Can PDF

System and component information XF105
CAN topology
© 200528 DAF Trucks N.V., Eindhoven,
The Netherlands.
In the interest of continuing product development,

DAF reserves the right to change specifications
or products at any time without prior notice.
No part of this publication may be reproduced

and/or published by printing, by photocopying, on
microfilm or in any way whatsoever without the
prior consent in writing of DAF Trucks N.V.
©
200528 DW332110
STRUCTURE
XF105 series
TECHNICAL DATA
Structure
0
CAN TOPOLOGY
1
©
200528
TECHNICAL DATA
XF105 series Contents
CONTENTS
Page Date 0
1. CAN TOPOLOGY . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 200528
1.1 CAN wiring. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 200528
1.2 V-CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-2 . . . . . 200528
1.3 I-CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-4 . . . . . 200528
1.4 D-CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-6 . . . . . 200528
1.5 BB-CAN . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-8 . . . . . 200528
©
200528 1
TECHNICAL DATA
Contents XF105 series
©
2 200528
TECHNICAL DATA
XF105 series CAN topology
1. CAN TOPOLOGY
1.1 CAN WIRING 0
It is not permitted to connect to other
electronic systems from the CAN network.
When repairing or replacing CAN wiring, the
original twisted length and diameter of the wiring
must be taken into consideration. A 10%
tolerance in the twisted length of the wiring is
permitted.
Pitch 40-50 turns/m
When repairing the wiring, the pitch figure must

be maintained, with the proviso that it is Max. 60mm
permissible for the wiring at the point of repair to
have no twists over a maximum length of 60mm.
When the wiring is being repaired, it must be
secured in a cable tie at the end and in the
middle.
E500977
©
200528 1-1
TECHNICAL DATA
CAN topology XF105 series
1.2 V-CAN
0
V-CAN 1
Data transmission standard SAE J1939
CAN bus compliant with ISO 11898
Data transmission rate 250 kBaud
Wire coding/wiring colour CAN-L 3780/Yellow
Wire coding/wiring colour CAN-H 3781/Red
Values of terminating resistors ≥ 120 
V-CAN 2
Wire coding/wiring colour CAN-H 3701/Blue
Resistance values in V-CAN

Minimum Nominal Maximum
54  60  66 
Note:
- Resistance measured between CAN-H and
CAN-L.
- Before measuring the resistance, remove
the battery earth lead.
RESISTANCE VALUES CAN-H AND CAN-L
RELATIVE TO EARTH
Resistance values in V-CAN
4 K 
Note:
©
1-2 200528
TECHNICAL DATA
VOLTAGE LEVELS IN CAN SIGNAL IN ACCORDANCE WITH ISO 11898

V 0
3,5
2,5 CAN-H
1,5
t
V
3,5
2,5 CAN-L
1,5
t
V
3,5
0 (CAN-H) (CAN-L)
t
E500915
Signal Minimum (V) Nominal (V) Maximum (V)

CAN-H, voltage low 2.5 2.66 2.8
CAN-H, voltage high 3.45 3.5 3.8
CAN-L, voltage low 1.2 1.5 1.6
CAN-L, voltage high 2.5 2.66 2.8
CAN differential voltage, voltage low -0.12 0.0 0.012
CAN differential voltage, voltage high 1.2 2.0 3.0
Note:
- The CAN signal shown is intended only as an
example of voltage levels and is not
representative for the CAN signal actually
measured.
©
200528 1-3
TECHNICAL DATA
1.3 I-CAN
0
I-CAN
Data transmission standard SAE J1939 and ISO 15765
Wire coding/wiring colour CAN-H 3566/Grey
Resistance values in I-CAN

54  60  66 
Note:
CAN-L.
RELATIVE TO EARTH
1 M 
Note:
©
1-4 200528
TECHNICAL DATA

V 0
3,5
2,5 CAN-H
1,5
t
V
3,5
2,5 CAN-L
1,5
t
V
3,5
0 (CAN-H) (CAN-L)
t
E500915

Note:
measured.
©
200528 1-5
TECHNICAL DATA
1.4 D-CAN
0
Data transmission standard SAE J1939 and ISO 15765
Wire coding/wiring colour CAN-H 3783/Green
Resistance value D-CAN

54  60  66 
Note:
CAN-L.
- In addition, note that for the D-CAN, DAVIE
may not be connected to the diagnosis
connector.
RELATIVE TO EARTH
Resistance value D-CAN
4 K 
Note:
©
1-6 200528
TECHNICAL DATA

V 0
3,5
2,5 CAN-H
1,5
t
V
3,5
2,5 CAN-L
1,5
t
V
3,5
0 (CAN-H) (CAN-L)
t
E500915

Note:
measured.
©
200528 1-7
TECHNICAL DATA
1.5 BB-CAN
0
BB-CAN
Wire coding/wiring colour CAN-H 3811/Orange
Resistance value BB-CAN

54  60  66 
Note:
CAN-L.
RELATIVE TO EARTH
1 M 
Note:
©
1-8 200528
TECHNICAL DATA

V 0
3,5
2,5 CAN-H
1,5
t
V
3,5
2,5 CAN-L
1,5
t
V
3,5
0 (CAN-H) (CAN-L)
t
E500915

Note:
measured.
©
200528 1-9
TECHNICAL DATA
©
1-10 200528
CAN TOPOLOGY
XF105 series Contents
CONTENTS
Page Date
1. SYSTEM DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 200528

1.1 Why a CAN network? . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.2 Structure of the CAN network . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1-1 . . . . .
1-3 . . . . .
200528
200528 1
1.3 The CAN signal . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-7 . . . . . 200528
1.4 Transfer of information via the CAN signal . . . . . . . . . . . . . . . . . . . . . . . . 1-10 . . . . 200528
1.5 Content of the CAN message . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-12 . . . . 200528
2. CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 . . . . . 200528

2.1 CAN data traffic in the vehicle . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 . . . . . 200528
3. DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 . . . . . 200528

3.1 CAN topology . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 . . . . . 200528
©
200528 1
CAN TOPOLOGY
Contents XF105 series
©
2 200528
CAN TOPOLOGY
XF105 series System description
1. SYSTEM DESCRIPTION
1.1 WHY A CAN NETWORK?
The increased level of data exchange between

the various electronic systems in a vehicle gives
rise to the need for a reliable high-speed method
1
of transferring this data.
E500701
Since the data must be transferred over separate

wires, the amount of wiring needed increases
significantly. A separate wire is required for each
type of data.
E500702
©
200528 1-1
CAN TOPOLOGY
System description XF105 series
Hence the choice of a different technical solution

to the problem of data transfer: the CAN network.
"CAN" stands for "Controller Area Network". This

method of data transfer transmits all the data over
1 2 wires, regardless of its volume or diversity.
©
1-2 200528
CAN TOPOLOGY
1.2 STRUCTURE OF THE CAN NETWORK
ECU
1
U U
EC EC
U
EC
N-H
CA
N-L
CA
U
EC
E500700
The CAN network (CAN data bus) is essentially a

distribution network for various electronic signals.
The digital, pulse-shaped signals form coded

messages. These messages can be sent,
received and processed by any of the systems
attached to the network. Each system takes the
information that it requires from the network. This
means that a signal generated by one system can
be used by other systems.
All communication (data transfer) between the

various systems takes place over two wires.
In the CAN network, these wires are referred to

as "CAN-L(ow)" and "CAN-H(igh)".
The wires are twisted to protect the CAN network
against external electrical interference
(electromagnetic waves). At the same time, this
strongly reduces any interference being
generated by the CAN wiring itself.
The CAN network is closed off using two resistors
(terminating resistors).
©
200528 1-3
CAN TOPOLOGY
The resistors are attached at the end of the CAN

network.
The resistor can be attached externally or can be
integrated into the electronic unit when this is
attached to the end of the CAN network.
1 The terminator prevents the data transmitted on
the CAN-L and CAN-H from being reflected back
and "polluting" the data.
SENDING INFORMATION
CAN CAN
Controller Transceiver
CAN-H
CAN-L
E500712
In the electronic unit, the microprocessor (µp)

receives information from other switches and
sensors.
The microprocessor passes the data through to

the "CAN controller" in the electronic unit, which
then assembles and processes the data.
The "CAN transceiver" in the electronic unit

converts the data from the CAN controller into
electrical signals, which are then sent to the other
electronic systems over the CAN-L and CAN-H.
©
1-4 200528
CAN TOPOLOGY
RECEIVING INFORMATION
CAN CAN
Controller Transceiver
CAN-H
CAN-L
E500698
The CAN transceiver in the electronic unit

receives information from the other electronic
systems over the CAN-L and CAN-H.
This information is converted and passed through

to the CAN controller.
The CAN controller checks whether the

information received relates to the relevant
electronic unit; if it does not, the information is
ignored, but if it does, the information received is
processed and passed through to the
microprocessor (µp).
©
200528 1-5
CAN TOPOLOGY
E500699
Using a system of priorities, only one electronic

unit attached to the CAN network can send
information at any one time. The other electronic
units are "listeners" at that point. Some of these
units find that the information they receive is
relevant to them and make use of it. Others
ignore the information.
The unit that is transmitting is also listening at the

same time, allowing it to check whether the
information it sent out has been correctly
received.
©
1-6 200528
CAN TOPOLOGY
1.3 THE CAN SIGNAL
The CAN transceiver in the electronic unit

CAN
converts the data from the CAN controller into
Transceiver
electrical signals, which are then sent to the other
electronic units over the CAN-L and CAN-H.
The electrical signals are in digital form and
1
consist of bits.
CAN-H
CAN-L
E500704
What is a digital signal?

When the switch is closed, the bulb shines and
the voltage across the bulb is high.
When the switch is open, the bulb does not shine
and the voltage across the bulb is low. V V
The difference in voltage levels can also be
expressed as a 0 or 1.
In this example, 0 stands for high voltage and 1
+
t
stands for low voltage.
The 0 or 1 indicates the state of the switch in a
given unit of time. This digit can also be referred
to as a bit.
V V
+
t
0 1
E500703
©
200528 1-7
CAN TOPOLOGY
CAN signal in accordance with ISO 11898

V
1 0 1 0 1 0 1 0 1 0
3,5
A 2,5 CAN-H
1 1,5
t
V
3,5
1 0 1 0 1 0 1 0 1 0
B 2,5 CAN-L
1,5
t
V 1 0 1 0 1 0 1 0 1 0
3,5
C 2,5
1,5
t
V
3,5
1 0 1 0 1 0 1 0 1 0
D 0 (CAN-H) (CAN-L)
E500711
The transfer of information takes place through

both CAN-L and CAN-H CAN network
connections. The content of the information via
the CAN-L connection is equal to the content via
the CAN-H connection.
The composition of the digital signals on the two

wires is therefore the same, except that the
voltage levels of CAN-L and CAN-H mirror each
other.
When a message is sent, the "CAN transceiver"
in the electronic unit assigns the correct voltage
reading for a bit value.
The assigned bit value is either 0 or 1.
Figure A shows the CAN-H signal.
For voltage low on this signal line, a bit value of 1
(CAN-H "Recessive") is assigned.
For voltage high on this signal line, a bit value of 0
(CAN-H "Dominant") is assigned.
Figure B shows the CAN-L signal.
For voltage low on this signal line, a bit value of 0
(CAN-L "Dominant") is assigned.
For voltage high on this signal line, a bit value of 1
(CAN-L "Recessive") is assigned.
©
1-8 200528
CAN TOPOLOGY
When the CAN-H and CAN-L signals are

compared it can be seen that, as far as the
voltage levels are concerned, the two signals are
mirror images of each other.
Figure C illustrates that the two signals (CAN-H
and CAN-L) fit each other perfectly.
Starting from this situation and then taking the 1
difference in voltage between the two signals
when the bit value is 0, the result is the signal
shown in Figure D.
This signal is the differential voltage that is the
difference in voltage levels between CAN-H and
CAN-L.
A bit value of 1 is assigned for voltage low on the
differential voltage.
A bit value of 0 is assigned for voltage high on the
differential voltage.
The differential voltage is the signal detected by
the electronic units when they read a message.
©
200528 1-9
CAN TOPOLOGY
1.4 TRANSFER OF INFORMATION VIA THE CAN SIGNAL
Digital communications involve the transmission 0 0 0 0 1 1 1 1

of information by means of a digital signal where
1 the voltage level of the signal simply varies

between high and low.
In a digital signal we differentiate between the
different voltage levels by assigning a value
of 0 or 1.
We call the voltage level of the signal during a
given time unit a "bit". 1 0 1 0 1 0 1 0 1 0
In this way, a signal consisting of high and low

voltage levels that vary with time can be made up
from a number of bits.
In this example, four bits have an assigned value
of 0 and four have an assigned value of 1. E500705
The transmission of information takes the form of 0 0 0 0 0 0 0 0

a large number of bits connected together, with
eight bits forming a byte. 0
The information is transmitted in bytes.
It must be possible for the content of the
information that is transmitted to be recognised
by the electronic units; for this reason each byte
represents a specific decimal value. These
decimal values in turn form a code that allows the
1 0 1 0 1 0 1 0 1 0
electronic unit to determine the contents of the
information.
E500714
This decimal value is derived from the binary 1 1 1 1 1 1 1 1

digits.
If binary values of 0 are assigned to each of the 128+64+32+16+8+4+2+1=255
eight bits in a byte, the decimal value of the byte
as a whole is 0.
If binary values of 1 are assigned to each of the
eight bits in a byte, the decimal value of the byte
as a whole is 255.
1 0 1 0 1 0 1 0 1 0
E500713
©
1-10 200528
CAN TOPOLOGY
A mixture of binary 1s and binary 0s assigned to 0 0 0 0 1 1 1 1

the bits in a byte give a decimal value that
depends on the position of the 1s in the byte. 0+0+0+0+8+4+2+1=15
1
1 0 1 0 1 0 1 0 1 0
E500715
©
200528 1-11
CAN TOPOLOGY
1.5 CONTENT OF THE CAN MESSAGE
A CAN message is transmitted in a fixed

message frame.
1 The format of the frame is as follows:

A. Start of frame
B. Arbitration field
C. Control field
D. Data field
E. Check field
F Acknowledgement field
G End of frame, with a short pause before
the following message
A B C D E F G
E500737
Start of frame
The message frame starts with a 0 bit that
denotes the start of a new message. All electronic
units that want to send a message must now
either start to transmit at the same moment or
wait until the transmission of the current message
has been completed.
Arbitration field
The arbitration field consists of a number of bits
that together form an identification code.
The electronic units use this code to identify the
source and contents of the message.
This identification code is also used to determine
the priority of the message: the lower the code
number, the higher the priority of the message.
So, for example, the message "switch off engine
brake" sent to a particular electronic unit may be
more important than the message from a sensor
giving the position of the accelerator pedal.
©
1-12 200528
CAN TOPOLOGY
When more than one electronic unit wants to

send a message at the same time, the bit-by-bit
arbitration system must be used to decide which
one has the highest priority and therefore the
lowest code number.
Take as an example the case where three
electronic units want to send a message at the 1
same time.
Electronic unit (3) sends a 0 bit.
At the same moment, electronic unit (2) also 0 1 1 1 0 0 1 1
sends a 0 bit. 1
At the same moment, electronic unit (1) sends a
1 bit. This unit now has a higher number, loses its
place on the CAN network and becomes a
listening unit. 0 1 1 0 1 0 0 1
2
Electronic unit (3) sends a 0 bit.
At the same moment, electronic unit (2) sends a
1 bit. Unit (3) now has a lower number. It wins the
right to transmit on the CAN network and sends 0 1 1 0 0 1 0 0
its complete message.
As soon as the transmission of that message is 3
complete, the other electronic units make another
attempt to send their messages.
E500735
Control field
The control field contains information about the
length of the data field (that is, the number of
bytes contained in the field).
The length of the data field is expressed in a digit
ranging from 1 to 8. Thus, a maximum of 8 bytes
may be sent via the data field.
Data field
The data field contains the actual information to
be transmitted. This may be sensor data, engine
rpm, etc.
Check field
This field is used to check whether the message
has been received correctly.
Acknowledgement field
The receiving units use this field to confirm to the
transmitting unit that the message has been
correctly received.
End of frame
The end of the message frame is denoted by a
number of bits with a value of 1.
After this comes a short pause, after which a
further message can be sent.
©
200528 1-13
CAN TOPOLOGY
©
1-14 200528
CAN TOPOLOGY
XF105 series Control functions
2. CONTROL FUNCTIONS
2.1 CAN DATA TRAFFIC IN THE VEHICLE
1
ECU
U
EC
IE
EC
U DAV
ECU -L
AN
D-C
-H -H
AN AN FM
S
I-C D-C
A N-L VIC
-2
I-C
L CI
AN1- DM
V-C
H
A N1-
V-C
ECU
U
EC
H
N2-
U
EC
V-C
A BBM
L
A N2-
V-C
B
B
-C
U
A
B
EC
N
B
-H
-C
A
N
-L
U
EC
ECU
E502478
In order to relieve the "data traffic" per CAN
network use is made in the vehicle of multiple
separate CAN networks, namely:
- V-CAN 1 (Vehicle CAN 1)
- V-CAN 2 (Vehicle CAN 2)
- I-CAN (Information CAN)
- D-CAN (Diagnostic CAN)
The V-CAN 1 and V-CAN 2 transport the
messages among the various vehicle systems.
The VIC-2 serves as a "gateway"
(communications port) between primarily the
V-CAN 1 and V-CAN 2.
©
200528 2-1
CAN TOPOLOGY
Control functions XF105 series
The I-CAN transports the messages specifically

intended for:
- warning and indicator functions on the
instrument panel
- the alarm system
1 -
-
the telephone
the airbag 2
- steering wheel switches
The D-CAN transports the messages between
the diagnostic equipment (DAVIE or OBD reader)
and the various vehicle systems.
In addition, all FMS messages go via the D-CAN.
There may also optionally be a BB-CAN (Body-
Builder CAN).
The BB-CAN transports messages between the
various vehicle systems and the body-builder
systems.
©
2-2 200528
CAN TOPOLOGY
XF105 series Diagrams
3. DIAGRAMS
3.1 CAN TOPOLOGY
E-module Modulator
Rear axle 1
Drawn Vehicle EBS-CAN BB-CAN
EAS AS Tronic DMCI EBS + VSC EST-42 ECAS-4 Tachograph BBM
single K-line single K-line single K-line
V-CAN1 V-CAN2
Immobiliser DIP-4 Airbag-2
single K-line
I-CAN
VIC-2
D-CAN
single K-line Steering wheel Telephone
AGS ALS-S
switches interface
ACH-EA single K-line K-line bus

ACH-EW
single K-line
ATC K-line
bus
single K-line
ABS/ASR-D
FMS
K-line bus
CDS-3
K-line bus
EMAS
Connector HD-OBD diagnose
E502359
The image above shows which system is linked

to which CAN network based on diagnosis.
It is for this reason that systems which are not

connected to a CAN network are also included,
diagnosis takes place in these systems via a so-
called "k-line".
The VIC-2 serves as a "gateway"
(communication port) among the CAN networks.
Note:
In both EBS and AS Tronic, a separate CAN
network is used for the data transfer between
components within the system.
©
200528 3-1
CAN TOPOLOGY
Diagrams XF105 series
©
3-2 200528
English
Printed in the Netherlands DW332110

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System and component information XF105

In the interest of continuing product development,

No part of this publication may be reproduced

Pitch 40-50 turns/m

When repairing the wiring, the pitch figure must

Resistance values in V-CAN

VOLTAGE LEVELS IN CAN SIGNAL IN ACCORDANCE WITH ISO 11898

Signal Minimum (V) Nominal (V) Maximum (V)

Resistance values in I-CAN

VOLTAGE LEVELS IN CAN SIGNAL IN ACCORDANCE WITH ISO 11898

Signal Minimum (V) Nominal (V) Maximum (V)

Resistance value D-CAN

VOLTAGE LEVELS IN CAN SIGNAL IN ACCORDANCE WITH ISO 11898

Signal Minimum (V) Nominal (V) Maximum (V)

Resistance value BB-CAN

VOLTAGE LEVELS IN CAN SIGNAL IN ACCORDANCE WITH ISO 11898

Signal Minimum (V) Nominal (V) Maximum (V)

1. SYSTEM DESCRIPTION . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 1-1 . . . . . 200528

2. CONTROL FUNCTIONS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 2-1 . . . . . 200528

3. DIAGRAMS . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 3-1 . . . . . 200528

The increased level of data exchange between

Since the data must be transferred over separate

Hence the choice of a different technical solution

"CAN" stands for "Controller Area Network". This

1.2 STRUCTURE OF THE CAN NETWORK

The CAN network (CAN data bus) is essentially a

The digital, pulse-shaped signals form coded

All communication (data transfer) between the

In the CAN network, these wires are referred to

The resistors are attached at the end of the CAN

In the electronic unit, the microprocessor (µp)

The microprocessor passes the data through to

The "CAN transceiver" in the electronic unit

The CAN transceiver in the electronic unit

This information is converted and passed through

The CAN controller checks whether the

Using a system of priorities, only one electronic

The unit that is transmitting is also listening at the

1.3 THE CAN SIGNAL

The CAN transceiver in the electronic unit

What is a digital signal?

CAN signal in accordance with ISO 11898

The transfer of information takes place through

The composition of the digital signals on the two

When the CAN-H and CAN-L signals are

1.4 TRANSFER OF INFORMATION VIA THE CAN SIGNAL

Digital communications involve the transmission 0 0 0 0 1 1 1 1

1 the voltage level of the signal simply varies

In this way, a signal consisting of high and low

The transmission of information takes the form of 0 0 0 0 0 0 0 0

This decimal value is derived from the binary 1 1 1 1 1 1 1 1

A mixture of binary 1s and binary 0s assigned to 0 0 0 0 1 1 1 1

1.5 CONTENT OF THE CAN MESSAGE

A CAN message is transmitted in a fixed

1 The format of the frame is as follows:

When more than one electronic unit wants to

The I-CAN transports the messages specifically

EAS AS Tronic DMCI EBS + VSC EST-42 ECAS-4 Tachograph BBM

single K-line single K-line single K-line

Immobiliser DIP-4 Airbag-2

ACH-EA single K-line K-line bus

The image above shows which system is linked

It is for this reason that systems which are not