
Shield
 CAN Network
Practical exercise G.
E37 H. C295
C481 BMS
E89
RTC
J. Fill in missing numbers and systems.
K1
I. Nr. Compon. System
code

A. E30 COO
B. INL
C. E56
D. E5
E. Rd CAN
F.
F. Or CAN
E.
G. E112
D. C193
H. CMS
A. E11
CSS
E44
EMS
B. C479
C. I. O1
J. TCO
 CAN Network
Practical exercise G.
E37 H. C295
C481 BMS
E89
RTC
J. Fill in missing numbers and systems.
K1
I. Nr. Compon. System
code

A. E30 COO
B. E23 INL
C. E56 APS
D. E5 GMS
E. C270 Rd CAN
F.
F. C294 Or CAN
E.
G. E112 TSS
D. C193
H. E113 CMS
A. E11
CSS
E44
EMS
B. C479
C. I. O1 ICL
J. O4 TCO
 CAN Network
Practical exersice E112
TSS
E113
E37 C295
CMS
C481 BMS
E89 O4
RTC TCO
K1 O1
ICL

C294
C270
E5
GMS C193
E30 E11 E44
COO CSS EMS
E23 E56
INL APS
C479
Troubleshooting CAN buses

 Scania multimeter 588 094 measure the integrity of the CAN wires and the
CAN voltage levels:
− Measuring CAN bus resistance: able to trace wire and termination resistors faults;
able to trace open circuits or short circuit to ground or ECU’s internal supply (internal
converter supplies with 5V).
− Measuring CAN bus voltage: able to trace ECU’s internal faults or wire and
termination resistors faults.
 CAN messages can not be checked with a multimeter; instead the diagnose
software is used to check the systems functionalities.
 WSM 16:07-02 “Communication problems” shows measuring methods
Measuring resistance

60 Ω
60 Ω
CAN_H

CAN_L

+15 OFF

31
Measuring resistance

60 ΩΩ
120
CAN_H

CAN_L

+15 OFF

31
Measuring resistance

>1
60kΩ
Ω
CAN_H

CAN_L

+15 OFF

31
Measuring resistance

>1
60kΩ
Ω
CAN_H

CAN_L

+15 OFF

31
Measuring voltage

~2.6V
CAN_H

CAN_L

+15 ON

31
Measuring voltage

~2.4V
CAN_H

CAN_L

+15 ON

31