CAN System Engineering

Transcription

1 Wolfhard Lawrenz CAN System Engineering From Theory to Practical Applications With 214 Illustrations Springer

2 Contents 1 INTRODUCTION 1 2 BASIC COMMUNICATION PROTOCOL CHARACTERISTICS "Traditional" Industrial Control Protocols Characteristics and Requirements Implementations CAN and other "Autobus" Protocols Characteristics and Requirements Implementations CAN Silicon Solutions Protocol Comparison 66 3 CAN ARCHITECTURE CAN Basic Implementation Forms CAN Generic Implementation Model 73 4 CAN CHIP IMPLEMENTATIONS AND BASIC SOFTWARE ROUTINES CAN Specifications 2.0A and 2.0B CAN Messages Frame Coding Arbitration Exception Handling Timing Considerations Bit Timing and Synchronisation 97

3 VI CAN System EngineeringfromTheories to Application 4.2 CAN Standalone Implementations Basic CAN: Philips 82C200 (2.0A) Full/Basic CAN: Intel (2.0B) Full-/Basic CAN: Siemens 81C90/81C91 (2.0A, 2.0B passive) Full/Basic CANTexas Instruments (2.0B) CAN Integrated Implementations with Microcontroller Basic CAN (2.0A) + 8x51 Processor: Philips 8xC592/8xCE Basic CAN + 68HC05 Processor: Motorola MCAN Module Basic CAN (2.0A, 2.0B passive) + COP888BC Processor: National Semiconductor COP684BC/COP884BC Full/Basic CAN (2.0B) + 80C167 Processor: The On-Chip CAN Module on the Siemens Microcontrollers C167CR and C515C Full/Basic CAN (2.0B) + 68xxx Processor: The Motorola TOUCAN Microcontroller Module Full/Basic CAN (2.0B) + 8xC196 Processor: Intel 8xC196CA/8xC196CB Full/Basic CAN (2.0B) + ST10F167 Procesor: SGS ST10F167CAN Full/Basic CAN (2.0B) + Intermetall Processor: Intermetall CEVE CAN Stand Alone SLIO Implementations with I/O Registers SLIO-CAN: Philips 82C150 (2.0A, 2.0B passive) SLIO-CAN: National Semiconductor MM57C360/MM57C362 (2.0A, 2.0B passive) THE CAN PHYSICAL LAYER Overview and Implementation Aspects of the ISO CAN Physical Layer Overview StructureofaHigh-SpeedCANTransceiver Characteristics of Advanced Transceiver Products EMC Aspects and Measurement Results Impact of Bit Timing and Signal Amplitude on the CAN Bus Length CAN Bit Timing Bus Signal Amplitude 194

4 Contents Maximum Drop Cable Length Basic Signal Transmission Considerations Basic Network Wiring Recommendations EMC Test Procedures for CAN Transceivers CAN Transceivers and Recommended Network Wiring Temic CAN Transceiver: B1001 IS Philips Semiconductors CAN Transceiver: PCA 82C250-8V, +18Vmax, PCA 82C251-36V, +36Vmax Alcatel Mietec CAN Transceiver: MTC Robert Bosch CAN Transceiver: CF150B Texas Instruments CAN Transceiver: SN 75LBC032/ A Choice of Common Mode Choke Coil Suppliers CAN "HIGHER LAYER" APPLICATION INTERFACE Generic Application Interface Architecture Overview Virtual Leveled Systems Architecture and Tools Shared Variables Priority Assignment and Timing Considerations The CAN Application Layer (CAL) CMS - CAN Based Message Specification NMT - Network Management DBT- Distributor LMT - Layer Management An Example Application Experiences with CAL CAN Profiles "CANopen" Device Profiles Communication Profile The DeviceNet Communication Network Introduction DeviceNet Architecture Physical Layer Link Access 289 vn

5 viii CAN System Engineering from Theories to Application Application Layer Predefined Master/Slave Connection Set DeviceNet Addressing Device Profiles An Application Example Key DeviceNet Differentiators Summary Open DeviceNet Vendor Association Smart Distributed System: Distributed Control for Factory Floor Automation Introduction Smart Distributed System in Practice System Specifics Physical Layer Specification Application Layer Specifications Party "Partners" Program and Conformance Tests Get Information Conclusion CAN APPLICATION EXAMPLES Universal Industrial Process Control with CAN Process Control Unit NiPC Signal Conditioning Modules ScBB Connection to Process (PSA) CAN Interface RS232C Interface Support for Software Design Textile Machines with CAN Today's eppb Control Network New Machine Bus Requirements The Star Frame Card Test Structureofa CAN Bus ResultsoftheTest Implementation Suggestions Recapitulation and Prospects Construction and Mining Machines with CAN System Structures System Concept Hard- and Software Realisation Communication Structures 382

6 Contents ix Summary and Future CAN in a Process Control System Parallel or Serial System Bus? Selection of the Bus System System Architecture Used Chips, Physical Structure of the Bus Data Transfer Encoding Messages Time Behaviour, Data Throughput, Interrupt Load for the CPU Summary CAN TESTING TECHNIQUE CAN System Design and Testing Design Object Automotive Bus Communication Concepts for Different Requirements Controller Link Network Capabilities System Design Model Design Environment Simulation Simulators for CAN Networks CAN Network Modelling Cycle Using the CAN Network Simulator Hints for Using the Demo Simulator Real-time Modelling, Testing and Interfacing System Design Methodology System Development and Test Tools Evaluation Monitor CAN Interfaces for Development, Design, and Test Tools 445 CAN FUTURE TRENDS 451 REFERENCES 455 INDEX 465