Service.

Self-Study Programme 238

Data Exchange On The CAN Bus I

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The CAN bus system in a car interlinks the con- SP 238:

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trol units to form a network. with basic functions of the current CAN

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This produces new functions in the car and in system, e.g. the data exchange process

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diagnostics which span across control units.
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SSP 186 "The CAN Databus" gave an initial over- SP 269:

t to the co
view of the technology. SSP 238 will now with special bus systems such as
describe the basic functions of the current CAN the Drive Train CAN bus and the Convenience

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Bus system. CAN bus as used by VOLKSWAGEN
and AUDI.

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238_001

new Important
Note

Self-Study Programmes present the design and Please always refer to the relevant Service Literature
function of new developments. for all inspection, adjustment and repair instructions.
The contents will not be updated.
2
 Contents

Introduction . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 4

What is a bus system for?. . . . . . . . . . . . . . . . . . . . . . . . 4

Design, main features . . . . . . . . . . . . . . . . . . . . . . . . . . . 6
Development stages . . . . . . . . . . . . . . . . . . . . . . . . . . . . 8
Handling the CAN bus . . . . . . . . . . . . . . . . . . . . . . . . . . 9
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olksw Basic system . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
oes
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uth Networking principle . . . . . . . . . . . . . . . . . . . . . . . . . . . . 11
ra
s a c
s
Information exchange . . . . . . . . . . . . . . . . . . . . . . . . . . .12

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nl

pt
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Functional units . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14

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Control unit . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
es, in part or in w

t to the co
CAN module. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
Transceiver . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 14
rrectness of i
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Data transfer process . . . . . . . . . . . . . . . . . . . . . . . . . 18

nform
ercia

Send process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 19
m

at
om

Receive process . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 20
ion
c

in t
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Simultaneous send attempt by several control units . 22

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ht. Cop Transmission protection, interference response . . . . 24
py
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Internal error management . . . . . . . . . . . . . . . . . . . . . 24
by lksw
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Diagnostic information . . . . . . . . . . . . . . . . . . . . . . . . . 26

Test your knowledge . . . . . . . . . . . . . . . . . . . . . . . . . . 28

Glossary . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 30

3
 Introduction
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What is a bus system for? s au ra
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The use of a CAN bus system in a car makes it possible to network electronic modules such as control

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ility
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units or intelligent sensors such as the wheel angle sensor.

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The abbreviation "CAN" means Controller Area Network. The CAN bus system provides the following
urposes, in part or in wh

t to the co
advantages for the car as an overall system:

Data exchange between control units take place on a uniform platform.

rrectne
This platform is call a protocol. The CAN bus acts as a so-called data highway.

ss o
Systems involving several control units, e.g. ESP, can be implemented efficiently.
cial p

f inform
mer

atio
System expansions are easier to implement in the form of optional extras.
om

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i
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The sd
va

CAN bus is an open system which permits adaptation to various transmission media
i

o
pr

cum
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such as copper or optical fibre cables.

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Control ht. rig

units are diagnosed via the K-wire. Inside the car, diagnosis already takes place
opy
rig by
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c
via the CAN bus in some cases (for example the airbag and the door control unit).
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In this context, this is called a "virtual K-wire" (see page 7). In future cars, there will be no K-wire.

A cross-system diagnosis is possible across several control units.

From a central control unit to a networked system

Car with central control unit 238_002

4
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Car with 3 control units iv
238_003

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Car with 3 control units and bus system 238_004

Sensor

CAN-bus
ABS-
control unit

Engine
control unit
Actuator

Dash panel
insert

Drive train CAN network with 3 control units 238_005

5
 Introduction

Design, main features

Many individual modules are connected in parallel to the CAN bus system.
This results in the following requirements for the design of the overall system:

High level of error protection: transmission interference caused by internal or external sources must
be detected with a high degree of certainty.
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possible in order oto ed byV
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High availability: if a control ot system
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must continue to be functional as far as
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High

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data density: all control units have the same information status at all times.
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This means there is no difference in data between the control units.
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In case of faults anywhere in the system, all the connected users can be informed

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with equal certainty.

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High data transmission rate: data exchange between networked users must be very fast
es, in part or in w

t to the co
in order to meet real time requirements.

rrectness of i
Signals are sent over the CAN bus system digitally, at present over copper wires.
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Secure transmission is possible at a maximum rate of 1000 kbps (1 Mbps).

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The maximum data rate at VOLKSWAGEN and AUDI has been fixed at 500 kbps.
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The CAN bus system is divided into 3 special systems due to the different requirements regarding signal
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repetition rate and the large data volume:

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Convenience
m
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Drive train CAN bus (high-speed) at 500 kbps with almost real time requirements
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Infotainment CAN
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CAN bus (low-speed) at 100 kbps with low time requirements ht. C py
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bus (low-speed) at 100 kbps with low time requirements copy by
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238_051

1 = 500 kbps = Drive train CAN bus

2 = 100 kbps = Convenience CAN bus
3 = 100 kbps = Infotainment CAN bus
4 = 1000 kbps = Maximum data transmission rate
1 2 3 4

Data transmission rates on the CAN bus system

6
 Introduction

Engine Gearbox Gear selec- Brake ...

control unit control unit tor lever control unit

Drive train
CAN bus
Combi- Airbag Steering Parking
instruments control unit angle sensor aid
Diagnosis
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Convenience CAN bus

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(Infotainment CAN bus)
ole,

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urposes, in part or in wh

Radio DSP ...

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Climate Parking Tyre pressure Driver seat ...
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control unit aid check memory

f inform
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Convenience
t

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CAN bus
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Convenience Driver door Front pass. RL door con- RR door con-

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door control trol unit
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Gateway control unit ... Other control unit planned

Car diagnosis plug

Real K-wire

Virtual communications line 238_006b

CAN bus system (example: Polo MY 2002)

7
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Production launch and development statuses

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The first production launch at Volkswagen took place in MY 97 with the 62.5 kbps convenience system in

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238_007

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Other development stages include:

m

MY 98 Drive train CAN bus in Golf and Passat, 500 kbps

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MY 00 Gateway K-wire on CAN in Golf and Passat

238_009

MY 00 Convenience CAN bus 100 kbps standard in Group, e.g. in SKDA Fabia
Gateway drive train CAN bus / convenience CAN bus in SKDA Fabia

238_010

MY 01 Convenience CAN bus 100 kbps standard in Group, for example in Passat

238_011

8
 Introduction

Handling the CAN bus

The CAN bus is an independent system with the car's electronics systems and acts as a data line to
exchange information between control units.

Due to its design and construction, the system works with a high degree of intrinsic safety.

If faults still occur, they are mainly stored in the fault memory of the related control unit and are accessi-
ble by the Diagnostic Testing and Information System. Volkswa AG. gen AG
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The control units contain self-diagnosis functions
faults.
from iwhich
utho
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detect CAN-related ara
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After

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reading out the CAN fault entries with the Diagnostic Testing and Information System

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(for example VAS 5051, 5052), this information is available for specific fault-finding processes.

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The

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entries in the fault memory of the control units are suitable for initial fault detection.
hole

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Beyond this, it provides you with confirmation that there are no more faults present after fault
es, in part or in w

t to the co
remedial action. The engine must be restarted to update the fault memory.

Aentry
key requirement for a car with the status "CAN bus OK" is that there should be no CAN fault

rrectness of i
in any vehicle operating state.
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To start an analysis which may lead to fault detection or fault remedy, a basic knowledge is required

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about data exchange on the CAN bus.

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9
10
urposes, in part or in wh
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 Basic system

The networking principle

The basic system consists of several control units. They are connected in parallel to the bus line by trans-
ceivers. This means that the same conditions apply to all stations. In other words, all the control units are
handled equally, none has any preference. In this context, this is called a multimaster architecture.

Information is exchanged serially (in series).

Basically, the CAN bus is already fully functional with a single line!
The system can also be equipped with a second bus line.
The second line is used for signals travelling in the reverse order.
It is possible to suppress external interference more effectively by reversing the signals.

n AG. gen AG Volkswa

To explain the basic
wageprinciple of data dtransmission
oes in a simpler way, we will
Volks not
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assume aedsingle
by bus line in the following examples.
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Control unit A Control unit B Control unit C

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RX TX RX TX RX TX
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CAN-bus

The networking principle 238_012

11
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Information exchange

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Exchange information is referred to as messages. Any control unit can send or receive messages.

es, in part or in w

t to the co
A message contains physical values such as the engine speed (rpm).
The engine speed In this case, is represented as a binary value (a string of ones and zeroes).

rrectness of i
For example: (The engine speed of 1800 rpm is represented as 00010101 in binary notation.)

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Before sending, the binary value is converted into a serial bit stream.

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or
The bit stream is sent over the TX line (transmit line) to the transceiver (amplifier).

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atio
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The transceiver converts the bit stream into voltage values which are then sent over the bus line one by
o

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one.

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In the reception process, voltage values are converted back into a bit stream by the transceiver and sent
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over the RX line (receive line) to the control units. t. Cop py
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The control units then convert the serial binary values back into messages. opyri
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For example: (the value 00010101 is converted back to the engine speed 1800 rpm) by lksw
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A message sent can be received by any control unit.

This principle is also called a broadcast message. The idea is derived from a transmitter which broad-
casts a programme which any tuner (receiver) can receive.

The broadcasting process ensures that all control units connected to the bus have the same information
status.

The broadcasting principle: one sends, everyone receives. 238_013

12
 Basic system
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Control unit A Control unit B Control unit C

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urposes, in part or in wh

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Message

s o
parallel Engine speed Engine speed Engine speed
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0001 0101 0001 0101 0001 0101

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c

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Bit stream
1010 1000

1010 1000
0101

thi
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serial
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RX TX RX TX RX TX
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Transceiver
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Electrical
signal transmission
238_014
One sends, all receive
Information exchange of a message on the CAN bus (broadcast principle)

Signal level

5V

0V
238_015

t (time)

Electrical signal transmission in chronological sequence

13
 Functional units

K wire

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The control unit receives signals from the sensors, processes them and passes them on to the actuators.

spec
es, in part or in w

The main components of a control unit are: a microcontroller with input and output memories and a pro-

t to the co
gram memory.
The sensor values received by the control, e.g. engine temperature or engine speed, are interrogated at

rrectness of i
regular intervals and stored in the input memory in their order of occurrence.
l purpos

This process corresponds to the principle of a mechanical step-by-step system with a rotating input selec-
tor switch (see figure).

nform
ercia

The microcontroller links the input values based on the program configuration. The results of this process
m

are stored in each output memory and from there, they are sent to each of the actuators.

at
om

ion
In order to process CAN messages, each control unit has an additional CAN memory area for received
c

in t
or

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and sent messages.

at

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CAN module cop Vo
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The CAN module controls the data transfer process for CAN messages.
It is divided into two sections, the receive section and the send section.

The CAN module is connected to the control unit via the receive mailbox or the send mailbox. It is nor-
mally integrated in the chip of the control unit microcontroller.

Transceiver

The transceiver is a transmitter and receiver amplifier. It converts the serial bit stream (logic level) of the
CAN module into electrical voltage values (line level) and vice versa.
The electrical voltage values are designed for sending over copper wires.

The transceiver is connected to the CAN module via the TX line (transmit line) or via the RX line
(receive line).

The RX line is directly connected to the CAN bus and permits continuous monitoring of bus signals.

14
 Functional units

K-wire

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Input Output

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Input selector switch memory memory
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Micro-
es, in part or in w

t to the co
processor

rrectness of i
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Sensors include: Actuators include:

Engine speed sensor CAN area with time Engine throttle valve
monitor

nf
Temperature sensor Solenoid valve
ercia

or
Oil pressure sensor LED

m
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atio
etc. ... etc. ...
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CAN module
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Receive mailbox Transmit mailbox
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rig ht
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Receive section Transmit section

Logic level: 0 or 1
RX TX

Signal level: 0V or 5V
Transceiver

CAN bus

Functional unit: control unit, CAN module and transceiver 238_016

15
 Functional units byV
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Special features of transceiver

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RX TX + 5V

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Bus line
5V

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238_017 238_018
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Transceiver with connection to TX line py Co Block diagram with one switch
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A special feature is the connection of the TX line to the bus. It is normally connected via
an open collector.

This results in two different states on the bus line.

State 1: inhibited state, transistor inhibited, (switch open)

Passive: bus level=1, high-resistant via resistor
State 0: switch-through state, transistor switched through (switch closed)
Active: bus level=0, low-resistant without resistor

Three transceivers connected to a bus line

+5V +5V +5V

Bus line (0V)

Transceiver A Transceiver B Transceiver C

Connection of 3 transceivers to bus line (principle), transceiver C active 238_019

Switch open means 1 (passive) Switch closed means 0 (active)

16
 Functional units

The previous example (three transceivers connected to bus line) results in the following
switch positions:

Transceiver A Transceiver B Transceiver C Bus-Leitung

1 1 1 1 (5V)

1 1 0 0 (0V)

1 0 1 0 (0V)

1 0 0 0 (0V)

0 1 1 0 (0V)

0 1 0 0 (0V)

0 0 1 0 (0V)

0 0 0 0 (0V)

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Ifcurrent IfNoallvoltage
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any switch is closed, switches are open, no current flows.

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es, in part or in w

flows across the resistors. drops across the resistor.

t to the co

A voltage of 0V is generated A voltage of 5V is generated

on the bus line. on the bus line.
rrectness of i
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or

This achieves the following:

m
m

atio
om

n in
or c

If the bus is in state 1 (passive), any other station can overwrite this state with state 0 (active).
thi
te

sd
iva

o
r
rp

cu
o

The passive bus level is called recessive. The active bus level is called dominant.
f

en
ng

t.
yi Co
Cop py
t. rig
gh
This relationship is important in the following situations:
ht
pyri by
Vo
co lksw
by
cted agen
Prote AG.
a) For signalling transmission faults (fault messages about error frames).
b) Collision detection (if several stations want to send simultaneously).

17
 Data transmission process

Data transmission using the example of engine speed detection > transmission > display

The following example describes the complete process for exchanging engine speed information from
detection through to display in the rev counter. It explains the chronological sequence of the data trans-
mission process and the interaction between the CAN modules and the control units.

First the engine control unit sensor detects the engine speed value.
This value is stored in the microcontroller input memory at regular intervals (cyclically).
Since the present engine speed value is also required for other control unit, e.g. the dash panel insert, it
has to be sent over the CAN bus.
The engine speed value is first copied to the transmit memory of the engine control unit.

From there the information goes to the transmit mailbox of the CAN module.
AG. Volkswagen AG d
agen oes
If a current value is located in the transmitolksw mailbox, it is indicated nby
ot g the transmit flag (the flag is raised).
byV ua
Once the message is sent to the rCAN ed module, the engine control unit has ran completed its task for this proc-
is tee
tho
or
ess. sa
u ac
s

ce
e
nl

pt
du

an
itte

y li
erm

ab
The engine speed value is first converted into an engine message with a CAN-specific form in

ility
ot p

accordance with the protocol. The main components of a protocol are:

wit
, is n

h re
hole

spec
es, in part or in w

t to the co
rrectness of i
l purpos

Identification: (Identifier 11 bits)

acts as message identifier
nform
ercia

Message content: (max. data field 8x8 bits)

m

at
om

contains the message information

ion
c

in t
or

his
ate

do
priv

cum
for

en
ng

t.
yi Co
Cop py
ht. rig
rig ht
py by
co Vo
by lksw
Prote
cted AG.
agen In the following diagrams, the CAN
message is represented as a letter
(16-bit CRC check): icon.
Checksum for error protection

Acknowledgement (2-bit Ack):

Basic format of a CAN message Acknowledge 238_020

The components of an engine message would therefore include: identifier=engine_1, content= rpm.
The engine message also contains other values, e.g. idling speed, torque etc.

18
 n AG. Volkswagen AG do
wage

ir se
d byV
olks
Data transmission process
es n
ot g
ua
ran
tee
tho
u or
a ac
ss

ce
le
un

pt
an
d
itte

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erm

ab
ility
ot p

wit
is n

h re
ole,

spec
The CAN module then checks via the RX line whether the bus is active (whether information is in the
urposes, in part or in wh

t to the co
process of being exchanged). If necessary, it waits until the bus is free.
(Level 1 (passive) for a specific period).. If the bus is free, the engine message is sent.

rrectnes
Transmit process

s o
cial p

f inform
mer

atio
om

n
c

i
or

n thi
te

sd
a

Engine Output
v

Engine ABS Dash panel

i

o
pr

c
speed Rev

um
r

control unit control unit insert

fo

en
ng

sensor yi
t.
Co counter
Cop py
t. rig
gh ht
pyri by
Vo
co lksw
by
cted agen
Prote AG.

Raise the
flag
Transmit
job

Is bus
free?
RX TX RX TX RX TX

CAN bus

Start of a transmit process 238_021

Wait

Is bus free? ? No

RX-Leitung Yes
238_022

Detail: Interrogation format for 'Is bus free?'

19
 Data transmission process

Receive process

The receive process consists of two steps:

Step 1= check message for errors (at monitor level)

Step 2 = check message for usability (at acceptance level)

AG. Volkswagen AG d
agen oes
olksw not
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Tempe- Engine tho ABS D a s h p a n e l e or Output
au ac
rature control unit Rev
ss control unit insert
sensor counter

ce
e
nl

pt
du

an
itte

y li
erm

ab
T

ility
ot p

wit
, is n

h re
hole

spec
es, in part or in w

t to the co
rrectness of i
l purpos

nform
ercia

RX TX RX TX RX TX
m

at
om

ion
c

in t
or

his
ate

do
riv

CAN bus 238_023

p

cum
for

en
ng

t.
yi Co
Cop py
. rig
Receive process rig
ht
by
ht
copy Vo
by lksw
cted agen
Prote AG.
All connected stations receive the message sent by the engine control unit.
It travels over the RX lines to the receive areas of the CAN modules.

Yes Yes
No No
Acceptance level

Monitoring level Yes No Yes No

238_024 238_025

Detail: receive area, monitoring and acceptance levels

20
 Data transmission process

The receivers have all received the engine message and have checked them for correctnesss at the asso-
ciated monitoring level. This helps to detect local faults which may occur only in one control unit under
certain circumstances. This results in the high data density mentioned before (also refer to the sections on
"Transmission protection, fault response).

All connected stations receive the message sent by the engine control unit (broadcast). Using the CRC
checksum, they can detect whether any errors have occurred in transmission. CRC is an acronym for
Cyclic Redundancy Check. When a message is sent, a 16-bit checksum is generated from all the bits and
included in the transmission.
The receivers calculate the checksum from all the bits received using the same protocol.
Then the received checksum is compared with the calculated checksum.

If no error is found, all the stations send an acknowledgement to the transmitter

(called the Acknowledge) confirming correct reception. agen AG. Volkswagen AG do
ksw es n
Vol ot g
d by ua
ran
e
ris tee
utho or
a ac
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nl

pt
du

an
Acknowledgement (2-bit Ack):
itte

y li
erm

Acknowledge

ab
ility
ot p

wit
, is n

h re
hole

Information flow, acknowledgement, date 238_026

spec
es, in part or in w

t to the co
rrectness of i
l purpos

Finally the correctly received message goes to the acceptance section of the associated CAN modules.
nform
ercia

There a decision is made whether the message is necessary for the function of the related control unit.
m

at

IfIf not
om

the message is discarded.

ion
c

in t
r

so, the message is placed in the receive mailbox.

o

his
ate

do
priv

cum
or

When the "receive flag" is raised, the connected combi-instrument knows that a current message, e.g.
f

en
ng

t.
yi Co
engine speed, has arrived for processing. t. Cop py
rig
The combi-instrument calls the message and copies the value to its input memory. opyri
gh by
Vo
ht
c by lksw
cted agen
Prote AG.
This concludes the sending and receiving of a message via the CAN modules.

After the microcontroller in the dash panel insert processes the engine speed value,
the value is sent to the actuator and then to the rev counter.
Data exchange of a message is repeated depending on the cycle time setting
(for example, every 10 ms).

21
 Data transmission process

Simultaneous send attempt by several control units

If several control units attempt to send at the same time, there would be a data collision on the bus line.
To avoid this, the CAN system uses the following strategy:

every active control unit starts its transmit process by sending an identifier.

All the control units monitor the bus traffic by monitoring the bus on their RX line.

lkswagen AG
G. Vostate
Every transmitter compares the state of the TX line bit-by-bit awith
gen Athe of thedoRX
es nline.
olksw ot g
The comparison may show differences. y V ua
db r e an
ris tee
tho or
au ac
The CAN strategy regulates this situation in thess following way: the control unit whose TX signal was over-

ce
e
nl

written by a zero must withdraw from the bus.

pt
du

an
itte

y li
erm

ab
ility
Message weighting is controlled by the number of leading zeroes in the identifier.
ot p

wit
, is n

This ensures that messages are sent in the order of their priority.

h re
hole

spec
es, in part or in w

Rule: the lowers the number in the identifier, the more important the message.

t to the co
This procedure is called arbitration. Association: arbiter = referee or judge

rrectness of i
l purpos

nf
ercia

orm
m

atio
Engine TX
m

retains allocation and remains

o

n in
c

control unit in transmit mode

or

RX
thi
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sd
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rp

cu
o

m
f

en
ng

i t.
py Co
t. Co py
rig
h ht
rig by
py
TX co Vo
loses allocation and goes to
ABS cted
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control unit Prote AG. receive mode
RX

TX
Dash panel loses allocation and goes to
insert receive mode
RX

Data bus line

Arbitration process to avoid collisions 238_027

22
 Data transmission process

The next example shows that the wheel angle sensor has the highest priority when several control units
attempt to transmit simultaneously. The wheel angle sensor's message is therefore sent first.

Explanation: the wheel angle sensor with the smallest number (mainly leading zeroes) asserts itself.
. Volkswag AG en AG
agen does
olksw not
yV gu
db ara
rise nte
tho eo
au ra
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ss

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un

pt
Engine_1

an
d
itte

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erm

Brake_1

ab
ility
ot p

wit
Combi_1
is n

h re
ole,

spec
Steeringangle_1
urposes, in part or in wh

t to the co
Gearbox_1

rrectne
Possible identifiers in drive train CAN 238_027b

ss o
cial p

f inform
mer

atio
om

Conclusion when transmitting sensor values (e.g. engine speed)

n
c

i
or

n thi
te

sd
iva

o
pr

cum
r
fo

Due to the high transmission protection in CAN, all errors are detected reliably, e.g. electrical faults or
en
ng

i t.
py Co
interruptions in the CAN system. ht. Co py
rig
ht
rig by
copy Vo

The
by lksw
engine speed of 1800rpm is correctly sent or not at all if a fault occurs Prote
cted AG.
agen

(no display, rev counter shows "0").

For example, if implausible engine speeds occur, the cause may not lie with the transmission
(CAN) but with a defective sensor, display instrument or the supply line.

23
 Transmission protection, interference response

Internal error management

To ensure high data protection, the CAN has an extensive integrated error management system.

This is capable of detecting any transmission errors occurring with a high level of certainty. Corrective
action can then be initiated.
olkswagen AG error probability, is about < 10 -12.
en AG. Vas residual
The rate of undetected errors, what wisagknown does
olks no
y V over the lifespan of the car.t gua
This value is equivalent to 4 errors
b
d r e an
ris tee
utho or
Using the broadcast sends, all receive and a
process (one
user detecting an error
ss evaluate), anyacnetwork

ce
e
nl

immediately notifies all other users by sending an error message called an error frame.

pt
du

an
itte

y li
The current message is then rejected by all users.
erm

ab
ility
ot p

wit
, is n

This is followed by an automatic transmission repetition. This process is completely normal and may be

h re
hole

caused by major voltage fluctuations in the onboard power supply, e.g. on engine start or strong exter-

spec
es, in part or in w

nal interference.

t to the co
What is more critical is if transmission repetitions become more frequent due to continuously detected

rrectness of i
errors.
l purpos

In this case, every station has an integrated error counter which increments detected errors and decre-
ments once the transmission repetition has been sent.
nf
ercia

orm
m

atio
om

n in
or c

thi
te

sd
iva

o
r
rp

cu

RX-Fehler- 255
Bus
o

m
f

zhler
en
ng

Control unit yi
t.
Co
switched off off t. Cop
1 20
py
rig
yri
gh 127 by
ht
cop Vo
by lksw
cted agen
Prote AG.

Cannot send 0 System time

Passive
any more
error
TX-Fehler- 255
zhler

256 127

Normal Active
state error

0 System time
Errors occurring, No errors, Massive occurrence of errors,
error counter error counter error counter threshold value
increments decrements exceeded

Interner Fehlerzhler 238_028

24
 Transmission protection, interference response

The internal error counter is responsible for internal error management and cannot be read out.

If the preset threshold value is exceeded (equivalent to max. 32 transmission repetitions), the affected
control unit is informed and is switched off by the CAN bus.
After the bus goes off-state twice (without any intermediate communication), an entry is made in the
fault memory.

After a fixed waiting time (approx. 0.2s) the control unit attempts to access the bus again.

Message traffic is normally cyclical with prescribed cycle times.

This ensures that the messages are transmitted in good time.
If there are delays, it means that at least ten messages are not received and this triggers the message
timeout.

This causes a entry in the fault memory of the receiving control unit.
This is the second element of the error management system. The following error messages are available
for in-service diagnosis:

1. Data bus defective

n AG. Volkswagen AG do
lkswage es n
o ot g
Fatal errors were detected in the affected by V control unit. ua
d ran
ir se tee
tho
u or
a ac
The control unit disconnected at
ss least twice from the bus (bus off).
ce
le
un

pt
an
d
itte

y li

2. Missing messages from .... or no communication with the affected control unit.
rm

ab
pe

ility
ot

wit
, is n

Messages are not received in good time. Timeout monitor responded.

h re
hole

spec
es, in part or in w

t to the co
rrectness of i
l purpos

nform
mercia

a
com

tion in
r
te o

thi
s
iva

do
r
rp

cum
fo

en
ng

t.
yi Co
Cop py
t. rig
gh ht
pyri by
Vo
co lksw
by
cted agen
Prote AG.

25
 Transmission protection, interference response

Diagnosis information using defective engine speed transmission as an example

The engine speed is transmitted correctly or not at all due to a fault (value not displayed).
In this case, the Vehicle Diagnostic Testing and Information System VAS 5051 sends notification that
there is a fault in the CAN system:

238_029a

AG. Volkswagen AG d
agen oes
olksw not
byV gu
ara
ed
ris nte
ho eo
aut ra
ss c
ce
e
nl

pt
du

an

238_029b
itte

y li
erm

ab
ility
ot p

wit
, is n

h re
hole

spec
es, in part or in w

t to the co

238_029c
rrectness of i
l purpos

VAS 5051 display

nform
mercia

at
om

ion
c

For
in t
r

example, if implausible engine speeds occur, the cause may not lie with the
o

his
ate

CAN transmission) but with a sensor or actuator (display instrument or rev counter).
do
priv

cum
for

en
ng

i t.
py Co
t. Co py
rig
h ht
rig by
copy Vo
by lksw
cted agen
Prote AG.
26
 Transmission protection, interference response

AG. Volkswagen AG d
agen oes
olksw not
y V gu
d b ara
If there is a fault in the CAN system, the VehiclerisDiagnostic
e Testing and Information System nte VAS 5051
tho eo
indicates a general fault message. au r ac
ss

ce
le
un

pt
an
d
This message indicates which component is defective in the CAN system.

itte

y li
rm

ab
pe

ility
ot
To localise errors, data blocks 125, 126 can be read out from the active state gateways of the control units

wit
, is n

h re
connected to the CAN bus (1=active, 0=passive).
hole

spec
es, in part or in w

t to the co
If necessary, further electrical measurements, for example, signal testing using the oscilloscope) may be
required.

rrectness of i
l purpos

Outlook

nform
mercia

a
com

tion in
This SSP 238 explains the basic functions of the CAN system.
r
te o

thi
SSP 269 "Data Exchange on CAN Bus II, Drive Train CAN Bus/Convenience CAN Bus describes the

s
iva

do
r
rp

c
CAN bus system specially implemented in Volkswagen and Audi vehicles.

um
fo

en
ng

t.
It describes in detail the special features with the Drive Train CAN bus and Convenience CAN bus with op
yi Co
py
C
respect to function and diagnosis. yri
gh
t.
by
rig
ht
cop Vo
by lksw
cted agen
Prote
Finally, the entire system combining the Drive Train CAN bus and Convenience CAN bus via the
AG.

Gateway is explained. The fault-finding procedure is also part of this SSP.

27
 Test your knowledge

AG. V olkswagen AG
1. agen
Why are bus systems used in cars? does
ksw ol not
yV gu
edb ara
ris nte
A Increasing ho motor vehicle
complexityutin electronics eo
a ra
ss c

ce
e
nl

pt
B System expansions in the form of optional extras are easily possible
du

an
itte

y li
erm

ab
ility
ot p

C Prescribed by law

wit
, is n

h re
hole

spec
es, in part or in w

2. What is the data transmission rate on the Drive Train CAN bus?

t to the co
A 10 kbps

rrectness of i
l purpos

B 100 kbps

nf
ercia

o
C 500 kbps

rm
m

atio
om

n in
or c

thi
te

sd
a

3. The Diagnostic Testing and Information System VAS 5051 helps to detect ... ?
iv

o
r
rp

cu
o

m
f

en
ng

t.
yi
A CAN line errors Cop
Co
py
t. rig
gh ht
pyri by
Vo
o
B CAN hardware errors c
cted
by lksw
agen
Prote AG.

C Displays CAN messages

4. What messages are received and tested by control units?

A Only the messages meant for a particular control unit

B All messages sent

C Messages with the highest priority

5. 3 control units wait until the bus is free and then they attempt to send messages ...

A ... All can send messages immediately

B ... A data collision occurs

C ... Arbitration controls the order in which messages are sent

28
 Test your knowledge

6. What does Bus OFF mean?

A All bus users switch off

B A bus user withdraws from bus traffic temporarily

C The bus is totally switched off

7. What is the function of the internal error counter? AG. Volkswagen AG d

agen oe
ksw s no
Vol t gu
d by ara
e nte
A To count CAN messages ris
utho eo
ra
a c
ss

ce
le

B To count errors in order to switch the control unit Bus OFF

un

pt
an
d
itte

y li
erm

ab
C For statistical purposes

ility
ot p

wit
is n

h re
ole,

spec
urposes, in part or in wh

8. What does "high transmission protection" means on the bus?

t to the co
A Almost no transmission errors occur

rrectne
B Transmission errors are detected with certainty

ss o
cial p

f inform
C All bus users are informed when errors are detected
mer

atio
om

n
c

i
or

n thi
e

9. The identifier of a CAN message ...

t

sd
iva

o
pr

cum
r
fo

en
ng

A ... identifies the name and priority of a message op

yi
t.
Co
C py
t. rig
gh ht
yri by
B ... indicates the destination address cop Vo
by lksw
cted agen
Prote AG.

C ... helps to control access rights

10. The function of the protocol is ...

A ... to protect data

B ... detect errors

C ... control access rights

29
 Glossary

ACK: Error frame

Acknowledge, receive confirmation of a correct message. Occurs Error message (>6 dominant bits) to indicate transmission errors on
by setting a dominant bit from all bus users. the bus.

Actuators Error memory

n AG. Volkswagen AG do
Drive elements and displays in the vehicle.
lkswage es n Memory area in control unit; readable by VAS Tester.
Vo ot g
by ua
is ed ran
Acceptance range or Identifier
tee
th
Filtering received messages
au which are relevant for the affected Start of a omessage;
ra used for identifying and distinguishing between
ss c
control unit. message priorities.

ce
le
un

pt
an
d

Arbitration K-wire
itte

y li
erm

Mechanism for avoiding collisions when several users want to send Customer Service line; connecting line between control unit and

ab
ility
at the same time. diagnostic plug in vehicle for connecting to the VAS Tester.
ot p

wit
Arbitration makes sure that messages are sent in the order of their
is n

h re
importance. Logic level:
ole,

spec
State 0 or 1 at a connection point in the system.
urposes, in part or in wh

Message

t to the co
A message is a data packet which is sent by a control unit. Microcontroller:
1-chip computer system, comprises CPU, memory and
Message timeout input/output modules

rrectne
Time monitor that monitors transmitted messages on receiver side.
RX line
Broadcast Receive-side connecting line between CAN module and transceiver

ss o
Transmitting principle - one sends - all receive.
cial p

f in
Transmit mailbox

form
mer

BUS line Memory in the CAN module storing messages sent by control units.
Electrical connection made of copper in car, twisted wire pair. The atio
om

bus line connects control unit together. Sensors

n
c

i
or

Electronic sensors in the car, for capturing operating states

thi
te

sd
a

Bus OFF
iv

o
r

Control unit is switched off from the bus when the internal error Signal level
p

cum
r
fo

counter is exceeded. Electric voltage state on a wire

en
ng

t.
yi Co
op py
Bus transceiver Transceiver
t. C rig
gh ht
Electronic transmitter-receiver amplifier to connect acontrol unit to pyri by
Vo Electronic transmitter/receiver amplifier, for coupling the CAN
co
the bus. module to the bus line.
by lksw
cted agen
Prote AG.
CAN TX line
Controller Area Network, bus system to network control units. Transmit-side connecting line between CAN module and
transceiver
Drive Train CAN bus
Subsystem for control units in drive train.

Convenience CAN bus

Subsystem for control units in the convenience system.

Infotainment CAN bus

Subsystem for control units in the radio and information system.

CAN module
Process data exchange for CAN messages.

CRC
Cyclic Redundancy Check, checksum (16 bits) for error detection.

Receive mailbox
Memory which stores messages received from the CAN module.

30
 Notes

AG. Volkswagen AG d
agen oes
olksw not
byV gu
ara
ed
ris nte
tho eo
au ra
ss c

ce
le
un

pt
an
d
itte

y li
erm

ab
ility
ot p

wit
is n

h re
ole,

spec
urposes, in part or in wh

t to the co
rrectness o
cial p

f inform
mer

atio
om

n
c

i
or

n thi
te

sd
iva

o
pr

cum
r
fo

en
ng

t.
yi Co
Cop py
ht. rig
rig ht
py by
co Vo
by lksw
cted agen
Prote AG.

Answers to test questions:

1: AB / 2: C / 3: AB / 4: B / 5: C
6: B / 7: B / 8: BC / 9: AC / 10: ABC

31
 238

AG. Volkswagen AG d
agen oes
olksw not
y V gu
d b ara
rise nte
tho eo
au ra
ss c
ce
e
nl

pt
du

an
itte

y li
erm

ab
ility
ot p

wit
, is n

h re
hole

spec
es, in part or in w

t to the co
rrectness of i
l purpos

nf
ercia

orm
m

atio
om

n in
or c

thi
te

sd
iva

o
r
rp

cu
o

m
f

en
ng

t.
yi Co
Cop py
t. rig
gh ht
pyri by
Vo
co lksw
by
cted agen
Prote AG.
For internal use only. VOLKSWAGEN AG, Wolfsburg
All rights reserved. Technical specifications subject to change without notice.
140.2810.57.20 Technical status: 10/01

This paper is produced from

non-chlorine-bleached pulp.