CAN-BUS DATA SYSTEM

September 2009
1
What is CAN?

•It is a network connecting controllers on a

machine, which allows information to be shared
among the controllers.
•It was first developed by Bosch and Intel in 1984.
•It has been in use in the Automotive and Truck
industry since the late “80’s.
•CAN is short for Controller Area Network

2
 Why have CAN:-

v Replacement of mechanical components by

electronic components.

v More comfort, safety and features from inside the

vehicle.

v Requirements can no longer be implemented by

conventional hard wiring.

v Linking various electronic modules with data bus,

gives us less hardware, and more software.

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Benefits of CAN:

•Reduce the number of wires (quantity) and over all

length of wiring harness.
•To ensure all signal information is available to all
controllers on the network (sharing).
•Less wiring, less connectors, gives increased reliability
and durability.
•Multiple use of signals,therefore there are fewer
sensors.
•Better and more exact diagnostic possibilities with EST.

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Terminology:
CAN Controller Area Network
ECU Electronic Control Module
EMC Electromagnetic Compatibility
BUS The network i.e. the connection
between the controllers
(computing terminology)
CAN_HI Signal carrying wire (2.5 – 3.5 Volts DC).
CAN_LO Signal carrying wire (1.5 – 2.5 Volts DC
and at least 0.1 Volts lower than
CAN_HI).
Terminator Resistor (~120 Ω), placed at each end
of the CAN Bus or within a controller
Discreet wire A normal electrical wire to/from a
sensor or solenoid to a controller

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 Sensors
ECU
Discreet Wiring

Processor

CAN Stubs

CAN Hi
CAN Backbone
CAN Lo

Terminators

6
 Magnetic Field Around a Wire Carrying Current

With electrical current flowing in a wire there is a magnetic field around it.

In CAN Hi and Can Lo , current is flowing in the opposite direction, the magnetic fields cancel each other out,
reducing the coupling between each wire and external fields . This prevents any unwanted noise (electro magnetic),
getting off the BUS, but more importantly it stops any signals from an external source reaching the signal wires.

The CAN wires are always a twisted pair of wires. The twisting helps cancel or sets a greater spread for the 1 and 0
values.

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 Wire Types

Signal Wires

4 Wire Shielded

Signal Wires

2 Wire Unshielded

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Testando a resistência do circuito CAN (Ohms): CIRCUITO OK!
2 = 60 Ohms
3 = 40 Ohms
4 = 30 Ohms

TECLADO

Controlador do
60 Ω motor
CAN Hi

120 Ω 120 Ω Controlador

resistor resistor AWD

CAN Lo

CAN Lo
D

CAN Hi C Controlador
da
Transmissão

Uma boa conexão CAN BUS deve medir  60 Ohms para duas resistências de 120 Ohm ,  40 Ohms para
tres resistências de 120 Ohms,e  30 Ohms para quatro resistências de 120 Ohms. 9
Funcionamento do sistema CAN

Sinal Mensagem
Interruptor Controla-
dor Digital

CAN Mensagem Sinal

Controla- tela
Network Digital dor

Sinal Controla-
Mensagem
Sensor
dor Digital

ENTRADAS SAÍDAS
Digital
analógicas Analógicas
Circuito impresso, cabo plano, cabo
standard

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 Testando o circuito CAN: CIRCUITO EM ORDEM

Testando CAN Hi +Lo

2.0 Volts
3.0 Volts
Controlador 2

Controlador 1
3.0 Volts 2.0 Volts
CAN Hi

Controlador 4

CAN Lo

CAN Lo D

CAN Hi C
Controlador 3

LEITURA NO MULTÍMETRO:CAN HI deve medir entre 2.5V a 3.5V. CAN LO deve medir entre 1.5V a 3.5V.
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 Testando um “curto” no circuito CAN – Com todos os
controladores “OFFLINE”
2 = 60 Ohms
3 = 40 Ohms
4 = 30 Ohms
TECLADO

Controlador do
2Ω motor CAN Hi

120 Ω 120 Ω Controlador

resistor resistor AWD

CAN Lo

CAN Lo
D
Controlador
CAN Hi C da
transmissão
O MULTÍMETRO lê 2 Ohms quando deveria ler 60 Ohms. Comece desconectando os controladores UM POR VEZ até que a
resistência ( Ohms) comece a aumentar. Se a resistência não AUMENTA depois de desconectar os controladores, ENTÃO O
CHICOTE ESTÁ EM CURTO. Nota: NÃO RECONECTE OS CONTROLADORES DEPOIS DE DESCONECTÁ-LOS.
SOMENTE RECONECTE OS CONTROLADORES COM O CIRCUITO DA MÁQUINA DESLIGADO. 12
 Processor Processor

Processor
Processor

Terminators can be externally soldered or

plugged into the CAN BUS.
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 Processor Processor

Processor
Processor

Terminators can be placed internally in a

controller / controllers on the CAN BUS.
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 Testing the CAN Circuit: When all controllers is “OFFLINE”

Testing CAN Hi +Lo

2.5 Volts
2.5 Volts
Processor

Processor
2.5 Volts 2.5 Volts
CAN Hi

Processor

CAN Lo

CAN Lo D

CAN Hi C
Processor

All Controllers show “OFF LINE” on the EST. If the both CAN HI and CAN LO circuits have reading of 2.5 volts,
suspect the CAN BUS is shorted. Check the CAN BUS for resistance.
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 Testing for a shorted CAN Circuit cont:
2 = 60 Ohms
3 = 40 Ohms
4 = 30 Ohms
Keypad
Processor

Engine
120 Ω
Processor CAN Hi

120 Ω 120 Ω
resistor resistor

CAN Lo

CAN Lo Dash
D Processor

C Trans
CAN Hi Processor

The correct resistance appeared on the DVOM after disconnecting the Dash controller. This indicates the Dash controller you
unplugged has an internally shorted BUS. Note the Ohms reading increased to 120 Ohms (not 60 Ohms) . This is correct
since a controller with an internal terminator was removed from the CAN BUS circuit. Thus only one terminator is being tested
so the reading of 120 Ohms is correct. 16
 Testing for a shorted CAN Circuit cont:
2 = 60 Ohms 2Ω

3 = 40 Ohms
4 = 30 Ohms
Keypad
Processor

Engine CAN Hi
120 Ω
Processor

120 Ω 120 Ω
resistor resistor

CAN Lo

CAN Lo Dash
D Processor

C Trans
CAN Hi Processor

To verify, test the suspected processor for resistance. It should read approximately 120 Ohms. If not, it is shorted and must be
replaced.
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 Testing for a shorted CAN Circuit cont:
2 = 60 Ohms
3 = 40 Ohms
4 = 30 Ohms
Keypad
Processor

Engine
120 Ω
Processor CAN Hi

120 Ω 120 Ω
resistor resistor

CAN Lo

CAN Lo Dash
D Processor
Trans
CAN Hi C Processor

Note: If you reconnected all of the controllers except the shorted controller, the other controllers would appear “ON LINE” on the EST.
There are a few exceptions. Some controllers are programmed to be very protective if an error occurs. In these cases, the key must
be cycled off and then back on for the controller to appear “ON LINE”.
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 Testing for CAN BUS when only one controller is “OFFLINE”
2 = 60 Ohms
3 = 40 Ohms
4 = 30 Ohms
Keypad
Processor

Engine
120 Ω Processor CAN Hi

120 Ω 120 Ω Dash

resistor resistor Processor

CAN Lo

CAN Lo
D
Trans
CAN Hi C Processor

The EST indicates the “AIC” Dash cluster controller is “OFFLINE” . Check the CANBUS for resistance. The correct reading should
be approximately 60 Ohms since there is two 120 Ohms resisters in the CAN BUS circuit. If the reading is approximately 120
Ohms, then there is an “open” circuit to the Dash Controller. It has an open in one of the wires (or loose terminal) of the CAN BUS
wires going into the controller. If the DVOM reads 60 Ohms, then check the offline controller for all powers and grounds. 19
 650K, 750K, and 850K (Series 1 and 2) Controller
Communication

Joystick
3 4
56

Drive CAN_H White 526

A 23
Train 26
120 Ohms Instrument
Controller 27
CAN_L Green
B 29 Cluster
527
(DTC) 50
C 5

X9

A B C D 51
Fuse B
30 amp Electronic Service
Battery
Power
Tool (EST)
Diagnostic Connector
20
CAN BUS Readings 650K, 750K, and 850K (Series 1 and 2)

IMPORTANT NOTE: The below values are NOT specifications. They are only tested values
given as an example of a functioning machine.

Controller Originating Voltage Resistance between

Connector-Pin the CAN H and
CAN L pins
DTC CAN H (X50-26) 3.1V 37 KΩ when isolated
CAN L (X50-27) 1.8V
Joystick CAN H (X56-4) 2.9V 37 KΩ When isolated
CAN L (X56-3) 2.0V
Instrument Cluster CAN H (X5-29) 3.2V 37 KΩ When isolated
CAN L (X5-23) 1.8V
Terminator (near X9) CAN H (X9-A) n/a 120Ω When isolated
CAN L (X9-B) n/a
NOTE: With all controllers and terminator connected, the voltage was 2.42 V and 2.58 V with
117 Ω on the CAN Bus. This can be tested at the EST Diagnostic Connector pins C (CAN H)
and D (CAN L).

NOTE: With the DTC disconnected and the key ON, the Instrument Cluster will NOT display
the NO CAN fault.

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 650K, 750K, and 850K (Series 3) Controller Communication

Internal Joystick
120 Ohm
Terminating
Resistor 3 4
M9

D2
C1 C4/M10 M1/D1
Drive CAN_H Yellow 335
44 26 23
Train 40
Instrument
CAN_L Green
Controller 39 45 16
334
29 Cluster
(DTC)
D3A
1 2

Fuse F6
A B C D C3A
Terminator
20 amp Electronic Service
Battery
Power
Tool (EST)
Diagnostic Connector
22
 CAN BUS Readings 650K, 750K, 850K (Series 3)
IMPORTANT NOTE: The below values are NOT specifications. They are only tested values
given as an example of a functioning machine.

Controller Originating Voltage Resistance between

Connector-Pin the CAN H and
CAN L pins
DTC CAN H (C1-40) 2.6V 2.8 KΩ When
isolated
CAN L (C1-39) 2.3V

Joystick CAN H (M9-4) 2.9V 37 KΩ When isolated

CAN L (M9-3) 2.4V

Instrument Cluster CAN H (pin 23) 2.6V 37 KΩ When isolated

CAN L (pin 29) 2.3V

Terminator CAN H (pin 2) N/A 120Ω When isolated

CAN L (pin 1) N/A

CAN Diagnostic (C3A-A) Ground 114 Ω

Connector* 12 V
Battery (C3A-B)
CAN H (C3A-C) 2.6 V

CAN L (C3A-D) 2.3 V

NOTE: With all controllers and terminator connected, the voltage was 2.30 V and
2.60 V with 114 Ω on the CAN Bus. This can be tested at the EST Diagnostic
Connector pins C (CAN H) and D (CAN L).

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 650L Controller Communication

Internal
120 Ohm
Joystick Terminating
Resistor

3 4 R15

D2A 9 R4 Drive
CAN_H Yellow
335
40
Train
3
Instrument 26
334
Controller
CAN_L Green
Cluster (AIC) 4 16
39
(DTC)
D1 / R7
K-Line Green

E14 / R3 41 42

A B C D E D3A
34 35 89 E4
Fuse F7
20 amp Electronic Service
Battery
Power
Tool (EST) Engine Controller
Diagnostic Connector (EDC7UC31)
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CAN BUS Readings 650L Note when testing
IMPORTANT NOTE: The below values are NOT specifications. They are only tested values the instrument
given as an example of a functioning machine. cluster for resistance
and obtain a reading
Controller Originating Voltage Resistance between of 48 KΩ the reading
Connector-Pin the CAN H and is normal only
CAN L pins because it does not
DTC CAN H (R4-40) 2.6V 2.8 KΩ when isolated have a terminating
resistor in the
CAN L (R4-39) 2.3V
instrument cluster.
Joystick CAN H (R15-4) 2.9V 37 KΩ when isolated

2.0V If a reading other

CAN L (R15-3)
than 120 Ω or 48 K
Instrument Cluster CAN H (D2A-3) 3.2V 120Ω when isolated Ω is not obtained
CAN L (D2A-4) 1.8V then there instrument
cluster CAN circuit
EDC7UC31 CAN H (E4-35) 2.6V 120Ω When isolated
may be defective.
CAN L (E4-34) 2.4V
If there is not a
CAN Diagnostic (D3A-A) Ground 60Ω
termination resistor
Connector* 12 V in the instrument
Battery (D3A-B)
2.7 V cluster then the
CAN H (D3A-C)
reading on the CAN
CAN L (D3A-D) 2.3 V diagnostic connector
K-Line (D3A-E) 12 V should read 120 Ω.

NOTE: With all controllers and terminator connected, the voltage was 2.30 V and
2.70 V with 120 Ω on the CAN Bus. This can be tested at the EST Diagnostic
Connector pins C (CAN H) and D (CAN L).
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 750L and 850L Controller Communication

Internal Joystick
120 Ohm
Terminating
Resistor 3 4
M9

39
C1 M1/D1
Drive CAN_H Yellow SA-5 335
44 26 3
Train 40 SA-5 Instrument
CAN_L Green
Controller 39 45
SA-6
16
334
4 Cluster (AIC)
SA-6
(DTC) C4/M10
K-Line Green D2A

18 20 29 M11/E1

CAN_L White CAN_H Black

A B C D E D3A
34 35 89 E2
Fuse F7
20 amp Electronic Service
Battery
Power
Tool (EST) Engine Controller
Diagnostic Connector (EDC7UC31)
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 CAN BUS Readings 750L and 850L
IMPORTANT NOTE: The below values are NOT specifications. They are only tested values
given as an example of a functioning machine.

Controller Originating Voltage Resistance between

Connector-Pin the CAN H and
CAN L pins
DTC CAN H (C1-40) 2.6V 2.8 KΩ when isolated

CAN L (C1-39) 2.3V

Joystick CAN H (M9-4) 2.9V 37 KΩ when isolated

CAN L (M9-3) 2.0V

Instrument Cluster CAN H (D2A-3) 3.2V 48 KΩ when isolated

CAN L (D2A-4) 1.8V

EDC7UC31 CAN H (E2-35) 2.6V 120Ω When isolated

CAN L (E2-34) 2.4V

CAN Diagnostic (D3A-A) Ground 120Ω

Connector* 12 V
Battery (D3A-B)
CAN H (D3A-C) 2.7 V

CAN L (D3A-D) 2.3 V

K-Line (D3A-E) 12 V

NOTE: With all controllers and terminator connected, the voltage was 2.30 V and
2.70 V with 120 Ω on the CAN Bus. This can be tested at the EST Diagnostic
Connector pins C (CAN H) and D (CAN L).
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 1150K (Series 3) and 1650L Controller
Communication

Internal Joystick
120 Ohm
Terminating
Resistor 3 4
M9

39
C1 M1/D1
Drive CAN_H Yellow SA-5 335
44 26 3
Train 40 SA-5 Instrument
CAN_L Green
Controller 39 45
SA-6
16
334
4 Cluster (AIC)
SA-6
(DTC) C4/M10
K-Line Green D2A

18 20 29 M11/E1

CAN_L White CAN_H Black

A B C D E C3A
34 35 89 E2
Fuse F6
15 amp Electronic Service
Battery
Power
Tool (EST) Engine Controller
Diagnostic Connector (EDC7UC31)
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 CAN BUS Readings 1150K (Series 3) and 1650L
IMPORTANT NOTE: The below values are NOT specifications. They are only tested values
given as an example of a functioning machine.

Controller Originating Voltage Resistance between

Connector-Pin the CAN H and
CAN L pins
DTC CAN H (C1-40) 2.6V 2.8KΩ when isolated

CAN L (C1-39) 2.3V

Joystick CAN H (M9-4) 2.9V 37 KΩ when isolated

CAN L (M9-3) 2.0V

Instrument Cluster CAN H (D2A-3) 3.2V 120Ω When isolated

CAN L (D2A-4) 1.8V

EDC7UC31 CAN H (E2-35) 2.6V 120Ω When isolated

CAN L (E2-34) 2.4V

CAN Diagnostic (C3A-A) Ground 60Ω

Connector* 24 V
Battery (C3A-B)
CAN H (C3A-C) 2.7 V

CAN L (C3A-D) 2.3 V

K-Line (C3A-E) 24 V

NOTE: With all controllers and terminator connected, the voltage was 2.30 V and
2.70 V with 59 Ω on the CAN Bus. This can be tested at the EST Diagnostic
Connector pins C (CAN H) and D (CAN L).
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