Welcome to CAN-bus

With

Tony Gilroy

COURSE OBJECTIVES
Introduction to CAN-bus Physical properties of the CAN-bus The CAN-bus protocol Network topology Functional systems Diagnosis Programming

1. Introduction to CAN-bus

ADVANTAGES OF CAN-bus

Fewer sensors and signal wires due to multiple use of one sensor signal.

Less wires in the cable harness.

Considerable weight reduction in the wiring harness.

Fewer plug-in terminals in the control unit connectors.

Improved reliability and serviceability.

Large variety of new comfort functions.

Serial Data Transmission

ECM

TCM

Parallel Data Transmission

CDR500

TID

(As used in Astra/Zafira Triple Info Display)

4 4 3

1. Engine Control Module. 2. ABS Control Module. 3. CAN-bus lines 4. Cut off resisters (120 ohms).

1. CAN-controller. 2. CAN-transceiver. 3. Microprocessor.

2. Physical properties of CAN-bus

CAN-L

CAN-H

1. Symbol for twisted wire. 2. Wire colour; green and white. 3. Symbol for CAN-low and CAN-high lines.

High-Speed Bus HSCAN Used for Bus Protocol Powertrain and chassis systems GMLAN

Transmission rate
Wire technique Transmission of one frame lasts Wake-up method Topology Bus cut-off resistors

500 kbit/s
Dual-wire Approx. 0.25 ms Voltage supply K-line 15 Linear 120 resistance at each end of the chain 16 (15 + tester) 25 m cumulative length in vehicle plus 5 m to tester

Max. number of control units Max. cable lengths

High-Speed Bus HSCAN

Mid-Speed Bus MSCAN Used for Bus Protocol Transmission rate Wire technique Transmission of one frame lasts Wake-up method Topology Entertainment/info. Systems and ECC IVLAN 95.24 kbit/s Dual-wire Approx. 1.25 ms Voltage supply K-line 15 Linear

Bus cut-off resistors

120 resistance at each end of the chain

16 (15 + tester) 25 m cumulative length in vehicle plus 5 m to tester

Max. number of control units Max. cable lengths

Mid-Speed Bus MSCAN

High & Mid Speed Can Voltage Range

Can High
3.5 V

2.5 V 2.5 V

1.5 V

0V 0V

Can Low

Low-Speed Bus LSCAN

Low-Speed Bus LSCAN Used for Body and comfort systems (lighting, electric windows, windscreen wipers, etc.) GMLAN 33.3 kbit/s or 83.3 kbit/s for programming Single-wire Approx. 3.5 ms High level voltage (12 Volts) Ring 9.09 k or 3.9 k in each control unit 32 (31 + tester) 55 m cumulative length in vehicle plus

Bus Protocol Transmission rate

Wire technique Transmission of one frame lasts Wake-up method Topology Bus cut-off resistors Max. number of control units Max. cable lengths

5 m to tester

Low-Speed Bus LSCAN

3.9 k ohms:
2 = CIM 3 = PDM 4 = SRM 8 = REC 10 = DDM 12 = DSM 14 = BCM 16 = IPC

9.09 k ohms:
1 = DIS 5 = SDM 6 = PAS 7 = TPMS 13 = SLM 15 = UEC 17 = AHS

LSCAN Wake-up signal

12 Volts

4 Volts

LSCAN Scope Trace

A
3.96 V

Terminal 1 2 3 4 5 6 7 8

Signal CAN-H (LSCAN) CAN-H (MSCAN) 31, ground 31, ground CAN-H (HSCAN) KW 2000 (Basic radios + Telematic unit)

Terminal 9 10 11 12 13 14 15 16

Signal CAN-L (MSCAN) KW 82 (Navigation, GPS unit and car phone radios) CAN-L (HSCAN) 30, 12V supply

3. The CAN-bus protocol

CAN-bus communication Bus protocol Data frame Data fields Bits 0/1

Human vocal communication Language with grammar Sentences Words Letters

Message on its way one dominant bit a 0 ( zero ) Check field to confirm the length

2nd check field

End of frame

Conformation field Actual message Not used This contains message priority more 0s ( zeros )

0 = 3,5 Volt (High)

1= 2,5 Volt (High)

Signal=Difference between CANhigh and CAN-low. 1 = 2,5 Volt ( Low) 0= 1,5 Volt ( Low) Potential difference will either be 2 volts or 0 volts.

0 = 3,5 Volts (CAN-high) 0 = 1,5 Volts (CAN-low) 1 = 2,5 Volts (CAN-high) 1 = 2,5 Volts (CAN-low)

HSCAN & MSCAN (TWIN SCOPE)

3.5 V

2.5 V

1.5 V

1=Dominant (0) 2=Recessive (1)

HSCAN & MSCAN (SINGLE SCOPE)

3.5 V

2.5 V

1=Dominant (0)
2=Recessive (1)

ABS / TC

ECM

TCM

A
CAN-bus

4. Network Topology

HSCAN-bus
120 ohm resister 120 ohm resister

DIAG.
HSCAN

CIM
HSCAN

YRS
HSCAN

ABS
HSCAN

EHPS
HSCAN

AHL
HSCAN

TCM
HSCAN

ECM
HSCAN

HSCAN-bus

DIAG.
HSCAN

CIM
HSCAN

YRS
HSCAN

ABS
HSCAN

EHPS
HSCAN

AHL
HSCAN

TCM
HSCAN

ECM
HSCAN

MSCAN-bus

LSCAN-bus

Body Ring

Instrument Ring

High / Mid & Low Speed CAN-bus

Topology

Information flow from High to Mid speed Can-bus

A.B.S Speed signal

High Speed Bus

Low Speed Bus

Mid Speed Bus

Navigation system

5. Functional systems

Interior Lighting

E67 A162

Passenger compartment lamp Roof lamp

Door open signal

Exterior Lighting

Stop lamp switch

Hazard Lighting System

Immobiliser

Environment Immo ID ID

OK !

RC ID Rolling Code

RC ID = OK ?? NO YES
Disregard RC

CIM

RC ID + Immo ID

RC activation + Immo ID Immo ID = OK ?? YES NO

BCM

Execute RC Disregard RC Door operation command 60 sec. + Environment ID CDLS request + Environment ID

Environment ID = OK ??
NO

YES

Execute Disregard commandcommands 60 sec.

DDM / PDM

Central Locking

Anti Theft Warning System

REC

Window Lifters

Wiper/Wash System

ASTRA-H CAN-Bus

07/T1

Bus topology
HSCAN, basic equipment

07/T22

Bus topology
HSCAN option

07/T23

Bus topology

Engine Connector

Body Connector

07/T24

Bus topology

07/T26

Bus topology

07/T20

Bus topology

07/T21

LSCAN-Bus Topology
REC UEC

LSCAN-Bus
Internally Connected

PAS

REC

PEPS

LSCAN-Bus
REC UEC

Gateways and Diagnostics

Personalisation

Personalisation

6. Diagnosis

Error Processing
Error Active Error Passive Bus Off

Diagnostic Trouble Codes

U2100 CAN-Bus Malfunction U2101 Maximum Configuration List Not Programmed U2102 More Controllers On The Bus Than Programmed/ Maximum Configuration List Not Complete U2103 Node Error/ No Communication With CAN-Bus/ CAN-Bus OFF U2104 CAN-Bus Reset Counter Overrun U21xx Lost Communication With U21xx Invalid Data From

Dos and Don'ts on the CAN-bus

When carrying out measurements on the CAN-bus system: Dont transfer data when using an ohmmeter

Do switch off ignition and allow units to power down

Do check resistance of units CAN-high in and output, CAN-low in and output should read zero ohms Do check resistance of CAN-bus circuit both High and Mid, should read 60 ohms Do check resistance on CAN-low but be aware of different readings for units (see table) special tool required Dont disconnect units when there is still infodata exchange over the bus

Green flashing light

Note:

F6: E.O.B.D.

F0 and F1 have been interchanged

1 System 2 Main controller 3 Trouble code definition 4 Trouble code status

1 Control units within Body systems

7. Programming

Replacing or Exchanging Control Units

Reset the control unit Disconnect the control unit Install the new control unit Program the new control unit

Resetting Control Units

Tech 2 Select Functional System Select Programming Select Control Unit Perform Reset Function

Programming Control Units

Tech 2 Select Functional System Select Programming Select Control Unit Perform Program Function

Overview of control units

Standard HSCAN CIM ECU

ABS

07/T2

HSCAN Bus Topology

UEC CDC

120 OHM TCM RESISTORS

CIM

ECM

DLC

HSCAN Bus Topology

AHL/AFL UEC CDC

EHPS

TCM
PRIVATE CAN

YRS

ABS

Overview of control units

EHPS - two versions
With (ZF) HSCAN connection for engines of over 1.6 litres (except Z 17 DTL) Without (TRW) HSCAN connection: System as Astra G. Diagnosis is then via diagnostic plug, pin 7
HSCAN connector

07/T4

Overview of control units

HSCAN option

EHPS

TCM/MTA

CDC

AHL/AFL

07/T3

Overview of control units

Standard MSCAN

TID

07//T5

MSCAN-Bus
Resistor located within DIS - 60 ohms

Overview of control units

MSCAN option

BID/ GID/ CID

ECC

EHU

DAB

07/T6

Overview of control units

Standard LSCAN
CIM UEC

IPC

SDM

TID

REC

07/T7

Overview of control units

LSCAN option
PAS

TPMS

EHS/AHS

07/T8

Differences with respect to Vectra-C

VECTRA-C
Light switch Hazard warning switch Brake fluid level Ambient temperature sensor
EWW, rear B C M CL, rear Interior lighting

LSCAN

P D M + D D M

EWW, front

CL, front

07/T9

Differences with respect to Vectra-C

ASTRA-H
Light switch Hazard warning switch Brake fluid level Ambient temperature sensor
EWW, rear B C M CL, rear Interior lighting

LSCAN

P D M + D D M

EWW, front

CL, front

07/T10

Differences with respect to Vectra-C

ASTRA-H
Light switch Hazard warning switch Brake fluid level Ambient temperature sensor
I P C U E C ?? EWW, rear ??

?? CL, rear ??
?? Interior lighting ??

EWW, front

LSCAN

R E C
CL, front

07/T11

Differences with respect to Vectra-C

ASTRA-H
Light switch Hazard warning switch Brake fluid level Ambient temperature sensor
I P C U E C EWW, front

LSCAN

EWW, rear

R E C

Interior lighting

CL, rear
CL, front

07/T14

Differences with respect to Vectra-C

Main functions of the REC:

Window winders, central locking, alarm system

Terminal "W" Rear lamps, interior lighting Trailer electrics (with trailer module) Fuel level

07/T15

Differences with respect to Vectra-C

Main functions of the UEC:
Front lamps, rain/ light sensor

Wipers, washer pumps

Coolant, brake fluid and screen washer system levels Brake lining wear, ambient temperature

07/T16

Reverse gear switch (manual transmission)

Differences with respect to Vectra-C

Main functions of the IPC:
Display of road speed, engine speed, tank level LED for coolant temperature AT/MTA current gear display Controls heated rear window/ heated mirror Switch strip and light switch inputs

07/T17

Differences with respect to Vectra-C

LSCAN

07/T18

Differences with respect to Vectra-C

InSP ... InSP 2 InSP 3 InSP 4

Mileage to the next service Faulty bulb Remote control battery discharged Water in diesel fuel filter

07/T19

Functional systems
The left turn signal is activated. Determine flashing frequency Determine pulse ratio Determine number of flashing procedures

REC

F = Hz T=% Flash 3x

INFO from REC F = Hz T=% Flash 3x UEC

INFO from REC: F = Hz T=% 3x click clack

Template Version 4.0 rev. 03 III 07/T27

INFO from REC F = Hz T=% Flash 3x

Functional systems
Hazard warning lights
Activate hazard warning lights F= 90x/ min T= 50% CLICK CLACK

CIM LSCAN IPC Hard-wired REC LSCAN

UEC

Hazard warning switch

07/T28

Functional systems
Exterior lighting
High beam on CIM UEC

REC IPC LSCAN Light switch Hard-wired

07/T29

Functional systems
Terminal "W"

LSCAN

Hard-wired

Hard-wired

07/T30

Bus topology
HSCAN with ABS and ESP
HSCAN Private CAN

UEC

ABS/ ESP

07/T25

120

120

YRS