14-3 CNLM Web

September 2014 B 25361
CAN Newsletter
Hardware + Software + Tools + Engineering
Mechanical assistants with Applications

embedded CAN networks
Stability of mobile
construction machines
Lock and load: LEVs for public

infrastructures
www.can-newsletter.org
Mechanical assistants with
For farmers the day usually starts at 3 or 4 o’clock in the morning. They have to look after their
cattle, feeding and milking them. Until now: Thanks to a milking robot, the cows milk and feed
themselves.
T his means a more com-

fortable life for farmers.
They are able to go back to
cleaning equipment. Ac-
cording to Lely, an increase
in labor productivity is de-
early signals. Owners can
treat their cows individually
again, which results in im-
voluntarily. She even comes
too often!”
The robot arm re-
bed on a rainy day or can do sired to ensure a healthy proved health of the cows, mains underneath the cow
other things such as cock- dairy business in the fu- shorter calving intervals, and controls the entire milk-
ing dinner or manage oth- ture. Achieving more liters and reduction of feed costs. ing process. With almost
er tasks, because the cows of milk per worker in an ani- In the so-called cow all sensors housed in the
- mal-friendly way is what the traffic, the cow decides arm, measurement is done
company is aiming for. They when she wants to eat, get close to the udder and is
complain about getting up think only one man can milked or lie down, there- therefore more accurate.
early. The robots feed and milk two million liters per by improving the well-being Attachment speed and ac-
milk the cows without the year. On conventional dairy of the cow. This influences curacy is a crucial factor for
help of a human, no one farms where milking is done the capacity of the robot.
has to move the cows into twice a day now, production comes to visiting the robot. When a cow goes into the
the milking box. The ani- increases of 10 % to 15 % Robotic milking is differ- box, the stainless-steel ro-
mals go there on their own can be realized by means ent from conventional milk- botic arm moves under the
because they know there is of their milking robot. It can ing in many ways. One of cow, scans it with lasers to
food in the form of a mea- handle about 180 milkings the main differences is that find the teats, and attaches
sured amount of grain in the a day. cows can be milked more in four teat cups. The teat de-
box. A robotic milking sys- tune with their natural be- tection system (TDS) of the
tem offers the most reli- havior. A main feature of company features a three-
Robotics in able employee imaginable. the Astronaut A4 cow box level scanning technology,
agriculture This robot employee is is the walkthrough design which provides detection
there to milk for the owner called the I-flow concept. of the teats. Above the cow
Service robots are revo- 24/7 for years to come. It is Because of it the cow walks is a mounted video camera
lutionizing the agricultural trained to prepare the cow straight in and out of the unit
sector. They sew, weed, fer- for milking, to attach the without making turns. This position, which means if the
Applications
tilize, and feed animals with teat cups and to reattach makes the process easier cow moves, the robotic arm
increasing autonomy. Neth- them if required, to detach for the cow, which shortens moves with her.
erlands-based company after milking, and to carry the learning curve, increas- The MQC (Milk Qual-
Lely, a leading manufactur- out post-treatment. Due to es the throughput, and as ity Control) is a tool for
er of robot milking systems, the robotic milking system, a result the capacity of the measuring milk quality. It is
offers an entire line of prod- many factors can be mon- robot. Lyndon Williams, a located inside the arm of the
ucts, from stall cleaning itored for each individual farmer from Wales UK, said: robot just beside the udder.
systems to automatic feed- cow, factors that cannot be “There was one cow we al- During milking, the milk is
ing systems, amongst them provided in a convention- ways needed to bring to the continuously monitored per
the CAN-featuring Lely As- ally milked herd. With ro- robot. But now – with the quarter. This provides the
tronaut A4 milking robot for bot milking decisions are more open entrance of the user with vital information
about $250 000 including a transferred from the fam- Astronaut A4 robot – even on mastitis, fat and protein,
mechanical arm and teat- er to the cow. It is all about this cow regularly visits and lactose for managing
CAN Newsletter 3/2014 3

Applications
Figure 1: A farm may be the last place someone would expect to find a robot but actually,
they have long been used to milk cows
Additional information ex-factory but also installed air), and the MQC (via the
health. Mastitis is the in- on an existing Astronaut A3 CAN connector). The pro-
Dr. Makota Mizukawa, flammation of breast tissue. milking robot. Depending cessor sends output to the
Shibaura Institute of To prevent it, the optional on the production date, it is sampler and the MQC. The
Technology, “RTC-CANopen”, MQC-C somatic cell count possible some other modifi- wall socket is installed be-
CAN Newsletter Print, June measurement system moni- cations must be done to in- hind the intermediate pan-
2010 tors the SCC per milking per stall the MQC-C on existing el on the right side of the
cow. Alarming deviations milking robots. It has three machine room above the
Holger Zeltwanger, CAN in are noticed and reported. primary parts: the sampler, pumps. The wall socket
Automation, “Service robots The Milk Quality Control the processor and the wall joins the input of the water,
need smart grippers”, CAN - Somatic Cell Count Indi- socket. Astri-Cell, and compressed
Newsletter Print, September cator (MQC-C) is an option- The sampler is in- air supply with the tube
2011 al part of the milking robot stalled on the support be- bundle that leads to the pro-
and is used to measure the tween the MQC and the cessor. It is provided with
CAN in Automation e. V., CiA class of the somatic cell milk jar. The function of pressure reducers for the
318 Draft Standard Proposal, count per cow per quarter. the sampler is to separate water and the air supply.
“CANopen – Integration to This is done in an automat- a small quantity of the milk The CAN network of
RTC environments”, February ed process and can be set for the test when a test must the milking robot supplies
2012 - be done. The sampler gets the electrical power to the
tem called T4C (time for input from the processor MQC-C. According to Mr.
CAN in Automation e. V., CiA cows) to carry out the test and sends output to it. The Peter Meyer, Product Man-
460 Draft Standard Proposal, per cow, group of cows, or processor is a box (a base ager Dairy at Lely, they use
“CANopen – Service robot the whole herd. The test is and a cover) with pumps, standard CAN network com-
controller profile”, February based on the drain time of valves, chambers and elec- ponents with a CANopen
2012 a mixture of the milk and tronics. It is installed on the protocol, the international-
Astri-Cell (a fluid needed milking robot frame behind ly standardized (EN 50325-
for measuring the somatic the intermediate panel and 4) CAN-based higher-layer
cell count in the milk). The is attached to the proces- protocol for embedded con-
test also indicates the udder sor installation bracket. The trol system. The CAN com-
health. The MQC-C gets its processor has three main ponents of the robot are
We use standard input (when to test) from functions: to transport, mix, well supplied with 27,2 VDC
the MQC and sends its out- test, and drain the mixture. / 4 mA to 20 mA. The CAN
CAN components put (test results, number of The processor pumps the network works via a two-
with a CANopen visitations) to the MQC. Re- milk from the sampler to the wire connection (CAN high
sults and class attentions of processor and adds Astri- / CAN low).
protocol. the test can be found in the Cell to the milk. When the
Peter Meyer T4C software. Hardware-re- test is done, the processor Service robots on
lated alarm messages can pumps the mixture to the the rise
be found on the X-Link. The sewer. The processor gets
visitation lists generated by its input from the sampler Service robots are extreme-
T4C can be found on the X- (electronic and milk sam- ly gifted, they can detect and
Link. The MQC-C can be ples), the wall socket (Astri- interpret their surroundings,
built into the Astronaut A3 Cell, water and compressed have the ability to learn, and
4 CAN Newsletter 3/2014

Kvaser now
are easy to teach. Flexible
and autonomous, they are
suitable for high-quality, in-
technology, which is reliable
and robust, CAN is the ide-
al solution as an embedded
supports Ethernet
dividual services, including network.
in a supporting function with Service robotics is K VASER ETHERCAN LIGHT HS
people. “A service robot is a booming. At the Automati-
robot which operates semi- ca fair this year, companies Use your corporate network to transport CAN messages
or fully autonomously to introduced their researches to your PC using the standard Kvaser API.
perform services useful to and developments on ser- www.kvaser.com/ethercan
the well-being of humans vice robots. According to
and equipment, excluding the event organizer, about
manufacturing operations.” 10 % more visitors and 7 %
This is how the Internation- more exhibitors attended
al Federation of Robotics the fair in comparison to
- 2012, which shows that the
bots“. There are two kinds topic “robotics” is becoming
of service robots: person- more and more established.
al and professional. A per- Figures provided by the IFR
sonal service robot is used also attest to a considerable
for non-commercial tasks, growth potential. At least 93
usually by laypersons. Ex- 800 new professional ser-
amples are domestic service robots will be sold be-
vant robots, automated tween 2012 and 2015, worth
wheelchairs, personal mo- ¤12,5 billion. There are ap-
bility assist robots, and pet proximately 100 000 profes-
exercising robots. A professional service robots in use
sional service robot is used today. Medical robots are
for commercial tasks, usu- the leading sector with a
ally operated by a proper- sales growth of 20 % in 2012
ly trained operator. Exam- compared to 2011. Service
ples are cleaning robots robots are above all often
for public places, delivery used for computer-assisted
robots in offices or hospi- and image-guided surgery,
tals, fire-fighting robots, re- where the average price
habilitation robots and sur- of a robot ranges around
gery robots in hospitals. In US$1,5 million. Robots for
this context an operator is a supporting senior citizens
person designated to start, and persons with disabili-
monitor, and stop the in- ties are en vogue. They pro-
tended operation of a ro- vide therapy and training,
bot or a robot system. The improve physical and cog-
robot system comprises ro- nitive functions, or serve as
bots, end-effectors, and any intelligent prosthetics. Driv-
machinery, equipment, de- erless transport systems
vices, or sensors support- for intralogistics are be-
ing the robot performing coming popular, for which
its task. Since service ro- the highest growth rates
are predicted together with
speed networks but a low- medical robots. Navigation
power consuming network technologies are decisive,
Find CAN hardware

Figure 2: After going in the box the stainless-steel robotic
arm moves under the cow, scans it with lasers to find the
teats, and attaches four teat cups
www.kvaser.com
YOUR PORTAL TO THE
PERFECT CAN SOLUTION
cleaning of floors and waste
Applications
billion worldwide revenues, disposal. In order to auto-

robotics industries are set to mate this work, scientists at
achieve annual sales of be- Fraunhofer further evolved
tween ¤50 billion and ¤62 the robot assistant “Care-O-
billion by 2020. Today, robot 3“, and programmed the
bots have replaced many necessary software func-
daily tasks of humans. Our tions with the aim that this
world is becoming more and mobile robot butler could
more automated. Robots also be used for cleaning
could pervade most sectors business premises. It au-
of human activities, health- tonomously moves through
care, agriculture, medicine, the offices, and inspects
and consuming or military the floor surfaces. Soiling
activities. is automatically detected,
mapped, and cleaned with
Robots for industrial a cordless electric broom.
cleaning If the attempt fails, since a
dried coffee strain cannot be
Schunk provides another removed with a broom, the
example for service robots. robot marks the position of
Will the cleaning robot soon the soiling on its map, and
be as much a natural part informs the cleaning person-
of professional industrial nel. Moreover, the robot can
cleaning as a sweeper or a recognize wastepaper bas-
steam cleaner? The Feder- kets, inspect their fill level,
al Ministry of Economy and and empty the contents of
Technology (BMWi) wants full wastepaper baskets into
to explore, in the course a collection bin. A power-ball
Figure 3: The Care-O-bot sweeping up dirt; it could even of the joint “Plug & Play for lightweight arm and a multi-
clean your office automated systems“ (Au- purpose SDH-2 3-finger
toPnP) project, how robot- hand by Schunk are used
thanks to which mobile ro- according to Martin Haegele supported cleaning can be for handling the wastepaper
bots can navigate indepen- from Fraunhofer IPA. "In ad- implemented, and if it can be baskets, and the position-
dently in an unstructured dition, robots are getting a efficiently transferred onto ing of the cleaning trolley for
environment, detect, inter- stronger role in inspection other robot platforms. This the necessary endurance
pret, and classify it as well and maintenance areas, se- project is led by Fraunhofer and the required freedom of
as track objects. Especially curity and rescue tasks." IPA in Stuttgart, in coopera- movement.
milking robots are finding a The IFR estimates that tion with Dussmann Service. The lightweight arms
lot of use in the agricultur- from 2014 to 2016 robot in- The project utilizes the stan- are specifically designed for
al sector. In addition, field stallations will increase by dardized lightweight arm, a such mobile applications.
robots account for 33 % of 6 % on average per year: gripper hand, and an elec- They are robust, designed
professional service robot- about 4 % in the Americas tric quick-change module for relatively high pay-
ics. Although robots can and in Europe, and about from Schunk, a provider for loads, and due to the 24-V
handle many tasks in agri- 8 % in Asia/Australia. The gripping systems. technology they are mobile.
culture and forestry such as trend towards automa- 70 % of all costs that in- In daily operations they are
harvesting, spraying, plant- tion continues to increase cur in professional industrial economical: the energy re-
ing, and cutting, the require- the volume of robot instal- cleaning works concern the quired for a 100 W bulb of
ments are very complex, lations. But the rate of in-
so that a lot of develop- crease in robot sales will be
ment work is needed to re- more moderate. Impulses
ally master all applications will mainly come from the
combined in agricultural en- emerging markets and from
gineering. Building and de- the United States. At a press
molition systems, robots for -
professional cleaning, in- tomatica fair, Arturo Bar-
spection and maintenance oncelli, president of IFR,
systems, robots for rescue announced that 179 000 in-
tasks and underwater sys- dustrial robots were sold in
tems are increasingly in 2013. That is 12 % more than
demand. "Among others, in 2012, which means a new
strong growth sectors are record for the robotic-indus-
mobile transport vehicles for try. According to the Sparc,
various areas such as hospi- which is the partnership for
tals and mail-order business robotics in Europe, the size
as well as robots in agricul- of the robotics market is pro- Figure 4: The lightweight arm is able to empty a full
ture and medical robots," jected to grow substantially wastebasket

the past is enough today for broom for cleaning the car- as connectors. In order to nance calls per year, and
the operation of a complete pet. The quick-change mod- ensure that the cleaning ro- because there is no need
light-weight arm. Its light- ule with its integrated 24-V bot really meets the require- for floor cleaning as milk
weight, highly rigid design technology opens up new ments of commercial use, cups cannot drop to the floor
increases energy efficiency, scopes for the flexible use of the project is being executed and udders are brushed in-
and in the case of mobile ap- various effectors in the field in close cooperation with the stead washed, the sys-
plications it pays off in terms of mobile service robotics. cleaning specialist Duss-
of longer runtimes. Via a quick-change mod- mann Service of Berlin. A any water.
At a repeat accuracy of ule with integrated CAN sys- modular software structure
+/-0,1 mm, the lightweight tem, the gripper hand, the that allows easy integration
arm offers the optimum cordless electric broom, and of hardware and software
prerequisites for precise other tools can be centrally components, ensures that
handling. Since the drive controlled by the robot. For the solution can later be
amplifiers and controllers the implementation in the adapted to the field of ap-
are directly integrated in the firmware the following speci- plication, and then trans- Saving ener-
fications were used: CiA 301 ferred to cost-efficient robot gy also leads to sav-
separate cabinet. Moreover, (CANopen application layer platforms. ing costs. Here, the
the system architecture is and communication profile) key to saving energy lies
designed in an open way. and CiA 402 (device profile Back to robotic in the few movements for
Via a flexible electrical and for drives and motion con- milking the connection and removal
data interface concept, the trol). For the configuration of teat cups as well as using
arms can be integrated into of module-IDs and the bit- Cost efficiency is also a only one pneumatic system
various plant controls. rate, LSS (layer setting ser- good point regarding the infor all milking robots and re-
In order to be able to vices and protocols) is used troduced milking robot in the lated equipment in the barn,
operate with maximum flexi- as specified in CiA 305. beginning of this article. Yes, such as selection gates.
bility, Schunk has developed Communication speed is 1 the robot is quite an invest- Jean-Philippe Côté, a farm-
an electric quick-change Mbit/s. Two CAN network ment. But it is not just the ini- er from Canada, said: “With
module for this project, cables, one for EIA-232 with tial investment that counts, the Lely Astronaut the effi-
which puts the robot into po- one 5-pin M12 connector, but all costs in the years to ciency of production costs
sition to flange other tools in- and one 9-pin D-sub con- come. The company claims such as water, soap, elec-
stead of the gripper hand, for nector (to connect to a ro- the system only requires a tricity and feed is excellent.”
example a cordless electric bot control device) are used maximum of four mainte- Cindy Weissmueller
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Mechanical assistants with
Table of contents

morning. They have to look after their cattle, feeding and
milking them. Until now: Thanks to a milking robot, the
cows milk and feed themselves.
Applications
Loop detectors for traffic light systems 16
Lock and load: LEVs for public infrastructures 28
Stability of mobile construction machines 34
Imprint
Publisher
CAN in Automation GmbH
Kontumazgarten 3 System design
DE-90429 Nuremberg
CANopen in the frontline of openness 44
[email protected]
www.can-cia.org
www.can-newsletter.org
Tel.: +49-911-928819-0
Tools
Fax: +49-911-928819-79
CEO Holger Zeltwanger
AG Nürnberg 24338 Tips and tricks for the use of CAPL (part 2) 10
Printed in Germany Decoding data from a vehicle's CAN network 12
Hard copies: 3000
Soft copies: 3000 CAN as trace source 40
Editors CAN FD: Measuring and reprogramming 48
([email protected])
Annegret Emerich
Cindy Weissmueller
Holger Zeltwanger Devices
(responsible according
to the press law) Implementing CANopen Safety I/O modules 20
Layout Combining Ethernet and CANopen 24
Nickel Plankermann
Advertising manager
Gisela Scheib
(responsible according
to the press law)
Distribution manager
Business
Julia Adolf CiA in Poland: only a few members 18
© Copyright
CAN in Automation GmbH
We are always looking for CAN-related applications; the more unusual, the better. So if
you read our articles and think: “My application is at least that remarkable,” please let us
know. You can share your idea with over 6000 Newsletter readers, and our next issue will
also be distributed at the SPS IPC Drives this November.
You can contact us easily at [email protected].

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Vector Informatik GmbH

Tips and tricks for the
Tools
use of CAPL (part 2)

The first part of this series of articles addressed fundamental concepts of the
CAPL programming language. This second part explains the time behavior of
event procedures.
Authors
T he second part also of-
fers tips for all types of
users so that they can work
in CANoe and CANalyzer
as well as signal values
that represent a data in-
within the current procedure
always returns the old value
even if the variable appears
more effectively with CAPL terpretation of the bus to be set to a new value
in the areas of "generic pro- communication. Special within the same procedure.
gramming" and "conditional databases perform the The advantage is that only
compiling." interpretation. Part 3 of one value change occurs at
this series will address a single point in time.
Execution model this concept. The execution model is
Event procedures are situation dependent: There
Marc Lobmeyer A key difference between atomic: The simulation mod- are many ways to use CAPL
CAPL and C or C++ relates el of CANoe is event ori- in CANoe and CANalyzer,
to when and how program ented. In event procedures, and so the execution model
elements are called. In C, CANoe executes all actions varies somewhat, too: The
for example, all process- simultane ously from the simulation nodes of a CA-
ing sequences begin with model perspective, namely Noe simulation are in paral-
the central start function at the point of in time of the lel on the bus. Hence, they
main(). In CAPL, on the oth- triggering event. The actual are completely indepen-
er hand, a program contains computation time on a real dent from each other. Trig-
an entire assortment of pro- PC is ignored. gered events are always
Roman Marktl cedures of equal standing, Simulation time and dispatched to all programs.
each of which reacts to ex- time stamp: However, a In contrast, nodes in the
Vector Informatik GmbH ternal events: real event generated by measurement setup and in
Ingersheimer Str. 24 Triggered by the system: the PC, such as a bus out- CANalyzer are processed in
DE-70499 Stuttgart These events include put by output(), gets a time sequential order: Each node
Tel.: +49-711-80670-0 those that are useful for stamp of the real-time clock. passes its output to the
Fax: +49-711-80670-111 initializing and post-pro- The sequence and time next. Incoming events must
cessing the measure- points of these events can be passed to the next node
Link ment run: on preStart, be influenced by bus proto- explicitly for further pro-
www.vector.com on start, on preStop and cols, driver, and hardware cessing. The procedures on *
on stopMeasurement, as properties. and on [*] are provided for
well as the time control On a simulated bus, this purpose.
and keyboard events on some of the mentioned in- Another type of pro-
timer and on key. fluencing parameters are gram is a test program
Triggered by bus com- eliminated. In this case, bus whose test procedures can
munication: There are events are initiated simulta- wait for external events.
many different types of neously; in the case of CAN, CAPL resumes execution
event procedures that for example, this leads to a with the simulation time of
react to bus events such dependable arbitration of such events. In contrast,
as those related to com- multiple messages that are waiting in normal event pro-
munication or error han- output by output(). cedures stalls the entire
dling, and they are very Updating system vari- simulation system. This is
dependent on the bus ables: Users can also use a frequent source of er-
type. Examples of these CAPL to modify environ- rors when CAPL is used. It
CAN Newsletter (print) are on message and on ment or system variables is therefore inadvisable to
Tips and tricks for the use busOff in CAN and on fr- that are visible outside of use a busy-wait or wait com-
of CAPL (part 1) Frame and on frStartCy- the program. CAPL does mand in an external DLL.
cle in FlexRay. not propagate value chang-
Triggered by access to a es to a variable until after Efficient programming
Value Object: Such ob- the current event process- in CAPL
jects include system and ing is finished, but with the
environment variables same time of the just han- The preprocessor is a pow-
that are globally available dled event. A read access erful tool in the C language,

but it can also lead to con- stopMeasurement may co- may be used freely within They are #if, #else, #elif or
fusion and consequently exist in both the included string constants, identifiers #endif. Within a program,
to errors. Therefore, only file and the parent file. In for variables, and function they allow distinguishing
a subset of the well-known these functions, the code names. They always begin between the program types
preprocessor directives in is executed sequentially: and end with a % character, simulation node, measure-
C is offered in CAPL with first the code from the in- and they are primarily used ment node and test
comparable semantics. cluded file and then the to write generic programs. program as well as the
#include: Include files code from the parent file. Available code macros CANoe version that is used.
contain arbitrary but com- This means that the Include include the node name, in- Here is an example that
plete sections of a CAPL files are used to perform dex of the current channel, uses a #pragma message:
program: includes, vari- three tasks: declare data name of the current network
ables and procedures. In types, define variables and and the type of bus being #if (TOOL_MAJOR_VERSION
contrast to C, the text of provide an (inline) function used. The code can access == 7 && TOOL_MINOR_VERSION
an include file is not sim- library. the name of the containing == 5 && TOOL_SERVICE_PACK
ply inserted into the CAPL #pragma library: CAPL file with %FILE_NAME%, < 2) || CANALYZER
file, rather the sections. All programs can use Win- or it can access the name #pragma message("This
sections of the included file dows DLLs created in oth- of the program file cur- program needs at least
apply to the entire parent er languages, as long as rently being compiled with CANoe 7.5 SP 3")
CAPL file "as if" they were they implement a suitable %BASE_FILE_NAME%. In #endif
contained in that file. The CAPL DLL interface. These the case of Include files,
sequence of sections is ir- DLLs can be directly linked the latter is the parent #pragma message: The
relevant in CAPL anyways. with the directive #pragma file. Here are two simple #pragma message directive
This means the compiler library("capldll.dll"). examples: lets users output their own
reports any duplicate sym- Macros: In CAPL, there message during the com-
bols as an error. Moreover, are a number of predefined write("The node name" piling process, e.g. the
code and data from includ- macros that are available to " is %NODE_NAME%"); version number of the cur-
ed and parent files may use users for use in the code or @Ch%CHANNEL% = 1; rently compiling CAPL pro-
each other mutually. One for conditional compiling. gram. It appears together
exception to the just stat- Macros for use in the code There is a separate with the other messag-
ed prohibition of duplicate can be used anywhere in set of predefined macros es, warnings, errors, and
symbols is that on start, on the code without restriction. for the conditional com- general messages of the
preStart, on preStop and on In contrast to C, macros piling of code sections. compiler.
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› Optimal PLC connection via fieldbus, all diagnostic data in the controller, et +
me
All
ducts already
p ro
safety and standard signals mixed

ducts already
› Universally expandable with Safety I/O Modules + Standard I/O Modules in

pro
All
me
+ et
the
IP20 or IP67, Speed Monitors for up to 40 axis, Safety Relay Output Modules
n ew s t a n d a r d
More information on your application safety at:

www.bihl-wiedemann.com
Decoding data from a
Tools
vehicle’s CAN network

One of the most difficult questions for CAN tool suppliers is “How do I decode
the data from my car?” Depending on the application and level of expertise
of the questioner, there are many answers.
Author
T o the novice user, it is dif-
ficult to know what data is
easily accessible. Even en-
the vehicle manufacturer
for those proprietary defini-
tions.” Manufacturers create
because there is a message
framework, referred to as
a service, defined for non-
gineers that work on target- their own definitions for data legislated messages within
ed areas of vehicles, such as in these messages and do ISO 14229 Road Vehicles –
calibration, are unsure as to not publish the database. Unified diagnostics services
what data is available on the For users with a higher level (UDS) and ISO 15765 Road
CAN network or how to de- Vehicle – Diagnostic com-
code it. There is a series of - munication over Controller
questions to determine if a neering or searching the In- Area Network (DoCAN) stan-
Cyrilla Jane Menon solution is possible for their ternet for a database solution dards. But the data is main-
Accurate Technologies Inc. needs. might be appropriate. But in ly proprietary definitions from
47199 Cartier Drive Do you want to decode most cases, CAN tool sup- automotive companies. As
US-Wixom, MI 48393 normal messages or diag- pliers sign Non-Disclosure an example, a service tool
Tel.: +1-248-848-9200 nostic messages? There are Agreements (NDAs) and can- will use a specific service
Fax: +1-248-848-9216 two major functions of net- not provide the database of to request information from
cmenon@accuratetechnologies. working in cars: system and definitions. an ECU, like Service 0x23 -
com diagnostic. The original us- Is the diagnostic data ReadMemoryByAddress. It
age for networks on vehi- non-emissions-related (non- is easy to construct the CAN
Link cles was for diagnostics, but legislated) or emission- message requesting the data
www.accuratetechnologies.com the majority of messages related (legislated)? The of any memory address, but
seen today on a vehicle net- non-legislated (or enhanced) the definition of the data at
work are for systems usage diagnostic data supports ser- that address is unknown –
– information sharing and vice repair applications, while and varies from vehicle-to-
control. As an example, the legislated (OBDII, E-OBDII) vehicle. For these messages,
engine broadcasts its speed diagnostics contain the emis- once again, the answer is:
message for display on the sion-related information driv- “Please contact the vehicle
instrument cluster or to trig- en mandated by individual manufacturer for those pro-
ger the door locks to engage. governments for cars sold in prietary definitions.”
If the desired informa- their countries. Do you only need data
tion is embedded in the sys- It is easier to work with readily available on the net-
tem messages, then the easy non-legislated diagnostics work? The legislated OBDII
answer is: “Please contact rather than system data, data called PIDs (parame-
ter IDs), while limited, is the
easiest to obtain. The re-
quirement of OBD (On-Board
Diagnostic) systems is to
give the vehicle owner or re-
pair technician access to the
status of the various vehicle
sub-systems. OBDII uses
master-slave communication,
with the off-board tool acting
as the master, or requestor.
It is important to know that
-
pear on the network; it has
to be requested every time
used must be able to send

these requests.
Figure 1: The ELM327 hardware interface and its available For novice users,
displays for data such tools exist and are

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Tools
Figure 2: CANLab script display resulting from the Alt-S command
readily available on the mar- and viewing OBDII data the preferred database. CANLab Trace window to de-
ket. Some are cheap and relatively easy. The user then has to add termine the response time,
inexpensive, such as the One example CANLab the identified database to the request rate can be ad-
Torque Android App using an script that ships with CAN- the CANLab project. The justed to smooth out the data
ELM327 hardware interface. Lab allows users to emu- PID list also needs to be request.
This easy-to-setup interface late an OBDII tool easily. But configured in the script. Vehicle networking so-
displays live OBD engine again, OBDII has some vari- Alt+P starts/stops lutions continue to evolve.
data on a phone or tablet. It is ances that need to be under- requesting the PIDs While some networks were
highly graphical and requires stood by any tool, such as, discovered. adopted from other indus-
no low-level bit-byte knowl- setting up the PIDs, adjusting The default (and most tries, CAN was specifically
edge at all. the CAN ID, and choosing the commonly used) CAN IDs designed for automotive and
More advanced us- proper message send rate. used in the CANLab script has had staying power. The
ers would be interested in a It is important to know are 0x7DF for the request most notable recent change
CAN analyzer tool to gath- that not all vehicles support and 0x7E8 for the response, is the latest addition of the
er PID data, perform analy- all PIDs, so discovering what but it may be necessary to Ethernet physical layer; in-
sis, and port it into different is supported is the first prior- adjust these CAN IDs as well. cluded in ISO 14229-2 as the
applications. For example, ity. The decoding of the data The request CAN ID can be diagnostic communication
Accurate Technologies Inc. is also variable, so this CAN- changed in the script, while over Internet Protocol (DoIP).
(ATI) also offers a CAN de- Lab example is supplied with the response CAN ID is not- Another on-going de-
velopment software solu- six database options. Once ed in the database. ` velopment is WWH-OBD, or
tion, the CANLab Network the script is running there are The other adjustable pa- the World-Wide Harmonized
Analysis Software. Work- two commands required for rameter is the message send On-Board Diagnostics, be-
ing with the ATI CANary viewing data: rate (defaulted to 50 ms in the ing specified in ISO 27145-2
hardware, Kvaser CAN In- Alt+S sends a Mode $01 program). Different vehicles and ISO 27145-3. Prompted
terfaces, or other CAN hard- PID 00 message request respond to OBDII requests at
ware to physically interface to determine which PIDS different rates. Typically, if the Technical Regulation (GTR),
with the CAN network, are available. The CAN- rate is too fast, many vehicles this specification is a fur-
CANLab comes with a Lab script displays the re- will not respond to a new PID ther merging of the legally
scripting application that sponse with the PIDs in its received while processing required and OEM-specific
can make requesting output window along with a previous one. Using the diagnostic contents – to be-
come the single communi-
cation standard for access
to OBD-related information.
This could significantly sim-
plify the viewing and under-
standing of ODBII data for
everyone.
Figure 3: Location of the Message request Rate, Request ID and Response ID in the
CANLab script

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Machine automation
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Transportation systems Tel. +49-8441-490260
Telecommunication systems Fax. +49-8441-81860
Join the CAN community and

Receive information on new CAN technology Get the CANopen vendor-ID and the CANopen
and market trends conformance test tool version 3.0 free-of-charge
Have access to CiA work drafts and draft Get credits on training and other CiA events like
standard proposals the international CAN conference
Participate in joint marketing activities
Exchange experiences and knowledge with Get credits on advertisements in some
other CiA members CiA publications
For more details please contact CiA office at [email protected]

www.can-cia.org
Loop detectors for
Applications
traffic light systems

Traffic lights have been around for exactly 100 years. While the first ones were
operated by hand, some of today’s traffic lights communicate via CAN and can
measure data of passing cars.
S warco has developed

loop detector devic-
es, which communicate via
inductive loops. It is an in-
ductive loop detector for the
connection of up to four in-
CAN networks. The IG746 ductive loops and was spe-
detects road vehicles, in or- cifically developed for traffic
der to classify them or to applications. CAN bit-rate
measure the speed. The and node address setting is
IG946CAN is a four-chan- the same as with the IG746.
nel loop detector and can Also the transmitted data is
be mounted on a DIN-rail. similar to the above-men-
The Loop-Master software tioned detector. Of course,
is used to put the detectors the same PC service soft-
into operation and for diag- ware can be used. Optional-
nostic and service purpos- ly the four-channel detector
es. provides, when using a dou-
The IG746 is an induc- ble-loop configuration, data
tive loop detector for the Figure 1: One of the first electric traffic lights in Germany: on the speed, length, and
connection of up to four in- Installed in 1924, the five-edge semaphore tower in Berlin driving direction of the de-
ductive loops and was spe- was equipped with lamps from Siemens operated by hand tected road vehicle.
cifically developed for traffic by policeman in the tower The detectors are also
applications. It comes with connectable to the Actros.
a CAN interface. The bit- circuit of the detector. Since parameters are stored in compact traffic light con-
rate is automatically recog- at any time only one loop a non-volatile memory troller via CAN. The com-
nized in the range of 10 to has current flow, the chan- (EEPROM). pact device is designed for
500 kbit/s when the traffic nels of a detector cannot in- The IG946CAN is used smaller junctions and pe-
light controller starts send- terfere with each other. for signal output in traffic destrian crossings. Due to
ing CAN messages. The If a metallic object is light installations via CAN further developments of the
node address is assigned located within the range of and switching outputs as Actros controller technol-
by means of pins on the teraction of the connected in- well as for traffic counting. ogy, the compact version
minal strip. duction loop, the frequen- The detector is designed features all original proper-
The CAN protocol is cy of the LC oscillator also for DIN-rail mounting and ties. Control cores and pe-
specifically designed for changes owing to reduc- includes an overvoltage ripheral modules such as
traffic control applications. tion in the loop inductance. protection module for the fault sensors and audible
Typically transmitted data This change is determined
includes detection status, by the detector evaluation
error status, and detection circuit and, if the turn-on
edges with occupancy time threshold is exceeded, a
respectively time gap. In busy signal occurs on the
the optional version for dou- switching outputs of the
ble loop systems additional channel (electronic relay
data such as vehicle speed, and open collector). Differ-
length, and direction are ent output functions, e.g.
transmitted. Via the CAN in- presence signal and pulse
terface parameterization of signal are possible.
the detector and firmware The detector is con-
updates are also possible. figured using the serial EIA
The detector process- 232 interface on the front
es the loops one after the of the unit. The PC service
other in a predetermined software Loop-Master pro-
sequence (multiplex mode); vides an operator interface
i.e. there is always only one for modifying and displaying Figure 2: In 1918, James Hoge was granted a patent on a
loop switched as induc- all parameters and diagnos- municipal traffic control system consisting of four pairs of
tance L to the LC oscillating tic values. The configured red and green lights (US 1 251 666)

100 years of traffic lights
On August 5, 1914, the American
Traffic Signal company installed an
electrical traffic signal system on the
CANopen extension
corner of East 105th Street and Euclid
Avenue in Cleveland, Ohio. It had two for SIMATIC® S7-1200
colors, red and green, and a buzzer,
based on the design of James Hoge.
The design allowed police and fire
stations to control the signals in case of
emergency.
Various competing claims exist as to
who invented the world's first traffic sig-
nal. In 1868 in London, a two-sema-
phore arm was installed that extend-
ed horizontally to signal "stop" and at
a 45-degree angle to signal "caution".
In 1912 in Salt Lake City, Utah, Lester
Wire, a police officer, mounted a hand-
made wooden box with colored red and
green lights on a pole, with the wires
attached to overhead trolley and light
wires.
Nowadays, modern traffic lights are part of traffic mon-
itor and management systems. Some of them use em-
bedded CAN networks, e.g. to connect loop detectors
and other devices to the cross-section controller.
IXXAT
“green light” signals for Expanding business
blind pedestrians can be in-
tegrated. The unit provides The Austrian enterprise re-
CM CANopen
24 outputs, which can be cently acquired Technical Communication module for connecting CAN-based
toggled and monitored in- Traffic Solutions (TTS), a
dependently of each other. Danish 35-employees com- field devices with the SIMATIC® S7-1200 world
Information can be import- pany. The activities of TTS
ed and requests can be tog- will be integrated with Swar-
gled via 12 inputs and four
Comprehensive CANopen functionality for
outputs. The control panel Hans Petter Ødegaard, Os- master or slave mode
is directly integrated into the lo-headquartered Swarco
front panel (as a default set-
Transparent CAN 2.0A mode for the support
up) where program and er- regards the acquisition as of alternative protocols
ror information is displayed. an important step to consol-
Operation via durable touch idating and expanding the
Easy PLC programming within the TIA Portal
sensors enables switching position in Denmark and be- using pre-programmed function blocks
on/off and the changeover yond: ”With the acquisition
of programs and control of TTS we have reinforced
Intuitive Microsoft Windows application for the
levels. Traffic engineer- our presence and prepared CANopen network configuration included
ing is generated via Lisa+, for further long-term growth
- in the Danish market. We
ming language, or via Java have achieved a constant
With CM CANopen HMS offers under the brand IXXAT a module for the
programming. annual growth in the Nor-
easy integration of CANopen and CAN-based I/O modules, drives or
Other products using dic ITS market over the past
sensors into SIMATIC S7-1200 controllers as well as in PROFIBUS and
CAN connectivity includes 10 years and are convinced
PROFINET networks.
the “Life” LED tunnel signs. that the acquisition of TTS
Another CAN-connectable will further contribute to this
device is the SCC-Air pro- development”. Swarco has
cessing unit. The ARM- also acquired the British
based controller runs Linux Also available: 1 SI CANopen
APT group based in Harrow
CANopen module with CAN 2.0A support for
and can be combined with (Middlesex). The 170-staff
SIMATIC ET200S decentralized peripheral systems
the Swarco Motorway Con- company is focused on
troller software. The KSR parking access control SIMATIC, STEP 7, TIA Portal and images of the S7-1200 and ET200S are intellectual property of
Siemens AG Germany and copyright protected.
public transport priority sys- and payment systems,
tem is also equipped with an electric vehicle charging,
embedded CAN network. etc. Holger Zeltwanger
HMS Industrial Networks GmbH
Emmy-Noether-Str. 17 · 76131 Karlsruhe
+49 721 989777-000 · [email protected]
www.anybus.com · www.ixxat.com · www.netbiter.com
CiA in Poland: only
Business
a few members
Currently, CAN in Automation (CiA) has three members with headquarters in
Poland: Diga, Obrum Gliwice, and Polchip. For several years CiA has supported
Obrum in organizing the biannual Polish CAN conference.
Links
www.diga.biz.pl
www.obrum.gliwice.pl
T his year the “Konfer-
enzja CAN” happens
for the 6th time on Septem-
www.polchip.pl ber 18th and 19th. For the
first time the event will not
take place in the health re-
sort town of Ustrón close to
the Czech and Slovakian
boarder but at the Arsenal
Palace Hotel in Chorzów,
which is a city in Silesia in
southern Poland, near Ka-
towice. Chorzów is one of
the central districts of the
Upper Silesian Metropol-
itan Union – a metropolis
Polish universities with a population of 2 mil- Figure 1: The CANstudio 3 is suitable for configuration,
lion. At the conference, diagnostic, and service purposes; it can interpret
have used CAN in CAN experts and newcom- CANopen protocols (Photo: Diga)
many academic ers gather to exchange
knowledge and experienc- up to date on what is new also offers CAN training
research projects. es. One of the main objec- about CAN and CANopen and R&D and is a distribu-
tives is to bring researchers all the time and also to get a tor of controllers from In-
and industries together. Ob- CANopen vendor-ID “free- tercontrol for mobile use
rum, member of CiA since of-charge”. This vendor-ID and CANopen products
2006, once again organizes is part of the object 1018 h from Microcontrol in Po-
the conference "Application and identifies the manufac- land. The application fields
of the CAN bus in military turer of a device uniquely. It are transportation (off-high-
and civilian technology" must be implemented in all way vehicles), manufactur-
providing a platform for ex- CANopen devices. Jacek ing (embedded machine
changing information be- Barcik also said another control), construction (road
tween representatives of reason to became a mem- construction machines,
three complementary ar- ber was to get access to all building construction ma-
eas of activity: industry, re- CiA specifications. Diga is a chines), agriculture, and
search and development manufacturer of CAN tools forestry (tractor, forest
centers, as well as scientif- and customized CAN inter- harvester). One of the
ic centers, and last but not face boards. The company
least producers/distributors
of devices and equipment
director Holger Zeltwanger

is a member of the program
committee of the confer-
ence and also a speaker.
At the 5th CAN confer-
CAN Newsletter Online ence in Poland, Diga pre-
5th CAN conference in Poland sented its CANstudio 3, a
CANopen analyzing and
configuration tool. After
asking Jacek Barcik from
Diga why the company be-
came a CiA member back Figure 2: The Ibis is a six-wheels robot for pyrotechnic and
in 2008, he said it was to be combat missions (Photo: PIAP institute)

CRUSB – CAN/USB con- This company also of-
verter. It is designed for
translating information from
fers tanks that use embed-
ded CANopen networks.
canAnalyser
CAN to data stream trans-
ferred via USB. Due to its
The PIAP industrial re-
search institute for auto- New Version 3
plastic casing and low ener- mation and measurements
gy consumption it is suited in Warsaw has developed
for use with mobile comput- several counter-terrorism
ers. The interface dongle robots, e.g. for removing
provides two precise time- explosives.
stamps both for received The 39-million people
and transmitted CAN country is quite interested
frames. A free-of-charge in CAN technology: 1,6 per-
CAN-Monitor and a DLL li- cent of the CAN Newslet-
brary are available. The ter Online readers are from
company also offers the al- Poland. This corresponds
ready mentioned CANstu- to place 13 in the worldwide
dio software tool, which list. “We know that some
can be used for configura- Polish companies use CAN
tion, diagnostic, and moni- in rail vehicles and in mari-
toring of CAN networks. On time electronics,” said Hol-
demand a CANopen node ger Zeltwanger from CiA.
and custom software pro- Pesa, for example, has de-
tocol are available. The tool veloped a diesel trainset
can be used in conjunction with embedded CANopen
with the CAN/USB dongle. networks. The company
With the tool one can build has also manufactured 120
a multi-nodes CAN network trams using CANopen net-
virtually and save it on disk. works for the city of Mos-
The third CiA member, cow (Russia).
Polchip, joined the nonprof- Cindy Weissmueller
it association in 2012. The
Powerful analyzing, stimulation, recording
company offers consulting, and data interpretation functionality
installation and service of
parking systems, and solu-
For CAN, CANopen, DeviceNet and SAE J1939
tions for parking manage- based systems
ment: for example single
space counting, license
New: Multi-board feature supports multiple
plate recognition, lightning CAN interfaces simultaneous
management. It also pro-
vides ticketing solutions for
New: Improved database concept and graphic
public and private trans- display of signals and statistic data
port and rail operations.
According to the compa-
New: Data transmission and
ny, it still plans to only use reception based on
CAN/CANopen in its park- signal level
ing systems.
Polish CAN
applications Also in combination
Poland, a member of the with the new
European Union since
2004, has some industries USB-to-CAN V2
using CAN networks. Pol-
ish universities have also For mobile analysis and configuration of CAN systems as
used CAN in many aca- well as for sophisticated simulation and control applications
demic research projects. Up to two CAN interfaces (optional low-speed CAN and LIN)
Two important markets are
military and civil service USB 2.0 Hi-Speed: Minimal latency and high data throughput
robots, which were present-
ed several times at CAN
conferences organized by
Obrum.
HMS Industrial Networks GmbH
Emmy-Noether-Str. 17 · 76131 Karlsruhe
+49 721 989777-000 · [email protected]
www.anybus.com · www.ixxat.com · www.netbiter.com
Implementing CANopen
Devices
Safety I/O modules

CANopen Safety is gaining acceptance in particular in mobile machinery.
TTControl specializes in electronic control systems for this application
field and has developed an I/O module featuring CANopen Safety.
Author
Marc Weissengruber
Martin Lampacher
C ANopen I/O modules
can reduce the wiring
effort for sensors and ac-
TTControl - HYDAC International tuators, which are located
Schoenbrunner Strasse 7 far from the processing de-
AT -1040 Vienna vice. By using an I/O mod-
Tel.: +43-1585-3434-0 ule the wiring between log-
Fax: +43-1585-3434-90 ic and sensors/actuators
[email protected] is reduced to the CAN net-
work and the power sup-
ply. Aside from CANopen
Link functionalities, the logic
www.ttcontrol.com and control functions imple-
mented on the I/O module
are reduced to a minimum,
e.g. a PID controller for cur-
rent-controlled PWM out-
puts. Thus, the actual logic
(e. g. safety functions) is ex-
ecuted by the participants Figure 1: The CANopen Safety I/O modules are intended
of the CANopen network, for outdoor use in mobile machinery; they are certified for
which process the I/O data PL-d safety-applications (Photo: TTControl)
of the CANopen NMT slave
device, e.g. the CANopen configuration stored in the plication of the CANopen
host controller with NMT object dictionary. The CAN master, e.g. via Codesys.
master functionality. communication is handled The EDS file contains the
via a separated CANopen definition of the CANopen
CANopen I/O modules are stack, which also uses the object dictionary of the de-
implemented on the basis CAN driver of the platform vice and thus the descrip-
of their general-purpose drivers. tion of all available features
control units. The HY-TTC and configuration options of
30 family, for instance, is Integration and the I/O module.
the basis of the HY-TTC operation Once the EDS file is
30X family of CANopen I/O loaded by the CANopen
modules. Their general- The CANopen I/O modules host controller, the develop-
purpose control units are are delivered with ready- er simply chooses the de-
delivered with a C-driver li- to-run software and an sired I/O setup and fixes the
brary, which can be used by electronic datasheet (EDS data exchange between the
a custom application to con- file), which makes integra- master and I/O module by
trol the I/Os of the device. tion into a CANopen net- configuring the correspond-
The CANopen I/O work without any additional ing CANopen communica-
module implementation is development effort for the tion object. The inputs and
actually an application pro- I/O module possible. The outputs of the I/O mod-
grammed in C, which uses CANopen application of the ule can then be used as if
the existing drivers of the I/O module is essentially they were I/Os of the host
underlying platform. Figure an interface to the underly- controller.
1 depicts this concept: The ing general-purpose control
CANopen application (out- unit which implements error Configuration and
lined in blue) controls the detection and safety mech- operation
underlying hardware exclu- anisms. The I/O module is
sively via the existing driv- typically integrated into the The host controller can
ers of the platform (outlined system by loading the EDS configure the I/Os of
in green) basing upon the file of the device into the ap- the CANopen module by

writing the required con- CPU, signal-range checks
this...
figuration parameters to the of I/Os, monitoring of board
object dictionary of the de- temperature) and check the
vice via SDO (Service Data I/Os for errors (e. g. short-
Object) services. All config- circuit or open-load detec-
uration options of the de- tion) – the developer using
vice, including the configu- this I/O module is relieved
ration of a pin-functionality from this task. This reduc-
(e.g. configure the pin for es the development effort
use as digital output, PWM of the application on the
output, timer input or ana- CANopen host controller to
log input), modes (measure- a minimum.
ment of voltage, resistance It is only necessary to
or current if configured as check and monitor the sta-
analog input) and safety pa- tus of the used I/Os. Ad-
rameters (e.g. upper and ditionally, the NMT status
lower voltage limits of an is observed. Similar to the
analog input; the limits are pin values used to read in-
periodically monitored by put data and set outputs,
the device), are reflected dedicated entries exist in
by dedicated entries in the the object dictionary, which
manufacturer specific area contains the status of each
of the object dictionary. pin (e.g. pin is o.k., short
Similarly, dedicated circuit has been detected or
entries exist, which con- open load is present). The
tain the pin values of the host controller or other con-
CANopen I/O module. The nected CANopen devices
I/O device updates the en- can retrieve the status via
tries of the input process CANopen communication
data in the object diction- objects. Typically the I/O
ary periodically. The host module is configured to pe-
controller or other connect- riodically transmit the sta-
ed CANopen devices can tus data via PDO or SRDO.
retrieve these values via In addition to these
the corresponding CANopen manufacturer-specific entries
communication objects. Typi- the CANopen I/O modules
cally the I/O module is also support the error han-
configured to periodical- dling mechanism of emer-
ly transmit input data via gency messages as defined
PDO (Process Data Object)
or SRDO (Safety-Related
by the CANopen specifi-
cations. The devices gen-
Innovation 2014
Data Objects). erate EMCY (emergency)
Analogously, outputs messages in case of criti-
of the I/O module are con- cal errors such as short- One device fits all requirements of
trolled by writing the re- circuits (as specified in
quired set-points (such as CiA 401) or manufacturer- CAN bus diagnosis
the duty-cycle of a PWM specific events. An example
output or the level of a dig- for a manufacturer-specif- Mobile use
ital/voltage output) to the ic event of the CANopen
object dictionary using I/O modules is the
CANopen communication
objects. The I/O module pe-
activation of a protection
mechanism, which pre-
Physical and logical analysis
riodically checks whether vents the device from
the corresponding entries damage (input and output
have been updated and protection). Simplified evaluation system with
uses the set-points to con-
trol the output. Typically the
By implementing both
– the manufacturer-spe-
traffic lights and smileys
I/O module is configured to cific monitoring approach
receive these set-points via (retrieving status informa-
PDO or SRDO. tion by reading dedicat-
By the developers of CAN-Bus Tester
ed entries in the object MARKET LEADER
Diagnostics and dictionary) as well as the
error control error handling mechanism
of EMCY messages – the
The I/O modules autono- user has the freedom to
mously perform diagnostic choose which approach to
tasks (e. g. RAM-tests of the use.
www.gemac-chemnitz.de
Implementing a watchdog). The current- Requirements for the Instead, the safety
Devices
CANopen Safety ly available CANopen I/O system designer manual specifies a certain
modules feature a micro- sequence, which has to be
The HY-TTC 48X and HY- controller of the Infineon A safety manual is provided followed for the configura-
TTC 36X families are the XC2000 series. The HY- to the system integrator, in tion if the device is used in
TTC 48XS, for instance, order to ensure the correct safety-related systems:
Safety devices. The HY- uses the XC2287M micro- integration of the CANopen By default, all
TTC 48XS module meets controller, which features safety I/O module into the configurable pins of
the necessary safety re- an integrated ECC test to overall functional safety con- the CANopen devices
quirements of ISO 13849- protect the RAM and there- cept of the safety system. are disabled (set to
1. It has been certified for fore allows to assume that These requirements have to “not configured”). Thus
PL-d (performance level) all data in the RAM is pro- be fulfilled to reach the spec- the device has to be
according to ISO 13849-1 tected against bit-flips (the ified level of safety integrity. configured before use by
by TÜV North (Germany). device activates the safe- The safety manual writing the corresponding
The HY-TTC 30XSH and state in case such a bit-flip also includes requirements entries in the object
HY-TTC 30XSI safety vari- is detected). for the safe configuration dictionary.
ants are subject to certifi- Thus the main respon- of manufacturer-specific The device is configured
cation according to PL c of by using the general
ISO 13849-1. The CANopen Sensors / Actuators CANopen configuration
Safety I/O modules are (Safety) Platform sequence (such as for
based on single-channel PDOs), i.e. by using SDO
software architecture and services to write the
support safe communica- required settings to the
tion via CANopen accord- Diagnostic I/O object dictionary.
ing to EN 50325-5 via a sin- Modules Drivers In order to ensure that
gle CAN channel. the device has not
A fundamental part of CANopen received wrong values,
the safety concept of the Application e.g. due to bit-flips in the
CANopen I/O modules is CAN frames containing
the fact that they are de- the configuration data, all
veloped as pure software settings have to be read
applications on top of the I/O Module back and compared to
matching, certified gen- Application the desired settings. The
eral-purpose ECUs. The configuration has to be
majority of the safety re- repeated if there are any
quirements are implement- CANopen errors.
SDO/PDO
ed by this safety platform Safety Stack EMCY Once configured,
or SRDO
whose safety concept and the device has to be
parameters (e.g. assumed instructed to store the
safety function, perfor- configuration in its
mance level and diagnos- non-volatile memory
tics as well as safety critical CAN by writing the proper
system components) match Driver values to the CANopen
the ones of the CANopen parameter (1010h as
safety I/O module. specified in CiA 301).
The underlying cer- The device stores the
tified safety platform configuration redundantly
executes all diagnostic mea- CAN[open] traffic (e.g. configuration- or process data) and with CRC protection to
sures such as the required provide the proper error de-
fault-detection mechanisms Figure 2: Basic outline of the concept used for the tection. Upon start-up the
to achieve the required di- TTControl CANopen I/O modules (Source: TTControl) device checks the consis-
agnostic coverage as well tency of the configuration;
as internal checks of the sibility of the CANopen device parameters such during run-time the config-
CPU – independent of the application software is es- as pin-configurations and uration data is inherently
actual application. The safe sentially only to safe the modes, which are not cov- protected by the underlying
execution of the actual ap- CAN communication chan- ered by EN 50325-5. For safety platform (amongst
plication is also ensured by nel as specified in EN compatibility reasons be- others by periodic tests of
the safety platform by exe- 50325-5, e.g. by activat- tween safe and non-safe the RAM).
cuting internal tests of the ing the safe-state in case CANopen I/O modules as Specifying such a con-
CPU (such as periodic tests of a loss of communication well as third-party CANopen figuration sequence allows a
of the CPU registers, stack caused by a cable break on configuration tools the certain degree of flexibility:
checks, RAM tests and a the CAN-lines. The applica- CANopen I/O modules do In the prototyping phase of
CRC check of the flash) and tion uses single-channel ar- not require specific con- a system it is still easily pos-
by the ECU architecture chitecture, i.e. no software figuration mechanisms sible to even manually con-
itself (e.g. 1oo1D architec- parts are executed redun- (such as the calculation of figure the device. This would
ture with the correspond- dantly (neither in time nor CRC values) for the safe not be trivial if, for exam-
ing test equipment such as by software diversity). configuration. ple, it was required to write

a CRC calculated over the CiA 401 CANopen device parameter (object 1000h) References
device configuration to the profile CiA for all standard- the device-specific PDO [1] ISO 13849-1 (2006): Safety
object dictionary. It also fa- ized features such as digi- mapping bit is set. At the of machinery – Safety-related
cilitates the transition from a tal I/Os. They provide the moment, no pre-defined parts of control systems – Part 1:
normal CANopen I/O mod- required entries in the ob- SRDO mapping is speci- General principles for design
ule to a CANopen Safety ject dictionary and also im- fied in the CiA 401 profile.
I/O module. Also, the implement the specified error Therefore, the safety vari- [2] EN 50325-5 (2010): Industrial
plementation of such a control mechanisms. Fur- ants of the CANopen I/O Communications Subsystem
configuration sequence in thermore, CiA 401 spec- modules do not provide Based on ISO 11898 (CAN) for
a configuration tool is ex- ifies optional CANopen any pre-defined SRDOs, Controller-device Interfaces
tremely simple. Final- features such as inter- i.e. the devices do not send – Part 5: Functional safety
ly, the system designer rupt-driven transmission of any SRDOs if not explicitly communication based on
may decide to use a dif- PDOs. Only a subset of I/O configured. EN 50325-4
ferent mechanism to modules implements this
verify that the device feature. [3] CiA 301 (2007): CANopen
is correctly configured, e.g. CiA 401 also speci- Application layer and
by executing run-time tests fies an optional standard- communication profile
via a CANopen host ized PDO mapping, in
controller. order to provide plug-and- [4] CiA 305 (2008): CANopen
play functionality. This is Layer Setting Services (LSS)
Compliance and advantageous for devices and protocols
device classification with limited configuration
options. But the prod- [5] CiA 401 (2008): CANopen
The CANopen I/O mod- ucts feature a high-degree Device profile for generic
ules comply with CiA 301 of configurability, which I/O modules
and CiA 305. The safety makes it very unlikely that
variants furthermore com- a pre-defined PDO set-
ply with EN 50325-5. All of up matches the actual re-
quirements of a system.
I/O modules are classified This does not violate the
as “generic CANopen I/O CANopen conformity be-
modules” according to the cause in the device type
Combining Ethernet
Devices
and CANopen
Whenever data needs to be communicated between a serial bus system and
Ethernet, gateways provide the bridge. This solution is controlled via TCP/IP
and supports CANopen PC cards as DIN-rail mountable devices.
CANopen
Ethernet
Author
N ethost, the latest gate-
way from Hilscher, of-
fers a totally different
replacement for conven-
tional integrated serial bus
system solutions.
er level of performance not
often needed.
approach to convention- to be industrial-standard

al solutions. Controlled Ethernet and Ethernet? In most cas-
via native TCP/IP, it sup- so-called fieldbus es, maintaining the serial
ports the full feature set hand in hand bus system still in combi-
nation with the simple of-
CANopen PC card in ac- The use of Ethernet for es- fice-standard Ethernet
cordance to CiA 301 but as tablishing a modern com- results in a sufficient so-
Armin Beck a DIN-rail mountable de- munication infrastructure lution too,“ commented
Hilscher GmbH vice. offers high potential sav- Armin Beck, product man-
Product Manager ings. Transparency of the ager for gateways at
Rheinstraße 15 CANopen I/O's within a system, uniform wiring Hilscher, on the seemingly
DE-65795 Hattersheim millisecond without re- standards, simple redun- inevitable change. Indeed,
Tel.: +49-6190-9907-0 quiring an own designat- dancy concepts to avoid it can make sense to con-
Fax: +49-6190-9907-50 ed CANopen connection”, downtimes and short pro- tinue using the potential of
[email protected] would be a convincing ad- cessing cycles in combi- the already available serial
vertising message for a nation with high determin- bus system. For example,
Link PLC system offering only istic are only some of the strict real-time response
www.hilscher.com an Ethernet interface by advantages of the Industri- is usually only required
design, while still provid- al Ethernet. Unfortunately by motion control applica-
ing full access to CANopen though, machine designers tions. In more than 95 % of
CAN Newsletter Online nodes devices. Nethost have to choose between 6 all other applications it is
CANopen in industrial automation different Industrial Ethernet completely irrelevant. Pro-
CANopen interface as an protocols competing on the cessing cycles lower than
Ethernet node. Thanks to market in the meantime. a millisecond is only in very
the simplicity of the TCP/ Implementing and support- few cases required. Neth-
IP protocol and the high ing any of them calls for ost is a feasible solution
transmission range of 100 high up-front investments for all applications, where
Mbit, this is a suitable in order to gain just a high- machine control via serial

bus system has proved to
Devices
be a reliable concept and

now intended to be op-
erated remotely via Eth-
ernet. It offers latency as
low as 1 ms and the sup-
port of simple TCP/IP. The
bandwidth of the 100 Mbit
Ethernet is sufficient to al-
low safe simultaneous ad-
dressing of up to five such
devices via one Ethernet
line, which was proven by
measurements.
Protecting
investments in serial
bus system devices
When looking at its sales
history, Hilscher observes
a clear trend towards Eth-
ernet. Demand has ris-
en considerably especially
during the past two years.
Yet, with a market share of embedded systems connectivity to and control of serial bus systems over Ethernet
over 70 %, serial bus sys- (Photo: Hilscher)
tem technology still holds
a strong position and will one by one, enabling its re- Supported are SDO com- example CiA 309 does not
continue to exist for many mote control over Ethernet. munications and NMT cover, bringing the underly-
years. This also means that Nethost, however is differ- master operations. Nodes ing CANopen system into a
machine manufacturers will ent and not just a simple emergency messages are safe state when the Ether-
need to support both sys- server. It includes a fully collected node wise in diag- net application dies.
tems for quite some time, featured CANopen master nostic buffers requestable The coding logic is
which the company took as that runs autonomously by the Ethernet applica- provided by Hilscher as
and takes care of all config- tion as well. If necessary part of a C source code.
discussing the concept for ured transmit- and receive- is it also possible to trans- It is projected to a socket
the new product, protect- PDOs of its nodes by itself. mit and receive pure CAN interface and is therefore
ing investments was of pri- All these PDOs then are of- telegrams to the network at compatible with any TCP/
mary importance to us,“ fered in a compressed pro- any time by using COB-ID IP stack. On the side of the
cess data output and input filtering. application, it is abstracted
was therefore not our goal image, a single Ethernet to a simple procedural se-
to simply replace the seri- service grants access to. Short time-to-market rial bus system indepen-
al bus system with indus- With the simplicity of this dent API interface. Simple
trial Ethernet. Instead, we interface a Nethost user TCP/IP as such takes care functions, such as open,
wanted to combine both of safe transmission from close, reset, send, receive
technologies in a simple CANopen services, the pro- and to the Nethost. The or I/O-exchange guaran-
way to address a wider tocol handling and the con- transparently transmitted tee a fast learning curve
market and allow custom- figuration. This enables the telegrams are coded and to allow shortest-possible
ers to continue using prov- effortless integration into classified depending on integration times. Based
en field devices.“ The ide- conventional PLC systems their purpose, adding only upon the RPC principle,
al of a gateway based upon used to operate with cyclic a few bytes to the header functions are decoded in-
TCP/IP was born. IO images anyway. Nethost of the telegram. The cod- side the device and pro-
The CiA organization furthermore maintains no ing is Hilscher specific. Us- cessed remotely. In order
as well took account of the CANopen object diction- ing the standard proposals to make it easy for embed-
Ethernet trend and devel- ary to be configured over CiA 309-2 or CiA 309-3 for ded programmers as well,
oped the standard CiA 309 CiA 309 services. Much encoding the services over a DLL allows immediate
dealing with the subject of simpler: the configuration Modbus TCP or ASCII does use of the Nethost under
“Interfacing CANopen with is done as a whole and in not go far enough. Nethost Windows, while a C toolkit
TCP/IP”. As an immedi- one step with a graphical is pursuing a global and se- shows a sample implemen-
ate result, a few Ethernet configuration tool. rial bus system indepen- tation under Linux.
to CANopen gateway serv- Apart from the PDO dent approach over all its -
ers emerged on the market transmissions the CANopen supported serial bus sys- cess functions confirm to
redirecting and forwarding Nethost supports various tems such as Profibus, De- the Hilscher platform strat-
TCP/IP coded CANopen CANopen specific servic- vicenet and CANopen. A egy and follow the basic
commands to the under- es as well that can be in- Nethost supports a watch-
lying CANopen system structed over Ethernet. dog function, which for everything works“ just like

with Hilschers PC cards. Future steps
For example, exchanging
the Windows PC cards DLL The next step of the devel-
against the Nethost DLL opment of Nethost is al-
allows exchanging both ready under way. In the 3rd
product ranges without any quarter of the year, Hilscher
need to change the appli- will present three new mod-
cation program. Both DLLs els of its Nethost range on
have the same API. What- the market. The already ex-
ever was formerly con- isting models for CANopen,
trolled locally over a PC, Profibus, and Devicenet
can now be controlled re- will be complemented by
motely via Ethernet direct- models for Profinet, Ether-
ly from the process control cat and Ethernet/IP Master.
In this way, Hilscher reacts
turns Nethost into a ded- to an increased demand for
icated PC card for the TCP/IP applications in the
switching cabinet. For sys- real-time Ethernet world. In
tems without PC card slots, general all models are con-
it even turns into a direct re- figured via a serial bus sys-
placement for PCMCIA PC tem-independent uniform
cards for example,“ Beck FDT/DTM-based configu-
commented on the access ration tool. In situations,
via the Ethernet and added: where an engineering tool
of the target system al-
supports our PC cards, ready exists, open config-
it will automatically also urations via standardized
support the operation of a XML files are an alternative
Nethost.“ offering increased trans-
Hilscher was able to parency. XML schemes
win two of its long-stand- turn the configuration data
ing customers to integrate into the correct format and
Nethost into their solutions. can be loaded into the Net-
For many years, these host after conversion into
companies had ordered a binary file. In this way,
high quantities of PC serial the device can be fully
bus system cards to control integrated into any target
their peripheral compo- system.
nents. After 15 years, how-
ever, both of them
announced to work on a
new generation control so-
lution, which offered more
compact dimensions in
combination with increased
flexibility, but could only be
addressed via standard
Ethernet interfaces. Yet,
they did not want to give up
support of established se-
rial bus system technology
and looked for a migration
path to their new product
generation. Using a con-
ventional TCP/IP stack
and a standard Ethernet
controller, while utilizing
existing programming ex-
perience, these companies
were able to offer system
integration within a mini-
mum of time. Today, they
are in a position to serve
both the existing base of
serial bus system custom-
ers, as well as new Ether-
net customers.
Lock and load: LEVs for
Applications
public infrastructures
Pedelecs, e-bikes, and other LEVs (light electric vehicles) are gaining
acceptance: China is the biggest market with 28 millions sold in 2013.
In Western Europe only 500 000 pedelecs will find a buyer this year.
Links
www.bosch-ebike.de Figure 1: One-stop-shopping – Bosch is
www.brose-ebike.com the market-leading supplier for electric
www.conti-ebike-system.com and electronic pedelec and e-bike
www.emtas.de components, most of which provide CAN
www.pironex.com connectivity (Photo: Bosch)
www.ridebionx.com
www.shimano.com
www.stromerbike.com
www.transxpst.com
Bosch's success
has made other
M ost of the pedelecs
(pedal electric cycle)
developed and produced in
a technical specification of
the CAN communication
between charger and bat-
enterprise: the company pro-
duces 32 millions of elec-
tric tools and 80 millions of
automotive suppliers Western countries use CAN tery. CiA has submitted the small motors for use in pas-
communication to integrate related parts of its CiA 454 senger cars. Nevertheless,
interested in the LEV motor, battery, charger, HMI, CANopen application pro- the German company is in-
market. and other electronic units. file for energy management vesting into the pedelec fu-
Most of the Chinese ones systems. This includes the ture. Recently, the Active
battery, the AC/DC convert- line and the Performance
offer no safety at all: Some er, and the DC/DC converter line of drives for pedelecs
batteries blow-up and burn- with all the necessary pre- (up to 25 km/h) respective-
down cottages and houses. defined PDOs. The CiA 454 ly for e-bikes (up to 45 km/h)
This would be a “no-go” in profile also intends to spec- have been launched. Avail-
Western countries. ify the CANopen communi- able next year, they substi-
Today most pedelecs cation of embedded pedelec tute the Classic line drives,
are charged at home us- units such as motor, lock, which are no longer compet-
ing the charger coming with HMI, and gateways to other itive. The production facility
the battery. But the future communication systems. is in Miskolc (Hungary).
may look different: Several The success of Bosch
tourist regions are prototyp- Bosch: dominant in the pedelec business has
ing pedelec rental systems supplier in Europe made other automotive sup-
including public charging pliers interested in the LEV
stations (e.g. Tegernsee in markets. Continental, an-
Bavaria). The same is hap- drive about 300 000 LEVs other German car supplier,
pening in some cities (e.g. in Europe. This is a market will start mass production of
Rostock, Barcelona, and share of about 25 percent. electronic units for battery-
Related article Copenhagen). For such The market-leading automo- powered two-wheelers soon.
Energybus: an open public charging infrastruc- tive supplier started in 2009 The company offers a com-
specification for LEVs tures, standardized solu- with the pedelec business. plete drive system consist-
tions need to be developed. Engineers from the electric ing of motor, display, control
The IEC has already start- tools business and the au- unit and battery. This mod-
ed a standardization activ- tomotive departments joined ular system is positioned in
ity: Under the IEC 61851 forces. In global terms, the the premium segment and is
series the IEC technical pedelec business is still a smaller, more powerful, and
committee 69 will publish very small part of the Bosch lighter than other concepts

currently on the market. of systems integration. The operated at a central service and values to a new market in
The motor itself is small. It nature of the frame makes center in Frankfurt. Training exactly the same city where
weighs just 3,4 kg and is in- this a very important issue in courses specially tailored Max Brose founded his first
tegrated right into the frame. the case of bicycles. Manu- to the needs of manufactur- company in 1908," said Mi-
This makes for a particularly facturers who opt for Conti- ers and dealers will start in chael Stoschek, Chairman of
harmonious activation of the nental drive systems do not spring 2015. In 2015 at the the Brose Group. "Our aim is
system and enhances rid- have to alter the length of latest, users will be able to to become the No. 1 supplier
ing comfort. Bicycle manu- their standard frames." Con- buy LEVs equipped with the in the premium segment by
facturers can configure the tinental designed the sys- system. The goal is to gar- offering top technology and
system according to their tem together with its partner ner a two-digit share of the quality, and then gradually
needs. For instance, batter- Benchmark Drives and is e-bike and pedelec market. enter the classes below. The
ies are available for installa- developing it for serial read- Brose, a German man- expectations are high and
tion on the luggage rack or iness. In the meantime, Con- ufacturer of electric motors encouraged the other share-
on the lower tube and in vari- tinental bought its partner. for the automotive indus- holders and me to take this
ous capacities as well. Con- After a successful sampling try, is also entering the LEV step and create the neces-
tinental will set up a service by OEMs, Continental will market. In July, the com- sary technical and personnel
network of its own to actively start production in the fourth pany started serial produc- conditions," he added.
support OEMs and dealers. quarter of 2014. Of course, tion of LEV motors in Berlin Over the last three
"Our customers in the the embedded network is (Germany). According to the years, Brose's engineers
two-wheel industry obtain an CAN-based. Information from company, it is the only suppli- have developed the drive
optimally tuned benchmark the CAN-based system can er of drive systems "Made in system for e-bikes based
system composed of high- be accessed with compli- Germany". The first custom- on its steering motor for ve-
quality components," noted mentary software. Informa- ers include Bulls and Pega- hicles that had already been
Regina Arningfrom head of tion on performance data, sus (both ZEG) and Rotwild. produced millions of times.
the Contitech Power Trans- charging processes and Brose has invested ¤3,4 In the beginning, they partic-
mission Group. This depart- user behavior will support million in the set-up of pro- ipated in the CiA 454 speci-
ment has been developing system analysis and main- duction capacities. "Today fication group. The launched
and manufacturing drives for tenance. Technical support clearly marks a significant drive still provides CAN con-
motor vehicles, motorcycles is available through a ho- milestone in Brose's histo- nectivity, but the messages
and machine engineering tline providing information ry as we celebrate for the are proprietary, because in
applications for many years. about products and sourc- first time the transfer of our CiA 454 there is no drive in-
"Our strength is in the area es of supply. The service is group's technical expertise terface specified yet.
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chin JETZT
JETZT
ANMELDEN!
ANMELDEN!
www.elektronik-im-fahrzeug.de
www.elektronik-im-fahrzeug.de
6.6.
VDI-Tagung
VDI-Tagung
mit
mit
Fachausstellung
Fachausstellung
++Spezialtage
Spezialtage
IHR
IHRMARKTPLATZ
MARKTPLATZFÜR
FÜRELEKTRONIK
ELEKTRONIK
BADEN-BADEN
BADEN-BADENSPEZIAL
SPEZIAL2014
2014
23.23.
undund
24.24.
September
September
2014
2014
imim
Kongresshaus
Kongresshaus
Baden-Baden
Baden-Baden
TOP
TOPTHEMEN
THEMEN IHR
IHRTAGUNGSLEITER
TAGUNGSLEITER
Anforderungen
Anforderungen ananHMIHMI
durch
durchkünftige
künftige
Innovationen
Innovationen Multicore
Multicore– Ziele
– Ziele
und
und
Herausforderungen
Herausforderungen
in in
Rechtliche
Rechtliche Rahmenbedingungen:
Rahmenbedingungen: Mensch
Mensch und
und
Maschine
Maschine imim
Straßenverkehr
Straßenverkehr Fährt
Fährt
dasdas
automatisierte
automatisierte
Automobil
Automobil sicher
sicher
mitmit
HMI
HMIfürfür
hochautomatisierte
hochautomatisierte Fahrzeuge
Fahrzeuge– von
– von
derder „Consumer“-Halbleitern?
„Consumer“-Halbleitern?
ersten
ersten
Idee
Ideebisbis
zurzur
Erprobung
Erprobung imim
Fahrzeug
Fahrzeug Perspektiven
Perspektivenund
und
Lösungen
Lösungen fürfür
denden
Einsatz
Einsatz
hoch-
hoch-
Ergonomische
Ergonomische Aspekte
Aspektederder
zukünftigen
zukünftigenFahrer-
Fahrer- integrierter
integrierter
System-on-Chip-Bauelemente
System-on-Chip-Bauelemente in in
sicherheitsrelevanten
sicherheitsrelevanten
Fahrzeug-Steuergeräten
Fahrzeug-Steuergeräten Dr.-Ing.
Dr.-Ing.
Wolfgang
WolfgangRunge
Runge
Fahrzeug-Interaktion
Fahrzeug-Interaktion
Runge-Consult,
Runge-Consult,
Ravensburg,
Ravensburg,
ehem.
ehem.ZFZF
Lenksysteme
Lenksysteme
GmbH
GmbH
prozessen
prozessen
ausaus
derder
Unterhaltungselektronik
Unterhaltungselektronik
imim
Automobilbereich
Automobilbereich
Veranstaltung
Veranstaltung
derder
VDIVDI
Wissensforum
Wissensforum
GmbH
GmbH
| www.elektronik-im-fahrzeug.de
| www.elektronik-im-fahrzeug.de| Telefon
| Telefon
+49
+49
211211
6214-201
6214-201
| Fax
| Fax
+49+49
211211
6214-154
6214-154
Similar to the devel- they also want to protect their
Applications
opment of cars, Brose has markets.

extensively tested the drive First OEMs start to take
in laboratories and done the open way, buying from
some driving tests under different suppliers and/or de-
extreme conditions in the veloping their own electronic
Alps, covering more than units. Stromer (Switzerland)
100 000 km since July is such an example, building
2013. Christoph Bantle high-end pedelecs based on
working with Brose stated: the CiA 454 specification. In
"Our motor runs virtually si- the high-end market, there
lent and vibration-free. The are also hobbyists creating
highly sensible sensor sys- their own bicycles out of me-
tem ensures smooth, yet chanical components, which
powerful pedal assistance, are highly standardized and
thus addressing different interoperable. They like to do
target groups. the same with electrical and
In addition to the in- electronic components. In
house manufactured drive, Internet forums they discuss
the company also offers how to re-engineer the CAN
customized complete sys- Figure 2: More big ones enter the market – Continental is communication (see insert
tems on request. Manufac- going to supply electronic units for pedelecs and e-bikes “Hacking CAN messages”).
turers can choose from a including drives (Photo: Continental) The market-leading suppli-
range of components re- ers were surprised about the
quired for the design of an CAN communication higher-layer protocol, which knowledge of those sophisti-
e-bike: from display- and prevails is why system designers cated end-users.
wiring-harnesses to fix- do not have the choice to There is also a trend
tures welded to the bicycle Like most of its competi- select units from different similar to the car indus-
frame. The batteries are tors Tranzx (Germany) has suppliers. Most of the OEMs try: In order to successfully
supplied by BMZ (Germa- implemented a CAN inter- are fine with this situation: sell vehicles, it is not suffi-
ny). It is possible to inte- face in its M25 central mo- They have no profound elec- cient to provide a drive sys-
grate the drive and battery tor. Via CAN the motor per- tronic background and ex- tem. The customers want to
into the frame depending formance can be steadily perience. They are me- have some other treats as
on the customer's require- monitored and errors can be chanical-driven companies well, e.g. connectivity to their
ments and to adjust the detected immediately. The and happy to buy a care- smartphones, an electronic
housing covers individu- Canadian BionX company free package from one single gear, and many more. Bosch
ally. The driving behavior supplies CAN-connectable supplier. The tradeoff: They has therefore teamed up
can also be customized: for units for pedelecs and oth- are dependent on one sup- with Shimano. Users can de-
instance, the delay in er LEVs including caddies plier. And the suppliers rein- cide whether they want their
pedal assistance activa- as well. The company start- force this development: “The gears to shift automatical-
tion and intensity can be ed with I2C-linked units, but charging of Lithium batter- ly in line with their cadence
varied depending on the switched to CAN as early as ies is so dangerous and elec- (Nu-Vinci, technology from
model. 2009 because of its superi- tronics is so complex, we Fallbrook) or speed (Sram),
In May this year, the or robustness and higher re- provide a safe turnkey solu- or to select the ideal gear
premium bicycle manufac- liability. As with most suppli- tion.” Some customers start themselves with the electri-
turer Rotwild presented the ers, the CAN communication to wonder if suppliers want cal assistance of paddles
versatile All Mountain R.Q1 is based on a proprietary to protect the end-user, or if and gear shifting recommen-
e-bike fitted with a com- dations (Shimano). These
pact mid-motor supplied built-in gear shifting compo-
by Brose. The battery is in- nents promise comfortable
tegrated in the supporting pedelec cycling along with
framework, enabling the a higher level of safety and
R.Q1 to retain its individu- a harmonious overall de-
al appearance and sporty sign. The electronic solution
handling, even in the hy- will be launched on the mar-
brid version. The mountain ket in Spring 2015 combined
bike with Brose drive will with the above-mentioned
be available this fall. At the Active line and Performance
same time, Brose will start line and the Intuvia on-board
supplying Bulls and Peg- computer.
asus models (both ZEG). What the solutions
Negotiations are underway have in common is that the
with other manufacturers. components are not only
According to Sven Bern- supplied with electricity
hardt from Brose, Conti- 3,4 kg and generates up to 600 W; this is obtained through and operated electronical-
nental is brand-labelling the use of weight-reduced, yet higher-strength materials ly but that a genuine data
drives by Brose. (Photo: Brose) interchange takes place via

The WAGO-I/O-SYSTEM 750 –
One System for All Applications!
CAN be connected to any fieldbus
CAN
750-337 750-338 750-347 750-348 750-837 767-2501 750-658
750-658 CAN Gateway:

t Gateway for all CAN protocols
t CAN 2.0A, CAN 2.0B
t Supports all CAN baud rates and autobaud
t Operating modes: sniffer, transparent, mapped I/O
www.wago.com
Applications
Figure 4: Stromer's ST2 provides 500 W of power and 35 Nm torque with a range of up to 150 km (Photo: Stromer)
CAN. This data interchange settings is available as an combined with a cassette developed this CANopen
enables coordinated and option. (with up to ten sprockets) profile. Energybus is also a
optimized gear shifting and The Shimano built- and shifts gear automatical- nonprofit association. The
shows the gear or cadence in gear system is suitable ly in three stages, subject official release of the new
that is currently in use on the for users who shift gears a to speed. Users can there- version took place in the
lot and enjoy shifting gears fore enjoy the ride, includ- Emtas facilities in Merse-
operating computer that can and like or prefer shifting ing the acceleration, leaving burg (Germany). Emtas is
be attached to the handle- gears fast. The system is the system to handle everyone of the active parties who
bar. It has a separate control based on manually operat- thing else. Even when start- developed the specification.
unit, which is also attached ed electronic gears in coming, the right gear is always The company also provides
to the handlebar and can bination with the Japanese in place. This version does a CiA 454 starter-kit and de-
be used without taking the not require extra control, the signs a CiA 454 test-tool
hands of. Alfine-11 or Nexus-8 inter- system functions on its own. on demand of the Energy-
The integrated Nu- nal hub gears, all of which Fewer components on the bus association. CANopen
Vinci technology is based can be controlled electroni- handlebars ensure an im- hardware for CiA 454 devic-
on a predefined pedaling cally via a Di2 adapter and proved overview and a lean- es is available from Piron-
cadence preference. The CAN. While shifting gear, er appearance. ex. The hardware is used in
H|-Sync gear system, con- the motor is throttled brief- public charging stations in
nected to the e-bike system ly, which makes the pro- Operating pedelec several German cities (Bre-
via the Bosch interface, ad- cess gentler and smoother. fleets men, Chemnitz, Hanover,
justs the transmission au- and Rostock). The compa-
tomatically to the preferred CAN-based solution. The Operators of pedelec fleets ny also offers an Energybus
cadence, both uphill and on above-mentioned adapter are also in favor of open in- CAN-logger device and oth-
the level. Even when cycling is a bridge/gateway device. terfaces. In particular, they er products supporting the
uphill, the system adjusts are interested in a generic CiA 454 specification.
the gearing automatically. CAN communication were charging infrastructure. The Hannes Neupert from
Thanks to H|-Sync the ped- standardized. German post administra- Energybus said: “The idea
aling cadence can be ad- The Shimano controls tion runs a fleet of more than
justed to between 30 and 80 have a sporting feel to them. 6000 pedelecs, which will
revolutions per minute via Paddles enable the user to be increased in the near fu-
the display and the Bosch shift gear up or down swift- ture. The German DB Bahn
Remote. The cyclist speci- ly. The gear that is in use is railway administration buys
fies gradually how intensive- shown on the display. For the pedelecs that their custom-
ly he or she wants to pedal. first time the system incorpo- ers can rent. Same situation:
The seamless N360 hub en- rates the Bosch gear recom- two-wheelers from different
sures smooth gear shifting. mendation, which helps to brands need to be charged
H|-Sync dispenses with the make better use of the bat- at the very same station. In
Nu-Vinci display. The advan- order to overcome this, a
tage is that the user has all arrow on the on-board com- standardized interface is re-
of the important information puter display. quired. Figure 5: The future is open –
available at a glance on the The Sram Dual Drive Recently, CiA has pub- the PiCAN charger complies
display (gear and cadence 3 Pulse is also automatic, lished the second version of with the CiA 454 and the
screen). Alternatively, manu- but based in this case on CiA 454. CiA and Energy- Energybus specifications
al gear shifting with defined speed. The DD3 hub can be bus members have jointly (Photo: Pironex)

Hacking CAN messages
It is so easy. Just connect a recording device to the
CAN-lines and analyze the content of the captured
messages. In 2012, the following CAN traffic trace
extract was published in an Internet forum:
…
33 0 7 0 8 130 146 0 0 0
34 0 7 0 155 0 0 119 15 0
35 0 8 4 0 0 0 0 0 0 0
48 0 8 0 200 39 0 80 5 0 80
64 0 3 16 128 1
33 0 7 0 8 130 146 0 0 0
64 0 3 16 128 1
33 0 7 0 8 130 146 0 0 0
…
The highlighted frame uses the CAN-ID 48. The flowing
“0” indicates a data frame. The “8” represents the data-
length code. The next “0200” was not decoded. But
the following “39” was interpreted as battery voltage
given as an integer value in volt, and the “080” was
taken as 80 percent battery capacity. The following “5”
was assumed to be the number of bars to be shown
on the instrument. The following value was always
constant (0) and the last “80” did not change during
the recording. Most of the diagnostic CAN messages
in passenger cars have also been decoded. You can
reverse-engineer any CAN communication with the
support of cheap tools. And the chance that nobody
does it is slim – except if you encrypt the data, which
also needs to be transmitted securely. But this is costly
and the LEV markets are price-sensitive.
for a unified standard came also enables software-acti-

about as part of work being vated immobilization of bikes
carried out for the electric via a charge-and-lock cable,
bike fleet of Deutsche Post in a manner similar to a car
AG in the early 2000s. In immobilizer.
2004, the idea of Energybus Hannes Neupert re-
was introduced for the first ported that Energybus and
time at the LEV Conference VDMA have agreed to stan-
in Taipei, and in 2009, the dardize networked batteries
first connector for it was pre- for forklifts based on Energy-
sented. Now, with the signifi- bus: “With this collaboration
cantly extended version 2.0 we are living up to our prin-
of this communications pro- ciples of encouraging inno-
tocol the era of industrializa- vation and competition in the
tion of the Energybus can open market. When it comes
begin. Several of the over 60
member companies already
have Energybus compat- means making the standard
ible products in their range accessible to even more sec-
- and many more are under tors and customer groups.”
development.” Bernhard Hagemann from
The CiA 454 protocol VDMA added: “This collabo-
- ration will actively enable us
cation between charger and to bring know-how and ex-
perience from Energybus in
for communication within the the field of communication
bike itself. So bike compo- in energy systems to the de-
nents, starting with the drive, velopment of standards for
sensors and the power man- high-performance modular
agement system and ending batteries. That is very worth-
with the user display, can all while and an important step
communicate with each oth- forwards.”
er. Furthermore, the protocol Holger Zeltwanger
Stability of mobile
Applications
construction machines
The higher construction machines are, the further they can fall. Controlling their
stability is not easy, but necessary to ensure their safety. Inclinometers can give
early indications of instabilities.
Author
M any workers have ex-
perienced the follow-
ing changes throughout
axes, and even several
axes simultaneously. Radii,
arcs, and collision-free move-
Controlling stability is
probably the most impor-
tant topic when it comes to
their career: At the start of ments are possible with the mobile working machines.
a working life, during train- milling cutter. The taller a system, the
ing, work was undertaken Mobile equipment such more important and difficult
with conventional machine as excavators, cranes, guaranteeing its stability
tools – drilling, lathing, mill- mobile drills, and lifting becomes. There are var-
ing, welding. Convention- platforms are still facing ied approaches to solving
al in this case means "con- this transformation. Lead- this, for example measuring
Thomas Strauchmann trolled by hand". Further ing manufacturers have the forces that occur and
TWK Elektronik development of these work- increasingly begun to auto- shifting weight to the con-
P.O. Box 105063 ing technologies led to NC- mate their machines. This struction machine's sup-
Heinrichstr. 85 controlled machines. These enables working machines port. These displacements
DE-40239 Duesseldorf were able to indepen- to attain increased efficien- and forces can be placed
Tel.: +49-211-96-1170 dently and autonomous- cy. In addition, a new and into relation to the counter-
Fax: +49-211-63-77-05 ly repeat certain operation very important industrial weights, if available. Moni-
[email protected] steps "semi-automatically". standard has been enforced toring the inclination angles
The milling cutter could - ISO 13849. This standard of booms and lifting equip-
Link be taught to move around specifies how risks posed ment can be used as an
www.twk.de edges instead of straight by machines are to be eval- early indicator of impend-
through the work piece. uated. Risks that endanger ing instabilities. The ex-
Today's crowning glo- man and the environment tension angle of cables of
ry of this technology is ful- have to be avoided or ex- lifting facilities can be moni-
ly automatic CNC tech- tensively reduced by means tored. Accidents often hap-
nology, which is able to of sensible and above all pen when loads are pulled
operate more than three safe measures. at an angular angle, using

ina
a Ch 4
um 201
a t ba 5-28,
s 2
et u er
Me vemb
No
CANopen-Based Safe I/O Modules

With Small Form Factor
Flexibility & Usability

Extensive I/O set (30 I/Os with multiple
CANopen compliant
Safety
CANopen Safety HY-TTC 30XSH
Robustness
www.ttcontrol.com/HY-TTC-30XSH
Safety General I/O Slave Safe I/O Operator

Purpose Modules Modules Interfaces
ECUs ECUs
crane systems that are not second system should one
Applications
designed for this purpose. of the two systems fail due

Inclinometers from to a fault, although a posi-
TWK-Elektronik can do tion value is still available
more than register specified from the sensor.
inclination angles: vehicles The encoder com-
can also be leveled safe- pares the two position val-
ly. The vehicle operator is ues with each other. If both
not merely the driver - he is values are identical, work
also responsible for the sta- is continued with just this
ble erection of the machine. one value. However, this
He bears this responsibility position value, whose cor-
alone, because construc- rectness has already been
tion vehicles are usually checked, is then transmit-
only manned by one person ted to the control system,
due to financial reasons. A Figure 1: Safe inclinometer, SIL2-certified, with a once in normal and once
high degree of automation CANopen-safety interface according to CiA 410 in bit-inverted form. In turn,
and corresponding safety is version 1.2 the control system then
therefore mandatory. checks the correctness of
So-called slewing ring structure position and mea- Safe sensors both messages.
encoders can be fitted on surement of the load on the Checksum calcula-
the majority of construc- boom can be used to auto- All TWK sensors for use tions are integrated at vari-
tion machines with a revolv- matically limit the machine's on safety-relevant assem- ous points in the encoder
ing upper structure. These movement range, ensuring blies and machines can be and also in signal transmis-
register the angular posi- that stability remains guar- or already are certified ac- sion via CANopen-safety
tion of the upper structure anteed under all circum- cording to SIL (safety in- in order to perform actual/
versus the under structure stances. Limiting operating tegrity level). The inclinom- nominal comparisons and
in high-resolution using a ranges is also important eters and rotary encoders detect errors. If an error or
special, play-free measure- when for example an ex- are redundant in design. discrepancy occurs in the
ment gear. This position de- cavator is working directly The position value is avail- encoder or during signal
termines how far the boom next to a heavily frequented able twice in the sensor. transmission, an error mes-
can be extended. High-res- road or a railway line. Auto- SIL-2 does not necessari- sage is transmitted to the
olution single-turn rotary matic shut-off prevents un- ly require a dual or redun- CANopen control system:
encoders with a resolution intentional slewing into the dant sensor system de- the control system auto-
of up to 22 bits can also causeway and collision with sign. Neither is it possible matically triggers an emer-
be fitted in slip ring assem- vehicles. to continue working with the gency stop or moves to a
blies in the center of slew- fail-safe position.
ing rings. If this central
position is already occupied Mechanical systems
by a pipe, e.g. for water, oil,
or concrete, a slewing ring Lateral support plays a ma-
encoder is used. A special jor role in the stability of
feature of this encoder is mobile machines, as only
the software, which was de- single-sided and uneven
signed so that the encoder support is usually possible
can optionally act as a high- on construction sites due
resolution single-turn rotary to space limitations. SWH-
encoder. Such large, exact, and SWF-type linear cable
and high-resolution posi- transducers provide infor-
tion values can no longer mation on how far the sup-
be transmitted by means of port has been extended.
a simple analog interface. So far, it is not gener-
Many vehicle manufactur- ally possible to have cables
ers use CANopen to trans- which are popular in lon-
mit these data volumes. gitudinal measuring tech-
When using the play- nologies with integrated or
free measurement gear mounted rotary encoders
ZRS, no reverse opera- certified according to SIL. It
tion occurs when the slew- is very difficult to determine
ing ring changes direction. whether a cable mecha-
An additional benefit of nism is operating perfectly
the available position sig- Figure 2: Safe rotary encoder, although the rotary encod-
nals is the possible reloca- SIL2-certified, with the er puts out valid (but pos-
tion of previous positions CANopen-safety interface sibly incorrect) position
and very precise, auto- according to CiA 406 version 3.0 values and does not report
matic movement back to any other errors. The me-
these positions. The upper chanical system can jam or

CANopen
Engineering Days
Beschleunigen Sie Ihre

CANopen-Entwicklung
Erfahren Sie, wie Sie Ihre CANopen-Komponenten und -Systeme noch
effizienter entwickeln.
Bei den Vector CANopen Engineering Days am

> 16. Oktober in Böblingen (Motorworld),
> 23. Oktober in München (Deutsches Museum Verkehrszentrum),
> 28. Oktober in Düsseldorf (Classic Remise)
bieten wir Ihnen Grundlagen Know-how und anwendbares Experten-
wissen in Form von Live-Demos sowie wertvolle Praxistipps rund um
CANopen.
Erhalten Sie Wissen aus erster Hand und kommen Sie mit unseren
Entwicklern und Produktmanagern ins Gespräch – direkt vor Ort im
einzigartigen Ambiente aus atemberaubender Architektur und legen-
dären Fahrzeugen.
s:
Interessiert? – Dann melden Sie sich gleich an. i n g event
m ts
upco /even
Die Teilnahme ist für Sie kostenfrei.
Find or. c o m
.vect
Weitere Informationen und Anmeldung: www
www.vector.com/canopen14
www.canopen-solutions.com
Vector CANopen Engineering Days 2014
16.10.2014 in Böblingen (Motorworld)
23.10.2014 in München (Deutsches Museum Verkehrszentrum)
28.10.2014 in Düsseldorf (Classic Remise)
10:00 Offizielle Begrüßung und Vorstellung des Unternehmens
10:15 Einführung in das CANopen-Protokoll

> Einsatzgebiete von CANopen
> Vorstellung der wichtigsten CANopen-Mechanismen:
- Prozess- und Servicedatenkommunikation
- Fehlerüberwachung
- Netzwerk- und Konfigurationsmanagement
11:15 Live Demo: Vorteile des Werkzeugeinsatzes im CANopen-Entwicklungsumfeld

> Vorstellung der CANopen Tool-Umgebung
> Logging der Busdaten zur späteren Analyse
> Analyse von CANopen Systemen:
- Effizientes Filtern der Nachrichten
- Übersichtliches Auflisten und Auswerten der Busaktivitäten und -daten
- Grafische Darstellung der Signalwerte zur schnelleren Kommunikationsprüfung
> Stimulation von CANopen Systemen:
- Signalwerte setzen, Signalverläufe definieren, Botschaften senden
- Aussagekräftige Visualisierung mit grafischen Elementen
12:00 Mittagspause
13:30 Live Demo: Über die Simulation zum realen Steuergerät

> Erstellen einer Gerätebeschreibung basierend auf einer CANopen-konformen EDS-Datei
> Ableiten der Simulation direkt aus der Gerätebeschreibung
> Erweitern eines Knotenmodells um applikationsspezifische Bestandteile
> Umsetzen der simulierten Funktionalität in ein reales Steuergerät
14:45 Kaffeepause
15:15 Live Demo: Effizientes Testen mit flexiblen I/O-Schnittstellenmodulen

> Effizientes Prüfen der CANopen-Gerätefunktionen und Simulieren potentieller Fehlerfälle mit Hilfe eines
HIL-Testsystems
> Einfacher Aufbau einer Testumgebung unter Verwendung eines realen Steuergerätes
> Komfortables Erstellen von Testsequenzen in tabellarischer und grafischer Form
16:30 Diskussion und Fragen
17:00 Exklusive Gästeführung

> Erfahren Sie mehr über klassische Fahrzeuge und die Historie des Veranstaltungsortes bei einer
exklusiven Führung
Weitere Informationen und Anmeldung:

www.vector.com/canopen14
www.canopen-solutions.com
the cable may be separated If a position value change
due to external mechanical has not been registered by
influences. TWK is in dia- the encoder after a maxi-
log with the Technical In- mum of 100 ms, the sys-
spection Association (TÜV) tem shuts off or the encoder
to implement precisely transmits an alarm mes-
such a complete measur- sage (EMC message) via SENSORS FOR MOBILE MACHINES
ing system in at least a SIL- CANopen. The temporal
2 version and also obtain behavior of the sensor sys-
a yellow SIL badge for the tem is dependent on the in-
measuring system. In previ- ertia of the application and
ous applications, it was only must be determined by the
possible to have the rotary manufacturer.
encoder with cable certified
along with the customer's The future belongs
application. In each case, to automation
the customers implemented
special measures to moni- Self-adjusting level control
tor the mechanical prob- systems are already avail-
lems specified above. able in isolated cases. The
TWK is able to sup- support facility aligns the
ply SIL-2-certified rotary upper structure at the push
encoders for mounting on of a button. Crane and re-
cables; when a specific ro- covery vehicles are also
tational speed is exceeded equipped with automatic
at the encoder shaft, these systems that are able to au-
send an alarm message to tomatically move machine
the control system. This en- sections, such as e.g. the
ables for example the de- crane jib on the vehicle's up-
tection of cable tearing. If per structure, to the trans-
the measuring cable tears, portation position and then
the cable drum rewinds the activate the safety locking
remaining cable so quickly system with the aid of po-
that the rotational speed at sition values from various
the shaft is far higher than sensors. The vehicle can
Absolute Rotary Encoders
during normal operation. then only be moved once
If the cable jams and the the fail-safe limit switch on and Inclinometers
machine sections move to- the locking bolt has been
wards each other, the cable pushed and the release sig-
Reliable Measurement under
sags. However, the user or nal has been transmitted
the machine control system to the CANopen control Harsh Conditions
is unaware of this. They are system.
merely provided with a sta- For crane systems and
tionary rotary encoder posi- lifting platforms, automatic High Protection Class: IP69K
tion value as if everything travel in three dimensions
was working correctly. The – including around obsta- Fieldbus and Analog Interfaces
only possibility for detect- cles – is still a pipe dream.
ing this error is to supply If corresponding sensor
the encoder with informa- systems and collision con- Safety and ATEX – Ex-Proof
tion concerning the drive trols become available how-
Versions Available
unit. Information on wheth- ever, new technologies are
er the drive is moving or sta- entirely conceivable. This
tionary would be sufficient. challenge will have to be Successfully Integrated in
Electric motors or hydraulic met by sensor system and
Concrete Pumps, Drilling Machines,
cylinders are usually used crane system manufactur-
to execute the machine's ers in the future. Working Platforms, Cranes, Wheel Loaders,
movements. If electric mo- Leader Masts and More
tors are used, the rotary
encoder can monitor the
status of the relay or the
contactor; in the case of
hydraulic components the
valve signal is used. www.posital.com
Therefore if the ac-
tuator is activated, the ro-
tary encoder on the cable
also receives this signal.
POSITAL
Germany, Singapore and USA
www.posital.com, [email protected]
CAN as trace source
Tools
Code and data trace allow a limited view of real-time behavior of embedded
systems. Complex systems with more than one core as well as powerful
peripherals only become controllable with new trace technologies.
Peripheral trace of
Author
O n-chip trace has been
established as the
state-of-the-art technology
However with up to a few
hundred single-bit signals
which want to be part of the
for debugging and compre- With the Aurix family, Infine- trace output, the trace hard-
hensive system analysis. It on has introduced powerful ware put on the die and not
is commonly used for test- automotive microcontrollers least the trace port come to
ing and performance mea- onto the market during the their limits very quickly. The
surements. Apart from a last year. The combination only way out is to limit the
few exceptions, most mi- of three TriCore 1.6 CPUs, a amount of signals coming
crocontroller architectures lockstep mechanism and an out of the peripherals ac-
Jens Braunes are available with on-chip access permission system cording to the actual debug
PLS Programmierbare trace and all major debug makes Aurix suitable for use-case.
Logik & Systeme GmbH tool vendors promote their powertrain applications de- For that purpose In-
Technologiepark support. In general the manding high performance fineon has extended the
DE-02991 Lauta and sophisticated security On-Chip Debug System
Tel.: +49-35722-384-0 the recording of instruction features. A range of periph- (OCDS) of the Aurix MCUs
Fax: +49-35722-384-69 executions – known as erals matches present car with a trigger switch (Fig.
[email protected] instruction trace – and drives including hybrid and 1). It allows transfering se-
the recording of data trans- electrical vehicles. lected bunches of signals
Link fers between cores and Debugging and system from peripherals to differ-
www.pls-mc.com memories and on the analysis of such microcon- ent sinks of the debug sys-
system networks – known trollers requires sophisticat- tem. One of those sinks is
Reference as data trace. To meet ed on-chip debug support the Multi-Core Debug Solu-
[1] The Nexus 5001 Forum - and trace. Henceforth for tion (MCDS) – the trace sys-
Standard for a Global Embedded ments for global system run-time analysis not only tem of the present Infineon
Processor Debug Interface observability, major silicon program and data trace microcontrollers. The vast
Version 2.0; vendors have extended from cores and busses are number of accrued data is
http://www.nexus5001.org their trace solutions and needed, but also a bunch of preselected by means of
added signal trace for pe- single-bit and multi-bit sig- multiplexer cascades. Typi-
ripherals like CAN con- nals from peripherals have cally sets of 16 or 32 bit sig-
trollers, which are impor- to be taken into account. nals form so called trigger
tant for debugging, testing, The challenge was to ex- sets. While the containing
and comprehensive system tend the trace solution to signals are fixed for each
analysis. meet these requirements. trigger set, selected trigger
Figure 1: Trigger-switch of the Aurix MCU family

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ENOVATION CONTROLS CORPORATE HEADQUARTERS DOMESTIC SALES & SUPPORT INTERNATIONAL SALES & SUPPORT
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ENOVATION CONTROLS – SAN ANTONIO OFFICE EMAIL: [email protected] EMAIL: [email protected]
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MURPHY PRODUCTS
PHONE: 918 317 4100 PHONE: +86 21 6237 5885
ENOVATION CONTROLS – HOUSTON OFFICE FAX: +86 21 6237 5887
FAX: 918 317 4266
105 RANDON DYER RD EMAIL: [email protected] EMAIL: [email protected]
ROSENBERG, TX 77471 WWW.FWMURPHY.COM LATIN AMERICA & CARIBBEAN
MURPHY CONTROL SYSTEMS & SERVICES PHONE: 918 317 2500
ENOVATION CONTROLS LTD. – UNITED KINGDOM EMAIL: [email protected]
CHURCH ROAD LAVERSTOCK PHONE: 281 633 4500
SALISBURY SP1 1QZ UK FAX: 281 633 4588 SOUTH KOREA
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#1411527 7/14
sets are then transferred by
Tools
OCDS trigger busses to the

internal trace interface. The
trace interface itself does
not know anything about
the origin and content of the
trigger sets. It just sees data
packets. Therefore, when
the captured trace data is
decoded, the tool needs to
know the actual configura-
tion of the multiplexers and
which trigger sets are se-
lected to be part of the trace
data.
Peripherals like Flex-
ray, DMA controllers, and
CAN of course influence
run-time behavior. The in-
tegration of their debug
signals into the trace sys-
tem – which is called sig-
nal trace in the following
– allows reconstructing an
almost complete system
state via the debug tool and
the observation of interac-
tions between CPUs and
peripherals.
Managing data
floods
We have seen that with the
new trace sources – the pe-
ripherals – a lot of addition-
al trace data becomes avail-
able. However this data
flood is hardly controllable.
The on-chip debug hard- Figure 2: Graphical configuration of a mixed program and signal trace
performance to capture all with comprehensive trigger can easily be measured. Will signal trace
the data and put them off- and filter mechanisms for The on-chip trace recog- become mainstream?
chip to the debug tool. On years. The flexible concept nizes a particular message
chip data are already fil- behind UECs allows a com- on the CAN network – it is That is an interesting ques-
tered to keep the required - even possible to filter for the tion. For industrial and auto-
bandwidth for the trace to gram and data trace with origin and message type – motive applications, signal
be reasonable. Of course the new signal trace. That and starts the trace record- trace is for sure an impor-
this is also a matter of anal- way a trace task can be cre- ing. The write access to tant extension to the con-
ysis efforts. The bigger the ated completely with one the port pin is visible to the -
information flood the more single tool without the need trace unit as well and can ity. However you only get
difficult it is for the tool and to separate between on- be used as an event to stop these things with some in-
in the end for the develop- chip trigger switches and the trace. Figure 2 shows vestments in hardware and
er to identify possible func- MCDS. the trace task configured tools. To keep the hard-
tional errors or performance Of course, the combi- with the graphical editor ware costs within limits Infi-
bugs. nation of program or data of the Universal Emulation neon pursues their concept
A comparatively easy trace and signal trace from Configurator (UEC). Apart of two different controller
method to configure the peripherals provides bene- from the time measurement types: an emulation device
multiplexers and filter mech- fits if a certain event or in- the configuration contains with all the additional hard-
anisms of the Aurix on-chip teraction between different the setup for a complete ware for high level debug-
trigger switch and MCDS is parts of the controller is of program and data trace ging and trace and a pro-
to use the Universal Emu- interest. As an example, as well. For trace analysis duction device to be built in
lation Configurator (UEC). with trace the time an inter- all captured trace data the products only with basic
UEC is part of the Universal rupt service requires from from different trace sourc- debug support.
Debug Engine (UDE) from an incoming CAN mes- es are merged and dis- Apart from Infineon
PLS and has been in use for sage to respond with a sig- played in a combined view with its MCDS, another im-
powerful on-chip trace units nal on an external port pin (Fig. 3). portant player in the area of

Figure 3: Measurement of latency of an interrupt service triggered from CAN message with program and data trace
information as well as signal trace of CAN controller
trace support for industrial system is an important step cores. Now the mission for
and automotive controllers network as well as oth- forward to fully testable em- tool vendors like PLS is to
is the Nexus forum [1]. They er peripherals are still not bedded applications. With provide software tools like
recognized the need for sig- attached to the trace sys- that, trace becomes more the Universal Emulation
nal trace too and extend- tem of current Nexus imple- and more an instrument for Configurator, which allow to
ed the revision of the Nexus mentations. system analysis of complex fully utilize trace features and
standard 2012 with a new For sure the coverage and complete systems-on- to unrestrictedly define tailor-
of peripherals by the trace a-chip and not only for the made measurement tasks.
CANopen in the frontline
System design
of openness
"Open knowledge is any content, information or data that people are free
to use, re-use and redistribute – without any legal, social or technological
restriction." [8]
Author
O pen data or open knowl-
edge is one of the most
recent IT megatrends [8].
frequently copied manually
and during the design pro-
cess, which led to a heavy
constrained and simple, but
is continuously updated.
Thus, standardized informa-
All around the world, data maintenance workload, the tion, storage format, and au-
collected by public funding use of outdated data, and se- tomatic updates can improve
has already been opened to rious inconsistencies, even the maintainability of control
free use and more data is between products from the applications, assembly lines,
made public all the time. The same company. The main and service tools.
main problem has been that reason for this is the fact that
charging for the use of in- data contents are related to Open documents
Dr. Heikki Saha formation collected or pro- service and maintenance
Scientific coordinator duced by public funding has and not directly related to CANopen has always been
CANopen Competence Center reduced the use of data and the main functions of sys- open by nature. All release
Finland related business potential. tems. There are also indirect status standard documents
University of Vaasa All such public data is effects, causing additional are freely available for all in-
Wolffintie 34 typically stored in a poor- delays and workloads with terested parties, including all
FI-65200 Vaasa ly structured and inaccessi- troubleshooting and spare draft standard documents,
Tel.: +358-29-449-8000 ble format, often as printable part changes. except those which are inter-
documents, understandable A lot of public data is national or European stan-
Link only for human. Opening used in CANopen-based dards and thus distributed
www.uva.fi data means publishing open distributed control systems. by standardization organiza-
data in a format that under- Typically small subsets of tions. Draft standard propos-
standable for machines, not data were manually inserted al documents are primarily
changing the status of the into tools and control appli- available for members only,
data. Quite often usable data cations, which are updated but published for all interest-
is presented in a format that only after serious problems. ed parties as excerpts, in-
makes data access imprac- Another problem is that such stead of full documents. Open
tical. Furthermore, individu- data is often hardcoded into standards make CANopen
al use of such data may not applications, so that each attractive and have in-
make sense or provide any update leads to re-testing creased the size of the whole
big benefits, but combin- and re-certification. Updates ecosystem, when com-
ing open data from different are in many cases essential, pared with competing inte-
sources may provide unex- because e.g. new device pro- gration frameworks which
pected benefits. files and SDO abort codes are not open and free. Open
Control systems are are introduced during devel- and free availability guaran-
not an exception. There is opment of various standards. tees that even small enter-
lots of data freely available New device vendors emerge prises can bring innovative
and commonly used for var- onto the market, too. Infor- products into the market with
ious purposes. Data was mation content often looks lower costs, unlike by using
e.g. J1939, Devicenet, and
Table 1: Generic layout of currently available datasets Profibus.
Common terms and ac-
Dataset Column 0 Column 1 Column 2 Column 3
ronyms with their official ex-
CANopen planations are available as
CiA
device and Profile a freely available document,
profile - -
application title the CANdictionary. It pro-
number
profiles vides a good starting point
CANopen Company for newcomers to learn the
Vendor-ID Department -
Vendor-IDs name basics and practical cross
SDO abort Abort Description Description Description references for experienced
codes code [1] [2] en-us fi sv-se people. The original one was
SI-unit Unit Unit Unit Specification written in English but Chi-
definitions name abbreviation code [3] number nese, Finnish and Russian

Table 2: Open datasets currently available from CiA website in machine understandable format CANopen profile da-
Dataset URL tabase (CPD) files enable
providing application- or
CANopen
SW-component-specific in-
device and
http://www.can-cia.org/fileadmin/cia/files/cia_profiles.csv terface management and
application
methods for describing vali-
profiles
dation criteria for electron-
CANopen ic datasheet (EDS) files [5].
http://www.can-cia.org/fileadmin/cia/files/Vendor_ID.csv
Vendor-IDs Device configuration files
SDO abort (DCF) may also be validat-
http://www.can-cia.org/fileadmin/cia/files/sdo_aborts_codes.csv
codes ed by themselves, because
SI-unit in addition to the current pa-
http://www.can-cia.org/fileadmin/cia/files/si_units.csv
definitions rameter values, they contain
all the information that EDS
translations are also freely some of the conference pa- process. Standardized infor- files contain [4]. The name of
available. The CAN News- pers since 1995 and all pa- mation transfers enable effi- an EDS file, from which the
letter is a magazine pub- pers since 2000. cient utilization of larger eco- DCF has been generated,
lished by CiA, which covers system, e.g. in component is included in the file. EDS
the most recent applications Open design supply and subcontracting files enable systematic doc-
and research results in the information of both hardware and soft- umentation of product ca-
area of CAN, CANopen, and management ware components of various pabilities, reducing a need
other CAN-based system in- sizes. The use of a standard- for literal documentation [4]
tegration frameworks and CANopen also defines file ized information transfer also [9]. The number of discus-
application layer protocols. formats for describing prod- enables tool independence, sions between suppliers and
A selection of older maga- uct identities, device type enabling possibilities to im- system integrators is also
zine articles is available on specific interfaces, and ap- prove the information man- reduced, because the ma-
request and from 2012 on- plication specific configura- agement tool chain. Further- jority of the essential infor-
wards complete editions can tion information. Standard more, subcontracting can be mation is comprehensively
be found online. CiA has or- file formats enable unam- easily managed, when all in- described. Standardized de-
ganized international CAN- biguous design information volved companies follow the vice data enables efficient
conferences since 1994 and transfers between the var- design information storage computer-aided designs with
provides open access to ious phases of the design standards. minimal manual work,
codes and are added as fur-
System design
ther columns. The same lan-

guage coding scheme, which
is used in XDD and XDC files,
is used for column titles of
abort code descriptions [7].
In addition to the SI-unit
descriptions, unit prefixes
have been defined [3]. They
Figure 1: Example code for getting a dataset from given URL and storing it into a local file a table, because prefix factor
values are defined as 10[pre-
increasing the overall effi- significant increase in quality ed by EDS and DCF files, but fix value] and literal prefixes
ciency significantly. and performance. in case of many device pro- are the same, independent of
There are EDS file edi- In addition to tool inde- files, unit information may be the language.
tors freely available from dif- pendence, EDS and DCF combined from values of oth-
ferent vendors to help create files provide an integrated er objects [10]. Getting open
the correct EDS files. EDS mechanism for integration of Traditionally constant constant data
file checker is available for various design tools [6]. Such data is manually inserted
free to enable device suppli- a mechanism enables the separately in each project, Currently supported datas-
ers to create error free EDS flexible utilization of gener- which results in inconsistent ets and locations are listed
files for their devices. Thanks ic and target device specific information contents and an in Table 1. Vendor-IDs and
to those tools, inconsistent tools without increasing the extensive decrease in both supported profiles have been
EDS files have not been a required workload during the quality and efficiency. While provided by CAN in Automa-
noticeable problem in re- design process. adding the information seems tion (CiA) since 2008. SDO
cent years. An official con- to be simple, one should re- abort codes and SI-unit de-
formance test program also Open constant data member that all information scriptions have been collect-
verifies the completeness is continuously updated and ed and provided with Finnish
and correctness of EDS files. Certain constant data is updates should be available and Swedish translations by
Information transfer needed for various purposes for each purpose with a mini- the CANopen Competence
from design into assembly during system development. mum effort. Center Finland. Further infor-
and service is important. Any Device profiles, vendor-IDs CANopen data is avail- mation was published to en-
erroneous or outdated doc- and SDO abort codes are able in a comma-separated able application developers
ument may introduce signifi- needed in design, assembly values (CSV) format, where to keep the generic constant
cant failure costs in the as- and service tools as well as in a semicolon is used as a col- data up-to-date, without suf-
sembly line and service. In the control system GUI devic- umn separator. The use of fering from repetitive manu-
addition to delayed opera- es. SI-units are mostly need- columns is included in Ta- al work.
tion, documentation failures ed for signal scaling in the ble 1. Another format may Two generic sample
may introduce additional application development and not provide significant ben- code examples are provided
component consumption and for signal scaling and visual- efits, because the data cur- to give everybody an easy
additional time needed for ization in GUI devices. Anal- rently describes certain start for getting the data. Py-
disassembling assembled ysis tools get unit information enumerations only. The first thon was selected as an ex-
faulty components. There- from communication data- row always contains the col- ample language, because it
fore, the use of standard bases, where the unit infor- umn titles and further rows is a productive language and
DCF files as a transfer formation currently needs to be contain the actual data. Ad- available for free. For more
mat from design to assem- added manually. Unit infor- ditional translations may details, readers are advised
bly and service [4] provides a mation is not directly support- be provided for SDO abort to refer to the Python docu-
mentation. The first example
is the function saveUrl in Fig-
ure 1, which takes an URL of
a dataset as an argument,
loads the given URL into a
local file and returns the full
path of the file. By default, in
lines 4 to 7, the target path is
determined to have the orig-
inal filename from the given
URL and same folder with the
loading code module. Lines 9
to 12 load the given URL and
store the contents into a file
with a previously generated
path.
After getting the local
copies of the data, it should
be translated into an usable
Figure 2: Example code to read a CSV-format dataset into a dictionary format. The example function

Pioneering new technologies
Pioneering new technologies
getCsv in Figure 2 reads any A uniform presenta-

CSV format file by utilizing a tion of data can be achieved
standard csv library and re- by adopting an automated
turns the contents as a Py- use of open data. As a con-
thon dictionary. The CSV file sequence, system operators
is read and parsed into rows and service personnel will
and columns in lines 7 to 8. not be confused by differ-
The first line is picked at line ently written vendor names,
9 and column names are ex- SDO abort codes with incon-
e l e c t r o nic ESX® -3X L
tracted into an array in lines
11 to 14. Source data may
sistent wordings, different-
ly named device profiles or
32 bitco nt rol u nit
consist of any number of col- units. Design engineers need
umns and the column names not spend several hours for
are read from the file itself. regular updates of such data.
Therefore the actual values Thus, all people involved can
need to be read in another focus on more productive
phase, in lines 16 to 17 by us- work.
ing previously read column Future plans include
names as dictionary keys. the opening of at least er-
The read pointer is moved ror register flags, object dic- L
® -3X
ESX
into the second row in line 18 tionary command keywords,
in order to get only the actual NMT-states and -commands
data from the file. Lines 19 to in order to provide uniform
22 read the data into the dic- wordings in several languag-
tionary. The resulting diction- es. Currently, information
ary contains columns named contents of e.g. error register
A 32 bit controller with max. 136 I/Os and 4 × CAN
according to the first line of flags to the service personnel
the CSV file. There are array have been limited, because A freely programmable in „C“ and CODESYS
items for each row. of the non-uniform wording. A certified for safety applications (SIL2, PLd)
Furthermore, official short
A including Memory Protection
Summary descriptions are not currently
available for object dictionary
t
Common, public constant command keywords.
n s m i t te r u rin g ele m e n
e t ra eas
data has been avail- At the time of writing,
able since the beginning
of CANopen, but first in a
Ixxat and TKE offer products
supporting automatic updates Pres su rith t hin -f ilm m
w
format only readable by directly from CiA website. If
humans. The main problem there are others, those com-
has been that the data is con- panies are invited to provide
tinuously updated. Especial- information, for example in the
ly vendor-IDs but also device CANopen Linked-In group.
profiles and sometimes new Readers are also invited to
abort codes and units have provide proposals for new
been added. Automated up- datasets to be opened and
-CAN
dates are saving time and ef- possible improvements for M01
fort required for updates and current datasets. Let's improve
removing typing and transla- the CANopen world to-
tion errors. gether!
A pressure ranges from 0 ... 10 bar to 0 ... 2000 bar
(Overall accuracy in the temperature compensated range: 1%)
References
A max. media temperature 150°C / max. ambient temperature 125°C
[1] CANopen application layer and communication profile, CiA-301, CiA
[2] Representation of SI units and prefixes, CiA-303-2, CiA A wetted parts and case in stainless-steel
[3] Additional application layer functions – Part 7: Multi-level networking, A CAN-Bus interface
CiA-302-7, CiA
[4] Electronic device description – Part 1: Electronic Data Sheet and Device
Configuration File, CiA-306-1, CiA
[5] Electronic device description – Part 2: Profile database specification, Exhibitions
CiA-306-2, CiA
[6] Electronic device description – Part 3: Network variable handling and tool SPS/IPC/DRIVES, Nuremberg bauma China, Shanghai
integration, CiA-306-3, CiA 25.11. – 27.11.2014 25.11. – 28.11.2014
[7] CANopen device description, XML schema definition, CiA-311, CiA Hall 7, Booth 150 Hall N1, Booth 471
[8] Open knowledge foundation, https://okfn.org
[9] Saha H., Experimental CANopen EEC management, CAN-Newsletter
1/2013, CiA, 2013, pp. 12 – 18 Sensor-Technik Wiedemann GmbH
[10] Saha H., SI-Unit and scaling management in CANopen, CAN-Newsletter Am Bärenwald 6 · 87600 Kaufbeuren
3/2013, CiA, 2013, pp. 30 – 34 Germany
Telephone +49 8341 9505-0
www. sensor-technik.de
CAN FD: Measuring and
Tools
reprogramming
The complexity of the CAN FD technology is equivalent to the regular CAN
network but it offers a significantly increased bandwidth. It is therefore an
alternative to Flexray or Ethernet networks.
Author
Armin Happel
Erik Sparrer
C AN with a flexible data

rate (CAN FD) is a tech-
nological evolution of the
and Calibration Protocol)
measurement and calibra-
tion protocol that has been
XCP on CAN FD data
throughput
CAN network. It provides standardized by ASAM e.V. To estimate the maximum
Peter Decker more bandwidth than CAN In the current protocol ver- available data through-
with less complexity than sion 1.2, CAN FD is intro- put of XCP over CAN re-
Vector Informatik GmbH Flexray. The network spe- duced as a new XCP trans- spective to CAN FD, the
Ingersheimer Str. 24 cialists at Vector investigat- port layer. XCP enables the frame size versus the avail-
DE-70499 Stuttgart ed two typical applications, utilization of measurement able payload within a frame
Tel.: +49-711-80670-0 measurement of ECU in- and calibration tools such has been investigated for
Fax: +49-711-80670-111 ternal signals via XCP and - a measurement of multi-
ECU reprogramming, using ure 1) to modify parameters ple ECU signals. The data
Links the CAN FD system. during real-time operation throughput calculations
www.vector.com and measure the altered are based on the assump-
ECU measurement behavior of the ECU. Con- tion of 100 % bus load. The
Literature: with XCP on CAN FD sidering a CAN system the actual size of the frame
CAN-FD specification V1.0, bandwidth of the transmis- fields for CAN and CAN FD
Robert Bosch GmbH In ECU development, the sion medium may quickly are shown in Table 1 and
measurement and cal- become exhausted, depen- Table 2. However, frame
ibration of multiple sig- ding on the number of sizes cannot be predict-
nals and parameters for signals to be monitored. ed precisely for either CAN
open and closed loop con- XCP on CAN FD signifi- or CAN FD. To assure syn-
trol algorithms represents cantly extends the capabil- chronization of bus nodes
an important calibration ities with up to 64 bytes of to signal edges, in depen-
use case. ECU develop- payload and data rates of dence of its content an a-
ers prefer to use the XCP at least 5 Mbit/s in the data priori unknown amount of
(Universal Measurement phase. additional stuff bits is in-

Wi-Fi CAN BRIDGE
Figure 1: Measurement over XCP on CAN FD with CANape
serted into the frame. To factor 1.3 up to 5.4 depen-

model the stuff bit depen- -
dent frame size variation, figuration (Table 4).
a best and worst case sce- Above its already im-
nario has been analyzed. proved bandwidth, XCP
The results of data over CAN FD possess-
throughput calculations are es further potential for im-
graphically represented as provement. Due to the
a sector (Figure 2, Table 3), equivalent physical com-
where a frame may reside munication basis of CAN
in dependent of its actual and CAN FD, it is likely that
contents. To verify the theo- the communication paths
retical calculation, a realis- of existing ECU software
tic measurement reflecting will still be limited to an
a practical measurement eight-byte data transmis-
use case was processed sion after migrating to CAN
based on a simulation en- FD. In this case XCP can
vironment. At the laborato- only benefit from the high-
ry setup – which consists er data transmission rate
of CANape measurement but cannot utilize the full 64
and calibration software, bytes of payload available
suitable interface hardware in CAN FD frames. To opti-
and a PC-based ECU em- mize the data transmission
ulation – the time of flight rate, the payload of small
between the in- and output XCP packets could be con-
of the CAN/CAN FD driver catenated as a large CAN
was measured in both di- FD frame (Figure 3). Vec-
rections. The experimental- tor is currently working on
ly measured values greatly a proposal that enables
meet the mathematical pre- packet concatenation for PROMOTES
diction (Figure 2, Table 5) XCP over CAN FD in a fu- MOBILITY
and hence verify the mod- ture XCP specification.
eling of the available data
throughput. Comparing Flash programming
the acquired measurement
data needed for a trans- (Re-) programming of flash
mission using CAN versus memory is the second use
CAN FD, the data through- case in which significant
put of CAN FD has been improvements are expect-
found to be increased by ed through the utilization of
Table 1: Structure of a CAN Table 2: Structure of a CAN

frame FD frame
Innovation partner
Ethernet with Diagnos- With the transport
Tools
tics over IP (DoIP) per ISO layer that is used, the the-
13400-2 is also well-suited oretically attainable trans-
for fast reprogramming of mission rate in flashing
ECUs. In testing 100 Mbit over CAN FD is 270 kB/s to
Ethernet and a typical mi- 370 kB/s at 4 Mbit/s in the
crocontroller with a pure CAN FD data phase. How-
flash write rate of 180 kB/s, ever, real measured values
results were largely a func- lie well below this (Figure
tion of the buffer size of the 4). Surprisingly, the com-
Transfer-Data service. A 16 pression and pipelining op-
KiB buffer enables through- timization strategies were
put of around 150 kB/s, counterproductive for CAN
which is already near the FD in the test environment
limit of the flash memory that was used. The reason
used in the test. is that, in the laboratory set-
up used, the programming
Figure 2: Measured and calculated CAN FD data Reprogramming via time for the internal flash
throughput in ECU measurement CAN FD memory became the lim-
iting factor in the flashing
fast network protocols. In pipelined programming. Al- Since semiconductor man- process. So this made op-
the three flash phases “de- though compression by an ufacturers do not offer any timizations to the download
lete”, “download/program” LZSS (Lempel-Ziv-Storer- microcontrollers that pro- phase ineffective. Howev-
and “verify”, the download Szymanski) algorithm re- vide CAN FD support yet, er, further tests with more
time is a key factor in con- duces the volume of data network specialists at Vec- powerful CPUs are need-
ventional CAN systems, to be transmitted, its effi- tor used a microcontroller ed to arrive at more gener-
that can be accelerated by ciency is highly dependent in which the CAN FD con- al conclusions about data
faster bus systems such as on the data structure, and troller was implemented in throughput and the effec-
Flexray, Ethernet and CAN data extraction in the ECU an FPGA for their CAN FD tiveness of optimizations. A
FD. generates additional CPU measurements. The soft- key finding of the measure-
Regardless of the load that need to be tak- ware stack on the board ments is that CAN FD de-
transmission protocol, it en into account. Pipelined consists of a standard Vec- livers a significantly higher
makes sense to use addi- programming, on the other tor UDS bootloader. The data throughput than CAN
tional optimization strate- hand, represents a type of ISO 15765-2 transport lay- (Figure 4), and the effort
gies for downloading, such parallelization: while a data er and CAN driver were ex- required for migration is
as data compression and segment is still being writ- tended for support of CAN negligible.
ten in the ECU, transmis- FD. To permit a quick test
Table 3: Calculated data sion of the next segment is setup process for download Summary and
throughputs of data already started. Therefore, testing, the CANoe simu- outlook
measurement with XCP on the potential performance lation and testing tool was
CAN FD (fA=500 kbit/s) gain from this method is used, because the tool al- Overall, it is still difficult to
the greatest when program- ready offers CAN FD sup- arrive at an objective com-
ming times are shorter than port. This software uses parison of the serial bus
data transmission times. an external DLL which pro- systems CAN FD, Flexray
Flexray offers a trans- vides the flash program- and Ethernet due to their
mission rate of 10 Mbit/s, ming procedure and trans- different microcontrollers
but it is not fully available port layer functions. In the and constraints, but certain
for (re-) programming. In future, the Vector vFlash tendencies can be clear-
Table 4: Comparison of the periodic communica- flash tool will become avail- ly discerned. In the case
measured data throughputs tion sequence of the time- able for CAN FD. of Flexray, high download
of data measurement with triggered protocol, all PDUs
XCP on CAN and CAN FD (Protocol Data Unit) are
predefined in fixed slots. If
many slots are reserved for
diagnostic service requests
such as for download, this
reduces bandwidth for the
useful data. Realistic con-
Table 5: Measured data figurations provide for
throughputs of a data 4 PDUs to 8 PDUs with
measurement with XCP on 42 bytes to 255 bytes each
CAN FD (fA=500 kbit/s). per cycle for diagnose ser-
vices. Vector engineers
have measured download
rates of 40 to 60 kB/s when
pipelined programming is Figure 3: Faster data transmission by multiple XCP
used. packets combined in one CAN FD frame

cols are based on the same
physical layer, and this en-
ables reuse of transceivers,
wiring and bus topologies.
Since the communication
principle has not changed
either, existing know-how
can still be applied. The
modifications to affected
software layers in calibra-
tion and reprogramming
that need to be made are
relatively minor.
CAN FD enables sig-
nificant throughput gains
in both measurement and
reprogramming of ECUs.
In (re-) programming, this
shifts the bottleneck more
to the flash memory. Fur-
ther development to short-
en the memory access
times of the MCUs that are
Figure 4: Comparison of download and programming times with CAN and CAN FD used promise additional
performance gains. Efforts
speeds and high perfor- complex software con- tential for further improve- by Vector to extend the
mance for the real time figuration, and its hard- ment at moderate costs. In XCP specifications to in-
data payload are not both ware costs are higher than addition, it is relatively easy clude packet concatenation
achievable at the same for CAN FD. CAN FD ap- to migrate to the improved with CAN FD also offer the
time. 100 Mbit Ethernet de- pears to be the most bal- CAN, because of the close potential for increasing per-
livers the fastest transmis- anced solution, it offers similarities between CAN formance of the new proto-
sion rates, but it requires high data rates and the po- and CAN FD. Both protocol that is still untapped.
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Phone (Country code - Area code - Number)

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1. Passenger cars
2. Heavy-duty vehicles
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Wireless CAN Data transmission -
now at a range of 400 m.
Image software for

visualizing CAN information.
CANlink® WLAN / Bluetooth

includes RMtools Dashboard for PC and Android applications
RMtools Dashboard for PC
CANlink® WLAN CANlink® Bluetooth
and Android
CANlink® WLAN connects CAN data exchange between RMtools Dashboard visualizes all vehicle and
CAN networks or turns your different CAN networks via machine information provided via CAN Bus.
smartphone into an intelligent Bluetooth or wireless display Presentation of data is freely configurable.
remote control of CAN information on a PC The vehicle / machine visualization software
supports following communication channels:
+ Extended 400 m range + Wireless transmission via
Bluetooth
+ High data throughput, + RS232, USB, Ethernet (wired)
telemetry data in real time + Data exchange via Serial
+ Bluetooth, WLAN, GSM
Port Profile
+ Optional local I/Os (locally and globally)
+ Optional local I/Os
DE RM MICHAELIDES SOFTWARE & ELEKTRONIK GMBH

Headquarters | Donaustr. 14 | 36043 Fulda, Germany
Phone +49 661 9490-0 | [email protected]
US RM MICHAELIDES SOFTWARE & ELECTRONIC CORP. Find more about our

US Subsidiary | 711 E. Monument Ave., Suite 310 | Dayton, Ohio 45402-1490, USA services and products
Toll-Free +1 877 RMCAN-US | Phone +1 937 558-2211 | [email protected] at www.rmcan.com
CAN FD Interfaces for High-Speed USB
PCAN-USB FD PCAN-USB Pro FD
Single Channel CAN FD Interface Dual Channel CAN FD & LIN Interface
Adapter for High-speed USB 2.0 Adapter for High-speed USB 2.0
(compatible to USB 1.1 and USB 3.0) (compatible to USB 1.1 and USB 3.0)
Time stamp resolution 1 µs Time stamp resolution 1 µs
CAN bus connection via D-Sub, 9-pin Transmitting and receiving of CAN FD and LIN messages
using two D-Sub connections
12 Mbit/s
12 Mbit/s
frames on the physical bus

Induced error generation for incoming and outgoing frames on the physical bus
messages Induced error generation for incoming and outgoing
Switchable CAN termination and 5-Volt supply messages
Galvanic isolation up to 500 V Switchable CAN termination and 5-Volt supply
Extended operating temperature range from -40 to 85 °C Each CAN channel is separately opto-decoupled
against USB and LIN up to 500 V
Scope of Supply for all CAN FD Interfaces Extended operating temperature range from -40 to 85 °C
CAN FD interface drivers for Windows 8.1, 7, Vista and LIN operation properties ...
Linux
PCAN-View: Software for monitoring CAN and CAN FD Both LIN channels (common ground) are optodecoupled
against USB and CAN FD
PCAN-Basic: API for developing applications with CAN and Can be used as a LIN master or slave
(1 ms master task resolution)
www.peak-system.com PEAK-System Technik GmbH

Take a look at our website for the
international sales partners. Scan the
QR code on the left to open that page. E-mail: [email protected]

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September 2014 B 25361

Mechanical assistants with Applications

Lock and load: LEVs for public

T his means a more com-

CAN Newsletter 3/2014 3

4 CAN Newsletter 3/2014

Find CAN hardware

billion worldwide revenues, disposal. In order to auto-

6 CAN Newsletter 3/2014

embedded CAN networks

You can contact us easily at [email protected].

8 CAN Newsletter 3/2014

> Systematic network design with CANoe, ProCANopen

Thanks to the close interlocking of the Vector tools and the

Further information, application notes and demos:

Vector Informatik GmbH

use of CAPL (part 2)

10 CAN Newsletter 3/2014

Safety Technology by Bihl+Wiedemann

safety and standard signals mixed

› Universally expandable with Safety I/O Modules + Standard I/O Modules in

More information on your application safety at:

vehicle’s CAN network

used must be able to send

12 CAN Newsletter 3/2014

PCIe USB PCI-104

PCI PC-104 Ethernet

CAN Interfaces for Your Requirements

Figure 2: CANLab script display resulting from the Alt-S command

14 CAN Newsletter 3/2014

CAN Network Technology

Join the CAN community and

For more details please contact CiA office at [email protected]

traffic light systems

S warco has developed

16 CAN Newsletter 3/2014

director Holger Zeltwanger

18 CAN Newsletter 3/2014

Safety I/O modules

20 CAN Newsletter 3/2014

22 CAN Newsletter 3/2014

approach to convention- to be industrial-standard

24 CAN Newsletter 3/2014

be a reliable concept and

26 CAN Newsletter 3/2014

28 CAN Newsletter 3/2014

opment of cars, Brose has markets.

30 CAN Newsletter 3/2014

750-658 CAN Gateway:

32 CAN Newsletter 3/2014

for a unified standard came also enables software-acti-

34 CAN Newsletter 3/2014

CANopen-Based Safe I/O Modules

Flexibility & Usability

CANopen Safety HY-TTC 30XSH

Safety General I/O Slave Safe I/O Operator

designed for this purpose. of the two systems fail due

36 CAN Newsletter 3/2014

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