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III-1

III

Technologies

31 Controller Area Network. Joaquim Ferreira and José Alberto Fonseca ......................31-1

Introduction. •. CAN.Technology.Basics. •. CAN-Based.Upper.Layer.Protocols. •. .

CANL

imitations

. •. Lis

.of.Ac

ronyms

. •. Ref

erences

32 Probus. Max Felser and Ron Mitchell ........................................................................32-1

Introduction. •. Physical.Transmissions. •. Fieldbus.Data.Link. •. DP.System. •. Cyclic.Data.

Exc

hange:

.MS

0—Relation

. •. Acy

clic

.Dat

.Ex

change:

.MS

1/MS2

.Re

lations

. •. App

lication

Pro

les

. •. Ref

erences

33 INTERBUS. Juergen Jasperneite and Orazio Mirabella...............................................33-1

INTERBUS.Overview. •. INTERBUS.Protocol. •. Diagnostics. •. Performance.

Eva

luation

. •. Sum

mary

. •. Ref

erences

34 WorldFip. Francisco Vasques and Orazio Mirabella ....................................................34-1

Introduction. •. Physical.Layer. •. Data.Link.Layer. •. Application.Layer. •. Timing.

Prop

erties

.of.Wo

rldFIP

.Ne

tworks

. •. Ref

erences

35 Foundation Fieldbus. Carlos EduardoPereira,AugustoPereira,

andIanVerhappen

.........................................................................................................35-1

Introduction. •. Foundation.Fieldbus.Overview. •. Topology. •. Drivers.(DD,.EDDL,.and.

FDT

/DTM)

. •. Cab

les

. •. Seg

ment

.De

sign

. •. FFP

S—Fieldbus

.Po

wer

.Sup

plies

. •. Ins

tallation

of.Se

gment

.in.Sa

.Are

. •. Ins

tallation

.of.Se

gments

.in.Cl

assied

.Are

. •. Pro

ject

Doc

umentation

. •. Ins

tallations

.and.Co

mmissioning

. •. Mai

ntenance

. •. Ref

erences

36 Modbus. Mário de Sousa and Paulo Portugal ..............................................................36-1

Introduction. •. Modbus.Interaction.and.Data.Models. •. Modbus.Protocol.

Arc

hitecture

. •. Mod

bus

.Ap

plication

.La

yer

. •. Mod

bus

.Se

rial

. •. Mod

bus

TCP. •. Exa

mple

. •. Acr

onyms

. •. Ref

erences

37 Industrial Ethernet. Gaëlle Marsal and Denis Trognon ..............................................37-1

Introduction. •. Industrial.Ethernet. •. Standardized.SolutionsofIEC61158.

and.IE

.61

784

. •. Feat

ures

.of.Ma

jor

.Ind

ustrial

.Et

hernetSolutions

. •. .

Syn

thesis

. •. Abb

reviations

. •. Ref

erences

38 EtherCAT. Gianluca Cena, Adriano Valenzano, and Claudio Zunino .......................38-1

Introduction. •. Physical.Layer. •. Communication.Protocol. •. Addressing. •. .

Syn

cManager

. •. Dis

tributed

.Clo

. •. App

lication

.La

yer

. •. .Re

ferences

39 Ethernet POWERLINK. Paulo Pedreiras, Stefan Schoenegger, Lucia Seno,

andStefano Vitturi

..........................................................................................................39-1

Introduction. •. EPL.Protocol. •. Frame.Mapping. •. Network.Congurations. •. .

Red

undancy

.As

pects

. •. Sec

urity

.As

pects

. •. .Pe

rformanceAnalysis

. •. Ref

erences

40 PROFINET. Max Felser, Paolo Ferrari, and Alessandra Flammini ............................40-1

Introduction. •. PROFINET.IO.Basics. •. IRT.Communication.in.PROFINETIO. •. .

Eng

ineering

.and.Co

mmissioning

. •. Int

egration

.of.Fi

eldbus

.Sy

stems

andWe

bApplications

. •. Acr

onyms

. •. Bib

liography

III-2 Technologies

41 LonWorks. Uwe Ryssel, Henrik Dibowski, Heinz Frank, and Klaus Kabitzsch ...........41-1

Introduction. •. System.Components. •. LonTalk.Protocol. •. e.Application.Layer.

Pro

gramming

.Mo

del

. •. Fun

ction

.Blo

ck-Based

.De

sign

.and.Sy

stem

.In

tegration

. •. Net

work

Des

ign

.To

ols

. •. Aut

omatic

.De

sign

.Ap

proaches

. •. Ref

erences

42 KNX. Wolfgang Kastner, Fritz Praus, Georg Neugschwandtner,

andWolfgangGranzer

.....................................................................................................42-1

Introduction.and.Overview. •. Medium-Independent.Layers. •. Medium-Dependent.

Laye

. •. Run

time

.In

terworking

. •. Dev

ices

. •. Con

guration

. •. Con

clusion

andOu

tlook

. •. Abb

reviations

. •. Ref

erences

43 Protocols of the Time-Triggered Architecture: TTP, TTEthernet,

TTP/A

. Wil

fried Elmenreich and Christian El-Salloum

...............................................43-1

Introduction. •. e.Time-Triggered.Paradigm. •. Time-Triggered.

Com

munication

. •. Tim

e-Triggered

.Pr

otocol

.(T

TP)

. •. Tim

e-Triggered

Eth

ernet

. •. TTP

. •. Ack

nowledgments

. •. Ref

erences

44 FlexRay. Martin Horauer and Peter Rössler .................................................................44-1

Introduction. •. Protocol. •. System.Architecture. •. System.Design.

Con

siderations

. •. Ref

erences

45 LIN-Bus. Andreas Grzemba, Donal Heernan, and omas Lindner ........................45-1

LIN.Background. •. LIN.History.and.Versions. •. Communication.Concept. •. Physical.

Laye

. •. LIN.Me

ssage

.Fr

ames

. •. Net

work

.and.St

atus

.Ma

nagement

. •. Tra

nsport

Laye

.Pr

otocol

. •. Con

guration

. •. Rel

ationship

.be

tween

.SAE.J2

602

.and.LI

N2.0

. •. .

Con

clusion

. •. Ref

erences

46 Prosafe. Ron Mitchell, Max Felser, and Paulo Portugal .............................................46-1

Introduction. •. Prosafe.Communication. •. Deployment. •. Acronyms. •. References

47 SafetyLon. omas Novak, omas Tamandl, and Peter Preininger ..........................47-1

Introduction. •. e.General.SafetyLon.Concept. •. e.Safety-Related.

Lif

ecycle

. •. e.Ha

rdware

. •. e.Sa

fety-Related

.Fi

rmware

. •. e.Sa

fetyLon

Too

. •. Acr

onyms

. •. Ref

erences

48 Wireless Local Area Networks. Henning Trsek, Juergen Jasperneite,

LuciaLoBello, and Milos Manic

.....................................................................................48-1

Introduction. •. e.802.11.Family. •. Physical.Layer. •. Medium.Access.

Con

trol

. •. Lim

itations

.of.DC

.and.HC

.fo

.Qo

.Sup

port

.in.Ind

ustrial

Env

ironments

. •. Sec

urity

.Me

chanisms

. •. Fas

.Ha

ndover

. •. Fut

ure

Enh

ancements

. •. Ref

erences

49 Bluetooth. Stefan Mahlknecht, Milos Manic, and Sajjad Ahmad Madani ..................49-1

Introduction. •. Bluetooth.Core.Architecture.Blocks. •. Bluetooth.Protocol.

Sta

. •. Blu

etooth

.Pr

oles

. •. Com

petitive

.Te

chnologies

. •. Fut

ure

.of.th

.Bl

uetooth

Tec

hnology:

.Ch

allenges

. •. Ref

erences

50 ZigBee. Stefan Mahlknecht, Tuan Dang, Milos Manic, and Sajjad Ahmad Madani ........50-1

Introduction. •. ZigBee.and.Mesh.Networks. •. ZigBee.in.the.Context.of.Other.

Wire

less

.Ne

tworks

. •. Zig

Bee

.St

ack

. •. IEE

.80

2.15.4

. •. Dev

elopment

.and.Ind

ustrial

App

lications

. •. Con

clusion

. •. Ref

erences

51 6LoWPAN: IP for Wireless Sensor Networks and Smart Cooperating

Objects

. Gui

do Moritz and Frank Golatowski

..............................................................51-1

Introduction. •. Why.IP.in.WSN.and.For.Smart.Cooperating.Objects?. •. Introduction.

in80

2.15.4

. •. 802

.15.4

.and.6L

oWPAN

. •. 6Lo

WPAN

. •. Sum

mary

. •. Ref

erences

52 WiMAX in Industry. Milos Manic, Sergiu-Dan Stan, and Strahinja Stankovic ........52-1

Introduction. •. e.WiMAX.Broadband.Technology. •. WiMAX.Architecture. •. .

 e.Wi

MAX

.Fo

rum

.and.Wo

rking

.Gr

oups

. •. Int

egration

.wi

.Ot

her

.Ne

tworks

. •. .

Con

clusion

. •. Ref

erences

Technologies III-3

53 WirelessHART, ISA100.11a, and OCARI. Tuan Dang and Emiliano Sisinni ...........53-1

Introduction. •. WirelessHART. •. ISA.100.11a. •. OCARI. •. Coexistence.of.the. ree.

Prot

ocols

. •. Exa

mple

.of.Pl

atform

.Pr

oviders

. •. Con

clusions

. •. Ref

erences

54 Wireless Communication Standards. Tuan Dang .....................................................54-1

Introduction. •. A.Wireless.Standards.Taxonomy. •. Regulations.and.EMC. •. .

Con

clusion

. •. Ref

erences

55 Communication Aspects of IEC 61499 Architecture. Valeriy Vyatkin,

MáriodeSousa, and Alois Zoitl

......................................................................................55-1

Introduction. •. Illustrative.Example. •. Logic.Encapsulated.in.Basic.FB. •. .

Ext

ension

. •. Dis

tribution

. •. Com

munication

.FB

. •. Com

munication

.Us

ing

Ser

vicesofInternet

.Pr

otocol

.Su

ite

. •. Add

ing

.Di

stribution

.and.Co

mmunication

.to.th

Sam

ple

.Sy

stem

. •. Int

ernals

.of.Co

mmunication

.FB

.Mo

dbus

. •. Com

munication

.vi

the.CI

. •. Imp

act

.of.Co

mmunication

.Se

mantics

.on.Ap

plication

.Be

havior

. •. Fai

lures

inDi

stributed

.Ap

plications

. •. Con

clusion

. •. Ref

erences

56 Industrial Internet. Martin Wollschlaeger and ilo Sauter ......................................56-1

Introduction. •. Application.of.Internet.TechnologiesinIndustry. •. .

Tec

hnologies

. •. App

lication

.Ex

amples

. •. Con

clusions

.andO

utlook

. •. .

Acr

onyms

. •. Ref

erences

57 OPC UA. Tuan Dang and Renaud Aubin .....................................................................57-1

Introduction. •. Overview.of.OPC.UA.System.Architecture. •. OverviewofUA.

Add

ressSpace

. •. Ove

rview

.of.UA.Se

rvices

. •. Imp

lementations

.andP

roducts

. •. .

Con

clusion

. •. Ref

erences

58 DNP3 and IEC 60870-5. Andrew C. West ...................................................................58-1

Requirements.for.SCADA.Data.Collection.in.Electric.Power.and.Other.

Indu

stries

. •. Feat

ures

.Co

mmon

.to.IE

.60

870-5

.and.DN

P3:

.Dat

aTyping,

.Re

port

.by.

Exc

eption,

.Er

ror

.Re

covery

. •. Di

erentiation

.be

tween

.IE

.60

870-5

.andD

NP3

.Op

erating

Phi

losophy,

.Me

ssage

.Fo

rmatting,

.E

ciency,

.TC

P/IP

.Tr

ansport

. •. Ref

erences

59 IEC 61850 for Distributed Energy Resources. Sidonia Mesentean, Heinz Frank,

and Karlheinz Schwarz

....................................................................................................59-1

Introduction. •. Basic.Concept. •. Modeling.the.Automation.Functions. •. Communication.

Ser

vices

. •. Mod

eling

.wi

.Sy

stem

.Co

nguration

.La

nguage

. •. Di

erent

.Ty

pes

ofDE

. •. Ref

erences

31-1

31.1 Introduction

Controller.area.network.(CAN).is.a.popular.and.a.very.well-known.bus.system,.both.in.academia.and.in.

indu

stry.

.CAN.proto

col

.was.intr

oduced

.in.the.mid-

1980s

.by.Robe

.Bosc

.GmbH.[7],.and.it.was.inte

nationally

.stan

dardized

.in.1993.as.ISO.1189

8-1

.[24]

.It.was.init

ially

.desig

ned

.for.dist

ributed

.autom

otive

cont

rol

.syst

ems

.as.a.singl

.digi

tal

.bus.to.repl

ace

.trad

itional

.poin

t-to-point

.cabl

.that.were.grow

ing

.in.

comp

lexity,

.weig

ht,

.and.cost.with.the.intr

oduction

.of.new.elec

trical

.and.elec

tronic

.syst

ems.

.Nowa

days

CAN.is.stil

.used.exte

nsively

.in.autom

otive

.appl

ications,

.with.an.exce

.of.400.mill

ion

.CAN-

enabled

micr

ocontrollers

.man

ufactured

.eac

.yea

.[14

.wide

spread

.and.succ

essful

.use.of.CAN.in.the.autom

otive

.indu

stry,

.the.low.cost.asso

ciated

.with.

high

-volume

.prod

uction

.of.cont

rollers,

.and.CAN’

.inhe

rent

.tech

nical

.meri

.have.driv

.to.CAN.adop

tion

.in.othe

.appl

ication

.doma

ins

.such.as.indu

strial

.comm

unications,

.medi

cal

.equi

pment,

.mach

ine

tool,.rob

otics,

.and.in.dis

tributed

.embe

dded

.sys

tems

.in.gen

eral.

CAN

.prov

ides

.two.laye

.of.the.stac

.of.the.open.syst

ems

.inte

rconnection

.(OSI

)

.refe

rence

.mode

.the.

physi

cal

.laye

.and.the.data.link.laye

.Optio

nally,

.it.coul

.also.prov

ide

.an.addi

tional

.appl

ication

.laye

not.incl

uded

.on.the.CAN.stan

dard.

.Noti

.that.CAN.physi

cal

.laye

.was.not.den

.in.Bosc

.orig

inal

spec

ication,

.only.the.data.link.laye

.was.den

ed.

.Howe

ver,

.the.CAN.ISO.spec

ication

.lle

.this.gap.

and.the.physi

cal

.laye

.was.then.full

.spec

ied.

.CAN.is.a.mess

age-oriented

.tran

smission

.proto

col,

.i.e.,.it.

den

.mess

age

.cont

ents

.rath

.than.node

.and.node.addr

esses.

.Ever

.mess

age

.has.an.asso

ciated

.mes-

age

.iden

tier,

.whic

.is.uniq

.with

.the.whol

.netw

ork,

.den

ing

.both.the.cont

ent

.and.the.prio

rity

.of.

the.mes

sage.

.Tra

nsmission

.rat

.are.de

ned

.up.to.1.Mbps

.large.installed.base.of.CAN.nodes.with.low.failure.rates.over.almost.two.decades.led.to.the.use.of.

CAN.in.some.crit

ical

.appl

ications

.such.as.anti

-locking

.brak

.syst

ems

.(ABS

)

.and.elec

tronic

.stab

il-

ity

.prog

ram

.(ESP

)

.in.cars

.In.para

llel

.with.the.wide.disse

mination

.of.CAN.in.indu

stry,

.the.acad

emia

also. devo

ted

.a. larg

.eor

.to.CAN.anal

ysis

.and. rese

arch,

.maki

.CAN.one. of. the.most. stud

ied

eld

buses.

. at.is.why.a.larg

.numb

.of.book

.or.book.chap

ters

.descr

ibing

.CAN.were.publ

ished.

. e.

rst.CAN.book,.writ

ten

.in.Fren

.by.D..Pare

.was.publ

ished

.in.1997.and.prese

nts

.the.CAN.basi

.[32]

Controller Area Network

31.1. Introduction..................................................................................... 31-1

31.2

. CAN.Tec

hnology

.Basi

cs................................................................. 31-2

Physical.Layer. •. Data.Link.Layer. •. Detecting.and.Signaling.

Errors. •. Network.Topology

31.3. CAN-Based.Upper.Layer.Protocols..............................................31-6

CANopen. •. DeviceNet. •. TTCAN. •. FTT-CAN

31.4. CAN.Limitations........................................................................... 31-12

Consequences.of.Faults.at.the.Node.Level

List.of.Acronyms.........................................................................................31-14

References....................................................................................................31-14

Joaquim Ferreira

University of Averio

José Alberto Fonseca

Universidade of Aveiro

31-2 Industrial Communication Systems

Moreimplementation.oriented.approaches,.including.CAN.node.implementation.and.application.exam-

ples,

.can.be.foun

.in.Lore

.[28].and.in.Etsch

berger

.[16]

.whil

.more.comp

act

.descr

iptions

.of.CAN.can.be.

foun

.in.[11].and.in.some.chap

ters

.of.[31]

Despite

.its.succ

ess

.stor

.CAN.appl

ication

.desi

gners

.woul

.be.happ

ier

.if.CAN.coul

.be.made.fast

er,

cove

.long

.dist

ances,

.be.more.dete

rministic,

.and.be.more.depe

ndable

.[34]

.Over.the.year

.sev-

ral

.prot

ocols

.base

.on.CAN.were.pres

ented,

.taki

.adva

ntage

.of.some.CAN.prop

erties

.and.try-

.to.impr

ove

.some.know

.CAN.draw

backs.

. is.chap

ter,

.besi

des

.pres

enting

.an.over

view

.of.CAN,.

desc

ribes

.also. some. othe

.rele

vant

.high

.leve

.prot

ocols

.base

.on. CAN,. such. as. CANop

.[13]

Devi

ceNet

.[6],.FTT-

CAN

.[1],.and.TTCA

.[25]

31.2 CaN technology Basics

 e. original. specication. [7]. contains. few. more. than. a. MAC. protocol. based. on. decentralized.

medi

.acce

.(CSM

.type

)

.that.uses.a.part

icular

.phys

ical

.char

acteristic

.of.the.medi

.to.sup-

ort

.a.nond

estructive

.bit-

wise

.arbi

tration.

. e.comm

unication

.is.mess

age-oriented

.sinc

.each.mes-

age

.rece

ives

.an.iden

tier

.whic

.must.be.uniq

.in.the.syst

.and.whic

.esta

blishes

.the.mess

age

prio

rity

.for.the.arbi

tration

.proc

ess.

.Any.tran

smitted

.CAN.mess

age

.is.broa

dcast

.to.ever

.node.in.

the.netw

ork.

Whenever

.two.or.more.node

.star

.tran

smitting

.at.the.same.time,.only.the.one.tran

smitting

.the.

messa

.with.the.high

est

.prio

rity

.will.proce

.with.the.tran

smission.

.All.othe

.quit.and.try.agai

.aer.

the.curr

ent

.tran

smission

.ceas

es.

. is.dete

rministic

.mecha

nism

.allo

.one.to.comp

ute

.the.wors

t-case

resp

onse

.time.of.all.CAN.messa

ges

.[14,

42].

.So,.from.the.real

-time

.poin

.of.view

.CAN.is.a.seri

.data.bus.

that.suppo

rts

.prio

rity-based

.messa

.arbi

tration

.and.non-

preemptive

.messa

.tran

smission.

.In.1994

Tind

ell

.and.Burns.[42].adap

ted

.prev

ious

.rese

arch

.on.xed.prio

rity

.pree

mptive

.sche

duling

.for.sing

le-

processor

.syst

ems

.to.the.sche

duling

.of.messa

ges

.on.CAN,.provi

ding

.a.metho

.for.calc

ulating

.the.wors

case

.resp

onse

.times.of.all.CAN.messa

ges.

.Prio

.to.Tind

ell’s

.resu

lts,

.the.bus.util

ization

.in.auto

motive

appli

cations

.was.typi

cally

.aroun

.30%.or.40%,.but.stil

.requ

iring

.exte

nsive

.test

ing

.to.obta

.con

dence

that.CAN.messa

ges

.woul

.meet.thei

.dead

lines

.[14]

.sinc

.then.ther

.were.no.anal

ysis

.tool

.that.coul

guar

antee

.real

-time

.beha

vior.

.With.the.adve

.of.new.desi

.tech

niques,

.base

.on.sche

dulability

.anal

sis,

.CAN.bus.util

ization

.coul

.be.incr

eased

.to.aroun

.80%.[15]

.Tind

ell’s

.resu

lts

.were.tran

sferred

.to.

indu

stry

.in.the.form.of.comme

rcial

.CAN.sche

dulability

.anal

ysis

.tool

.e.g.

.Volc

ano

.Netw

ork

.Arch

itect,

that.have.been.used.by.a.large.number.of.major.automotive.manufacturers..Unfortunately,.the.initial.

CAN.sche

dulability

.anal

ysis

.[42].was.awe

.[14]

.It.may.provi

.guar

antees

.for.messa

ges

.that

.in.the.

wors

t-case

.scen

ario,

.will.in.fact.miss.thei

.dead

lines.

.Davi

.et.al..[14].corr

ect

.prev

ious

.awe

.anal

ysis

and.disc

uss

.the.impa

.on.comme

rcial

.CAN.syst

ems

.desi

gned

.and.deve

loped

.usin

.awe

.sche

dula-

bility

.anal

ysis,

.whil

.maki

.reco

mmendations

.for.the.revi

sion

.of.CAN.sche

dulability

.anal

ysis

.tool

31.2.1 Physical Layer

 e.CAN.ISO.standard.incorporates.the.original.Bosch.specications.[7].as.well.as.part.of.the.physical.

laye

.the.physi

cal

.signa

ling,

.the.bit.timi

ng,

.and.sync

hronization.

. ere.are.a.smal

.numbe

.of.othe

CAN.phy

sical

.lay

.spe

cications

.inc

luding

•

. ISO 1

1898-2 High Speed—ISO

.1189

8-2

.[24].is.the.most.used.physi

cal

.laye

.stan

dard

.for.CAN.

netw

orks.

.In.this.stan

dard,

.the.data.rate.is.den

.up.to.1.Mbps.with.a.theo

retically

.possi

ble

.bus.

leng

.of.40.m.at.1.Mbps

•

. ISO 1

1898-3 Fault Tolerant— is

.stan

dard

.den

.data.rate

.up.to.125.kbps.with.the.maxi

mum

bus.leng

.depe

nding

.on.the.data.rate.used.and.the.bus.load

.Up.to.32.node

.per.netw

ork

.are.

spec

ied.

. e.faul

t-tolerant

.tran

sceivers

.supp

ort

.the.comp

lete

.erro

.mana

gement

.incl

uding

.the.

detection.of.bus.errors.and.automatic.switching.to.asymmetrical.signal.transmission.

Controller Area Network 31-3

•. SAE J2411 Single Wire—An.unshielded.single.wire.is.dened.as.

the.bus.medi

.and.the.comm

unication

.take

.plac

.with.a.nomi

nal

.data.rate.of.33.3.kbps

. e.stan

dard

.den

.up.to.32.node

.per.

netw

ork.

. e.main.appl

ication

.area.of.this.stan

dard

.is.in.comf

ort

elec

tronics

.net

works

.in.veh

icles.

•

. ISO 1

1992 Point-to-Point— is

.stan

dard

.den

.a.poin

t-to-point

conn

ection

.for.use.main

.in.vehi

cles

.with.trai

lers.

. e.nomi

nal

data.rat

.is.125.kbps.wit

.a.max

imum

.bus.lin

.len

gth

.of.40.m.

.most.popu

lar

.CAN.physi

cal

.laye

.proto

col,

.avai

lable

.in.most.

of.the.CAN.tran

sceivers,

.is.the.one.den

.in.the.ISO.1189

8-2

.stan

dard.

. e.maxi

mum

.achi

evable

.bus.line.leng

.in.a.CAN.netw

ork,

repr

esented

.in.Tab

.31.

.dep

ends

.on

•

. . e.loop.dela

.of.the.conn

ected

.bus.node

.and.the.dela

.of.the.

bus.lin

•

. e.di

erences

.of.the.rel

ative

.osc

illator

.tole

rance

.bet

ween

.nod

•

. . e.signa

.ampl

itude

.drop.due.to.the.seri

.resis

tance

.of.the.bus.

cabl

.and.the.inp

.resi

stance

.of.bus.nod

The

.CAN.phys

ical

.laye

.prov

ides

.a.two-

state

.medi

um,

.wher

.the.bus.can.be.eith

.domi

nant

.or.

rece

ssive.

.When

ever

.two.node

.simu

ltaneously

.tran

smit

.bits.of.oppo

site

.valu

.then.all.node

.shoul

read.domi

nant.

.Usua

lly

.the.domi

nant

.stat

.is.asso

ciated

.with.the.bina

.valu

.0.and.reces

sive

.with.the.

bina

.valu

.1.

.physi

cal

.laye

.has.a.numbe

.of.buil

t-in

.faul

t-tolerant

.feat

ures.

.CAN.prov

ides

.resil

ience

.agai

nst

.a.

vari

ety

.of.physi

cal

.faul

.such.as.one.open.wire

.the.shor

t-circuit

.of.the.two.signa

.wire

.or.even.one.of.

the.signa

.wire

.shor

ted

.to.grou

.or.powe

.Noti

.that.not.all.CAN.cont

rollers

.are.able.to.impl

ement

thes

.feat

ures,

.by.swit

ching

.from.die

rential

.signa

ling

.to.singl

e-line

.signa

ling,

.at.high

.bus.spee

ds.

. e.

CAN.die

rential

.elec

trical

.signa

ling

.mode.is.very.resis

tant

.to.elec

tromagnetic

.inte

rference

.(EMI

)

.since.

inte

rference

.will.tend.to.aec

.each.side.of.a.die

rential

.signa

.almo

.equa

lly.

.Howe

ver,

.the.die

rential

elec

trical

.signa

ling

.does.not.full

.prev

ent

.EMI.to.aec

.the.signa

.on.the.bus.in.such.a.way.that.one.or.

more.node

.on.the.bus.will.simul

taneously

.read.a.die

rent

.bit.valu

.from.that.whic

.was.tran

smitted.

A.node.dete

cting

.the.erro

.(pos

sibly

.the.tran

smitter)

.will.inva

lidate

.the.mess

age

.by.tran

smitting

.an.

erro

.fram

. e.numbe

.and.the.natu

.of.EMI-

induced

.tran

smission

.faul

.and.the.abil

ity

.of.the.physi

cal

.laye

.to.prev

ent

.them.depe

nds

.on.seve

ral

.facto

.such.as.the.cabl

.type.and.leng

th,

.the.numbe

.of.

node

.the.tra

nsceiver

.typ

.and.the.EMI.shi

elding.

31.2.2 Data Link Layer

 e.data.link.layer.of.CAN.includes.the.services.and.protocols.required.to.assure.a.correct.transfer.

of.inf

ormation

.fro

.one.nod

.to.ano

ther.

 ere

.are.four.type

.of.mess

age

.on.CAN:.data.fram

es,

.erro

.fram

es,

.remo

.fram

es,

.and.over

load

fram

es.

. e. latt

.two. type

.of. mess

ages

.are. rare

. used. in. real. appl

ication

.and,. thus

.will. not. be.

desc

ribed

.fur

ther.

. CAN. proto

col

. supp

orts

. two. mess

age

. fram

. form

ats,

. the. only. esse

ntial

. die

rence

. bein

. in.

the.leng

.of.the.iden

tier.

. e.CAN.base

frame

.form

.supp

orts

.a.leng

.of.11.bits.for.the.iden

tier

(for

merly

.know

.as.CAN.2.0.A),.and.the.CAN.exte

nded frame

.form

.supp

orts

.a.leng

.of.29.bits.for.the.

iden

tier

.(fo

rmerly

.kno

.as.CAN.2.0.B).

ata

.on.the.bus.are.sent.in.data.fram

.whic

.consi

.of.up.to.8.byte

.of.data.plus.a.head

.and.a.

foot

er.

. e.fra

.is.str

uctured

.as.a.numb

.of.el

ds,

.as.dep

icted

.in.Fig

ure

.31.

TABLE 31.1 Practical.CAN.Bus.

Leng

.for.ISO.118

.Com

pliant

Tran

sceivers

.and.Sta

ndard

.Bus.

Line.Cab

les

Bit.Rate Bus.Length.(m)

.Mbps 30

800

.kbps 50

500

.kbps 100

250

.kbps 250

125

.kbps 500

62,5

.kbps 1000

.kbps 2500

.kbps 5000

urce:

. CiA,.CAN.phys

ical

.laye

.CiA.

(CAN. in. Auto

mation),

. Nure

mberg,

Germ

any,

.2001

31-4 Industrial Communication Systems

A.CAN.base.frame.message.begins.with.the.start.bit.called.start of frame.(SOF).. is.bit.is.followed.by.

the.arbitration eld,.which.consist.of.the.identier.and.the.remote transmission request.(RTR).bit.used.

to.distinguish.between.the.data.frame.and.the.data.request.frame.called.remote.frame.. e.following.

control eld.contains.the.identier extension.(IDE).bit.to.distinguish.between.the.CAN.base.frame.and.

the.CAN.extended.frame,.as.well.as.the.data.length.code.(DLC).used.to.indicate.the.number.of.following.

data.bytes.in.the.data eld..If.the.message.is.used.as.a.remote.frame,.the.DLC.contains.the.number.of.

requested.data.bytes.. e.data.eld.that.follows.is.able.to.hold.up.to.8.bytes.. e.integrity.of.the.frame.is.

guaranteed.by.the.following.cyclic redundant check.(CRC).sum.. e.acknowledge.(ACK).eld.comprises.

the.ACK.slot.and.the.ACK.delimiter.. e.bit.in.the.ACK.slot.is.sent.as.a.recessive.bit.and.is.overwritten.

as.a.dominant.bit.by.those.receivers.which.have.at.this.time.received.the.data.correctly..Correct.mes-

sages

.are.acknowledged.by.the.receivers.regardless.of.the.result.of.the.acceptance.test.. e.end.of.the.

message.is.indicated.by.end of frame.(EOF).. e.intermission frame space.(IFS).is.the.minimum.time.in.

equivalent.number.of.bits.separating.consecutive.messages..Unless.another.station.starts.transmitting,.

the.bus.remains.idle.aer.this.

Associated

.with.every.CAN.message.there.is.a.unique.message.identier.that.denes.its.content.and.

also.the.priority.of.the.message..Bus.access.conicts.are.resolved.by.a.nondestructive.bitwise.arbitration.

scheme.where.the.identiers.of.the.involved.messages.are.observed.bit-by-bit.by.all.nodes,.in.accordance.

with.the.wired-AND.mechanism,.by.which.the.dominant.state.overwrites.the.recessive.state..All.those.

nodes.with.recessive.transmission.and.dominant.observation.lose.the.competition.for.bus.access.. e.

nodes.that.lost.the.arbitration.automatically.become.receivers.of.the.message.with.the.highest.priority.

and.do.not.reattempt.transmission.until.the.bus.is.available.again..In.this.way,.transmission.requests.are.

handled.in.order.of.their.importance.for.the.system.as.a.whole.

31.2.3 Detecting and Signaling Errors

A.CAN.node.does.not.acknowledge.message.reception,.instead.it.signals.errors.immediately.as.they.

occur..For.error.detection.the.CAN.protocol.implements.three.mechanisms.at.the.message.level:

•

. Cyclic redundancy check— is. mechanism. accounts. for.message. corruption.. e. transmitter.

node.computes.the.CRC.and.transmits.it.within.the.message.. e.receiver.decodes.the.message.

and.recomputes.the.CRC.and.if.they.do.not.match,.there.has.been.a.CRC.error.

•

. Frame check— is.mechanism.detects.message.format.violations,.i.e.,.it.checks.each.eld.against.

the.xed.format.and.the.frame.size.

•

. Acknowledge errors—Since.the.receivers.of.a.message.must.issue.an.acknowledgement.bit.in.the.

ACK.eld,.if.the.transmitter.does.not.receive.an.acknowledgment.an.ACK.error.is.indicated,.thus.

allowing.a.node.to.detect.isolation.from.the.network.

Besides

.error.detection.at.the.message.level,.the.CAN.protocol.also.implements.mechanisms.for.error.

detection.at.the.bit.level:

•

. Transmission monitoring—Each.node.transmitting.a.message.also.monitors.the.bus.level.to.be.

able.to.detect.dierences.between.the.bit.sent.and.the.bit.received.. is.mechanism.allows.distin-

guishing

.global.errors.from.errors.local.to.the.transmitter.only.

Start

1 bit

Identier

11 bits

RTR

1 bit

IDE

1 bit

DLC

4 bits

Data

0.8 bytes

CRC

15 bits

ACK

2 bits

EOF

7 bits IFS

…

FIGURE 31.1 CAN.base.frame.format.

Controller Area Network 31-5

•. Bit stung—CAN.uses.a.non-return-to-zero.codication.to.prevent.nodes.from.loosing.syn-

chronization

.by.rec

eiving

.lon

.seq

uences

.of.rec

essive

.or.dom

inant

.bit

.A.sup

plementary

.bit.is.

ins

erted

.by.the.tra

nsmitter

.into.the.bit

stream

.ae

.ve.con

secutive

.equ

.bit

. e.stu



.bit

.are.

rem

oved

.by.th

.re

ceivers

.th

.al

.de

tect

.vi

olations

.of.th

.bi

.st

ung

.ru

le.

.at.lea

.one.sta

tion

.det

ects

.any.err

or,

.it.wil

.sta

.tra

nsmitting

.an.err

.fra

.in.the.nex

.bit.abo

rt-

ing

.the.cur

rent

.mes

sage

.tra

nsmission.

. is.pre

vents

.oth

.sta

tions

.fro

.acce

pting

.the.mes

sage

.and.thu

ens

ures

.the.con

sistency

.of.dat

.thr

oughout

.the.net

work.

.Ae

.tra

nsmission

.of.an.err

oneous

.mes

sage

.tha

has.bee

.abo

rted,

.the.send

.aut

omatically

.rea

ttempts

.tra

nsmission

.(au

tomatic

.ret

ransmission).

.Dur

ing

the.new.arb

itration

.pro

cess,

.all.nod

.com

pete

.for.bus.acce

.and.the.one.wit

.the.hig

her

.pri

ority

.mes

sage

wil

.win.arb

itration.

. us

.the.mes

sage

.aec

ted

.by.the.err

.cou

.be.del

ayed.

. er

.is,.how

ever,

.a.spec

ial

case.whe

.con

sistency

.thr

oughout

.the.net

work

.is.com

promised,

.as.it.wil

.be.disc

ussed

.lat

er.

.pre

vent

.a.fau

lty

.CAN.con

troller

.to.abo

.all.tra

nsmissions,

.inc

luding

.the.cor

rect

.one

.the.CAN.

pro

tocol

.pro

vides

.a.mec

hanism

.to.dis

tinguish

.spo

radic

.err

ors

.fro

.per

manent

.err

ors

.and.loc

.fai

lures

at.the.sta

tion.

. is.is.don

.by.sta

tistical

.ass

essment

.of.sta

tion

.err

.situ

ations

.wit

.the.aim.of.rec

og-

nizing

.a.sta

tion’s

.own.def

ects

.and.pos

sibly

.ent

ering

.an.ope

ration

.mod

.in.whi

.the.res

.of.the.CAN.

net

work

.is.no

.ne

gatively

.a

ected.

. i

.ma

.go.as.fa

.as.th

.st

ation

.sw

itching

.it

self

.o.(b

us-o

.st

ate).

.CAN.eac

.nod

.tha

.det

ects

.an.err

.sen

.an.err

.ag.com

posed

.of.six.con

secutive

.dom

inant

bit

.i.e

.a.vio

lation

.of.the.bit.stu

ng

.rul

.ena

bling

.all.nod

.on.the.bus.to.be.awa

.of.a.tra

nsmission

err

or.

. e.fra

.ae

cted

.by.the.err

.auto

matically

.ree

nters

.into.the.nex

.arb

itration

.pha

se.

. e.err

rec

overy

.tim

.(th

.tim

.fro

.det

ecting

.an.err

.unt

.the.pos

sible

.sta

.of.a.new.fra

me)

.var

ies

.fro

.17.

to.31.bi

.ti

mes

.[3

0].

.pre

vent

.an.err

oneous

.nod

.fro

.disr

upting

.the.fun

ctioning

.of.the.who

.sys

tem,

.e.g

.by.rep

eti-

tively

.sen

ding

.err

.fra

mes,

.the.CAN.pro

tocol

.inc

ludes

.fau

.con

nement

.mec

hanisms

.tha

.are.abl

.to.

det

ect

.per

manent

.har

dware

.mal

functioning

.and.to.rem

ove

.def

ective

.nod

.fro

.the.net

work.

.To.do.thi

a.CAN.con

troller

.has.two.err

.cou

nters;

.the.tra

nsmit

.err

.cou

nter

.(TE

.and.the.rec

eive

.err

.(RE

cou

nter

.whi

.are.inc

remented/decremented

.acc

ording

.to.a.set.of.rul

.[7,

24].

.Eac

.tim

.a.fra

.is.cor

rectly

.received.or.transmitted.by.a.node,.the.value.of.the.corresponding.counter.is.decreased..Conversely,.

eac

.ti

.a.tr

ansmission

.er

ror

.is.de

tected

.th

.va

lue

.of.th

.co

rresponding

.co

unter

.is.in

creased.

Depending

.on.the.val

.of.bot

.cou

nters,

.the.sta

tion

.wil

.be.in.one.of.the.thr

.sta

tes

.de

ned

.by.the.

pro

tocol:

.err

.act

ive,

.err

.pas

sive,

.and.bus

-o.

.In.the.err

or-active

.sta

.(RE

.<.128.and.TEC.<.128

.the.

nod

.can.sen

.and.rec

eive

.fra

mes

.wit

hout

.res

trictions.

.In.the.err

or-passive

.sta

.([R

.>.127.or.TEC.>.127

]

and.[TE

.≤.255

]),

.the.nod

.can.tra

nsmit

.but.it.mus

.wai

.8.sup

plementary

.bit

.ae

.the.end.of.the.las

.tra

ns-

mitted

.fra

.and.it.is.not.all

owed

.to.sen

.act

ive

.err

.fra

mes

.upo

.the.det

ection

.of.a.tra

nsmission

.err

or,

it.wil

.sen

.pas

sive

.err

.fra

mes

.ins

tead.

.Fur

thermore,

.an.err

or-passive

.nod

.can.onl

.sig

nal

.err

ors

.whi

tra

nsmitting.

Aer

.beh

aving

.wel

.aga

.for.a.cer

tain

.tim

.a.nod

.is.all

owed

.to.rea

ssume

.the.err

or-active

.sta

tus.

.Whe

the.TEC.is.gre

ater

.tha

.255

.the.nod

.CAN.con

troller

.goe

.to.the.bus

-o

.sta

te.

.In.thi

.sta

te,

.the.nod

.can.

nei

ther

.send.nor.rece

ive

.fra

mes

.and.can.onl

.lea

.thi

.sta

.ae

.a.har

dware

.or.sow

are

.rese

.and.ae

hav

ing

.succ

essfully

.mon

itored

.128.occu

rrences

.of.11.con

secutive

.rece

ssive

.bit

.(a.sequ

ence

.of.11.con

secu-

tive

.rece

ssive

.bit

.cor

responding

.to.the.ACK

.EOF

.and.the.int

ermission

.el

.of.a.cor

rect

.dat

.fra

me).

When

.in.the.err

or-passive

.sta

te,

.the.nod

.sig

nals

.the.err

ors

.in.a.way.that.can

not

.for

.the.tra

nsmitter

to.ret

ransmit

.the.inc

orrectly

.rec

eived

.fra

me.

. is.beha

vior

.is.a.pos

sible

.sou

rce

.of.inc

onsistency

.that.mus

be.controlled..As.an.example.of.the.consequences.this.can.have,.consider.the.case.of.an.error-passive.node.

bei

.the.onl

.one.to.det

ect

.an.err

.in.a.rec

eived

.fra

me.

. e.tra

nsmitter

.wil

.not.be.for

ced

.to.ret

ransmit

and.the.err

or-passive

.nod

.wil

.be.the.onl

.one.not.to.rec

eive

.the.mes

sage.

.Sev

eral

.aut

hors

.pro

posed

avo

iding

.the.err

or-passive

.[23

,40]

.sta

.to.eli

minate

.thi

.pro

blem.

. is.is.eas

ily

.ach

ieved

.[40

]

.usi

.a.sig

nal

.ava

ilable

.in.mos

.CAN.cir

cuits,

.the.err

.war

ning

.not

ication

.sig

nal.

. is.sig

nal

.is.gen

erated

.whe

any.error.counter.reaches.the.value.96.. is.is.a.good.point.to.switch.o.the.node.before.it.goes.into.the.

err

or-passive

.sta

te,

.ass

uring

.that.eve

.nod

.is.eit

her

.hel

ping

.to.ach

ieve

.dat

.con

sistency

.or.dis

connected.