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Multiplex

Communication

System

—CAN—Multiplex

Communication

System1CANCommunicationGeneralWhatisCAN?CANisanacronymthatstandsfor

ControllerAreaNetwork.CANisaserialcommunicationprotocoldevelopedbyBOSCHin1986andstandardizedby(InternationalStandardsOrganization)HighSpeedCommunicationoflargevolumedataReduceamountofwireharnessReliableTransmissionAdvantageofCANCANCommunicationGeneralHighS2CANCommunicationFeatureCommunicationSpeedHigh-speedcommunication(ISO11898)ControlDrivingControlSystemBodyElectricalControlSystemProtocol*1CAN(ISOStandard)BEAN

(TOYOTAOriginal)AVC-LAN

(TOYOTAOriginal)CommunicationSpeed500kbps*(Max.1Mbps)Max.10kbpsMax.17.8kbpsCommunicationwireTwistPairWireAVsignalDriveTwistPairWireDriveTypeDifferential

VoltageDriveSingleWireVoltageDriveDifferential

VoltageDriveDataLength1-8Byte(Variable)1-11Byte(Variable)0-32Byte(Variable)*1:Rulefordatacommunications*2:bit(bitpersecond)CANCommunicationFeatureContro3CANCommunicationFeatureCommunicationFrameSameasBEANcommunication,allCANnodes(ECUs,sensors)communicatewithbitsignalDataTypeHeaderCommunicationFramePriorityDataLengthAddressforReceiverECUErrorDetectionCodeEndMessageDataResponseofReceiveECUCANCommunicationFeatureDataT4CANCommunicationFeatureCommunicationTypeBusStyleDLC3EngineECU(ECM)SkidControlECUYawRateSensorDecelerationSensorEPSECUSteering

Angle

Sensor:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)CANCommunicationFeatureDLC3En5CANCommunicationFeatureCommunicationWireCANusestwisted-pairwireCAN[DifferentialVoltageDrive]BEAN[SingleWireVoltageDrive]ECUECUECUECUTwisted-pairWireHiAVSingleWireHiLoLoCANCommunicationFeatureCAN[D6CANCommunicationFeatureCommunicationsignal2.5V3.5V[CANHI][CANLO][CANCombine][OutputVoltage]Time0V2.5V1.5V0VTime2.5V1.5V0VTime3.5VCANHICANLOCANCommunicationFeature2.5V37CANCommunicationCommunicationSystemDiagramCaseofPRIUS(NHW20)YawRateSensorDecelerationSensorJunction

ConnectorNo.2Junction

ConnectorNo.1SteeringAngleSensorTerminalCircuit(120)EPSECUSkidControlECUHVECUGateway

ECUCAN-HCAN-LDLC3SIL:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low):SerialCommunicationLineBatteryECUEngineECU

(ECM)CANCommunicationCommunication8CANCommunicationJunctionConnectorMainBusLineSubBusLineJunction

ConnectorSubBusLineCANCommunicationJunctionConn9CANCommunicationTerminalCircuitDLC3EPSECUSteering

Angle

SensorJunction

Connector:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)BatteryECUSkidControlECUYawRateSensorDecelerationSensorEngineECU

(ECM)Terminal

CircuitTerminal

CircuitCANCommunicationTerminalCirc10CANCommunicationTerminalCircuitNormalcondition3.5VTime0V2.5VYawRateSensorDecelerationSensorEngineECU

(ECM)SkidControlECUAbsorbtheSignalCANCommunicationTerminalCirc11CANCommunicationTerminalCircuitWithfaultyresistor3.5VTime0V2.5VYawRateSensorDecelerationSensorSkidControlECUEngineECU

(ECM)CANCommunicationTerminalCirc12CANCommunicationLocationBatteryECUSteeringAngleSensorJ/CNo.1DLC3SkidControlECUYawRateandDecelerationSensorHVECUJ/CNo.2EngineECUEPSECUGatewayECUCANCommunicationLocationBatte13CANCommunicationCommunicationFrequencyBothnodeshavetwotypeofcommunicationprocedures(Regularly/Event)ControlRegular(ms)EventEngineECU(ECM)Control24–32NoneECTECUControl32–64Sensors12–24DataSending/Command

(switchoperation)Approx.500–5000withNOTE:

BEAN:50–1000ms(250,500,1000)CANCommunicationCommunication14CANCommunicationInspectionProcedureTwomethodstocheckbuscommunication 1.IT-IITester 2.DVOM 1.BusCheck2.CANBusLineCheckCANCommunicationInspectionPr15CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc16CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc17CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc18CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc19CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi20CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi21CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc22CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc23CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKCANCommunicationBusCheckEngi24CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitTouch!CANCommunicationBusCheckEngi25CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitDTCTouch!CANCommunicationBusCheckEngi26CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCTouch!CANCommunicationBusCheckEngi27CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCRetrievingNowretrievingDTCs.Pleasewait.CANCommunicationBusCheckEngi28CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)CANCommunicationBusCheck29CANCommunicationBusCheckCheckcommunicationwithECU’sandsensorsEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3CANCommunicationBusCheckEngi30CANCommunicationBusCheckBothECU’sandsensorsonCANhaveself-diagnosisandcommunicationfunctionEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3Logic-

Self-diagnosis

-Communication

FunctionCANCommunicationBusCheckEngi31CANCommunicationCANBusLineCheckMeasuretheresistancevaluebetweenCANHandCANLwithIGswitch“OFF”DLC3YawRateSensorDecelerationSensorSkidControlECUCANHCANLEngineECU(ECM)ResistanceValue

54–69

600ResistanceValue

morethan69

600ResistanceValue

lessthan54

600CANCommunicationCANBusLine32CANCommunicationCANBusLineCheckResistancevaluebetween54and69PossiblecauseDLC3ResistanceValue

54–69

600YawRateSensorDecelerationSensorSkidControlECUShortEngineECU(ECM)CANCommunicationCANBusLine33CANCommunicationCANBusLineCheckResistancevaluebetween54and69InspectionItemResistanceValueBusLineConditionCANH–BATCANL–BATCANH–CGCANL–CGmorethan1MNobuslinemalfunctionifnoDTCoutputLessthan1kShortbetweenbusline–groundCANLCANHCGBAT[Inspectionforshortbetweenbusline–powersupply/ground]CANCommunicationCANBusLine34CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue

morethan69

600EngineECU(ECM)OpenOpen120CANCommunicationCANBusLine35CANCommunicationCANBusLineCheckResistanceValuemorethan69(Approx.120)1.DisconnectmainbuslineandcheckresistanceDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)OpenResistanceValue

is120ornot600120OpenDisconnectMainLineCANCommunicationCANBusLine36CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)2.CheckJ/Candterminalcircuit[JunctionConnector]CANHCANLResistanceValue

is120ornot600120MainBusCANCommunicationCANBusLine37CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue

morethan69

600EngineECU(ECM)OpenCANCommunicationCANBusLine38CANCommunicationCANBusLineCheckResistancevaluelessthan54(Approx.0)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)ResistanceValue

lessthan54

600ShortShortCANCommunicationCANBusLine39CANCommunicationCANBusLineCheckResistanceValuelessthan54(Approx.0)DisconnectDLC3SubBuslineandcheckDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)ResistanceValue

morethan1M

01MDisconnectDLC3SubBuslineShortCANCommunicationCANBusLine40CANCommunicationCANBusLineCheckIfresistancevalueis,DLC3isgoodDisconnectJ/CandcheckshortatmainbuslineYawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)DisconnectDLC3subbuslineShortDLC3ResistanceValue

lessthan54

600DisconnectMainLineCANCommunicationCANBusLine41CANCommunicationDTCCombinationTableDTCOutputECUTroublePortion(CommunicationStop)HVECUEngineECU(ECM)BatteryECUSkidControlECUYawRateSensorGatewayECUU0100HVECU—XXXXU0111—XXXXU0129—XXXXU0146—XXXXU3108-594—XXXXU0293EngineECU(ECM)—XXXXU1000BatteryECUX—XXXU0293X—XXX:OutputsX:Notoutput—:UndetectableCANCommunicationDTCCombinati42豐田普銳斯培訓(xùn)資料can-(for-prius)課件43Multiplex

Communication

System

—CAN—Multiplex

Communication

System44CANCommunicationGeneralWhatisCAN?CANisanacronymthatstandsfor

ControllerAreaNetwork.CANisaserialcommunicationprotocoldevelopedbyBOSCHin1986andstandardizedby(InternationalStandardsOrganization)HighSpeedCommunicationoflargevolumedataReduceamountofwireharnessReliableTransmissionAdvantageofCANCANCommunicationGeneralHighS45CANCommunicationFeatureCommunicationSpeedHigh-speedcommunication(ISO11898)ControlDrivingControlSystemBodyElectricalControlSystemProtocol*1CAN(ISOStandard)BEAN

(TOYOTAOriginal)AVC-LAN

(TOYOTAOriginal)CommunicationSpeed500kbps*(Max.1Mbps)Max.10kbpsMax.17.8kbpsCommunicationwireTwistPairWireAVsignalDriveTwistPairWireDriveTypeDifferential

VoltageDriveSingleWireVoltageDriveDifferential

VoltageDriveDataLength1-8Byte(Variable)1-11Byte(Variable)0-32Byte(Variable)*1:Rulefordatacommunications*2:bit(bitpersecond)CANCommunicationFeatureContro46CANCommunicationFeatureCommunicationFrameSameasBEANcommunication,allCANnodes(ECUs,sensors)communicatewithbitsignalDataTypeHeaderCommunicationFramePriorityDataLengthAddressforReceiverECUErrorDetectionCodeEndMessageDataResponseofReceiveECUCANCommunicationFeatureDataT47CANCommunicationFeatureCommunicationTypeBusStyleDLC3EngineECU(ECM)SkidControlECUYawRateSensorDecelerationSensorEPSECUSteering

Angle

Sensor:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)CANCommunicationFeatureDLC3En48CANCommunicationFeatureCommunicationWireCANusestwisted-pairwireCAN[DifferentialVoltageDrive]BEAN[SingleWireVoltageDrive]ECUECUECUECUTwisted-pairWireHiAVSingleWireHiLoLoCANCommunicationFeatureCAN[D49CANCommunicationFeatureCommunicationsignal2.5V3.5V[CANHI][CANLO][CANCombine][OutputVoltage]Time0V2.5V1.5V0VTime2.5V1.5V0VTime3.5VCANHICANLOCANCommunicationFeature2.5V350CANCommunicationCommunicationSystemDiagramCaseofPRIUS(NHW20)YawRateSensorDecelerationSensorJunction

ConnectorNo.2Junction

ConnectorNo.1SteeringAngleSensorTerminalCircuit(120)EPSECUSkidControlECUHVECUGateway

ECUCAN-HCAN-LDLC3SIL:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low):SerialCommunicationLineBatteryECUEngineECU

(ECM)CANCommunicationCommunication51CANCommunicationJunctionConnectorMainBusLineSubBusLineJunction

ConnectorSubBusLineCANCommunicationJunctionConn52CANCommunicationTerminalCircuitDLC3EPSECUSteering

Angle

SensorJunction

Connector:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)BatteryECUSkidControlECUYawRateSensorDecelerationSensorEngineECU

(ECM)Terminal

CircuitTerminal

CircuitCANCommunicationTerminalCirc53CANCommunicationTerminalCircuitNormalcondition3.5VTime0V2.5VYawRateSensorDecelerationSensorEngineECU

(ECM)SkidControlECUAbsorbtheSignalCANCommunicationTerminalCirc54CANCommunicationTerminalCircuitWithfaultyresistor3.5VTime0V2.5VYawRateSensorDecelerationSensorSkidControlECUEngineECU

(ECM)CANCommunicationTerminalCirc55CANCommunicationLocationBatteryECUSteeringAngleSensorJ/CNo.1DLC3SkidControlECUYawRateandDecelerationSensorHVECUJ/CNo.2EngineECUEPSECUGatewayECUCANCommunicationLocationBatte56CANCommunicationCommunicationFrequencyBothnodeshavetwotypeofcommunicationprocedures(Regularly/Event)ControlRegular(ms)EventEngineECU(ECM)Control24–32NoneECTECUControl32–64Sensors12–24DataSending/Command

(switchoperation)Approx.500–5000withNOTE:

BEAN:50–1000ms(250,500,1000)CANCommunicationCommunication57CANCommunicationInspectionProcedureTwomethodstocheckbuscommunication 1.IT-IITester 2.DVOM 1.BusCheck2.CANBusLineCheckCANCommunicationInspectionPr58CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc59CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc60CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc61CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc62CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi63CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi64CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc65CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc66CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKCANCommunicationBusCheckEngi67CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitTouch!CANCommunicationBusCheckEngi68CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitDTCTouch!CANCommunicationBusCheckEngi69CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCTouch!CANCommunicationBusCheckEngi70CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCRetrievingNowretrievingDTCs.Pleasewait.CANCommunicationBusCheckEngi71CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)CANCommunicationBusCheck72CANCommunicationBusCheckCheckcommunicationwithECU’sandsensorsEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3CANCommunicationBusCheckEngi73CANCommunicationBusCheckBothECU’sandsensorsonCANhaveself-diagnosisandcommunicationfunctionEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3Logic-

Self-diagnosis

-Communication

FunctionCANCommunicationBusCheckEngi74CANCommunicationCANBusLineCheckMeasuretheresistancevaluebetweenCANHandCANLwithIGswitch“OFF”DLC3YawRateSensorDecelerationSensorSkidControlECUCANHCANLEngineECU(ECM)ResistanceValue

54–69

600ResistanceValue

morethan69

600ResistanceValue

lessthan54

600CANCommunicationCANBusLine75CANCommunicationCANBusLineCheckResistancevaluebetween54and69PossiblecauseDLC3ResistanceValue

54–69

600YawRateSensorDecelerationSensorSkidControlECUShortEngineECU(ECM)CANCommunicationCANBusLine76CANCommunicationCANBusLineCheckResistancevaluebetween54and69InspectionItemResistanceValueBusLineConditionCANH–BATCANL–BATCANH–CGCANL–CGmorethan1MNobuslinemalfunctionifnoDTCoutputLessthan1kShortbetweenbusline–groundCANLCANHCGBAT[Inspectionforshortbetweenbusline–powersupply/ground]CANCommunicationCANBusLine77CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue

morethan69

600EngineECU(ECM)OpenOpen120CANCommunicationCANBusLine78CANCommunicationCANBu

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