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Multiplex
Communication
System
—CAN—Multiplex
Communication
System1CANCommunicationGeneralWhatisCAN?CANisanacronymthatstandsfor
ControllerAreaNetwork.CANisaserialcommunicationprotocoldevelopedbyBOSCHin1986andstandardizedby(InternationalStandardsOrganization)HighSpeedCommunicationoflargevolumedataReduceamountofwireharnessReliableTransmissionAdvantageofCANCANCommunicationGeneralHighS2CANCommunicationFeatureCommunicationSpeedHigh-speedcommunication(ISO11898)ControlDrivingControlSystemBodyElectricalControlSystemProtocol*1CAN(ISOStandard)BEAN
(TOYOTAOriginal)AVC-LAN
(TOYOTAOriginal)CommunicationSpeed500kbps*(Max.1Mbps)Max.10kbpsMax.17.8kbpsCommunicationwireTwistPairWireAVsignalDriveTwistPairWireDriveTypeDifferential
VoltageDriveSingleWireVoltageDriveDifferential
VoltageDriveDataLength1-8Byte(Variable)1-11Byte(Variable)0-32Byte(Variable)*1:Rulefordatacommunications*2:bit(bitpersecond)CANCommunicationFeatureContro3CANCommunicationFeatureCommunicationFrameSameasBEANcommunication,allCANnodes(ECUs,sensors)communicatewithbitsignalDataTypeHeaderCommunicationFramePriorityDataLengthAddressforReceiverECUErrorDetectionCodeEndMessageDataResponseofReceiveECUCANCommunicationFeatureDataT4CANCommunicationFeatureCommunicationTypeBusStyleDLC3EngineECU(ECM)SkidControlECUYawRateSensorDecelerationSensorEPSECUSteering
Angle
Sensor:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)CANCommunicationFeatureDLC3En5CANCommunicationFeatureCommunicationWireCANusestwisted-pairwireCAN[DifferentialVoltageDrive]BEAN[SingleWireVoltageDrive]ECUECUECUECUTwisted-pairWireHiAVSingleWireHiLoLoCANCommunicationFeatureCAN[D6CANCommunicationFeatureCommunicationsignal2.5V3.5V[CANHI][CANLO][CANCombine][OutputVoltage]Time0V2.5V1.5V0VTime2.5V1.5V0VTime3.5VCANHICANLOCANCommunicationFeature2.5V37CANCommunicationCommunicationSystemDiagramCaseofPRIUS(NHW20)YawRateSensorDecelerationSensorJunction
ConnectorNo.2Junction
ConnectorNo.1SteeringAngleSensorTerminalCircuit(120)EPSECUSkidControlECUHVECUGateway
ECUCAN-HCAN-LDLC3SIL:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low):SerialCommunicationLineBatteryECUEngineECU
(ECM)CANCommunicationCommunication8CANCommunicationJunctionConnectorMainBusLineSubBusLineJunction
ConnectorSubBusLineCANCommunicationJunctionConn9CANCommunicationTerminalCircuitDLC3EPSECUSteering
Angle
SensorJunction
Connector:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)BatteryECUSkidControlECUYawRateSensorDecelerationSensorEngineECU
(ECM)Terminal
CircuitTerminal
CircuitCANCommunicationTerminalCirc10CANCommunicationTerminalCircuitNormalcondition3.5VTime0V2.5VYawRateSensorDecelerationSensorEngineECU
(ECM)SkidControlECUAbsorbtheSignalCANCommunicationTerminalCirc11CANCommunicationTerminalCircuitWithfaultyresistor3.5VTime0V2.5VYawRateSensorDecelerationSensorSkidControlECUEngineECU
(ECM)CANCommunicationTerminalCirc12CANCommunicationLocationBatteryECUSteeringAngleSensorJ/CNo.1DLC3SkidControlECUYawRateandDecelerationSensorHVECUJ/CNo.2EngineECUEPSECUGatewayECUCANCommunicationLocationBatte13CANCommunicationCommunicationFrequencyBothnodeshavetwotypeofcommunicationprocedures(Regularly/Event)ControlRegular(ms)EventEngineECU(ECM)Control24–32NoneECTECUControl32–64Sensors12–24DataSending/Command
(switchoperation)Approx.500–5000withNOTE:
BEAN:50–1000ms(250,500,1000)CANCommunicationCommunication14CANCommunicationInspectionProcedureTwomethodstocheckbuscommunication 1.IT-IITester 2.DVOM 1.BusCheck2.CANBusLineCheckCANCommunicationInspectionPr15CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc16CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc17CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc18CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc19CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi20CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi21CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc22CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc23CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKCANCommunicationBusCheckEngi24CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitTouch!CANCommunicationBusCheckEngi25CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitDTCTouch!CANCommunicationBusCheckEngi26CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCTouch!CANCommunicationBusCheckEngi27CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCRetrievingNowretrievingDTCs.Pleasewait.CANCommunicationBusCheckEngi28CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)CANCommunicationBusCheck29CANCommunicationBusCheckCheckcommunicationwithECU’sandsensorsEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3CANCommunicationBusCheckEngi30CANCommunicationBusCheckBothECU’sandsensorsonCANhaveself-diagnosisandcommunicationfunctionEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3Logic-
Self-diagnosis
-Communication
FunctionCANCommunicationBusCheckEngi31CANCommunicationCANBusLineCheckMeasuretheresistancevaluebetweenCANHandCANLwithIGswitch“OFF”DLC3YawRateSensorDecelerationSensorSkidControlECUCANHCANLEngineECU(ECM)ResistanceValue
54–69
600ResistanceValue
morethan69
600ResistanceValue
lessthan54
600CANCommunicationCANBusLine32CANCommunicationCANBusLineCheckResistancevaluebetween54and69PossiblecauseDLC3ResistanceValue
54–69
600YawRateSensorDecelerationSensorSkidControlECUShortEngineECU(ECM)CANCommunicationCANBusLine33CANCommunicationCANBusLineCheckResistancevaluebetween54and69InspectionItemResistanceValueBusLineConditionCANH–BATCANL–BATCANH–CGCANL–CGmorethan1MNobuslinemalfunctionifnoDTCoutputLessthan1kShortbetweenbusline–groundCANLCANHCGBAT[Inspectionforshortbetweenbusline–powersupply/ground]CANCommunicationCANBusLine34CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue
morethan69
600EngineECU(ECM)OpenOpen120CANCommunicationCANBusLine35CANCommunicationCANBusLineCheckResistanceValuemorethan69(Approx.120)1.DisconnectmainbuslineandcheckresistanceDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)OpenResistanceValue
is120ornot600120OpenDisconnectMainLineCANCommunicationCANBusLine36CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)2.CheckJ/Candterminalcircuit[JunctionConnector]CANHCANLResistanceValue
is120ornot600120MainBusCANCommunicationCANBusLine37CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue
morethan69
600EngineECU(ECM)OpenCANCommunicationCANBusLine38CANCommunicationCANBusLineCheckResistancevaluelessthan54(Approx.0)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)ResistanceValue
lessthan54
600ShortShortCANCommunicationCANBusLine39CANCommunicationCANBusLineCheckResistanceValuelessthan54(Approx.0)DisconnectDLC3SubBuslineandcheckDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)ResistanceValue
morethan1M
01MDisconnectDLC3SubBuslineShortCANCommunicationCANBusLine40CANCommunicationCANBusLineCheckIfresistancevalueis,DLC3isgoodDisconnectJ/CandcheckshortatmainbuslineYawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)DisconnectDLC3subbuslineShortDLC3ResistanceValue
lessthan54
600DisconnectMainLineCANCommunicationCANBusLine41CANCommunicationDTCCombinationTableDTCOutputECUTroublePortion(CommunicationStop)HVECUEngineECU(ECM)BatteryECUSkidControlECUYawRateSensorGatewayECUU0100HVECU—XXXXU0111—XXXXU0129—XXXXU0146—XXXXU3108-594—XXXXU0293EngineECU(ECM)—XXXXU1000BatteryECUX—XXXU0293X—XXX:OutputsX:Notoutput—:UndetectableCANCommunicationDTCCombinati42丰田普锐斯培训资料can-(for-prius)课件43Multiplex
Communication
System
—CAN—Multiplex
Communication
System44CANCommunicationGeneralWhatisCAN?CANisanacronymthatstandsfor
ControllerAreaNetwork.CANisaserialcommunicationprotocoldevelopedbyBOSCHin1986andstandardizedby(InternationalStandardsOrganization)HighSpeedCommunicationoflargevolumedataReduceamountofwireharnessReliableTransmissionAdvantageofCANCANCommunicationGeneralHighS45CANCommunicationFeatureCommunicationSpeedHigh-speedcommunication(ISO11898)ControlDrivingControlSystemBodyElectricalControlSystemProtocol*1CAN(ISOStandard)BEAN
(TOYOTAOriginal)AVC-LAN
(TOYOTAOriginal)CommunicationSpeed500kbps*(Max.1Mbps)Max.10kbpsMax.17.8kbpsCommunicationwireTwistPairWireAVsignalDriveTwistPairWireDriveTypeDifferential
VoltageDriveSingleWireVoltageDriveDifferential
VoltageDriveDataLength1-8Byte(Variable)1-11Byte(Variable)0-32Byte(Variable)*1:Rulefordatacommunications*2:bit(bitpersecond)CANCommunicationFeatureContro46CANCommunicationFeatureCommunicationFrameSameasBEANcommunication,allCANnodes(ECUs,sensors)communicatewithbitsignalDataTypeHeaderCommunicationFramePriorityDataLengthAddressforReceiverECUErrorDetectionCodeEndMessageDataResponseofReceiveECUCANCommunicationFeatureDataT47CANCommunicationFeatureCommunicationTypeBusStyleDLC3EngineECU(ECM)SkidControlECUYawRateSensorDecelerationSensorEPSECUSteering
Angle
Sensor:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)CANCommunicationFeatureDLC3En48CANCommunicationFeatureCommunicationWireCANusestwisted-pairwireCAN[DifferentialVoltageDrive]BEAN[SingleWireVoltageDrive]ECUECUECUECUTwisted-pairWireHiAVSingleWireHiLoLoCANCommunicationFeatureCAN[D49CANCommunicationFeatureCommunicationsignal2.5V3.5V[CANHI][CANLO][CANCombine][OutputVoltage]Time0V2.5V1.5V0VTime2.5V1.5V0VTime3.5VCANHICANLOCANCommunicationFeature2.5V350CANCommunicationCommunicationSystemDiagramCaseofPRIUS(NHW20)YawRateSensorDecelerationSensorJunction
ConnectorNo.2Junction
ConnectorNo.1SteeringAngleSensorTerminalCircuit(120)EPSECUSkidControlECUHVECUGateway
ECUCAN-HCAN-LDLC3SIL:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low):SerialCommunicationLineBatteryECUEngineECU
(ECM)CANCommunicationCommunication51CANCommunicationJunctionConnectorMainBusLineSubBusLineJunction
ConnectorSubBusLineCANCommunicationJunctionConn52CANCommunicationTerminalCircuitDLC3EPSECUSteering
Angle
SensorJunction
Connector:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)BatteryECUSkidControlECUYawRateSensorDecelerationSensorEngineECU
(ECM)Terminal
CircuitTerminal
CircuitCANCommunicationTerminalCirc53CANCommunicationTerminalCircuitNormalcondition3.5VTime0V2.5VYawRateSensorDecelerationSensorEngineECU
(ECM)SkidControlECUAbsorbtheSignalCANCommunicationTerminalCirc54CANCommunicationTerminalCircuitWithfaultyresistor3.5VTime0V2.5VYawRateSensorDecelerationSensorSkidControlECUEngineECU
(ECM)CANCommunicationTerminalCirc55CANCommunicationLocationBatteryECUSteeringAngleSensorJ/CNo.1DLC3SkidControlECUYawRateandDecelerationSensorHVECUJ/CNo.2EngineECUEPSECUGatewayECUCANCommunicationLocationBatte56CANCommunicationCommunicationFrequencyBothnodeshavetwotypeofcommunicationprocedures(Regularly/Event)ControlRegular(ms)EventEngineECU(ECM)Control24–32NoneECTECUControl32–64Sensors12–24DataSending/Command
(switchoperation)Approx.500–5000withNOTE:
BEAN:50–1000ms(250,500,1000)CANCommunicationCommunication57CANCommunicationInspectionProcedureTwomethodstocheckbuscommunication 1.IT-IITester 2.DVOM 1.BusCheck2.CANBusLineCheckCANCommunicationInspectionPr58CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc59CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc60CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc61CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckTouc62CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi63CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckEngi64CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc65CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckTouc66CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKCANCommunicationBusCheckEngi67CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitTouch!CANCommunicationBusCheckEngi68CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitDTCTouch!CANCommunicationBusCheckEngi69CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCTouch!CANCommunicationBusCheckEngi70CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCRetrievingNowretrievingDTCs.Pleasewait.CANCommunicationBusCheckEngi71CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)CANCommunicationBusCheck72CANCommunicationBusCheckCheckcommunicationwithECU’sandsensorsEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3CANCommunicationBusCheckEngi73CANCommunicationBusCheckBothECU’sandsensorsonCANhaveself-diagnosisandcommunicationfunctionEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3Logic-
Self-diagnosis
-Communication
FunctionCANCommunicationBusCheckEngi74CANCommunicationCANBusLineCheckMeasuretheresistancevaluebetweenCANHandCANLwithIGswitch“OFF”DLC3YawRateSensorDecelerationSensorSkidControlECUCANHCANLEngineECU(ECM)ResistanceValue
54–69
600ResistanceValue
morethan69
600ResistanceValue
lessthan54
600CANCommunicationCANBusLine75CANCommunicationCANBusLineCheckResistancevaluebetween54and69PossiblecauseDLC3ResistanceValue
54–69
600YawRateSensorDecelerationSensorSkidControlECUShortEngineECU(ECM)CANCommunicationCANBusLine76CANCommunicationCANBusLineCheckResistancevaluebetween54and69InspectionItemResistanceValueBusLineConditionCANH–BATCANL–BATCANH–CGCANL–CGmorethan1MNobuslinemalfunctionifnoDTCoutputLessthan1kShortbetweenbusline–groundCANLCANHCGBAT[Inspectionforshortbetweenbusline–powersupply/ground]CANCommunicationCANBusLine77CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue
morethan69
600EngineECU(ECM)OpenOpen120CANCommunicationCANBusLine78CANCommunicationCANBu
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