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Multiplex

Communication

System

—CAN—CANCommunicationGeneralWhatisCAN?CANisanacronymthatstandsfor

ControllerAreaNetwork.CANisaserialcommunicationprotocoldevelopedbyBOSCHin1986andstandardizedby(InternationalStandardsOrganization)HighSpeedCommunicationoflargevolumedataReduceamountofwireharnessReliableTransmissionAdvantageofCANCANCommunicationFeatureCommunicationSpeedHigh-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)CANCommunicationFeatureCommunicationFrameSameasBEANcommunication,allCANnodes(ECUs,sensors)communicatewithbitsignalDataTypeHeaderCommunicationFramePriorityDataLengthAddressforReceiverECUErrorDetectionCodeEndMessageDataResponseofReceiveECUCANCommunicationFeatureCommunicationTypeBusStyleDLC3EngineECU(ECM)SkidControlECUYawRateSensorDecelerationSensorEPSECUSteering

Angle

Sensor:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)CANCommunicationFeatureCommunicationWireCANusestwisted-pairwireCAN[DifferentialVoltageDrive]BEAN[SingleWireVoltageDrive]ECUECUECUECUTwisted-pairWireHiAVSingleWireHiLoLoCANCommunicationFeatureCommunicationsignal2.5V3.5V[CANHI][CANLO][CANCombine][OutputVoltage]Time0V2.5V1.5V0VTime2.5V1.5V0VTime3.5VCANHICANLOCANCommunicationCommunicationSystemDiagramCaseofPRIUS(NHW20)YawRateSensorDecelerationSensorJunction

ConnectorNo.2Junction

ConnectorNo.1SteeringAngleSensorTerminalCircuit(120)EPSECUSkidControlECUHVECUGateway

ECUCAN-HCAN-LDLC3SIL:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low):SerialCommunicationLineBatteryECUEngineECU

(ECM)CANCommunicationJunctionConnectorMainBusLineSubBusLineJunction

ConnectorSubBusLineCANCommunicationTerminalCircuitDLC3EPSECUSteering

Angle

SensorJunction

Connector:CANMainBusLine(High):CANSubBusLine(High):CANMainBusLine(Low):CANSubBusLine(Low)BatteryECUSkidControlECUYawRateSensorDecelerationSensorEngineECU

(ECM)Terminal

CircuitTerminal

CircuitCANCommunicationTerminalCircuitNormalcondition3.5VTime0V2.5VYawRateSensorDecelerationSensorEngineECU

(ECM)SkidControlECUAbsorbtheSignalCANCommunicationTerminalCircuitWithfaultyresistor3.5VTime0V2.5VYawRateSensorDecelerationSensorSkidControlECUEngineECU

(ECM)CANCommunicationLocationBatteryECUSteeringAngleSensorJ/CNo.1DLC3SkidControlECUYawRateandDecelerationSensorHVECUJ/CNo.2EngineECUEPSECUGatewayECUCANCommunicationCommunicationFrequencyBothnodeshavetwotypeofcommunicationprocedures(Regularly/Event)ControlRegular(ms)EventEngineECU(ECM)Control24–32NoneECTECUControl32–64Sensors12–24DataSending/Command

(switchoperation)Approx.500–5000withNOTE:

BEAN:50–1000ms(250,500,1000)CANCommunicationInspectionProcedureTwomethodstocheckbuscommunication 1.IT-IITester 2.DVOM 1.BusCheck2.CANBusLineCheckCANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)Touch!CANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckBusCheckProcedure(CommunicationBusCheck)EngineandECTAirSuspensionABS/VSCAirConditionerImmobiliserSRSAirbagGatewayExitCANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)Touch!CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKCANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitTouch!CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKABS/VSC1LaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExitDTCTouch!CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCTouch!CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)EngineandECTOKAirSuspensionOKLaserCruiseOKAirConditionerOKImmobiliserOKSRSAirbag2Gateway1BodyNo.2OKBodyNo.4OKBodyNo.5OKDetailsExit1ABS/VSCRetrievingNowretrievingDTCs.Pleasewait.CANCommunicationBusCheckBusCheckProcedure(CommunicationMalfunctionDTC)CANCommunicationBusCheckCheckcommunicationwithECU’sandsensorsEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3CANCommunicationBusCheckBothECU’sandsensorsonCANhaveself-diagnosisandcommunicationfunctionEngineECU(ECM)YawRateSensorDecelerationSensorSkidControlECUSteeringAngleSensorDLC3Logic-

Self-diagnosis

-Communication

FunctionCANCommunicationCANBusLineCheckMeasuretheresistancevaluebetweenCANHandCANLwithIGswitch“OFF”DLC3YawRateSensorDecelerationSensorSkidControlECUCANHCANLEngineECU(ECM)ResistanceValue

54–69

600ResistanceValue

morethan69

600ResistanceValue

lessthan54

600CANCommunicationCANBusLineCheckResistancevaluebetween54and69PossiblecauseDLC3ResistanceValue

54–69

600YawRateSensorDecelerationSensorSkidControlECUShortEngineECU(ECM)CANCommunicationCANBusLineCheckResistancevaluebetween54and69InspectionItemResistanceValueBusLineConditionCANH–BATCANL–BATCANH–CGCANL–CGmorethan1MNobuslinemalfunctionifnoDTCoutputLessthan1kShortbetweenbusline–groundCANLCANHCGBAT[Inspectionforshortbetweenbusline–powersupply/ground]CANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue

morethan69

600EngineECU(ECM)OpenOpen120CANCommunicationCANBusLineCheckResistanceValuemorethan69(Approx.120)1.DisconnectmainbuslineandcheckresistanceDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)OpenResistanceValue

is120ornot600120OpenDisconnectMainLineCANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.120)2.CheckJ/Candterminalcircuit[JunctionConnector]CANHCANLResistanceValue

is120ornot600120MainBusCANCommunicationCANBusLineCheckResistancevaluemorethan69(Approx.)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUResistanceValue

morethan69

600EngineECU(ECM)OpenCANCommunicationCANBusLineCheckResistancevaluelessthan54(Approx.0)PossiblecauseDLC3YawRateSensorDecelerationSensorSkidControlECUEngineECU(ECM)ResistanceValue

lessthan54

600ShortShortCANCommunicationCANBusLineCheckResistanc

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