CNLP 2014 4

December 2014 B 25361
CAN Newsletter
Hardware + Software + Tools + Engineering
20 th anniversary: Applications
CANopen in the hands of CiA
Detecting and counting

unwanted particles
CAN FD: Improved residual

error-rate
www.can-newsletter.org
20th anniversary:
In November 1994, CiA published the very first version of the CANopen specification: CiA 301 was
one of the most successful Esprit research projects. After all this time, CANopen is still unique in
many ways.
tocol, developed by CiA.

In the beginning, the
CANopen specification
was named CAL-based
CAL was a pure applica-
tion layer approach ac-
communication profile for cording to the OSI (open
industrial systems. It was systems interconnection)
developed under the um- model. However, it was in
brella of Esprit (Europe- some respect an academic
an Strategic Program on approach and had various
Research in Information fathers: Main contributions
Technology), a research came from Tom Suters
program of the European (Philips Medical Systems),
Community. The title of the as well as Prof. Dr. Konrad
project 7302 was ASPIC, Etschberger and Prof. Dr.
short for “Automation and Wolfhard Lawrenz, both
Control Systems for Pro- working at German univer-
duction Units using an In- sities for applied science.
stallation Bus Concept”. Of course, other CiA mem-
The objective was to de- bers had also contributed
velop control architectures ideas.
and devices to enable flex- 7KH $63,& SURMHFW·V Figure 1: The first edition of the CiA 301 specification
ible and modular combi- objective was to develop contained only 60 pages, but it was not as complete
nation of existing manu- an application layer that as it is nowadays
facturing cell units. The was easy to implement,
researchers led by Dr. Mo- dedicated to embedded (Newcastle university and
hammad Farsi (University machine control. Under Reutlingen university of
of New Castle) and Stefan the leadership of Bosch, applied science) specified
Reitmeier (Bosch) decid- several companies (Moog, the first version of what is
ed to use the CAN Appli- ADL Automation, and J.L. today known as CANopen.
cation Layer (CAL) pro- Automation) and institutes Main contributors were Dr.
Mohamad Farsi and Prof.
Dr. Gerhard Gruhler. The
Where have the years gone? first version already de-
fined PDOs (process data In the beginning,
It seems to me like it was yesterday that the first objects) and SDOs (ser- not all CiA
CANopen documents came to my desk for editing. vice data objects). The
1RZ\HDUVODWHU&L$·VVHFUHWDULHVKDYHWR synchronous transmission members were in
maintain more than 15000 pages of CANopen of PDOs was introduced as favor of CANopen.
specifications. The success of CANopen has many well as Network Manage-
fathers and a few mothers. It was a joint success, ment (NMT) and Emergen- Many preferred
mainly of small and medium-sized companies cy messages. non-standardized
Cover story
and some big machine building enterprises. It In the early days of

constitutes one of the rare cases of a company- CANopen, CAN Remote application layers,
independent communication standard – not Frames were still in favor, so called layer-2
driven by marketing money but by a community which is why Node Guard-
of individuals. And even after 20 years, the story ing was based on them.
protocols.
has not come to an end. More development will Later, Node Guarding was
be necessary in the coming years. I am sure that substituted by the Heart-
CAN FD will have an impact on existing profile beat mechanism. The first
specifications and will initiate further applications, CANopen networks also
which will benefit from the larger payload and used remotely requested
increased throughput. PDOs. Nowadays, CiA rec-
Holger Zeltwanger ommends not using remote
frames at all.
CAN Newsletter 4/2014 3

The CANopen speci-
Cover story
fication published as CiA

301 was one of the most
successful Esprit research
projects. One of the rea-
sons was that the specifica-
tion was handed over to CiA
for further developments
and maintenance. From the
beginning, several compa-
nies implemented the high-
er-layer protocol in real
applications. Of course,
several reviews and up-
The CANopen dates were necessary be-
success story is fore CANopen became a
stable specification. Ver-
unique, because sion 3.0 was the first re-
it was not lease used in products and
systems. This version was
promoted by one valid from 1996 to 1999.
big supplier. Some applications still use
this version today.
CANopen can be re-
garded as the application
layer of small and medi-
um-sized suppliers. It is the
only independent industri-
al communication system
not promoted by one mar-
ket-leading company. It can
also be regarded as the
solution of system design-
ers, because some ma-
chine builders have chosen
this approach to be inde-
pendent from the suppli-
ers. Among these machine
builders are Heidelberger
and Siemens Healthcare.
In 1995, CiA presented
the very first CANopen
multi-vendor demonstra-
tor equipped with products
from Moog, Selectron and
others at its Hanover fair
booth.
Holger Zeltwanger
20th anniversary
of Devicenet
Devicenet is also 20 years old. Originally it was
developed by Allen-Bradley. As early as 1992,
Allen-Bradley and Honeywell, together with the
Cincinnati Milacron machine builder, started
specifying a CAN-based network solution. In March
1994, Allen-Bradley introduced Devicenet at the
ICEE show in Chicago. One year later, the company
initiated the Open Devicenet Vendors Association
(ODVA). At that time, CiA also promoted Devicenet
and sold the specification in Europe. But this Figure 2: The first meeting minutes of the CiA Task
cooperation ended after a few years. Force “CAL-based communication profile” were written in
German; today all CiA documents are written in English
4 CAN Newsletter 4/2014

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#1411527 7/14
20th anniversary:
Table of contents

In November 1994, CiA published the very first version of
the CANopen specification: CiA 301 was one of the most
successful Esprit research projects. After all this time,
CANopen is still unique in many ways.
Imprint Applications
Publisher From doorman to CAN-controlled turnstile 14
CAN in Automation GmbH
Pilots drive pushback tractors 30
Kontumazgarten 3
DE-90429 Nuremberg
publications@can-cia.org
www.can-cia.org
www.can-newsletter.org
Tel.: +49-911-928819-0
Fax: +49-911-928819-79 CAN FD
CEO Holger Zeltwanger Up to six CAN FD cores on one micro-controller 8
AG Nürnberg 24338
CAN FD: Improved residual error-rate 50
Printed in Germany
Hard copies: 3000 Secure communication for CAN FD 52
Soft copies: 3000
Editors
(pr@can-cia.org)
Annegret Emerich
Cindy Weissmueller Devices
Holger Zeltwanger CANopen gateways to the Internet of Things 22
(responsible according
to the press law) Ship equipment in construction machines 32
Layout Detecting and counting unwanted particles 34

Nickel Plankermann
Advertising manager
Gisela Scheib
(responsible according
to the press law)
Distribution manager
Julia Adolf Software
© Copyright CAN driver for Windows with analyzer capability 46
CAN in Automation GmbH
Tools
Improving compatibility of Isobus devices 10
Tips and tricks for the use of CAPL (part 3) 18
Detecting potential differences 26
Model-based design of CANopen systems 38

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Open programming environments C, Ethernet for download and
CODESYS® V3.x and CODESYS® V3.x debugging purpose
Safety SIL 2
Performance
Safety
ELW0+]7,706GXDOFRUH
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6,/DQG(1,623/G Safety companion
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CODESYS® Safety SIL 2 including
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Robustness
separation of safe / non-safe code Automotive style housing suited for rough
Safety mechanisms in hardware to operating conditions
minimize CPU load 7RWDOFXUUHQWXSWR$
Up to 3 output groups for selective shut-off
a
in case of safety relevant fault hin
a C
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www.ttcontrol.com/HY-TTC-500-Family 1R
Safety General I/O Slave Safe I/O Operator

&HUWL¿HG Purpose Modules Modules Interfaces
ECUs ECUs
Up to six CAN FD cores
CAN FD
on one micro-controller
Starting with the Aurix family, Infineon offers CAN FD for all its micro-controllers.
The CAN FD IP supports up to 64 data bytes and mixing of classical CAN
messages and CAN FD messages.
Author
Ursula Kelling S tarting with the Aurix
family, Infineon offers
CAN FD for all devices. The
Infineon Microcontrollers CAN FD IP supports up to
Im Campeon 1-8 64 data bytes and mixing
DE-85579 Neubiberg of classical CAN messag-
Tel.: +49-89-234-83287 es and CAN FD messages.
Fax: +49-89-234-955-6811 Depending on the de-
vice, up to 6 nodes support
Link CAN FD. Typical applica-
www.infineon.com tion use cases like 500
kbit/s arbitration speed and
2 Mbit/s data speed can be
realized. The data segment Figure 1: Aurix can mix classic CAN and CAN FD
can be used up to 5 Mbit/s. messages
CAN FD frames can include
up to 64 data bytes. After the execution of the straightforward: After en-
With Aurix, Multi- interrupt, the CPU gets the abling the module, the de-
CAN+ has been introduced, IDLE instruction and goes vice remains in classical
which is a further develop- back in IDLE mode. By us- CAN mode. CAN FD can
ment of the MultiCAN mod- ing this feature, the transmit be enabled for every sin-
ule. The module has always request is set by the mod- gle node. Only in case
supported features like ule at the right point in time. CAN FD is enabled for the
automatic rerouting of mes- As an interrupt can be trig- node, the registers addi-
sages (gateway mode) and gered on a received mes- tionally needed for CAN
flexible Fifo structures. All sage, these functions can FD become active and can
devices come with an asyn- be used to support pretend- be programmed. Once en-
chronous clock input for the ed networking. abled, bit timing can be
bit-rate clocking, enabling configured for arbitration
the nodes to be driven by CAN FD integration and data phase separately.
either the system clock, di- into CAN nodes The transmitter delay com-
rectly from an oscillator, or pensation is configurable
by the precise ERAYPLL The integration of the automatically or manually,
configured to 80 MHz. Each CAN FD protocol is quite dependent on the setting.
message object can take
part in a receive time-out.
The receive time-out coun-
ter exists once per node.
This opens the possibility
to react if a specific mes-
sage no longer arrives. In
automotive applications this
message is part of the net-
work management messag-
es. To trigger messages in
equidistant time distances,
three messages per node
can be configured to be
transmitted automatically.
For example in case of an
operating system alarm, the
contents of the message
objects can be updated. Figure 2: Overview over the Aurix family

networking transceivers,
MultiCAN Module Kernel
still need the classical CAN
fCAN mode, whereas the rest of
the bus might run with CAN
Baud
fERAY_PLL FD. Inside every message
Rate TXDCn
CAN Port object the mode can also
fOSC0 Clock
Node n Control be configured, if bit-rate
Block RXDCn switching is used.
The same bits used
fSPB Clock fCLC for configuration in case of
Message Linked ...
Control ... transmission are used as
Object List
Control status bits for reception.
Bus Buffer This enables software to
Interface TXDC0 check if the message has
m CAN Port
Node 0 been received in the right
Objects RXDC0 Control mode. If not, the application
Interrupts
and DMA layer can react accordingly.
GTM The MultiCAN+ imple-
STM CAN Control mentation used in the Au-
rix family enables CAN FD
with 64 data bytes. Mixing
of classical CAN messages
Figure 3: Structure of the MultiCAN+ module and CAN FD messages is
supported. The module en-
CAN FD integration message object, the mes- In every message ob- ables pretended and partial
into the message sage object itself points to ject chosen for transmis- networking for automotive
structure the additional message ob- sion, the message can be applications.
jects used as data space. A configured to be sent in
The Linked List Structure concatenation of three mes- classical CAN mode or in
enables the integration of sage objects gives the 64 CAN FD mode. For exam-
64 bytes. If the addition- bytes needed for example ple ISO 11898-6 compliant
al bytes are enabled for a for a flashing application. devices, so called partial
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Improving compatibility
Tools
of Isobus devices
Isobus standardizes communication between tractors and implements. Still,
Isobus communication does not always ensure compatibility. AEF has
developed a system that will help prevent and resolve these issues.
Author
F or as long as agriculture
has been around, peo-
ple have been looking for
ways to improve efficien-
cy and yield by developing
and using new technolo-
gies. This has led to the rise
of many manufacturers of
different types of agricultur-
al equipment such as trac-
Juan Aguilar tors, implements, displays,
etc. As the number of man-
Sontheim Industrie ufacturers increased, farm-
Elektronik GmbH ers were able to purchase
Businees Development & equipment to meet their spe-
Application Engineer cific needs. Unfortunately,
this led to compatibility prob- Figure 1: The Isobus Database shows various tractors,
Link lems among different piec- implements, and other agricultural equipment from
www.s-i-e.de es of equipment, especially manufacturers
issues regarding communi-
cation between different de- LPSOHPHQW·V IHDWXUHV GR QRW (AEF) has developed a sys-
CAN Newsletter (print) vices. In an effort to allevi- work, and in some cases, the tem that will help prevent and
Automatic interoperability tests ate these issues, equipment device does not work at all resolve these compatibili-
manufacturers along with or- ZLWKWKHIDUPHU·VHTXLSPHQW ty issues and avoid this fin-
ganizations such as the In- The farmer then contacts the ger-pointing scenario. This
ternational Organization for manufacturer of the tractor system is the AEF Isobus
Standardization (ISO) have or implement, but the tech- Database and Isobus Check
worked together to devel- nician has trouble finding the Tool system for agricultur-
op standard interfaces for compatibility problem since al equipment compatibility
different equipment: both the tractor or implement it- within Isobus.
physical and electrical. This self does not seem to have
led to the development of a any issues. In this scenario, AEF and Isobus
standard for communication it is very difficult and time-
methods among different consuming to find a solution The Agricultural Indus-
agricultural equipment parts to the problem. For this rea- try Electronics Foundation
called ISO 11783 – “Trac- son, the Agricultural Indus- (AEF) was established by a
tors and machinery for agri- try Electronics Foundation group of seven internation-
culture and forestry - Serial
References control and communications
[1] ISO 11783: An electronic data network” – commonly
communications Protocol for known as the Isobus [1].
agricultural Equipment By adhering to the Iso-
[2] AEF website (http://www.aef- bus standard, equipment
online.org/en/) manufacturers strive to pro-
[3] AEF database presentation vide customers with equip-
(https://www.aef-isobus- ment that will work properly
database.org/isobusdb/docs/aef_ with their equipment. How-
presentation_en.pdf) ever, this is not always the
case. Sometimes a farm-
er will buy an implement or
a device to install on their
tractor from a different man- Figure 2: The Isobus Check Tool collects important
ufacturer and find that the diagnosis information of different ECUs on the bus

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Vector Informatik GmbH

*HUPDQ\$XVWULD)UDQFH,WDO\8.6ZHGHQ
86$-DSDQ&KLQD.RUHD,QGLD%UD]LO
Tools
Figure 3: Scan data from the Isobus Check Tool uploaded to the AEF Database
al agricultural equipment from different components and Are my current imple- certifications. At this point
manufacturers (Kverneland already in his system [1,2]. ments/tractors Isobus cer- the user can search for an-
Group, Grimme, AGCO, With the support of Iso- tified? [3] These are ques- other piece of equipment,
John Deere, Pöttinger, EXVDWWKHIRUHIURQWRI$()·V tions that farmers are faced such as an implement, and
Claas, and CNH) and two efforts, AEF aims to in- with when evaluating their select the one desired. The
associations (VDMA, AEM) crease international accep- current system and when database will display the
on October 28, 2008 as an tance and awareness of the planning to add new equip- same type of information for
independent international or- standard, enhance custom- ment. For example, a person the implement along with the
ganization. Its aim is to pro- er benefits when using Iso- with a tractor from compa- information for the tractor. In
vide resources and know- bus technology, and improve ny X wants to buy an imple- addition, it will also show the
how for electronic systems compatibility of Isobus prod- ment for their application. It combined functionalities be-
in agriculture and to help ucts. The foundation also is difficult for that person to tween the selected tractor
with the adoption and execu- collects information about truly know which implement and implement. This allows
tion of the Isobus standard. Isobus products for the ser- will be compatible with the the user to check the func-
Since its inception, AEF has vice, marketing, and sales tractor and which function- tionalities and certifications
grown in membership to in- divisions of manufacturers alities will be available with about an existing system,
clude more than 170 com- and suppliers and promotes each possible tractor/imple- as well as determine which
panies, associations, and the acceptance of Isobus ment combination. The AEF additional piece of equip-
organizations involved in certified products world- Isobus Database and Isobus ment will yield the appropri-
electrical and electronic sys- wide [2]. It achieves these Check Tool system help to ate combined functionalities
tems in agriculture and it has goals through different proj- answer these questions as [3]. With this information, a
expanded its areas of inter- ect groups and the develop- well as aid farmers in case of dealership can better ad-
ests to include Farm Man- ment of tools that function compatibility issues. vice agricultural equipment
agement Information Sys- as resources and support The Isobus Database is customers on what tractor,
tems (FMIS), electric drives, for manufacturers, suppli- an online database of trac- implement, or device to pur-
and camera systems [2]. ers, and farmers. Examples tors, implements, and other chase to ensure maximum
The focus of Isobus of such tools include the agricultural equipment that is functionality in his or her
is to standardize the com- AEF Isobus Database and accessible by their respec- system.
munication between trac- the AEF Isobus Check Tool. tive manufacturers who are
tors and implements and to These tools help to mitigate members along with their Isobus Check Tool
ensure full compatibility of compatibility issues among dealership networks. The
data transfer between the different tractor, implement, equipment listed in this da- If someone experiences
different systems involved and device manufactur- tabase is Isobus-certified compatibility issues with his
in farming. The use of such ers as well as provide farm- and was published by their or her equipment, AEF offers
standardized interfaces and ers with a valuable resource manufacturers. By access- a tool to help mediate the
communication methods infor selecting appropriate ing the database, the user situation: the Isobus Check
creases both efficiency and equipment. can search through a list Tool (Figure 2). Developed
functionality of agricultur- of implements and tractors by Sontheim Industrie Ele-
al systems. The goal is to Isobus Database by manufacturer, type, and ktronik, the Isobus Check
achieve plug-and-play func- model, as illustrated in Fig- Tool provides a mechanism
tionality between different AEF has developed tools to ure 1. for gathering important in-
tractors, implements, and help agricultural equipment Once a piece of equip- formation about a specif-
devices so that the farmer users answer the follow- ment is selected, such as a ic combination of agricultur-
does not waste time, effort, ing questions: Which imple- tractor, the database will dis- al machines on the field and
and money searching for a ment/tractor should I pur- play information about the relaying that information to
compatible component to chase to take full advantage HTXLSPHQW·V SURGXFW YHU- the manufacturers to help
add to his system or trying of the possible functions sion, available functional- them work together to solve
to achieve full functionality with my current system? ities, and Isobus compliance the problem. For example,

when a farmer hooks up a way the technician can pin-
new implement to his tractor, point which devices are not
he might notice that certain compatible, create a ticket,
functionalities are not work- and send it to the appropri-
ing properly, and some might ate manufacturers along with
not be working at all. Tradi- any diagnostic information
tionally, the farmer would call pulled from the system.
the dealer of one of the de- When a ticket is created
vices, such as the tractor in the database, engineers
dealer, to report the prob- from the different manufac-
lem, hoping to get a fix fast turers can work together to
since the harvest season is find the solution to the prob-
on its way. However, it can lem. The database provides
fusion
be very difficult for the tech- them with a platform on
nician to identify the source which they can communicate
of the problem since it ap- and track the progress of the
pears that the tractor itself is solution. It also stores infor-
working correctly. Similarly,
the implement service tech-
nician may struggle to identi-
mation about the tickets and
their solutions, which then
serve as reference materi-
– the safety
fy the source of the problem
since the implement does
al that can be used to solve
similar future compatibility
controller
not appear to be out of or- issues. Essentially, the Iso-
der. The reason for this diffi- bus Check Tool and Isobus
culty is that the compatibility Database system provide
problem is an issue related the means to get the right
to the tractor-implement sys- people from the right compa-
tem as a whole and not nec- nies to work together to ad-
essarily an issue confined to dress compatibility problems
a single standalone piece of that may arise among equip-
equipment. Without a meth- ment developed by different
od for both manufacturers to manufacturers. For this rea-
work together on the issue, it son, the Isobus Check Tool
can take a very long time for is available to all manufac-
the problem to be fixed. With turers that are members of
the Isobus Check Tool, such AEF at no charge, along with
incidents can be remedied in access and use of the Iso-
a faster and more efficient bus Database.
manner. The Isobus Database
The Isobus Check Tool and Isobus Check Tool
is a software system that, in system was developed to
conjunction with a CAN in- provide support to the ag-
terface, connects to the Iso- ricultural public for the Iso-
bus and runs and records a bus standard. It provides a
trace of important diagnostic way for end-users of agri-
information about the differ- cultural equipment to make
ent ECUs (Electronic Control smarter decisions on which
Units) available on the bus. devices to purchase to en-
In the example above, a ser- sure maximum functionality.
vice technician with this tool Furthermore, compatibili-
can connect directly to the ty problems that an end-us-
WUDFWRU·V ,VREXV DQG FROOHFW er might experience with the
data from the tractor, imple- devices in his system can
ment, and any other devices be solved in a much timeli-
on that bus. This information er manner due to the use of
is neatly packaged up as an the Isobus Check Tool by the
XML file in a zip folder. This service technician. Manufac-
folder can then be uploaded turers also benefit from the
into the AEF Database by use of this database/check
the technician, where a list tool system. It allows them
www.intercontrol.de
of the devices on that bus to track the certification sta- info@intercontrol.de
will be displayed including tus of their equipment, solve Tel. +49 911 9522-851
information regarding their compatibility issues, and it
manufacturer, model, func- provides a store of solutions,
tionalities, certifications, and which is a valuable resource
combined functionalities, as when solving compatibility
illustrated in Figure 3. This problems.
Applications
From doorman to
CAN-controlled turnstile
Figure 1: Many optical turnstiles with ticket

readers use embedded CAN networks to link
the internal electronic devices (Source: Kaba)
Doormen and gatekeepers are as old as doors and gates. In modern

times, turnstiles substitute them. Some of them use embedded
CAN networks.
are used. But there is an in-

Links
www.teamaxxess.com
www.cmolo.com
A ccess control has a long
history. During the time
of the Roman playwright
counter, customers exited
through a second turnstile.
Mechanical turnstiles
creasing need for standard-
ized higher-layer protocols,
www.dresden-elektronik.de Plautus (245 to 184 B.C.), often use ratchet mecha- when third-party prod-
www.a-e.cn doorman was already an nisms to allow rotation of ucts such as card-readers
www.gunnebogroup.com occupation. Today bounc- the stile in only one direc- need to be integrated with-
www.kaba.com ers and security guards tion. Modern turnstiles are out re-programming them.
www.ac-magnetic.com still supervise entrances often controlled electroni- CANopen provides all nec-
www.en.gdyuan.cn and exits. But increasingly cally and are sometimes essary functions.
turnstiles are used to sep- equipped with ticket readers
arate people and to con- or payment units for coins Access control
trol access to certain ar- or tokens (fare-gates). They
eas. It could be a gate at are also used to count peo- Access control is one of the
an airport, the entrance to ple passing through gates. main purposes of turnstiles.
a sports arena or a metro The electronic units in There are many different
station, and many other pub- a turnstile need to commu- types available: tripod turn-
lic facilities including fair- nicate. Often, serial links stiles, waist- and full-height
grounds. Clarence Saun- (e.g. EIA 485) are installed turnstiles as well as optical
ders (1881 to 1953) intro- to exchange data between turnstiles – opening when a
duced turnstiles in his Piggly the devices. Some provid- person is detected (e.g. by
Wiggly stores. These first ers have implemented em- infrared sensors) or clos-
supermarkets allowed cus- bedded CAN networks to ing if the passing person is
tomers to browse the aisles communicate between the not authorized (no valid tick-
and select products on their turnstiles and also deeply et). The first optical turnstile
own. Shoppers entered embedded CAN networks to was developed for the San
the stores through a turn- link the motor, the sensors, Francisco market. In most
stile and followed the pre- and the displays to the main cases, they allow only one
determined four-aisle path. controller. Normally, propri- person to enter or exit. They
After paying at the checkout etary higher-layer protocols enforce one-way traffic.

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the access and counting the number of people passing through (Source: Axxess)
In the middle of the The Swiss company Kaba ETS 21 controller, which the end of 2014. The exist-
60s, Omron in cooperation Group, founded in 1862, features CAN connectivity. ing Access + Data Systems
with Kinki Nippon Railway is one of the market lead- In 2013, the company re- (ADS) EMEA/AP division,
developed an automated ing turnstile manufacturers. ported a turnover of about 1 which currently generates
railway station with an au- The enterprise produces billion CHF. This figure ex- around 60 % of consolidat-
tomatic ticket gate for com- for example the Kerberos ceeded the target. The 6,8- ed turnover, is being split
muters. Later, the Japanese tripod turnstiles, half- and % growth in Asia was higher into an ADS EMEA (Europe,
company developed an au- full-height turnstiles as well than in America (5,2 %) and Middle East and Africa) di-
tomated ticket gate capable as swing, sliding, and re- Europe (4,9 %). Kaba is ad- vision and an ADS AP (Asia
of handling both commut- volving doors. All turnstile justing its group structure; it Pacific) division. Just over
er passes and regular train types are controlled by the will complete the process by 10 % of Kaba's turnover
tickets. The world's first
fully automated (unmanned)
train station system was Dynamic traffic signs
completed and put into use
in 1967. Dresden Elektronik (Germany) has
Nowadays, many turn- developed dynamic signposting
stiles are in operation all solutions based on CAN networks.
over the world and the The modular system makes it possible
number is growing steadily. to equip one location with up to 100
Especially in the Far East, prism groups, which can be up to
the turnstile business is still 500 m away from the outstation.
growing. The Pedestrian The communication between sign
Entrance Control equipment and outstation works via CAN and
sales surpass US-$600 mil- the communication with the control
lion this year according to center via Ethernet. The IEC 61131-3
an IHS Electronic & Me- programmable outstation provides up
GLD·VUHSRUW2IFRXUVHWXUQ- to ten CAN interfaces.
stiles are just one part of Dynamic signs display information
this market, which also cov- depending on the current traffic Dynamic traffic signs are connected to
ers speed gates, security situation. Bottlenecks can be detected the outstation via a CAN network; the
doors, and normal entrance via a control center and displayed outstation comprises up to ten network
doors. guidance routes can be optimized. interfaces (Source: Dresden Elektronik)
There are many turn- Traffic obstructions can be improved
stile suppliers; some oper- and solved without major effort. The networks allow configuring
ate worldwide, while others The company also offers traffic light application-specific solutions. The
provide customized prod- systems, which implement up to maximum length of the networks is
ucts in a specific coun- four CAN networks. about 500 m.
try or application field.

this...
Figure 3: As early as 1918, Piggly Wiggly stores used

turnstiles at the entrance and at the exit
is generated in Asia at the Smartaxess terminal is con-

moment, and the aim is to nected to a unit that counts
increase this proportion the number of people pass-
profitably. Recently, the ing through the turnstile via
company has made acqui- CAN. This is another impor-
sitions in China and India. tant task of modern access
Cmolo (China) is one of control systems such as
the competitors in the Asian turnstiles.
turnstile market. The com- Magnetic Autocontrol
pany provides optional CAN (USA) also operates glob-
connectivity for its products ally. The company provides
including embedded motor all kinds of turnstile types
controllers. Yuan, another and swing gates. Optional-
Chinese tripod turnstile pro- ly MMC-12X motor control-
vider, also offers an option- lers and MBC-110 central
al CAN interface. Another control unit as well as oth-
Chinese turnstile company, er devices communicate via
Essence, founded in 1999,
also uses optional embed-
CAN. The Swedish com-
pany Gunnebo offers op- ,QQRYDWLRQ
ded CAN networks in its tional CAN connectivity for
ES2000 and ES3000 tripod its Boardsec optical turn- The new style for
turnstiles. In many of the stile, too. The Safecoin
turnstiles, servomotors can coin roll dispensing system CAN bus diagnosis
optionally be connected to by the same company also
an embedded CAN net- uses an embedded CAN By the developers of
work. The Smartgate by Ac- network.
cess (Austria) comes with The embedded and
CAN-Bus Tester 2
an internal CAN network deeply embedded CAN net-
and communicates with works used in turnstiles and Intuitive touch screen
other turnstiles by means of similar access control sys-
wireless communication. Its tems link mainly devices Evaluation according to
AX500 CAN-connectable manufactured by the provid-
Linux-based control module er. However, for rarely need- traffic light principle
can optionally be equipped ed devices and low-volume
with an operator display. applications, the employ-
The Austrian company is ment of third-party devices
similarly increasingly active could reduce development
LQ $VLD ,Q &KLQD $[HVV·V and production costs. In this
systems have already been case, standardized higher-
in operation since the begin-
ning of 2014. The first instal-
layer protocols and profiles,
such as CANopen, would
www.gemac-chemnitz.de
lation in Japan was installed simplify system integration.
recently. In early summer, Additionally, off-the-shelf
a contract with one of the tools could be used for sys-
largest operators of Japan, tem integration as well as
which administers 21 re- diagnostic services.
sorts, was signed. The SXT Holger Zeltwanger
Visit us: hall 7 / booth 181

Tips and tricks for the
Tools
use of CAPL (part 3)

The third and final part of this series presents tips and tricks for advanced
users. Topics include associative arrays, performance, memory needs, and
other database access options.
signals generally exhibit ar-

Authors
U nlike languages such as
C, CAPL does not sup-
port any pointer objects as
maps string keys (without
length limitation!) to string
values up to 30 characters.
bitrary bit lengths and posi-
tions within the data payload
a reference data type and The following example uses of a message. They can also
therefore has no dynam- lastTime to store a time val- be stored in either Intel or
ic memory management. ue for each message ID oc- Motorola format.
This makes CAPL very ro- curring on the CAN network: Symbol-based access
bust, and therefore well-suit- via a signal name relieves
ed for runtime environments on message CAN1.*{ the CAPL user of all of these
that are short on memory lastTime [this.id] details. In the case of read-
Marc Lobmeyer and difficult to debug. In par- = this.time; ing or setting a signal value,
ticular, CANoe's "CAPL-on- } the CAPL compiler automat-
Board" feature benefits from ically accounts for the sig-
this; in order to improve re- 7R HQKDQFH WKH XVHU·V QDO·V SUHFLVH ELW SDWWHUQ WKDW
al-time behavior, it executes experience, CAPL provides may include masking, swap-
programs directly on cer- the following list of methods ping and shifting the bits.
tain hardware bus interfac- for associative array vari- To enhance user friend-
es. Having said that, memo- ables using dot notation: liness, other definable ob-
ry is seldom in short supply X ContainsKey queries jects in the database may
LQWKH:LQGRZV·UXQWLPHHQ- whether a specific key is improve the linguistics of
Roman Marktl vironment. Therefore in this already contained; CAPL programming. For ex-
runtime environment CAPL X Size returns the number ample, symbolic value tables
Vector Informatik GmbH offers associative arrays that of contained keys; may be associated with sig-
Ingersheimer Str. 24 can be used to store data X Remove removes one nals to use plain text names
DE-70499 Stuttgart even if the amount of data to key from the associative for signal value states. Fur-
Tel.: +49-711-80670-0 be stored is unknown at the array; thermore, authors of a da-
Fax: +49-711-80670-111 program start. Associative X Clear fully empties an as- tabase have the freedom to
arrays are containers which sociative array. define other attribute objects
Link are equivalent to maps or dy- In fact, Remove and Clear and to use them in the pro-
www.vector.com namic arrays of other pro- free up memory. gram code.
gramming languages. Inter- Finally, there is a spe- CAPL is able to use
nally, CAPL uses an efficient cial form of the for instruction database objects direct-
hash table for these arrays. for associative arrays. This ly based on their symbolic
Consequently, these spe- form iterates over all keys ac- names. However, sometimes
cial arrays enable saving bus tually contained in lastTime: the potential objects of inter-
CAN Newsletter (print) messages or measurement est are not known at the time
Tips and tricks for the use values, even if it is unknown for (long key: lastTime) of program implementation.
of CAPL (part 1) in advance which messages {[…]} … Therefore, the CAPL user
or how many measurement may dynamically access the
values will occur. Access to databases symbolic names and proper-
In CAPL, associative ties such as message names
arrays are declared as sim- Part 1 of this article series al- and identifiers transmitted
ple arrays, but with a key ready illustrated the primary by a network node. A brief
type instead of the otherwise use of bus-specific databas- example:
usual size entry. Two exam- es in CAPL: they make it pos-
message * m;
Tips and tricks for the use ples of associative arrays: sible to introduce names for
int i, mx;
of CAPL (part 2) messages and signals. From
mx=elcount(aNet::aNode.Tx);
long lastTime [long]; a programming perspective,
for (i = 0; i < mx; ++i)
char[30] translate[ char[] ]; the complicated aspect of
{
signals is that they are usu-
m.id=aNet::aNode.TX[i];
The variable lastTime is ally tightly packed in the data
write(DBLookup(m).Name);
an array that maps long keys payload of messages for ef-
}
to long values, while translate ficiency reasons. Therefore,

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These symbolic ac- that react to events. Some ables, which they could ac- CAPL programs should
Tools
cess methods allow the of these events may occur tually share. An example: also not crash in case of
user to implement generic very frequently. Therefore, faulty usage. On one hand,
programs – together with a program's performance testcase test789() this robustness is attained
the previously introduced is significantly better if { by the language structure,
associative arrays. only those events get pro- char outBuffer[1024]; since there are no general
cessed, which are con- [..] pointers. On the other hand,
Performance cerned. For example, if stability is improved by auto-
the user is only interested There are CAPL pro- matic runtime checks of ar-
Most CAPL programs must in those Flexray slots that grams with thousands of ray limits, stack limits and
meet non-trivial real-time contain a specific signal, it such test procedures, of the necessary computing
conditions. The execution is more efficient to define which only one may be ex- time.
model of a node simulated on frSlot signalname ecuted at any given time. A separate command-
with CAPL even follows the than on frSlot *. Rather than defining a large line version of the compiler
model concept that CAPL Signal edges: there local variable of the same is available. This version
programs can be execut- are two event procedure type in each event proce- is very helpful in automat-
ed at any speed (see part versions for signals and dure, defining the large vari- ing sequences in script
2 of this series of articles). system variables. on sig- able once globally in the languages.
To adequately approach nal_update and on sys- Variables section utilizes a
this ideal, CAPL programs var_update are called with lot less memory. Concluding Remarks
are compiled, i.e. they are each write access to the Another inadvisable
compiled into the machine specific data objects, even practice is to create very This series of articles
language of the specific LIWKHREMHFW·VYDOXHKDVQRW large arrays, e.g. to store has introduced CAPL as an
executing microprocessor. changed at all. By contrast, event data under the respec- example of a problem-ori-
Moreover, optimized code on signal_change (on sig- tive message IDs. An ex- ented programming lan-
sequences are used for nal in short) and on sysvar_ tended ID in CAN comprises guage. The familiar C lan-
the often complex access change (on sysvar in short) 29 bits, so it can assume guage syntax of CAPL
to signals. Below are a few offer a performance advan- over 500 million values. To VLPSOLILHV WKH XVHU·V OHDUQ-
tips on how the user can af- tage if only signal edges define an array for this pur- ing curve. Specific symbolic
fect performance. are to be handled. Those pose would be a waste of databases and concepts for
writeEx(): the write event procedures are op- memory. In such cases, it using CAPL in simulation,
function is used to output timized to trigger on value is better to use associative emulation, and testing of
specific texts to the Write changes only. arrays as described above. fieldbus nodes support the
window in CANoe and Although associative arrays application domains. Vector
CANalyzer. As an alterna- Memory needs need somewhat more mem- is carefully and continually
tive, the writeEx function ory for each key that is actu- extending the language in a
is available for outputting Unlike most block-orient- ally used, they do not need way that maintains compati-
larger quantities of data. ed languages, such as C, any memory for keys that bility with previous versions
For one, it can be used to all locally defined variables are not used. while cultivating new appli-
write directly to the Trace in CAPL are static by de- cation areas.
window or to a log file. The fault. This means that they Useful, relatively
text output generated by are all created at the pro- unknown features
writeEx is in all respects gram start, and memory
treated like a bus event, in- used to store these vari- CAPL offers a number of
cluding the high priority pro- ables is not freed until the less familiar and mainly
cessing and synchronizing end of the program. Con- newer features:
the time stamps with real sequently, CAPL may re- Structs can be used to
bus events. quire a surprisingly large define structures, similar to
Event procedures: a amount of memory if many the approach in C. Togeth-
CAPL program consists of a event procedures define er with copying operations,
combination of procedures the same type of large vari- which can also convert Intel
and Motorola formats with-
in a struct, they represent
CAPL a flexible method for data
conversion.
CAPL is a procedural programming language similar When CAPL functions
to C, which was developed by Vector Informatik. are called, the user has the
The execution of program blocks is controlled by option of passing reference
events. CAPL programs are developed and compiled parameters in addition to
in a dedicated browser. This makes it possible to value parameters. Refer-
access all of the objects contained in the database ence parameters make it
(messages, signals, environment variables) as well possible to return more than
as system variables. In addition, CAPL provides one result value from a func-
many predefined functions that support working with tion. Reference parame-
the CANoe and CANalyzer development, testing and ters can also be used within
simulation tools. CAPL–DLLs.

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CANopen gateways to
Devices
the Internet of Things

The CiA organization has started several activities to specify Internet access
for CANopen entities. These projects could make CANopen part of the
Internet of Things.
Author
Torsten Gedenk
(Author: Wilgengebroed, License: CC-BY 2.0)

Emtas GmbH
Fritz-Haber-Str. 9
DE-06217 Merseburg
Tel.: +49-3461-79416-18
Fax: +49-3461-79416-10
service@emtas.de
Link
www.emtas.de
An overview of The second part, CiA

T he CiA 309 gate-
way specification se-
ries (“Access from oth-
CiA 309 309-2, defines a mapping
of these services to a Mod-
er networks”) is suitable The CiA 309 specification bus/TCP-CANopen gate-
for connections between consists of three parts. The way. The Modbus/TCP side
CANopen and TCP/IP- first part, CiA 309-1, de- of the gateway is a Mod-
based networks. Therefore scribes general services bus/TCP slave and the
it can also be used for the and principles and defines CANopen side can either
so-called Internet of Things three gateway classes. be a simple SDO client or
(IoT). The first CiA 309 ver- Besides these classes, ad- a sophisticated CANopen
sion, which was defined ditional CANopen servic- manager depending on the
in 2004, was only used in es like PDO, heartbeat implemented gateway class.
niche applications but start- consumer, node guarding Nevertheless, the Modbus/
ing in 2012, when the spec- master, LSS master, and TCP-CANopen gateway
ification was updated, CiA more are defined in CiA 309- has to work within the limi-
309 gateways have been in 1, but those are optional. tations of existing Modbus
use in a broad range of ap-
plications and several hard- Table 1: CANopen gateway classes
ware and software products
are now available. Espe- Class 1 NMT Slave + SDO Client
cially with the Internet of
Things more applications Class 2 Class 1+ SDO requesting device
have opened up for CiA 309
Class 3 CANopen Manager
gateways.

Figure 1: Modbus/CANopen gateway message structure
networks, which means the command starts with

One card,
that the length of requests
and responses is limit-
an optional net-ID and
the node-ID, which is ad- many possibilities
ed to 253 bytes and that dressed and followed by
asynchronous data trans- the specific command. All
fers (e.g. PDOs) are not al- commands are defined in
lowed. Modbus messages CiA 309-3 Backus–Naur
to Modbus/CANopen gate- Form (BNF). The definition With
ways are transmitted using for a SDO request is e.g.:
the Modbus Encapsulated
Interface Transport (MEI) "["<sequence>"]" [[net] node] supp
with the function code 43 r[ead] <multiplexer> <datatype>
ort
and the MEI type 13. The 2
bytes are followed by CiA and an example for such a
309-2 commands as bina- request is:
ry data.
CiA 309-3 defines [2232] 1 43 r 0x1000 0 u32
an ASCII mapping of the
CANopen services and which means that the val-
all CANopen services can ue of the object 0x1000 sub-
be transmitted as ASCII index 0 shall be read from
strings via TCP/IP. Never- node 43 in net 1. If a CiA
theless, the protocol def- 309-3 gateway only sup-
inition does not limit the ports a single CANopen net-
use of TCP/IP as transport work, the net number can be
layer, so also implementa- omitted.
tion that use UDP/IP or a In the last meeting of
serial point- to-point pro-
tocol are possible and in
the CiA 309 working group
it was decided to open the IXXAT CAN-IB-Series
use. specification for more com-
The specification ba- plex commands. Although Modular PCIe cards with up to four
sically covers four service nothing has been defined CAN (HS/LS), CAN FD, LIN and K-Line Interfaces
primitives. These are: yet, the decision paths the
X Request: communica- way to more sophisticated As standard, low-profile, mini PCIe and
tion service required; use cases, which might be PCIe104 version
X Confirmation: answer to necessary for the Internet of
a service request; Things. Easily expandable with customer specific
X Indication: an event has
piggyback modules
occurred in the network; Modbus/TCP and
X Response: answer to an ASCII gateways Drivers (32/64 bit) for Windows
event. XP, Windows7/8, Linux, QNX,
Based on these, Emtas provides both a CiA
the ASCII protocol for 309-2 gateway to connect INtime, VxWorks and RTX
CANopen defines com- Modbus/TCP to CANopen
mands that are composed networks and a CiA 309-
of tokens that are separat- 3 gateway for TCP/IP con-
ed by white-spaces and nections using ASCII com-
closed by CRLF charac- mands. The CANopen New
ters. All commands that component of the gateways
are sent to the gateway are is based on the CANopen CAN-IB300/PCI
confirmed and preceded master stack from Emtas.
with a sequence number The CiA 309 gateways are
CAN-IB400/PCI
that is enclosed in square available as Linux applica-
brackets [ ]. The se- tions and can be used with CAN-IB-Series extended by cost-effective PCI cards
quence number is an Un- an (embedded) Linux de- Available as passive or active (32 bit μC) version enabling
signed32 number and this vice that supports a can- intelligent handling and active filtering of messages
number is sent back from 4linux or SocketCAN inter-
the gateway with the an- face. Also, a source code Up to four CAN interfaces (optional low-speed CAN and LIN)
swer, but it is not used with edition is offered that can
event-triggered messag- be ported to all targets that
es from the gateway. Af- support a CAN interface
ter the sequence number and a TCP/IP stack. Fully HMS Industrial Networks GmbH
Emmy-Noether-Str. 17 · 76131 Karlsruhe
+49 721 989777-000 · info@hms-networks.de
www.anybus.com · www.ixxat.com · www.netbiter.com
featured TCP/IP stacks with Use cases of Internet a unique function code that X Usage of device or func-
Devices
BSD sockets facilitate the of Things represents the functional- tion names instead of
use, but light-weight TCP/IP ity. This will not be limited to node-IDs: e.g. Battery_2
stacks without BSD socket According to Wikipedia, the the scope of nodes but will instead of Node-ID 31;
support can also be used. Internet of Things (IoT) re- also cover parameters and X Usage of parameter
Thus the source code edi- fers to the interconnection data that are normally ad- names instead of index/
tion is suitable for integra- of uniquely identifiable em- dressed by an index and a sub-index addressing;
tion into small embedded bedded computing-like de- sub index. X Addressing data instead
devices. Additionally, using vices within the existing In- Additionally, it was dis- of PDOs;
the source code it is pos- ternet infrastructure. Typi- cussed that there should be The usage of device
sible to add functions and cally, it is expected to offer different types of CANopen names instead of node-
services that exceed the advanced connectivity of devices with different IoT IDs is especially important
scope of the CiA 309 spec- devices, systems, and ser- capabilities: in CiA 454 (CANopen pro-
ification. vices that goes beyond ma- X CANopen devices with file for energy management
chine-to-machine commu- full Ethernet capabili- systems) networks. In this
Current use cases of nication (M2M) and covers ties that might be able profile, node-IDs are usu-
CiA 309 a variety of protocols, do- to be a web server ally assigned dynamically
mains, and applications. themselves; using the Layer Setting Ser-
One of the first use cases In our CANopen world, X CANopen devices with vices (LSS).
of CiA 309 were CANopen the IoT means to get Inter- limited IoT capabilities Additionally, it was pro-
service and diagnostic net access to CANopen that can only respond posed that a CiA 309 gate-
tools that could operate via networks and even single to a restricted set of IoT way should only transmit
Ethernet or Internet con- CANopen devices. requests; PDO data via TCP/IP if any
nections. The first prod- CAN in Automation re- X CANopen devices with- values have been changed.
uct that implemented CiA cently established a work- out IoT support – classic When this is taken into ac-
309 (specifically CiA 309-3) ing group that deals with the CANopen devices which count, an additional up-
in hardware was Ether- Internet of Things. Employ- have to be addressed via date timer is necessary to
CAN, developed and man- ees of Emtas participate an intelligent gateway. ensure that even clients
ufactured by the company in this group. Unfortunate- Up to now the preferred that are connected lat-
EMS Wünsche from Ger- ly, these experts have just method to retrieve data via er can get informed about
many. Besides CANopen started working on the an Ethernet network is to current, but slowly-chang-
tools, the CANopen spec- topic and consequently use dedicated HTTP re- ing values. Instead, a “Re-
ification 443 for subsea in- there are no results avail- quests, which are tunneled quest PDO Values” service
struments specifies the use able yet. During the first via CANopen networks us- could be added to CiA 309
of CiA 309-3 for a transpar- meetings, use cases have ing existing CANopen ser- gateways. Mapped to CiA
ent maintenance link to con- been defined: Diagnostics vices. For all use cases 309-3 these new com-
figure or update devices. of devices and function- and applications, LAN and mands look like these:
More applications exist as al addressing. Function- WLAN access must be en-
Value Read Request similar to
backbones and configura- al addressing means that abled and security consid-
SDO read request
tion links to handle param- a CANopen device is no erations have to be taken
"["<sequence>"]" <device>
eterization and firmware up- longer addressed by its into account as well.
r[ead] <parameter_name>
dates, but they haven't been CANopen node-ID but in-
example:
specified in CANopen appli- stead by a functionality, e.g. CiA 309 and >[1234] BATTERY_2 r
cation profiles yet. “Temperature sensor 4” or Energybus rated_voltage
<[1234]] 4800
The topic Internet of Things
is also being discussed Value Write Request similar to
within Energybus, which SDO write request
has developed the CiA "["<sequence>"]" <device>
454 application profile for w[ead] <parameter_name>
use in light-electric vehi- <value>
cles and other energy man- example:
agement networks. With- >[815] MCU w assistance_level 2
out ready solutions from the <[815] OK
CANopen SIG “Internet of
Value Registration
Things”, own discussions
"["<sequence>"]" <device> reg-
have been started that led
ister value <parameter_name>
to a first proposal. A cur-
example:
rent idea is to extend CiA
>[4711] BATTERY_2 register
309 to use cases of Ener-
value current_voltage
gybus. As discussed with-
<[4711] OK
in the SIG, a functional ad-
dressing scheme must be Value Indication
added to the geographical value <parameter_name> <value>
addressing CANopen pro- example:
vides today. Mapped to CiA <VALUE BATTERY_2 current_
Figure 2: Gateway service primitives 309 this means: voltage 4761

One of the objectives
of that approach is for
smartphone applications
to be able to read/write
certain information from
an electric bicycle with-
canAnalyser
out having to know much
about CANopen or Ener- New Version 3
gybus (CiA 454) whereas
more sophisticated appli-
cations or PC tools could
use the full features of
CiA 309-3.
Using such an ap-
proach, an extended CiA
309 gateway in an Ener-
gybus network has to be
aware of the character-
istics of CiA 454 devic-
es and the structure of
the network. Thus an ex-
tended CiA 309-3 gate-
way for Energybus would
have to be located inside
the Energybus Controller,
which is the virtual device
that controls the Energy-
bus network. Besides CiA
309-3 other methods like
HTTP-POST requests
or more specific JSON
or XMLHttpRequest re-
quests have been consid-
ered as well. For the sake Powerful analyzing, stimulation, recording
of backward compatibility
these approaches were and data interpretation functionality
rejected for the time be- For CAN, CANopen, DeviceNet and SAE J1939
ing in favor of extending
CiA 309-3. Nevertheless based systems
this decision could be re- New: Multi-board feature supports multiple
versed if the SIG “Internet
of Things” comes up with CAN interfaces simultaneous
a better generic approach
New: Improved database concept and graphic
that fits the needs of most
CANopen users. display of signals and statistic data
The proposed idea
New: Data transmission and
to extend CiA 309 will suit
the needs of the author for reception based on
the use case in Energy- signal level
bus (CiA 454) networks.
On the one hand, the CiA
454 approach could be References
used for a broader range X CiA 309: Access
Also in combination
of applications, but sig- from other networks,
nificantly more exami- Nuremberg, 2014 with the new
nations have to be done
beforehand. On the oth-
X CiA 454: Application
profile for energy
USB-to-CAN V2
er hand, the work start- management systems,
ed by the CiA working For mobile analysis and configuration of CAN systems as
Nuremberg, 2014
group shows promising X Holger Zeltwanger:
well as for sophisticated simulation and control applications
approaches. Interested Gateway profiles Up to two CAN interfaces (optional low-speed CAN and LIN)
parties are welcome to connecting CANopen
join the efforts to develop and Ethernet, CAN USB 2.0 Hi-Speed: Minimal latency and high data throughput
a generic solution for the in Automation e. V.,
Internet of Things even Proceedings of the
beyond the current scope international CAN
of CANopen. Conference 2005 HMS Industrial Networks GmbH
Emmy-Noether-Str. 17 · 76131 Karlsruhe
+49 721 989777-000 · info@hms-networks.de
www.anybus.com · www.ixxat.com · www.netbiter.com
Detecting potential
Tools
differences
Communication disturbances attributable to potential differences in CAN units
have often been underestimated. They usually go unnoticed. Such errors can
nonetheless be detected, measured, and rectified.
Authors
Hendrik Stephani
Antje Wappler
problems were caused by
Gemac mbH
Zwickauer Straße 227
S erial bus systems are a
decisive factor for de-
termining performance ca-
the time of installation and
for permanent status mon-
itoring and early error de-
system-internal reasons. To-
day, however, we know that
DE-09116 Chemnitz pabilities of complex man- tection – are in the mean- external influences such as
Tel.: +49-371-3377-0 ufacturing systems in many time indispensable. On the electromagnetic interfer-
Fax: +49-371-3377-272 industries. The whole elec- other hand, such devices ence or inadequate potential
info@gemac-chemnitz.de tronic communication is re- have to date remained obliv- equalization are increasing-
alized within complex sys- ious of disturbances in data ly the culprits where com-
Link tems, meaning that the communication. These dis- munication is disturbed.
www.gemac-chemnitz.de highest demands must be turbances result from inad- Outdated or inappropri-
placed on the reliable func- equate potential equaliza- ate framework conditions
tioning of serial bus sys- tions. (e.g. grounding and poten-
tems. Measuring devices Until a few years ago, tial equalization) also open
for bus analysis – both at it was assumed that such the door wider to previously
Figure 1: Wiring variant 1; all nodes supplied via CAN cable

ignored sources of distur- normally CAN_GND, which
bance. High-frequency cur- in each device is connect-
rents, for example, often use ed to CAN_V-. On a CAN
the shielding of a data line network, both signal lines
as their return path, even (CAN_H and CAN_L) should
when a potential equaliza- display a common-mode
tion conductor is provided voltage of 2,5 V in the reces-
precisely for this purpose. sive state. For a number of
That results in correspond- reasons, the common-mode
ingly error-prone communi- voltage of the devices may
cation, or even loss of the manifest an offset. CAN-
whole system functional- touch is able to determine
ity. Gemac has applied this this voltage offset directly.
knowledge in its develop- It could also be detected in-
ments: the latest CANtouch directly via measurement of
diagnosis device now also Figure 2: Communication errors in case of potential the shield voltage.
detects such error sources – differences In practice, two forms
in addition to the established of wiring can lead to poten-
measurements of physical two lines generates the sig- individual signals CAN_H tial differences between de-
bus characteristics. nal received by each CAN and CAN_L against a refer- vices. In the first variant,
transceiver. Disturbances on ence potential. This lets it all bus nodes receive their
the bus can prevent correct detect an error source which power supply via the CAN
Bus diagnosis detection of the bit stream. is frequently encountered cable; in the second, each
CAN uses a differential sig- Gemac's diagnosis systems in system installations: the device possesses its own
nal to compensate the influ- permit evaluation of the dif- so-called “common-mode power supply.
ences of external interfer- ferential signal in the form voltage”. In a differential-
ences. In other words, the of a general quality value, ly operating transfer sys- Potential confusion
useful data signal is trans- of the disturbance-free volt- tem, such as CAN, the term
mitted on two lines, which age range, and of the edge “common-mode voltage” is Let us first consider the case
are inverted to each other steepness. used for the voltage of both where all connected devic-
(CAN_H and CAN_L). The CANtouch provides ab- signals relative to a common es are supplied via the four-
difference between these solute measurement of the reference potential. This is wire CAN cable (Figure 1).
device is usually realized by in an extreme case, eventu-
Tools
way of a parallel resistor ally also to the destruction
0їDQGFDSDFLWRUQ) of the transceiver (Figure 2).
For a low-resistance con- CANtouch thus determines
nection, the shield should the maximum voltage offset
be connected with V- and among all bus nodes – the
the protective ground at the so-called “worst-case to-
central voltage supply. This tal common-mode voltage”
has the following effect: – and issues a warning if
Due to the line resis- the limit values are exceed-
tance, the current load of ed (Figure 3). In addition,
the individual CAN devic- a graphical visualization
es results in a voltage drop shows whether the volt-
¨8 RQ WKH VXSSO\ OLQHV age offset lies above or be-
This raises the voltage level low the present connection
of CAN_V- at each CAN de- position. All absolute mea-
vice and leads to a negative surements are performed
voltage offset of the shield relative to V- on the D-Sub
voltage measured against 9 connector (Pin 6). CAN-
CAN_V-. This “normal” shield touch even offers the possi-
voltage should lie in the bility to switch the reference
range from approximately 0 ground to an integrated 4
V to -4 V. CANtouch reports mm socket. This enables
greater shield voltages or a the individual ground poten-
shield which is not connect- tials of the CAN devices to
ed to CAN_V- as errors. be measured without need-
The voltage drop in the ing to reconnect the test
cable will at the same time device, and thus potential
result in different GND po- differences to be detected
tentials for the CAN trans- faster. A simplified eval-
ceivers. This is manifested uation system using a
as a shift in the levels of the combination of traffic lights
signal voltages, which each and smileys assists the user.
CAN transceiver “sees” for
itself. The CAN system only Resisting temptation
permits shifts within the
range of -2 V to +7 V. It is important to resist the
Figure 3: Measurement of the “worst-case total common- The CAN transceivers temptation to connect the
mode voltage” with smileys to assist result assessment expect the signal voltages shield to CAN_V- on all de-
to lie within this range. Even vices, because the operat-
Two of the four wires the wiring is installed, the though newer circuits tol- ing current of the devices
in the cable are used for shield initially has no low- erate a wider range of -7 V would then flow back via the
the CAN communication, resistance connection to a to +12 V, exceeding the ex- shield, as it has a lower re-
and the remaining two for particular potential, as the pected range may lead to sistance than CAN_V-. The
the supply voltage. When connection to V- in each communication errors and, coupling of interferences
Figure 4: Separate power supply for individual bus nodes

into the signal lines is then purposes of potential equal-
almost inevitable. As a rem- ization. The equalizing cur-
edy, the voltage supply can rent which flows through the
be realized to the middle of shield, however, is itself al-
the network, or else a supply ready a possible source of SENSORS FOR MOBILE MACHINES
with several power supplies disturbances for the CAN
can be provided. The use communication and should
of CAN cables with a lower thus be eliminated as a
loop resistance for CAN_V+ possible solution from the
and CAN_V- is another pos- very beginning. CANtouch
sibility. The CANtouch wir- is able to spot such wiring
ing test is able to measure problems by way of the –
the loop resistance of the now possible – measure-
cable. ments of the shield and
common-mode voltages.
The right cable The handheld diag-
nosis device is the indus-
Standard limit values are try-compatible equivalent
reached relatively quickly in to a smartphone. For the
practice, as shown by the first time, system operators,
following example: technicians and develop-
To remain within the ers are in a position to per-
range of -2 V to +7 V as form physical and logical
defined by ISO 11898-2, a bus analysis via an intuitive
symmetrical potential dif- touchscreen. The device
ference of maximum 4,5 V with a 4,3-inch color dis-
above and below 2,5 V is play is ready for immediate
permissible (2,5 V - 4,5 V = mobile use without an addi-
-2 V and 2,5 V + 4,5 V = +7 tional PC. Similar to a smart-
V). Taking a typical CAN ca- phone, the user takes his
Absolute Rotary Encoders
ble with a cross-section of diagnosis device directly to
0,22 mm2, a line resistance the CAN system, connects it and Inclinometers
RI їNP DQG DQ DV- with the cable and immedi-
sumed total current load of ately receives reliable mea-
Reliable Measurement under
100 mA for all devices, the surement results – without
permissible potential differ- stopping the system. The Harsh Conditions
ence is already reached at a individual measuring func-
line length of approximately tions are operated interac-
240 m (and at a current of 1 tively and dynamically by High Protection Class: IP69K
A already after 24 m). An im- way of applications (“apps”)
provement can be achieved based on finger gesture con- Fieldbus and Analog Interfaces
by choosing a CAN ca- trol. A simplified evaluation
ble with a larger cross- system using a combination
section. At a cross-section of traffic lights and smileys Safety and ATEX
of 0,34 mm2, the loop resis- assists the user in assess-
Ex-Proof Versions Available
WDQFHLVUHGXFHGWRїNP ment of the measurement
at 0,50 mm2WRїNPDQG results. The CANtouch will
at 0,75 mm2WRMXVWїNP be shown at the company's Successfully Integrated in
booth at the SPS IPC Drives
Concrete Pumps, Drilling Machines,
A false shield is 2014 in Nuremberg.
Working Platforms, Cranes, Wheel Loaders,
no solution
Leader Masts and More
In conjunction with more
extensive installations, it is
not uncommon to find ca-
bling configurations which
provide an individual pow-
er supply to each bus node
(Figure 4). In most cases,
this is realized with a two-
wire CAN cable. Here, too,
there is a risk of potential
differences if the devices
are not interconnected to
provide potential equaliza-
www.posital.com
tion. In practice, the shield
is frequently abused for the
POSITAL
Germany, Singapore and USA
www.posital.com, info@posital.com
Pilots drive pushback tractors
Before take off, airplanes have to be towed. Pilot-controlled Taxibots can do that
without running engines, saving fuel. The tractors are based on CAN-connected
position sensors and control systems.
official EASA and CAAI

Links
www.dintec.fr
www.iai.co.il
A irplanes taxiing on taxi-
ways in airports burn a
large amount of fuel, emit
The vehicle developed
by IAI provides the required
power to move the airplane,
flight governing authorities.
The system also works with
www.sensor-technik.de tons of CO2, and are very without the need to change Airbus 320 aircrafts.
noisy. Israel Aerospace In- or replace the airplane's
Related article dustry (IAI) developed a APU (auxiliary power unit). Steering-by-wire
Separating non-safety and safety towbarless towing tractor It allows the pilot full con-
software functions in ECUs – the Taxibot (Taxiing Ro- trol of the system. The sys- In order to fulfill safety re-
bot). It is a semi-autono- tem uses the airplane's tiller quirements, the French
mous vehicle that enables and brake pedals like in reg- sub-contractor of the steer-
airplane taxiing without en- ular taxiing. Pilot training is ing-by-wire system selected
gines running, controlled by therefore minimal. the ESX 3XM controller by
the pilot, and without short- Dintec has developed STW (Sensor-Technik Wi-
ening nose landing gear the steering-by-wire sub- edemann). The controller
life-time. Because the ve- system implemented in the provides six CAN interfaces
hicle does not use the air- Taxibot tractors. The air- and runs different higher-
plane's power resources for port tractor is available layer protocols (CANopen,
taxiing, the fuel consump- in two versions: Narrow- J1939, and a proprietary
tion is reduced as well as Body (NB) and Wide-Body safety protocol). The tow-
the CO2 emissions. Accord- (WB). This summer, the pi- barless tractor uses differ-
ing to the manufacturer, the lot-controlled vehicle com- ent steering angles for dif-
Taxibot reduces cases of pleted the certification tests ferent airplanes.
FOD (foreign object dam- at Frankfurt Airport. The All participants of the
age) by 50 percent, and tests were conducted with steering-by-wire system are
decreases noise and gas a Lufthansa B737 airplane connected to two CAN net-
pollution. in accordance with the works: “Primary CAN” and

“Emergency CAN”. Both dant force feedback actua-
run at 500 kbit/s. The uti- tor and redundant actua-
lized proprietary safety pro- tors with cross moni-
tocol is based on a single toring in each wheel of
CAN message transmitted the tractor. The controller
periodically. It contains up features a 10-ms main-loop
to 3 byte safety data. In the and 5-ms sub-loops. It also
very same frame another controls the suspension.
3 byte contain the bit-wise At the Mobiltron 2014
inverted safety data. Ad- seminar organized by STW,
ditionally, these 6 byte are Anthony Dollet from the
protected by a CRC (cyclic Dintec group explained the
redundancy check), which steering-by-wire system
is also transmitted in the in detail: “We were look-
very same CAN frame. The ing for a scalable hard-
German TÜV has approved ware to implement master
this ECU's protocol for SIL- and slave controllers with
2 (Safety Integrity Level) the same software and on-
according to IEC 61508. line configuration.” The
The protocol runs on two software running on the
CAN networks. The multi- ESX 3XM controllers was
ple CAN network approach programmed in C, in order
increases the availability of to reuse existing software
the steering-by-wire sys- parts and already existing
tem. The master control- code generation tools.
ler is redundant and also Holger Zeltwanger
communicates via CAN
with the wheel-controllers.
All controllers also use one
other local network to con-
nect CANopen Safety sen-
sors measuring the wheel
position.
The steering-by-wire
system by Dintec imple-
ments a triplicated steer-
ing-wheel sensor, a redun-
Ship equipment in
Devices
construction machines
Open boat bridges pose high requirements for equipment: the constant contact
with seawater creates a tough environment. These requirements can be useful
in other rough areas, for example construction machines.
Links
www.blinkmarine.com
www.limitor.de
O pen boat bridges pose
high requirements for
equipment: the constant
contact with seawater cre-
ates a tough environment.
These requirements can be
useful in other rough areas,
for example construction
machines.
The PowerKey Pro
(PKP), a digital keypad de-
signed and developed by
Blink Marine, is debuting in
the market for agricultural
and construction machines.
The keypad was original-
ly developed for the nau-
tical sector. We met with
%OLQN 0DULQH·V &(2 5LFFD-
rdo Arienti, who oversaw
the move from the nau-
tical sector into general
machinery.
Q A crane is significantly
different from a motor-
boat. Can you point out any-
thing they have in common?
A Well, they both come

from areas where prod- Figure 1: CAN, CANopen, J1939, Isobus, and other
uct quality is a determining protocols are available with all PKP modules
factor. When we first started
to show the PKP to impor- devastating effects of salt- filtration of water and sol-
tant companies in the auto- water and sea spray 365 id bodies – but the PKP
motive sector, we realized GD\V D \HDU , GRQ·W NQRZ LI also possesses other char-
that most of their requests \RX·YHHYHUVHHQZKDWWKHVH acteristics that are at least
Riccardo Arienti were defined in terms of ro- kinds of elements can do to as important, like the fact
CEO bustness, in other words re- switches or certain pushbut- that it can work for a long
Blink Marine sistance to water, dust, at- WRQVLQMXVWD\HDU·VWLPH,Q time even in extreme tem-
mospheric agents, UV rays, DQ\FDVHLW·VKDUGWRWKLQNRI peratures (for example 24
and things like that. That conditions that are a tougher hours at -40 °C or +85 °C)
was a good sign right from test for the resistance of an and is resistant to chemical
the start. We said to our- electronic device. When it agents.
selves: If this is what peo- comes to robustness, even
ple are looking for, then our
product will be a success.
WKH,3FHUWLILFDWHLVQ·WQHF-
essarily the last word. Q What other aspects
were people you spoke
,W·V DQ DUHD ZKHUH to interested in?
the PKP excels. It was de-
Q What does IP67 not
signed for installation on an
open boat bridge, therefore
cover?
A While the first question
was always about ro-
subjected not only to rain,
sun, and UV rays, but to the A The IP67 certificate cov-
ers resistance to the in-
EXVWQHVV ,·G KDYH WR VD\
the second question was

almost always about ver- client requests. This can of- entire product. We already The first were the J1939
satility. That is an area in ten present a problem for have more than 250 differ- and NMEA2000 protocols,
which Blink Marine made purchasing keypads, since ent inserts available, and the most commonly used in
ample experience while these custom requests are we can create additional, the US. After that we had to
working in the nautical sec- connected with a very small new inserts at cost. handle requests from Euro-
tor. In the nautical sector, range of products, and of- pean producers and install-
you often have to deal with
extremely specialized pro-
ten they were forced to pur-
chase more keypads than Q You still have the issue
of minimum order quan-
ers, extending the range
to include CANopen proto-
duction realities, where they really needed just so tities though. cols.
people create complex, ex- that they could get the prod-
pensive machinery with no
more than a handful of dis-
uct they wanted on the boat
they were building. To make A We made a daring deci-
sion for minimum order Q What else is in store for
Blink Marine?
play products built per year. matters worse, any request quantities too: there is no
For these kinds of compa-
nies, we offer a keypad that
that fell outside the “stan-
dard” implied extra costs
minimum order quantity for
WKH 3.3 :H·OO HYHQ DFFHSW A We will promote our
wired remote control for
can be transformed into a (for the client) and extra an order for a single piece. trucks in November 2014. It
number of variations. time (for us), both of which Given the efforts we put into is suitable for using the tilt
almost always appeared out reaching out to clients who function, ECAS-, EDS- or
Q How is that possible? of proportion with what were

often minor modifications.
need top quality even for a
small number of pieces, it
ELM Systems and so on.
We are also adding different
A When we started work- With the PKP, we wanted to

ing with our American put all these issues behind
would have been a contra-
diction in terms to do any-
LED light options. Last but
not least, we are developing
partners at Digital Switch- XV 7KDW·V ZK\ ZH FUHDWHG thing else. several products that will
ing Systems, studying the a system with removable join our keypads: user inter-
product, we wondered if inserts that make it possi-
WKHUH ZDVQ·W VRPH ZD\ RI ble to substitute any single Q What were the most
difficult technological
face models, as well as pow-
er management solutions
fixing a problem that our button at any time. This way challenges you had to face? for electric loads. Our aim
clients were bringing up all there is no single standard: is to make it possible for cli-
the time: When somebody the configuration of each
builds a boat, they are usu- individual keypad can be A We had to adapt our
keypad to the most
ents to rely on Blink not only
for keypads, but for their
ally able to “tailor fit” the fi- changed at any time with- common standards used entire on-board systems as
nal product to a range of out having to substitute the for commercial vehicles. well.
Visit us at: 3A-031

Control system solutions
for extreme conditions
epec 3606 control unit

based on 16/32 bit processor
epec 5050 control unit memory:
based on 32-bit microcontroller: • flash 1,6 Mbyte epec 6107 display
• flash 8 Mbyte • ram 112 kbyte based on ARM cortex a9 processor
• ram 4 Mbyte or 8 Mbyte (for application parameters) memory:
• non volatile memory: 512 kbyte • plcopen application max size • flash 32 Gbyte
• up to 3 Mbyte plcopen application size 768 kbyte • ram 1 Gbyte
• temperature range -40°c ... +85°c • non-volatile: 2 kbyte • non-volatile: 2 Mbyte
• temperature range up to +85°c • temperature range up to +70°c
• resistive touch screen
• led backlight (lifetime 70,000 h)
• wide viewing angles and high
brightness offers an excellent
sae j1939 E17 sunlight readability
epec oy |
Detecting and counting
Devices
unwanted particles
Condition monitoring of working fluids usually comes with a lot of drawbacks.
The FCS100 series overcomes these problems with a redesigned flow-cell and
traceable field calibration by the user.
Author
Bernd Donner
Elmetric GmbH
Zum Schacht 7
DE-66287 Göttelborn
Tel.: +49-6825-80185-0
info@elmetric.com
Link
www.elmetric.com Figure 1: The FCS100 connector complies with CiA 303-1
should also be possible. In

I n the field of condition
monitoring of working flu-
ids (especially hydraulic oils
device that can be used in
all areas of mobile hydrau-
lics include a miniaturized
addition to the mastery of
all standards, the additional
and lubricants) many so- thread-design, integration distinction of material com-
lutions have already been without additional fluid con- position (solid, gas, ferrous
developed that reliably ditioning (fluid flow regula- metal, nonferrous metal)
measure and also show im- tor), compatibility compared should be given. Other de-
portant fluid parameters in to all fluids without addi- sirable characteristics are a
certain areas. Although the tional variants, no addition- wide operating temperature
available devices basically al electronics, a low power range and insensitivity to
do their job, they could not consumption, no need for a moisture and water splash.
yet really establish them- mechanical adapter, and an The sensors should also
selves in a wider applica- extended measuring range. cover all practical pressure
tion front. Online calculations of a sys- ranges and be vibration-re-
The measuring range The reason for this is tem-specific risk measure sistant. These are obviously
complex, but some major
extension amounts
drawbacks are the poor in-
to more than 5+ tegration capacity of these
ISO classes. This devices (fluidic, mechani-
cal, and electronic), their
makes the sensors low range, and their poor
applicable for highly resistance to harsh en-
vironmental conditions
contaminated fluids. (temperature, vibration, hu-
midity, pressure, etc.). In
addition, they are large and
expensive, and the cali-
bration of the sensors as
part of an effective quali-
ty management is unsatis-
factory. Consequently, the Figure 2: The core of the measuring cell – a Flip-chip
requirements for a sensor semiconductor stack with triplet lens

competing parameters and for scattered light. The fluid-
there seemed to be no solu- ic cell is represented in this
tion – at least not with previ- design with a streamlined
ous designs. and extremely pressure-re-
sistant cylindrical glass cap-
Prior designs illary. The coil system is dis-
posed coaxially around the
The sensors usually con- capillary, with a gap so that
sist of a flow-cell comprised the light can pass through.
of two plane-parallel glass Contrary to commonly
plates, which are held apart used laser diodes, a com-
by a metal structure. A light pact stack structure was
source – typically a laser used in this design. It con-
diode – forms a "light cur- sists of both custom AlN
tain", which is perpendic- thinfilm substrate and a cus-
ular to the direction of the tomized line-shaped LED
flow in the measuring flow- as flip-chip construction.
cell. Passing through the This stack can be fitted di-
measuring cell, the light is rectly onto the circuit board
collected from a point on in the automatic pick and
the optical axis of the pho- place process and soldered
todetector and converted using standard reflow,
into an analog electrical sig- which reduces manufactur-
nal, which is processed and ing costs.
subsequently evaluated. To bridge the relatively
This design entails large light path through the
disadvantages that hinder capillary, a new triplet lens
miniaturization. First of all, was constructed. Through
this composition requires direct optical bonding be-
a great distance between tween the lens and the light
light source and photode- source or the detector and
tector. Accordingly elastic the capillary, reflection loss-
internal seals are required, es and at the same optical
which limit the fluid compat- distortion through the cylin-
ibility. Thick-walled glass drical capillary were large-
plates, which would make ly avoided. In this case, the
it possible to achieve high light emitted from the LED
compressive strengths, can- is initially formed with a di-
not be used. The metallic verging lens to a reduced
structure, which forms the intermediate image of the
measuring channel, is fluidi- upright. The middle lens
cally less than optimal and was designed as a menis-
can easily clog. cus and provides for the
Due to the design of shift of the main level of the
the measuring cell neither overall configuration toward
coincident magnetic coils capillary. This made it pos-
nor scattered light detectors sible to reduce the magnifi-
can be attached, with which cation to improve the optical
the distinction between sol- resolution and still fulfill the
ids, ferrous or non-ferrous law of imagery. The light
metals, and gas particles transition to the capillary
would be possible. is formed by an optical-
ly bonded condenser. This
Design of the minimizes reflection losses
measuring cell and ensures a high light in-
tensity. Because in an op-
Key points for the design tical imaging system, the
of the new measuring flow- image and the object can
cell were the simultane- replace each other, it was
ous matching of demands possible to use the same
for a pressure stable flow- structure for the receiving
cell, the small distance be- lenses. Thus investment in
tween the light source and optical molding tools could
the photodetector, and the be reduced. Through the
coincident arrangement of use of the same parts, ma-
a differential magnetic coil terial and installation costs
configuration and a detector were also reduced. The
lenses all have an aspheri- sensor. The synchronous to 10000 ppm with a reso-
Devices
cal shape and are manufac- acquisition and analysis al- lution of 1 ppm.
tured with injection-molded lows reliable differentiation
plastic. of solid particles and gas Ease of use
This optical construc- bubbles.
tion created an intensive Two essential features Not only the cost of the sen-
line-shaped light field inside allow reliable differentiation: sor itself determines us-
the capillary through which Firstly, solid particles have ability, but also the total ef-
the fluid flows. This light an irregular and rough sur- fort required to integrate it
field interacts with passing face structure and scatter into a system. The following
particles as follows: 100 % light, while gas bubbles are points are essential for this:
of large particles are detect- perfect spheres and have installation space, hydraulic
ed – these large particles optically smooth surfaces, connection, and fluid con-
are also always in low con- which have geometrically ditioning. To enable the in-
centration in the fluid. Par- reproducible light scatter- tegration of the sensor into
ticles are detected less the ing properties. Secondly, smaller hydraulic compo-
smaller they are. The small- solid particles have either nents such as pumps, cyl-
er they are, the higher is a high refractive index and/ inders, filter housing, etc.,
their natural concentration or absorb light, while gas the sensor must not only
in the fluid. The relation of bubbles have a refractive be very small, but must be
measurement signal to par- index of uniformly 1, which able to be connected direct-
ticle size is linear, resulting is always lower than that of ly to the pressure line. For
in a very large size range the fluid. This always leads this purpose, certain vari-
IURP ѥP WR ѥP 'XH to scattered light signals, ants are offered, provid-
to the size-dependent con- which is on the one hand ing an integrated flow reg-
trol of the detectability for proportionally to the particle ulator, which is fixed to the
the coincidence-free meter- size and thus also propor- flow required by the sen-
ing, the maximal measur- tional to the extinction sig- sor. The miniaturized in-
able particle concentration nal. On the other hand, the ternal structure enables a
could be greatly expanded. scattered light signal in the housing shape that is com-
The measuring range ex- case of the gas bubbles is mon for cartridge valves in
tension amounts to more always significantly larger accordance with the ISO
than 5+ ISO classes. This than the scattered light sig- 7789 standard. The new
makes the sensors applica- nal of solid particles. Due design of the sensor al-
ble for highly contaminated to the perfect geometric lows abandoning the elas-
fluids. form of gas bubbles, their tomeric material of the inner
Perpendicular and co- volume can be calculated. seals. Thus no special sen- )LJXUH7KHZRUOG·VWLQLHVW
incident to the optical axis, The volume fraction of free sor variants are required particle counter
a light scattering detector is gas in the fluid is calculated for mineral oil based fluids
arranged, which also syn- and output from the sensor and phosphate esters. The Electrical interfaces
chronously detects the sig- in ppm (parts per million). costs associated with logis-
nal of the scattered light to The measuring range is up tics and warehousing are The sensors of the FCS100
the signal of the extinction thereby reduced. series come with many inte-
grated standard interfaces:
LIN, NMOS switching out-
put, analog current and volt-
age output, and the field-
bus interfaces EIA-485 and
CAN with connector pin-out
according to CiA 303-1. The
respective interface is set
via a firmware update and
can thus be adapted to the
respective requirements.
An extensive inventory of
appropriate sensor mod-
els becomes therefore un-
necessary. The electrical
connection is made with a
standard 5-pin M12 Sensor
connector. The supply volt-
age range of 9 V to 60 V
covers all battery voltages
used in mobile hydraulics
(12 V, 24 V, and 42 V). The
Figure 3: Typical distribution of solid particles and gas bubbles taken with the PC total power consumption is
application iConS (integrated contamination system) only 500 mW.

the user. The host system not feasible for particle sen-
will be supported by an EDS sors. That is because sus-
(electronic data sheet). pensions are by their nature
The low response not traceable. The sensors
time of the sensor to sud- have to be calibrated with
den changes of the state an expensive reference flu-
of the working fluid is pos- id having a particular con-
sible thanks to the low dead tamination. This process
volume of the sensor from is also expensive and time
the entrance to the measur- consuming and prevents a
LQJ SRLQW RI RQO\ ѥO DQG broad application of con-
the fast data collection and tamination sensors.
analysis by the DSP. This For the FCS100 series,
makes the sensor the first for the first time there will be
choice for bottle sampling a new system, which over-
Figure 5: The sensor vanishes almost completely after where only a restricted vol- comes these drawbacks.
installation into an appropriate cavity ume of the fluid is on-hand. On a glass substrate with
lithographically deposited
Protocols for data sor and is available with- The end of non- structures that are intro-
transmission out additional programming traceable calibration duced into the measuring
when integrated in a user's cell, the sensors can be
To display all sensor data system. Also available is a To ensure the effective- quickly and cost-effective-
in real time, PC evaluation galvanically isolated USB ness of quality manage- ly calibrated by the user in
software is available for data cable that also powers ment, it is necessary to the field. These microstruc-
free. In this case the data the sensor. A separate pow- check the used measuring tures are always traceable
transmission via EIA-485 er supply is not required. instruments in fixed inter- and verifiable. This allows
uses a proprietary proto- For field applications vals. For example, the cali- the users to equip their sys-
col. Data is transmitted from there is a focus on the imple- bration of length measuring tems with inexpensive con-
the sensor and immediate- mentation of the CANopen instruments or voltmeters tamination sensors and to
ly displayed graphically. All protocol according to the is standard and is offered ensure the proper function-
data is calculated in real CiA recommendations. All by all calibration services. ing throughout the whole
time on the DSP of the sen- data will be accessible by However, this is currently lifecycle.
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Model-based design of
Tools
CANopen systems
Multiple disciplines for mechatronic system design co-exist, which hinder the
utilization of software-oriented modeling principles e.g. UML. Existing modern
tools may be integrated into a working tool chain.
Author
Dr. Heikki Saha
TK Engineering
P.O. Box 810
FI-65101 Vaasa Figure 1: Example of a top-level system model consisting of two application-programmable
Tel.: +358-50-588-6894 nodes, Node A and Node B
Link
www.tke.fi M odel-based design has
become mainstream
in the industry, but it has
es, there is a demand for
standardized and seman-
tically well formed interfac-
centric development and
simulation provides limited
efficiency because of limit-
mostly been used for de- es between multiple disci- ed testing capabilities [11].
velopment of individual plines [16]. Software-centric develop-
control functions or devic- In typical mechatron- ment without a thorough
es, not entire control sys- ic systems, multiple disci- system level management
tems. Current mechatron- plines co-exist and none of will lead to serious inter-
ic systems are becoming them dominate. The multi- face inconsistencies. The
more complex and simul- disciplinary nature of de- old approach to managing
taneously the requirements sign work makes it very communication interfaces
for quality, time-to-market, difficult to utilize the mod- is to embed communication
and costs have become eling principles dedicated descriptions into the appli-
higher. An increasing num- for software-oriented de- cation software [5]. Histor-
ber of systems is distribut- velopment, such as UML or ically, this works with very
ed, but development is typi- SysML [1]. It has also been small systems, where there
cally done device by device, found that it is impossible to is only one instance of each
without systematic coordi- create a single tool, which type of device. When devic-
nation of system structures. is optimal for all disciplines. es exist more than once in
Approaches to manage dis- Instead, existing state-of- a system, such an approach
tributed systems with writ- the art tools can be integrat- often leads to poor re-use of
ten documents have lead ed into a well working tool design artifacts or adoption
to inefficiency and inconsis- chain. of configuration manage-
tent interfaces. Inconsistent ment processes.
interfaces have sometimes The traditional way Model-based designs
led to situations, where it have become attractive be-
was easier and faster for In a typical distributed sys- cause of the inefficiencies
the designers to write a new tem, one function may be of the existing approach-
software component in- divided into several de- es. Though the requirement
stead of re-using an exist- vices and one device may management in traditional
ing one. Another typical oc- serve multiple functions. software development has
currence is that significant Node-centric development been document-centric, it
interface adjustments have might be difficult because has not been unusual that
to be performed during inte- the functional distribution is the requirements for the
gration testing of a system. not exactly known prior to next version were collected
Based on such experienc- development. Application- from the source code of a

Pioneering new technologies
Pioneering new technologies
previous version [18]. It has specification, from which
also been documented that certain documents can be
model-based designs can generated [9], [10], [15], [18].
reduce number defects and Higher integrity with lower
wasted efforts produced by effort can be achieved by
current approaches. validating the basic blocks
A separate design of and maximizing the re-use
logical and physical struc- of them [15]. Conformance
onic ESX® -3X L

tures causes challeng- to corresponding standards
es in managing the two helps to achieve required
e l e c t r
parallel models and their
connections without incon-
quality [15]. Simulation mod-
els can also document
32 bitcontrol unit
sistencies and still allowing interfaces between structur-
incomplete models [1]. In al blocks, improving consis-
addition, if a model-based tency and enabling parallel
conceptual design was and co-development, im-
used, models can be manu- proving the overall efficien-
ally converted into code or cy [10], [12], [18].
control applications can be It has been recognized
developed and tested sepa- that old processes produce
rately, independent of each old results [18]. New devel- L
® -3X
other. The main motivation opment approaches, such ESX
for more systematic devel- as a model-based design,
opments can be found in improve the design. To
the assembly and service achieve maximum improve-
process, rather than in de- ments, new processes and
velopment, because of their tools are often needed. A
higher significance [3]. Sys- new process with an ex-
? 32 bit controller with max. 136 I/Os and 4 × CAN
tematic configuration man- isting, constrained design ? freely programmable in „C“ and CODESYS
agement enables solving does not show benefits, but ? certified for safety applications (SIL2, PLd)
serious problems e.g. dur- with new and more complex
ing system assembly and designs benefits can be ? including Memory Protection
service [3]. Systematic con- found. A phase-by-phase
figuration management is approach is required to pro-
m i t t e r n g e l e ment
e t ra nfsilm measu ri
required throughout the de- vide a learning curve. It is
r e s s u r
hin-
velopment process [18]. also important to be able to
keep existing code compat- P w it h t
Existing modeling ible with the new code gen-
approaches erated from models. Design
re-use is one of the main
Increasing complexity of things that improve produc-
the systems requires in- tivity. The systematic man-
creasing systematics dur- agement of both interfaces
ing development [10]. Most and behavior is mandato-
defects found during the ry in safety relevant system
last phases of the tradition- designs [7]. Instead of us- -CAN
ing model-based tools as a M01
al processes are caused
by failures in the require- separate overlay for the ex-
ment acquisition in the early isting processes and tools,
phase of the processes [10] automated interfaces need
[18]. The validation of spec- to be implemented between ? pressure ranges from 0 … 10 bar to 0 … 2000 bar
ifications to models and tools [18]. Connecting mod- (Overall accuracy in the temperature compensated range: 1%)
model-to-code matching is el-based tools with the ex-
easier with simulation mod- isting legacy tools may ? max. media temperature 150°C / max. ambient temperature 125°C
els [9] and the use of auto- require changes beyond ? wetted parts and case in stainless-steel
matic code generation with built-in capabilities of the ? CAN-Bus interface
proven tools makes it pos- tools, increasing the effort
sible to automate code ver- required to maintain, de-
ification and move the fo- velop and upgrade the tool
cus of reviews from code chain.
to models. Automatic code
generation from simulation Scope
models improves the devel-
opment of especially high- The Simulink tool was used
Sensor-Technik Wiedemann GmbH
integrity systems [9], [10], in the project because it is
Am Bärenwald 6 · 87600 Kaufbeuren
[11]. The simulation mod- the de-facto modeling tool
Germany
el is actually an executable in research and industry
Telephone +49 8341 9505-0
www. sensor-technik.de
and it has open interfac-
Tools
es. Furthermore, it solves
most of the problems found
in other modeling languag-
es and approaches [1]. One
of the most significant ben-
efits is the support of dy-
namic simulations. Unlike
e.g. executable UML, Simu-
link models can be used for
modeling other disciplines
than software. The models
can be made very simple
and based on behavior only.
The physical structure can
be included into the model
by adjusting the hierarchy of
the logical model. Later on,
the models can be devel-
oped to cover improved dy-
namics too, if required.
Because of the in-
creasing time-to-market and
functional safety require-
ments in machinery auto-
mation applications, higher
productivity and support for
model verification and re- Figure 2: Example sub-model for Node A with linked application sub-model and integration
use of designs were sig- interface descriptions
nificant reasons for using
Simulink. Such features in- was selected as an exam- In this article, rele- can be composed of the
clude e.g. linking to the re- ple integration framework, vant CANopen issues are defined profile databases.
quirement management, because the CANopen reviewed first to enable The EDS files are used as
model analysis, support for standard family covers sys- readers to understand the templates for device config-
continuous simulation dur- tem management process- process consuming the uration files (DCF), which
ing the design process, test- es and information storage. presented communica- are system position specific
ing coverage analysis, and It is well supported by nu- tion description. Next, the and define the complete de-
approved code generation merous commercial tool basic modeling principles vice configurations in a sys-
capabilities [17]. The use chains, which can be seam- are shown. After present- tem. DCF files can be di-
of Simulink models enables lessly integrated. The man- ing the modeling princi- rectly used in assembly and
efficient re-use of the mod- agement process fulfills the ples, the communication service as device config-
els for various purposes. requirements set for de- interface description in the uration storage [19]. In ad-
The main reason for sign of safety relevant con- model and exporting of dition to the DCF files, sys-
using IEC 61131-3 pro- trol systems [7]. It is also both application interfaces tem design tools produce
gramming languages for well defined how CANopen and behavior are present- a communication descrip-
the evaluation is that they interfaces appear in IEC ed. Modeling details are tion as a de-facto commu-
are well standardized, wide- 61131-3 programmable de- not within the scope of this nication database format,
ly used in the industry, and vices [2]. A managed pro- article. which can be directly used
their use has continuously cess is required to reach in device or system analy-
been spreading. Their use the functional safety targets CANopen issues sis. A process with clearly
in especially safety criti- [7]. There is also a wide se- relevant to modeling distinguishable phases im-
cal implementations is in- lection of various type of proves the resulting quali-
creasing because some of off-the-shelf devices on the The CANopen system man- ty because a limited num-
the IEC 61131-3 languag- market, enabling efficient agement process defines ber of issues need to be
es, which are considered as industrial manufacturing the interface management covered in each step of the
limited variability languages and maintenance. Espe- WKURXJKWKHV\VWHP·VOLIHF\- process [11].
(LVL), are recommended by cially device profiles help cle from application inter- Signals and parame-
functional safety standards re-using common functions face description to spare ters need to be handled dif-
[7]. A standardized XML instead of developing them part configuration down- ferently [4] because of their
based code import and ex- again and again. In addition load. The first task in the different nature [14]. Sig-
port format has been pub- to the design and communi- process is to define appli- nals are periodically up-
lished recently, improving cation services, CANopen cation software parame- dated and routed between
systematic design process- offers extensive benefits ters and signal interfaces network and applications
es further. in the assembly and as one or more profile data- through the process im-
Basically the present- service when compared bases (CPD) [4]. Next, node age [2], [4]. The process
ed approach is technolo- to other integration frame- interfaces defined as elec- image contains dedicated
gy independent. CANopen works. tronic datasheet (EDS) files object ranges for variables

supporting both directions The process image lo- CANopen devices must al- mechanics, enabling multi-
and the most common data cated in the object dictionary ways be located in a manu- disciplinary design and sim-
types. The same informa- serves also for communica- facturer specific area of the ulation. The main benefit of
tion can be accessed as dif- tion between the functions object dictionary. The only model-based design is that
ferent data types. Signals or applications inside the exception occurs if device errors are typically found
are typically connected to same device [8]. It can also profile compliant behavior is earlier than in traditional ap-
global variables as absolute be shared by different field included. Then parameters proaches [10]. Models are
IEC addresses [2]. Signal buses [6]. Software layers must be located according executable specifications
declarations include meta- above the process image to the corresponding device enabling continuous testing
data and connection infor- are not necessarily required profile. It is recommended [12]. When whole command
mation used for consumer with CANopen. The internal to organize application spe- chains, systems or subsys-
side plausibility and validity object access type can be cific parameters as groups tems can be tested, more
monitoring. For parameters, defined as RWx to enable separated from the platform practical test scenarios can
metadata is used for both bidirectional access inside specific objects. Standards be used to reveal the prob-
plausibility checking and the producer device. The do not define the organiza- lems more typically found
access path declaration. All external access type should tion of parameter objects. with integration tests.
information relevant to the be defined as RWR to en- Some different approaches The multi-disciplin-
application development is able information distribu- to access parameters exist, ary system model can also
automatically exported from tion to the network. Access e.g. linking global variables be used for initial tuning of
the CANopen project to the type RWW should always to objects or using access control behavior if dynamic
software project of each be used for incoming sig- functions or function blocks. behavior of e.g. hydraulics
application programmable nals, which can be shared and mechanics is includ-
device. Additionally, moni- by multiple applications. System-level modeling ed. After finalizing the de-
toring, troubleshooting, and Parameters are sta- in Simulink sign and initial tuning the
rapid control prototyping tionary variables con- control behavior of each
(RCP) can be supported by trolling the behavior of a A system model typical- device can be automatical-
the exported communica- software, their values are ly consists of models of ly exported into executable
tion description. The com- changed sporadically and in a whole signal command programs to the final HW.
pleted CANopen project CANopen systems typically chain, system or subsystem. Because of the ease of use
automatically serves the de- stored locally in each device The model may also contain and automated transforma-
vice configuration in assem- [2], [4], [14]. Parameters of sub-models describing be- tions, incremental modeling
bly and service. application programmable havior of e.g. hydraulics and and development become
efficient. A simple system
Tools
model is shown in Figure 1.
Node model in a sys-
tem contains CANopen
mapping and a referenced
application behavior sub-
model, as depicted in Fig-
ure 2. In early stages of
development, parameter
and signal descriptors are
not required – they do not
affect on behavior, but just
tag the signal or parame-
ter to be published. Signal
names and data types are
directly taken from the mod-
el to the descriptions. It is
presented by literature, that
simulation models are com-
monly used for documenta-
tion and communication of
interface descriptions [10].
It is important to systemat- Figure 3: Example of exporting interface for Application A
ically define the interfaces,
because the control func- because final processing accordingly [14]. Due to a indicate a status, it needs
tions communicate through performance, memory and thoroughly defined process to be read-only and not for
the interfaces and any in- I/O constraints do not apply image, signals may be auto- retain. If a parameter's pur-
consistency can introduce [11]. Model referencing can matically assigned into the pose is to adapt the behav-
more severe global conse- as well be used as a re- object dictionary, but most ior of a function, read-write
quences that an erroneous use method of the appli- devices have default PDO- access and retain are need-
internal behavior. cation behavior in other mapping affecting the or- ed. Some parameters, such
It is mentioned in the models. ganization of the signals. as output forces, require
literature, that configuration Therefore it was the safest read-write access. Retain
management is required option at first to provide a storage should not be sup-
Preparing for export
for simulation models [18]. manual override for auto- ported, because forces
One approach to arrange Code generation from sim- matic object assignment should be cleared during re-
a well documented and ulation models is a proven for the signals and param- start for safety reasons.
proven configuration man- technology. The manage- eters. The access type of Automatics can be im-
agement is to implement ment of system level inter- signals is fixed by using di- plemented later e.g. by us-
generic simulation models faces has not been included rection specific blocks and ing target file describing
and publish the all configu- until now. After complet- the object type need not object assignment rules
ration parameters. The pro- ing the application behav- to be defined for the pro- specific to a target hard-
posed approach enables ior, signals and parameters cess image. Signals can ware. Development of in-
the utilization of configura- need to be defined. A ded- also be introduced into e.g. terface standards and
tion management features icated blockset for such device profile specific ob- exchange formats will help
provided by system integra- purposes has been devel- jects when standard be- the further development
tion framework. If CANopen oped. The blocks shown in havior is developed. In this [2]. During the time of writ-
is used, various model con- Figure 2 are only markers, part of the process, compat- ing there are too much vari-
figurations can be stored as which are invisible to the ibility with existing PLCs is ations – especially in the
profile databases, where code generation. The simu- as important as CANopen management of parameter
parameter values can be lation model is independent conformance. objects – to be covered by
imported to the new mod- of the integration framework Parameter management automatic assignment with-
els. Potential conflicts can and therefore only applica- has even more devia- out potential need for fur-
be detected and solved out- tion interface descriptions tions among different im- ther editing.
side the model, in the corre- are exported to framework plementations. Therefore it Minimum, maximum,
sponding design tools. specific tools. Such an ap- should be possible to select and default values can be
The main benefits proach enables the full uti- the main attributes manual- assigned for each object.
of the referenced models lization of the framework ly. The manual assignment They are important to be
are, that they are faster in specific tool chain for inte- enables parameter group- defined, because they can
simulation [13], they en- grating the application spe- ing into records and arrays, be efficiently re-used dur-
able parallel development cific descriptions with hard- if grouping is required by ap- ing further steps of the pro-
of sub-models and can di- ware and software platform plications. Access type and cess. Those values can be
rectly be used from other specific interface descrip- retain attributes are avail- given either as plain values
top-level models [12], e.g. tions. able only for parameters or as variables in the Mat-
in rapid control prototyping Signals and param- and their values are related lab workspace. Such an
(RCP). RCP can significant- eters behave differently to the parameter's purpose. approach enables sharing
ly speed up development, and need to be managed If a parameter is intended to the same metadata with

Kvaser now
application function blocks
as constants linked to the
same variables, but may
approach is supported by
published application inter-
face descriptions. The con-
supports Ethernet
add to the complexity of figuration management of
the model [14]. To speed up the target system is done K VASER ETHERCAN LIGHT HS
the modeling, value fields in a CANopen process sup-
can be left empty, when de- porting it better on the sys- Use your corporate network to transport CAN messages
fault values are automati- tem level [11]. Calling of the to your PC using the standard Kvaser API.
cally used. Minimum and application interface export www.kvaser.com/ethercan
maximum possible values of Application A is present-
according to the object's ed in Figure 3.
data type are used as mini- The resulting appli-
mum and maximum values cation parameter and sig-
by default. If a default value nal object descriptions are
is not defined, zero is used. shown in Figure 4. The file
format in the example is a
Generating exports CANopen profile database
(CPD) because CANopen
The generated application was selected as an ex-
behavior needs to be isolat- ample system integration
ed in a separate sub-mod- framework. Application in-
el. Source code cannot be terface descriptions are
generated directly from combined with descriptions
the root of the referenced of other optional applica-
model. The structure of tions, which will be integrat-
the generated code strong- ed into the same device and
ly depends on the inter- the communication inter-
nal structure of the source face of the target device [4].
model [12]. The IEC 61131-3 The resulting EDS-file can
code generation results in a be used in system design
single function block, where as a template defining the
the behavior of the selected communication capabilities
block is included. Depen- of the device. System struc-
ding on the model structure, ture specific communication
other functions and function parameters are assigned
blocks may also be gener- during the system design
ated. process [2], [4].
A completely fixed in-
terface is mentioned in a Software integration
case example present-
ing the application devel- The first requirement is that
opment improved by using all tools must be compatible
fully automated code gen- with each other [11]. Based
eration [11]. The more ge- on experience, using stan-
neric approach expects dard interfaces is the easi-
the management of the in- est method to achieve a suf-
terfaces from the model ficient level of compatibility.
[10] [12]. However, only ap- Second, thoroughly defined
plication specific interfac- interfaces are needed in co-
es can be managed in the development projects to get
model and both hardware them working completely
and software platform spe- [12]. It cannot be assumed
cific interfaces need to be that all development is per-
managed according to the formed within a single com-
management process of pany or department and
selected integration frame- with a uniform methodolo-
work. Applications can be gy. Third, outputs must in-
developed as separate tegrate manually written,
models and mapped onto existing codes to enable
the same physical node either a smooth transition
as part of the system de- into model-based develop-
sign process. The level of
modularity can be selected
ment or a flexible use of au-
tomatically generated and
Find CAN hardware
according to the applica-
tion field. The configuration
manually written code [11].
Fourth, although CANopen
@LCÖQMÞU@PDÖ@RÖ
management [12] of the ap-
plications in the presented
is currently the best integra-
tion framework in machin-
www.kvaser.com
YOUR PORTAL TO THE
PERFECT CAN SOLUTION
are not performed, because
Tools
such information is not nec-
essarily required for all
signals and parameters. In-
cluding complete metadata
for all signals and parame-
ters with plausibility check-
ing may require too much
memory and processing
power. An automatic con-
nection would also violate
the requirements of flexible
mixing of manually written
and automatically generat-
ed code [18].
Discussion
An approach to including
public interface descrip-
Figure 4: Interface descriptions for parameters and signals of Application A as a CANopen tions into the same model
profile database with system behavior divid-
ed into multiple application
ery applications, upgrade avoided, which confirms the layer. Moreover, signal and has been presented. Such
paths and additional sup- findings already presented parameter metadata – min- an approach enables an ef-
ported integration frame- in the relevant literature [18]. imum, maximum, default ficient system level inter-
works should also be pos- The remaining manu- values, and signal valid- face management, which
sible. al integration work is mini- ity – if used by application serves the design process
A generic approach mal, mainly consisting of behavior, also need to be by enabling the export of
does not support predefined connecting application sig- connected manually to the application specific signal
signaling abstraction used nals and parameters to the relevant application function and parameter descrip-
in some implementations communication abstraction blocks. Fixed connections tions. Furthermore, the be-
[11]. Instead, application
specific abstractions need
References
to be generated from the
1] Laakso M., Distributed System Design Flow: Fieldbus [11] Thate J. M., Kendrick L. E:, Nadarajah S., Caterpillar
model and developed fur-
Modeling, Master's thesis, TUT, 2008, 78 p. Automatic Code Generation, SAE World Congress,
ther in the CANopen pro-
[2] Saha H., Improving development efficiency and 2004-01-0894
cess, where physical
quality of distributed IEC 61131-3 applications with [12] Anthony M., Friedman J., Model-Based Design for
platform specific and com-
CANopen system design, Proceedings of 13th iCC, CiA, Large Safety-Critical Systems: A Discussion Regarding
munication specific details
2012, pp. 10-15 – 10-21 Model Architecture
can be integrated most ef-
[3] Saha H., Benefits of intelligent sensors and [13] Nadarajah S., Large Scale Modeling and Simulation
ficiently into a complete
actuators throughout the systems life cycle, The of Propulsion Systems, SAE, 2007-01-1645
description of a device's
Twelfth Scandinavian International Conference on [14] Anthony M., Behr M., Model-Based Design for Large
communication interface.
Fluid Power, May 18-20, 2011, Tampere, Finland, High Integrity Systems: A Discussion on Data Modeling
That includes necessary
ISBN-978-952-15-2517-9, pp. 169 – 181 and Management, AAS 10-023
information from the rest
[4] Saha H., Wikman M., Nylund P., CANopen [15] Anthony M., Behr M., Jardin M., Ruff R., Model-
of the system [4] [20]. Fi-
network design and IEC 61131-3 software design, Based Design for Large High-Integrity Systems: A
nally the communication
CAN-Newsletter 3/2009, CiA, 2009, pp. 52 – 58 Discussion on Verification and Validation
abstraction is imported as
[5] Tisserant E., Bessard L., Trelat G., Automated [16] Markkula M., Rokala M., Palonen T., Alarotu V.,
an IEC code into a devel-
CANopen PDO Mapping of IEC 61131-3 Directly Helminen M., Koskinen K. T., Utilization of the Hydraulic
opment tool. Manual cod-
Represented Variables, Proceedings of 12th iCC, CiA, Engineering Design Information for Semi-Automatic
ing is required only for
2008, pp. 06-08 – 06-13 Simulation Model Generation, Proceedings of The 12th
connecting the exported
[6] Rostan M., Hoppe G., Generic Fieldbus Application Scandinavian International Conference on Fluid Power,
application behavior into
Program Interface for Windows, Proceedings of the 7th 2011, ISBN 978-952-15-2522-3
communication and I/O
iCC, CiA, 2000, 7 p. [17] Erkkinen T., Conrad M., Safety-Critical Development
abstraction layers. The
[7] Safety of machinery. Functional safety of safety- Using Automatic Production Code Generation,
approach follows a stan-
related electrical, electronic and programmable SAE 207-01-1493
dardized process enabling
electronic control systems, EN 62061, 198 p. [18] Dillaber E., Kendrick L., Jin W., Reddy V., Pragmatic
integration of commonly
[8] Additional application layer functions, Part 4: Network Strategies for Adopting Model-Based Design for
used tools, which is also
variables and process image, CiA-302-4, CiA Embedded Applications, SAE 2010-01-0935
recommended in the rele-
[9] Conrad M., Verification and Validation According to [19] Saha H., Accelerated transfers of CANopen projects
vant literature [18]. Relying
ISO 26262: A Workflow to Facilitate the Development of into assembly and service, CAN Newsletter 4/2012, CiA,
on a standardized process
High-Integrity Software, SAE, 2012, pp. 17-20
enables a simple adap-
[10] Murphy B., Wakefield A., Friedman J., Best [20] Saha H., Experimental CANopen EEC
tation natively supported
Practices for Verificzation, Validation, and Test in management, CAN Newsletter 1/2013, CiA, 2013,
by the tools and heavy
Model-Based Design, SAE, 2008-01-1469 pp. 12-18
tool customizations are

havior of each application process. Small changes version for both behavior a development should be
can be generated from the during the process are in- and interfaces anyway [10]. tightly coupled with the inte-
same model. Application herently made directly into Model-based develop- gration framework specific
programs with communi- the CANopen project – ment and model referencing standardization work. Such
cation abstraction layers DCF-files. Changes can enables the direct re-use of improvements, like an au-
can be developed simply be updated backwards to application behavior as ref- tomatic connection of appli-
by combining interface de- the corresponding EDS-file erenced models for oth- cations into communication
scriptions and application easily with existing tools. er purposes, such as RCP and plausibility checking of
code modules. The uni- Updated EDS-files enable and education simulators. signals using partial value
form and automated man- node re-use of the devices Source code generated range, will be implement-
agement of system inte- with the most recent chang- from the model can also be ed in the future. Including
gration interfaces improves es [4]. Application interfac- re-used indirectly in code I/O abstractions is also an
the development process es defined as CPD files can modules. Code generation interesting topic for the fu-
and enables a model-based be updated by extracting supports several program- ture. It is also possible to
design of entire systems in- the defined part of an EDS- ming and hardware de- add support for other sys-
stead of a design of indi- file into the corresponding scription languages, which tem integration frameworks
vidual applications. In ad- CPD, which enables ap- also enable the optimiza- than CANopen. Based on
dition to behavioral errors, plication level re-use. The tion of partitioning between current knowledge, a fully
information interchange in- changes can be read back hardware and software automatic software devel-
consistencies can be found from CPD into a simulation implementations. opment requires such tight
earlier, which reduces fail- model. The signal or param- Although systemat- constraints for hardware
ure costs. Moreover, higher eter name and data type in- ic, system-wide signal and and software components
system-wide safety integrity troduce a problem, because parameter management that such a development is
can be reached through the in export they are taken as an integral part of mod- not important.
presented approach more from the model. However, el-based designs has been
comprehensively than be- if additional changes are al- implemented, further devel-
fore. lowed, incomplete back an- opment is needed. From a
The use of proven notations from CPD into the process efficiency point of
tools and standardized file simulation model can be view, it is most important
formats enables an efficient performed. The problem is to develop the automat-
re-use of design informa- not significant, because the ic assignment of param-
tion throughout the design model should be the master eter object indexes. Such
Boot
h
7-32
0
Hall
7
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CAN driver for Windows
Software
with analyzer capability

Thread-safe virtualization, the access to .NET, and the built-in analyzing tool
of a CAN driver for C/C++ enable an object-oriented software development
of CAN applications.
Authors
Martin Andermann
Hartmut Keller
F&S Elektronik Systeme GmbH

Untere Waldplätze 23
DE-70569 Stuttgart
Tel.: +49-711-123-722-0 their own access to the
Fax: +49-711-123-722-99
info@fs-net.de
D espite the fact that
CAN has its origins in
the automotive sector, it
usually only with support
of their own controllers,
resulting in drivers that dif-
CAN network. All chan-
nels are independent from
has found its way to the fer from each other. F&S each other. Each channel
Link embedded market. This is has developed a CAN driv- has its own transmit and
www.fs-net.de especially the case when er for C/C++, which offers receive buffer, as well as a
sensors have to be que- the same interface on all separate acceptance filter.
ried or devices have to be PDQXIDFWXUHU·VERDUGVUH- For example, on multi-core
controlled and if focus is gardless of the used CAN CPUs (central process-
on high transmission se- controller. They also of- ing unit) the efficiency of
curity. Today CAN is also fer a suitable class library the message processing
used in medical devic- for .NET, simplifying the can be increased by using
es or automation technol- use of the driver with e.g. multiple parallel threads.
ogy. F&S Elektronik Sys- C#. The CAN driver pro- Each thread opens its
teme is a manufacturer of vides an object-orient- own file handle, provides
embedded systems in the ed interface to the driver, its own acceptance filter,
form of single board com- including CAN interface and then receives its own
puters (SBC) and system- construction and destruc- messages.
on-modules (SOM). These tion, support for excep- Several distinct pro-
provide at least one CAN tions in case of errors and grams can access the
interface and are available taking advantage of over- CAN controller, but since
with Linux, as well as Win- loaded functions. a CAN controller usually
dows Embedded Compact The driver uses the does not receive its self-
operating systems. concept of virtual send sent messages, a mes-
System-on-chip man- and receive channels. sage sent on the network
ufacturers offer CAN driv- These channels give all by one of these programs
ers for Windows, but applications and threads cannot be seen by other

Figure 1: CAN driver with virtual channels for read and
write access
local programs. To over- makes such an analyzer

come this disadvantage, unnecessary in many cas-
the driver can be set into es. It can either be set as a
a so-called Virtualize communication partner on
mode. Now the messag- a second board, or directly
es are not only sent out to on the development board.
the physical CAN network, The tool can be used like
but are also forwarded by a sniffer program, showing
the driver to the receive the live traffic on the CAN
channels of all the other network. The received
local programs. From the data can be saved in a log
SURJUDPV· SRLQW RI YLHZ file for later analysis. The
each of them now has its tool can also generate ar-
own (virtual) CAN control- bitrary CAN messages
ler. The Virtualize mode for test purposes. It is a
can be (de-)activated dur- graphic tool, which is op-
ing the runtime. The CAN erated by mouse or touch.
driver also offers the pos- During development, the
sibility to switch to a Listen focus was put on compact
Only mode. In this case, dialogs, so the program is
the transmitter of the con- also applicable on small
troller gets deactivated. displays. If there is no dis- MOBA HMImc
This prevents an acciden- SOD\ DYDLODEOH FRPSDQ\·V
tal sending of messages. boards use a virtual dis- Intelligent products for better solutions!
The Enter Standby play, which can be made
command puts the CAN visible on a PC with a re- » Modularity through CAN
controller into a sleep mote desktop connection
mode to reduce electrical (e.g. CerDisp). Used in this » Neutral white modules to customize
consumption. This mode way, the tool can be con- with a foil in your own design
is left automatically, when trolled remotely.
there is communication on In the “CAN Bus Set- » Variable combination of different display,
the network, or manually,
with the Leave Standby
WLQJVµ ILHOG RI WKH WRRO·V
main window, the user can
button and joystick modules
command. All these mode adjust the network set- » Excellent for small production quantities
changes are reported as tings, for example the CAN
events to all virtual receive port (if there is more than » Rugged and robust design
channels. one controller available),
To find out whether the used bit-rate, or wheth- » Proven modules, worldwide in operation
there is a communication er the frames with 11-bit or
malfunction on the CAN 29-bit CAN-ID (identifier)
network or an error in the are used. The settings can
own software, a CAN an- be permanently saved di-
alyzer, in form of exter- rectly from the dialog into
nal hardware, is often the Windows registry. The
required. The built-in Can- “CAN Commands” such as
Check tool in the driver Standby, Listen Only and MOBA Mobile Automation AG
.DSHOOHQVWUDH/LPEXUJ*HUPDQ\
7HO(PDLOVDOHV#PREDGH
ZZZPREDSODWIRUPFRP
Virtualize can be select- range) only. This can be
Software
ed and sent from a drop- done by adjusting the ac-
down list. Every click on ceptance filter. The tool
one of the buttons in the decodes the acceptance
“Open Channel” field cre- filter to show which bits
ates a new send chan- are actually checked (0/1)
nel, a receive channel, or or generally accepted
a combined send/receive (+). Different CAN events
channel each in its own like “Message received”,
window. mode adjustments, as well
The send function- as errors like “Overrun”
ality of the tool offers the or “Arbitration lost” are
possibility to create mul- visualized with different
tiple so-called send-gen- symbols. Toggling the but-
erators. The generators tons with the event sym-
run separately and can bols enables or disables
also be paused or activat- the appropriate event, i.e.
ed separately. The easi- the event is shown in the
est case when creating a events list or it is ignored.
Figure 2: The main window generator is to transfer a This functionality can be
message with a constant used to reduce the list to
CAN-ID and up to eight error messages only.
constant data bytes. By
defining a start and end
value, it is also possible
to automatically increment
and decrement CAN-ID
and data bytes individu-
ally. The wrap-over func-
tion and repetitions can be
activated. The “Delay” val-
ue defines the pause be-
tween the separate CAN
messages of each gener-
ator. By setting the RTR
(remote transmission re-
quest) flag, it is possible to
send CAN request frames.
In the receive win-
dow, one can either see
the complete communica-
tion on the CAN network,
or messages with a cer-
Figure 3: The send generator window tain CAN-ID (or CAN-ID
Figure 4: The send window Figure 5: The receive window

CAN FD: Improved
CAN FD
residual error-rate
Classical CAN provides several error-detection mechanisms. They determine
the residual error rate. CAN FD uses the same mechanisms and an additional
one that reduces the probability of undetected errors further.
Related articles
X Florian Hartwich,
Robert Bosch GmbH
O ne of the most powerful
error-detection mech-
anisms is the CRC (Cyclic
CAN with flexible data-rat Redundancy Code) embed-
CAN Newsletter (print), ded in each CAN data/re-
June 2012 mote frame. The 15-bit poly-
X Magnus-Maria Hell, nomial used in Classical
Infineon Technologies CAN provides a Hamming
The physical layer in the Distance (HD) of six, mean-
CAN FD world ing it can detect all random-
CAN Newsletter (print), ly distributed 5-bit failures in
March 2014 a single frame. It can also
X Bernd Elend, NXP detect any 15-bit burst er-
CAN FD: Impact on system rors.
design CRCs are a first line of
CAN Newsletter (print), defense against data cor- generator registers are at stuff-bit count modulo 8, be-
June 2014 ruption. The achievable HD "0…0". If such a glitch co- cause an HD of “just” six is
depends on the length of the incides with a stuff condi- required. The three SBC bits
data to be protected. The tion, it may happen that the are able to detect up to sev-
References chosen 15-bit CRC is capa- receiving node reads the en lengthening or shorten-
[1] P. Koopman and T. ble of detecting 5-bit errors bit sequence “00000i” (i = ing errors, which otherwise
Chakravarty: CRC polynomial when the protected data stuff-bit) as “00001”. In other could remain undetected,
for embedded networks, has 112 bit or less [1]. How- words, this is a shortening of if they coincided with stuff
International Conference on ever, CRCs protect data the frame by skipping a bit. conditions.”
Dependable Systems and only if the bit string has the Of course, this scenario is The SBC bits belong
Networks (DSN-2004) very same size (the same not likely. Nevertheless, this to the CRC field where fixed
[2] F. Yang: Residual error rate number of bits) on the trans- has a negative impact on stuff-bits are used. They are
of CAN FD (unpublished paper), mitting and the receiving the residual error-rate. Engi- transmitted before the CRC
June 2014 sides. In Classical CAN you neers working with Renesas bits. The SBC bits are not
find cases in which two bit- found such scenarios: They part of the Classical CAN
flips (generating/eliminating showed that a corruption of stuff-bit rule, because a
stuff conditions) can lead to the Start-of-Frame bit is not stuff-bit in the SBC cannot
a valid frame from the view detectable by means of the be included in the counting.
of the CRC. The reason CRC mechanism. Subse- The SBC bits are protected
for this is that the dynamic quently, experts from Bosch by the CRC calculation.
stuff-bits are not considered showed that this may also
in the CRC calculation. happen at other positions of Safeguarding of
To overcome this the frame. the SBC
“weakness”, the CRCs that “To solve this weak-
are used in the CAN FD ness of the CAN FD pro- When a stuff-bit is dropped
protocol consider the dy- tocol, we proposed to or inserted by synchroniza-
namic stuff-bits. Addition- introduce a stuff-bit counter tion failure, the CRC is cor-
ally, in the CRC field fixed (SBC),” said Dr. Arthur Mut- rupted. If in the same frame
stuff-bits are used. Unfortu- ter from Bosch. “The receiv- a bit-flip falsified the stuff-bit
nately, considering the dy- ing node needs to know the count, the receiver may not
namic stuff-bits in the CRC total number of transmitted be able to detect this error.
calculation allows a situa- bits for each frame. From This is why the SBC needs
tion in which a single error the protocol specification to be safeguarded. There
is not detectable. This hap- and the DLC (data length are two safeguards imple-
pens for example, when a code) the receiver knows the mented now:
local glitch leads to a mis- length except for the num- X Adding an even parity–bit
synchronisation of a receiv- ber of dynamic stuff-bits. It X Gray coding the stuff-bit
ing node while the CRC is sufficient to transmit the count

Table 1: The stuff-bit counter and its parity bit is located in
the CRC field in front of the CRC polynomial, which starts
with an fixed stuff-bit
Stuff-bit First bits of the CRC field

count SBC value SBC Fixed
(modulo 8) parity bit stuff-bit
0 000 0 1
1 001 1 0
2 011 0 1
3 010 1 0
4 110 0 1
5 111 1 0
6 101 0 1
7 100 1 0
The table shows the bits is evaluated as reces-

SBC bits, the parity-bit, and sive by mistake, it is pos-
the following fixed stuff-bit. sible that a “shorter” valid
“The parity check and the frame is accepted by the re-
fixed stuff-bit (always with ceiving node. This has been
the inverted value of the pre- described in detail by the
ceding bit) detect any sin- Chinese researcher Fuyu
gle-bit error of these bits,” Yang [2]. Of course, the ad-
explained Dr. Mutter. “The ditional bits would cause
same holds for two bit-flips, an error condition. But the
if at least one of the bit-er- “faulty” message in front
rors occurs in the parity-bit has already been accepted
or the following fixed stuff- and eventually processed
bit. If two bits in the Gray- (depending on the accep-
coded SBC are corrupted, tance filtering settings).
this results in a stuff-bit Even if these scenarios are
count value with a differ-
ence of at least 2. This is
very unlikely, they need to
be considered when cal-
Specialist for Custom Made
detected through a com- culating the residual error- Industrial Computer Systems
parison with the internally rate. In this case, the receiv-
counted stuff-bit value. The er checks the CRC while Janz Tec AG, has been one of the leading manufacturers
minimum number of bit-er- the transmitter sends data
of electronic assemblies and complete industrial computer
rors that could remain unde- bits. There is a probability
tected is four. This happens that the perceived CRC field systems since 1982. The company describes itself as
only if two bit-flips in the matches with random data Industrial Computing Architects and develops embedded PCs,
Gray-coded SBC coincide bits depending on its length. industrial computers and industrial communication according
with two stuff-bits dropped The residual error-rate of to customer requirements.
or inserted.” CAN FD is expected to be
The receiver checks much lower than in Classical
the received stuff-bit count CAN because the CRC field With 30 years of experience in the market, Janz Tec AG is
(modulo 8) with its internal is much longer in CAN FD. capable of meeting individual customer requirements at any
count and also performs a In Classical CAN this critical time – this starts as early as the concept phase, continues
parity check. A mismatch bit sequence is 15 bit long through the development and production of the components
during the SBC comparison while in CAN FD it is 27 bit in up to series delivery.
is treated the same way as a frame with CRC-17 and 32
a detected CRC error. This bit in a frame with CRC-21.
means that the related Error In order to improve Janz Tec AG
flag is transmitted after the the CRC checking, the ini- Im Doerener Feld 8
ACK field. tialization vector for the 33100 Paderborn
CRC-17 and CRC-21 has Fon: +49.52 51.15 50 - 0
Detection of all been changed from (0..0) to
www.janztec.com
single-bit errors (100..0), where the “1” is at
the most significant bit posi-
Other 2-bit errors can cause tion followed by “0”. All these
undetected faulty messag- improvements will be intro-
es too. If the IDE (identifi- duced in the next version of
er extension), the FDF (FD ISO 11898-1 CAN data link
frame), or one of the DLC layer standard, which is cur-
bits are corrupted and in the rently under review.
data field one of the stuff- Holger Zeltwanger
Secure communication
CAN FD
for CAN FD
Encrypted data transmission is not yet the norm in vehicle networks. Vector has
conceived an implementation for secure communication over CAN. Protection
goals were authentication and preventing replay attacks.
QWRGD\·VYHKLFOHQHWZRUNV
Author
I data transmission is for the
most part performed with-
control function influence
vehicle behavior? And
what countermeasures can
important data over bus
systems. In the vast major-
ity of cases, the informa-
out any special security be taken to prevent such tion being transmitted is in
measures. Because of this, manipulations? raw data format. A plausi-
it is possible to read out the 7RGD\·V YHKLFOHV DUH bility check, if such a check
data transmitted in raw for- highly complex systems, is even possible, has lim-
mat or to even play it into which consist of networked ited effectiveness. The
the bus system in modified sensors and actuators receiver is unable to ver-
form if you have direct ac- and continually transmit ify whether the data was
Armin Happel cess to the vehicle bus. En-
crypted data transmission
Principal Software Development would not only ensure that
Engineer this information could only
Vector Informatik GmbH be evaluated by authorized
Ingersheimer Str. 24 recipients. At the very least,
DE-70499 Stuttgart it would also make it much
Tel.: +49-711-80670-0 more difficult to intercept or
Fax: +49-711-80670-111 alter the messages.
Media reports about
Link vehicle manipulation [1],
www.vector.com [2] raise the question of
whether data in the vehi-
cle network can actually
be influenced by manipu-
lation. Can a manipulated
device or internally implant- Figure 1: Message transmission and timing of encrypted
ed device with a remote communication

actually supplied by the choose them. A higher-lev- Baugruppen-Konzept
desired sender or whether el method such as a (asym-
it was fed in by an outside metrical) key exchange
electronic control unit, i.e. method might be imple-
whether it is authentic data. mented, or a static alloca-
.RPSDNWćH[LEHONRVWHQVSDUHQG
The data is freely accessi- tion might be made such as
ble as well, so an analysis in end-of-line programming.
of the bus information can Whenever an ECU is re-
be used to determine signal placed and a vehicle specif-
contents. The transmission ic key is used, the new ECU
is neither confidential nor must be set up by an au-
authenticated. thorization method, which
This was the prob- keeps the key confidential
lem that engineers at Vec- under all circumstances.
tor were confronted with.
Their task was to come up Preventing replay
with an implementation for attacks
secure communication over
a CAN network which can In this configuration, an en-
be used flexibly and can crypted transmission of
also be integrated with Au- messages is now possi-
tosar-3.x basic software. ble, where the information
Protection goals were au- is, however, still purely stat-
thentication and prevent- ic, i.e. a unique key text can
ing replay attacks. It was be assigned to the plain text
also desirable to implement signals. This means that re-
communication that cannot play attacks, i.e. recording
be monitored excerpts of a desired com-
For the encryption munication and replaying
method, the specialists it into the system at a later
chose the AES algorithm time, can still be made. That
>@ )URP WRGD\·V SHUVSHF- is because the receiver
tive, this method is con- cannot check whether the
sidered cryptographically message actually originates
secure. It involves symmet- from the sender at this point
rical block encryption with in time. To make check-
a block length of 128 bits. It ing possible, at the start of
generates 16 bytes or a mul- communication the receiver
tiple of 16, which the send- generates a random value –
er transmits to the receiver. which is referred to as the
An additional advantage is ID key in the following – and
that some microcontrollers it communicates this to the ist ein eingetragener Name
already have very fast hard- sender. The sender incre- GHU)D%HFNKRII
ware-based implementa- ments the value with each
tions of this algorithm. transmission and appends
Since a CAN message it to the transmit message.
can transmit a maximum of When the message arrives, Wir haben die Lösung für Ihre Applikation
8 data bytes per frame, a the receiver checks wheth- oder realisieren das passgenaue Produkt
decision was made to uti- er the ID key matches the
lize the ISO transport pro- expected value. If it does, I¾U6LH9RQGHU6SH]LĆNDWLRQXQG(QWZLFN-
tocol (TP) that was already it processes the message; OXQJ +DUGZDUH6RIWZDUH ¾EHU 7HVWV ELV
included in the communica- otherwise it rejects it. To zur Produktion.
tion stack for the transfer. tolerate possible message
To simplify the configuration
Kompetent. Schnell. Wirtschaftlich.
losses, the receiver will also
and reduce protocol over- accept a slightly higher val-
head, a unidirectional com- ue. This means that the
munication with a fixed 1:1 counter in the transmit mes-
relation between sender sage continually alters the
and receiver was chosen. encrypted data even if the
Symmetrical encryp- signal contents remain the
tion requires that both the same (Figure 1).
sender and receiver have Depending on the
the same key. The software word width of the ID key
modules that are used per- and the frequency with
MKT Systemtechnik
mit dynamic allocation of which the message is sent, GmbH & Co. KG
the keys at runtime, so that overruns of the counter val-
the user or OEM can freely ue might be expected in the +D¡NDPSVWUD¡Hï'%¾QGH
7HOï)D[
LQIR#PNWV\VGHïZZZPNWV\VGH
CAN FD
Figure 2: ID keys of multiple receivers in the use of CAN FD
Literature message, which would lead monitor the response of the hand enables simultaneous
[1] http://www.chip.de/news/CAN- to repeated transmission of sender with the new counter transmission of the entire
Hacking-Tool-Autos-hacken-fuer- the encrypted message. To value. If it does not get an encrypted message to mul-
20-Dollar_67066892.html [only avoid this, the ID key is only acknowledgment message tiple receivers [4]. Each re-
German] valid for a certain time pe- from the sender, the receiv- ceiver needs the same sym-
[2] http://www.can-newsletter. riod. When this period ex- er generates a new ID key metrical key to decrypt the
org/engineering/engineering- pires, the receiver must and resends it. This makes encrypted message. Two
miscellaneous/140822_list-of- generate a new value and it possible to detect even a variants of the ID key for au-
potentially-vulnerable-cars_ communicate it to the send- brief failure of the sending thentication come into con-
blackhat/ er. Immediately after receiv- ECU and shortens the time sideration: either all receiv-
[3] Advanced Encryption Standard ing a new ID key, the sender for resending. It also avoids ers agree on a commonly
(AES), FIPS PUB 197 transmits the encrypted storage of the ID key in non- agreed value, or all receiv-
[4] CAN with Flexible Data Rate – message. This means that volatile memory. ers independently generate
Specification Version 1.0, Robert the receiver is also able to and send their ID key to the
Bosch, GmbH; April, 2012 http:// initiate repetition of a mes- Data transmission sender. The sender manag-
www.bosch-semiconductors.de/ sage, such as if the received without segmentation es all counters and appends
en/ubk_semiconductors/safe/ip_ ID key does not agree with them to the data message.
modules/can_fd/can.html the internal key, and this There is a significant dis- The positions of the counter
reduces latency times. Al- advantage associated with values within the encrypted
though the sending node segmented data transmis- message must be uniquely
receives and considers sion in CAN over the ISO- assigned to the receivers.
new ID key messages for 15765 transport protocol. Figure 2 shows data
a time T(offset), to avoid an Transmission time is in- transmission for multiple
overload of the bus system creased, and this method is receivers. First, the receiv-
such messages do not im- restricted to a fixed 1:1 rela- ers transmit their random-
mediately lead to resending tionship, because segment- ly generated start values
of the encrypted message. ed data transmission over to the sender. The sender
To make the protocol more ISO-15765 is very difficult then increments all ID keys
robust, the receiving side to implement with multiple for each send cycle and in-
uses the timer T(Resent) to nodes. CAN FD on the other sert them into the encrypted
Figure 3: Software components for encrypted transmission

message at the predefined protocol to extensive tests not be used any longer for In the near future, re-
positions. The relevant re- using this software tool for individual signals. The clas- mote connections such
ceiver then checks its ID development, simulation, sic points of attack on such as Car2x communication,
key and accepts the data or and testing of ECUs and systems must still be kept in WLAN, Bluetooth and Inter-
rejects it (Figure 2). networks. Along with the re- mind. They include, for ex- net will continue to grow and
However, as the num- quired robustness against ample, weak random num- will necessitate much more
ber of receivers increases, replay attacks, another fo- ber generators for the ID stringent requirements for
this reduces the message cus was to study message keys (at startup) or spying IT security. These access
space that remains for use- losses, failure, and re-en- the symmetrical keys. modes must be made se-
ful data. The number of use- try of sender and receiv- In the security tech- cure against attacks and
ful data bytes is also highly er as well as timing errors nology world, the AES-128 must not permit any remote
dependent on the select- and burst attacks. In all of algorithm is considered se- manipulation. This is espe-
ed word width of the ID these cases, the encryption cure for the near future, cially true of information to
key. The communication system provided a stable and its implementations driver assistance systems,
timing illustrated in Figure transmission. are mature or will even be which rely on reliable mes-
1 was applied. It only re- supported by hardware ac- sages from other traffic
quired a modification for the Summary and celerators. The method pre- participants and/or the in-
sender in receiving the ID Outlook sented here makes attacks frastructure.
key. Instead of immediate- on the CAN (FD) communi-
ly transmitting the encrypt- In CAN FD, in particular, it cation much more difficult,
ed message, the sender took relatively little effort to and manipulation is hard-
waits for a configurable implement robust transmis- ly possible without “insider
time T(IdKeyReply) to al- sion of encrypted data with knowledge”. It has already
low time for any other ID multiple nodes, and this been in production use for
key messages from other method can also fit into an several years, and it also
receivers. The special case existing Autosar environ- has led to favorable classi-
T(IdKeyReply)=0 covers the ment. One disadvantage is fication of the relevant vehi-
original method. the serialization and deseri- cle for insurance premiums.
Vector implemented alization of the data on the In this case, security not
the protocol for CAN FD in application level (Figure 3), only protects data; it even
a CANoe environment. The which means that modeling offers a direct cost advan-
specialists subjected the properties of the RTE can- tage to the end user.
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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
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CAN FD interface drivers for Windows 8.1, 7, Vista and LIN operation properties ...
LinuxBIT "ITRATESFROMKBITSUPTOKBITS
PCAN-View: Software for monitoring CAN and CAN FD Both LIN channels (common ground) are optodecoupled
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December 2014 B 25361

Detecting and counting

CAN FD: Improved residual

tocol, developed by CiA.

and some big machine building enterprises. It In the early days of

CAN Newsletter 4/2014 3

fication published as CiA

4 CAN Newsletter 4/2014

CAN messaging and scripting/activity programming

- Maximum visibility, works with polarized sunglasses

Murphy’s PowerView displays integrate your

Seamlessly add CAN-controlled

Integrate your total package with Murphy products!

CANopen in the hands of CiA

Layout Detecting and counting unwanted particles 34

6 CAN Newsletter 4/2014

Safety General I/O Slave Safe I/O Operator

8 CAN Newsletter 4/2014

EtherCAT EC2250 Compact-Controller

10 CAN Newsletter 4/2014

> 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

12 CAN Newsletter 4/2014

Figure 1: Many optical turnstiles with ticket

Doormen and gatekeepers are as old as doors and gates. In modern

are used. But there is an in-

14 CAN Newsletter 4/2014

750-337 750-338 750-347 750-348 767-1501 750-658

The WAGO-I/O-SYSTEM 750 – One System for All Applications!

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16 CAN Newsletter 4/2014

Figure 3: As early as 1918, Piggly Wiggly stores used

is generated in Asia at the Smartaxess terminal is con-

Visit us: hall 7 / booth 181

use of CAPL (part 3)

signals generally exhibit ar-

18 CAN Newsletter 4/2014

PCIe USB PCI-104

PCI PC-104 Ethernet

CAN Interfaces for Your Requirements

20 CAN Newsletter 4/2014

CAN Network Technology

Data Exchange – fast and extensive

CANpro USB allows you to use a wide variety of CAN

> Powerful CAN interface - available for mobile applications or

Tel. +49 89 45656-340 | http://industrial.softing.com | info.automation@softing.com

the Internet of Things

(Author: Wilgengebroed, License: CC-BY 2.0)

An overview of The second part, CiA

22 CAN Newsletter 4/2014

networks, which means the command starts with

24 CAN Newsletter 4/2014

Figure 1: Wiring variant 1; all nodes supplied via CAN cable

26 CAN Newsletter 4/2014

Figure 4: Separate power supply for individual bus nodes

28 CAN Newsletter 4/2014

official EASA and CAAI

30 CAN Newsletter 4/2014

A Well, they both come

32 CAN Newsletter 4/2014

Q How is that possible? of proportion with what were

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