PEAK-System - CAN Basics & PCAN-Explorer 6 - India2019 PDF

CAN in Theory and Practice
Basics of the CAN Bus Communication

and Use of the PCAN-Explorer 6
for CAN Analysis
PEAK-System: Introduction
Holger Adamiak
Head of Design & Documentation
About Us
▪ Founded in 1999
▪ Located in Darmstadt, Germany
▪ Development for the mobile and
industrial communication sector
▪ Hardware and software with
focus on CAN, CAN FD, and LIN
▪ More than 100 products
▪ About 40 employees
▪ Manufacturing in Germany
▪ Distributors worldwide
© 2019 PEAK-System - India 2019 - CAN in Theory and Practice - Last Update: 2019-07-03 2
Topic Overview
▪ CAN & CAN FD Basics 2 hours
▪ Elements of CAN frames
▪ Structure of CAN buses
▪ Bit rates, bus load, and bus length
▪ Demonstration of a simple CAN FD bus
▪ PCAN-Explorer 6 4 hours
▪ Establishing connections to CAN and CAN FD buses
▪ Receiving and sending CAN messages
▪ Recording and playback of CAN traffic
▪ Filtering of CAN traffic and trace files
▪ Readable representation of CAN ID and data
▪ Overview of PCAN-Explorer 6 add-ins
▪ Automation with VBScript and macros
CAN & CAN FD
Basics
CAN Overview
▪ CAN = Controller Area Network
▪ Developed by Bosch for motor vehicles in the 1980s

▪ Since 1992 maintained and promoted by CAN in Automation (CiA)
▪ Standardization 1993: ISO 11898
▪ Connects sensors, actuators, switches, and displays (CAN nodes)

▪ Exchange of process and control data
▪ But no determination of the transferred information
▪ Primary goal: reliable data transfer
▪ The CAN standard provides a basic definition and is therefore versatile

(only two lower layers in ISO/OSI model)
CAN FD
▪ FD = Flexible Data rate
▪ Since end of 2015 defined in the standard ISO 11898-1
▪ CAN FD nodes also work on classic CAN buses (without FD features)
▪ Raised bit rate for the data part from 1 Mbit/s up to 12 Mbit/s
▪ Raised maximum number of data bytes per frame from 8 to 64
▪ Primary goal: raise data transfer
CAN Applications
▪ Vehicles Passenger cars, trucks, buses, agricultural vehicles, e-bikes
▪ Aviation Main and sub systems in planes (ARINC 825), sub systems
like lights, seat control, hydraulic
▪ Automation Agriculture, machine control, robotics, medical technology
▪ Traffic and Signal control and monitoring, passenger information

transportation systems systems
▪ Home automation Elevator control systems, automatic climate control,

and energy technology lighting systems
▪ Embedded systems POS systems, slot machines, coffee machines
CAN Properties
▪ Serial field bus
Data transmission is done bit by bit.
▪ Multi-master architecture
Each CAN node is equal and needs no external control.
▪ Broadcast transmission system

Messages are transmitted to every CAN node of the bus.
▪ Collision avoidance
Message collisions are resolved based on CAN ID priority (low ID, high priority).
▪ Transmission is done
Periodically, event-driven or on request via RTR (Remote Transmission Request).
CAN Properties
CAN ID
▪ CAN messages are distinguished with IDs
▪ 11 bits (CAN 2.0A, Standard), makes 2048 IDs
▪ 29 bits (CAN 2.0B, Extended), makes about 500 million IDs
▪ Use of an CAN ID by one node only
▪ Prioritization based on the CAN ID
Data Bytes
▪ Maximum 8 data bytes
per CAN message
▪ Minimum 0 data bytes
▪ Maximum 64 data bytes CAN ID Data Bytes
with CAN FD 100h 00 FF 1C
CAN Frame Structure*
ACK
SOF
DLC
RTR
IDE
r0
Idle ID Data CRC EOF IFS Idle
▪ Idle Unused bus (≥ 0 bits: all 1 recessive)

▪ SOF Start Of Frame (1 bit: 0 dominant)
▪ ID IDentifier (11 bits)
▪ RTR Remote Transmission Request (1 bit)
▪ Control field ▪ IDE IDentifier Extension (1 bit: 0 dominant for Standard frame)
▪ r0 Reserved (1 bit)
▪ DLC Data Length Code (4 bits: 0 to 8; 9 to 15 not allowed)
▪ Data 0 to 8 data bytes
▪ CRC Cyclic Redundant Check sum (16 bits)
▪ ACK ACKnowledge (2 bits: ACK slot 0 dominant, ACK delimiter 1 recessive)
▪ EOF End Of Frame (7 recessive bits: 1111111)
▪ IFS Inter Frame Space (3 recessive bits: 111)
* This illustration shows the structure of a CAN 2.0A “Standard” message frame.
The 18 additional bits of a CAN 2.0B “Extended” ID follow the IDE directly.
Physical Transmission Types
▪ High-speed CAN (ISO 11898-2)
▪ 2 data lines CAN_High/CAN_Low for differential signal transmission
▪ Bitrates up to 1 Mbit/s
▪ Maximum bus length depends on the bitrate
▪ Low-speed CAN (ISO 11898-3), also “fault-tolerant CAN”

▪ Single-wire CAN (SAE J2411)
▪ “Truck-n-Trailer” CAN (ISO 11992-1)
▪ Conversion to optical waveguide

▪ (Wireless)
High-speed CAN: Structure
▪ Cable preferably with twisted lines

▪ Cables and CAN connection are not defined in the CAN specification
▪ Termination RTerm = 120 Ω at the CAN bus ends
▪ Reduces line reflection for correct transceiver function
▪ Cable with shield to keep the twisted lines together
▪ Taps no longer than 1 m (approximate single-line structure of the bus)
High-speed CAN: Structure
But what components are essential for CAN communication?
▪ Connector
▪ CAN bus connection
T C
▪ Pin assignments are recommended
by CiA® 303-1, for example D-Sub, 9 pin
▪ Transceiver
▪ Responsible for transmitting and receiving
▪ Together with the connector and cables,
the transceiver covers the Physical Layer
▪ Controller
▪ The controller is the CAN protocol in silicon
▪ Covers the Data Link Layer of the ISO / OSI model
High-speed CAN: Signal Levels
U [V]
1 0 1
5
3.5
CAN_High
2.5
CAN_Low
1.5
recessive dominant recessive

0
t
▪ Udiff recessive = 0 V
▪ Udiff dominant = 2 V
▪ Recessive state is also idle state on the CAN bus
▪ With several participants: dominant state superimposes the recessive
High-speed CAN: Differential Signal
U
Udiff
Udiff
▪ Single Wire: Electromagnetic disturbance influences the signal level

▪ Twisted Pair: ▪ Both signals are influenced in the same way
▪ The electromagnetic disturbance has no effect on the difference
▪ The CAN_High and CAN_Low wires must be next to each other!
High-speed CAN: Maximum Distances
The maximum distance of CAN nodes Bitrate Max. distance
is limited by the bitrate, because: 1 Mbit/s 40 m
500 kBit/s 110 m
250 kBit/s 240 m
▪ All nodes must receive 125 kBit/s 500 m
the recessive or dominant 50 kBit/s 1.3 km
signal “simultaneously” 20 kBit/s 3.3 km
(propagation speed) 10 kBit/s 6.6 km
▪ On long lines, the voltage 5 kBit/s 13 km
difference Udiff must still be
distinguishable
The listed values have been calculated on the basis

of an idealized system and can differ from reality.
Error Detection
▪ A CAN network is fault-tolerant
▪ Error Detection Process
1. CAN node detects an error
2. CAN node transmits an error frame
3. All CAN nodes detect an error
▪ CAN node has two error counters

▪ REC: Receive Error Counter
▪ TEC: Transmit Error Counter
▪ Incrementation for a detected error

▪ Different step widths depending on type of error
▪ Threshold is exceeded: retreat from CAN communication
▪ Decrementation on correct CAN message
Node Error Conditions
▪ Error Active ▪ Normal state
▪ REC and TEC both ≤ 96
▪ “Warning” at REC or TEC > 96 (flag, no change in behavior)
▪ Active Error Frame is transmitted (6 dominant bits)
▪ Error Passive ▪ REC or TEC > 127

▪ Passive Error Frame is transmitted (6 recessive bits)
▪ Error indication on the bus only during self-transmitted CAN frames
▪ Prevents the bus being paralyzed by many Active Error Frames
▪ Bus Off ▪ TEC = 255 (does not apply to REC)

▪ Completely disconnected from the bus
▪ Node again capable of communication only through external
action (e.g. a reset)
Error Types
▪ Bit error
▪ Physical check of the transmitted bit
▪ Exceptions: arbitration, acknowledge
▪ CRC error
▪ Received and calculated checksum do not match
▪ Format error
▪ Violation of the CAN frame format (e.g. End of Frame)
▪ Acknowledge error
▪ No other participant has detected and confirmed the CAN message as being correct
CAN FD
Live and in Color
Accessing a CAN Bus
▪ CAN interfaces are used to connect a computer or embedded

application to a CAN or CAN FD bus
▪ PEAK-System offers CAN interfaces for many conventional
PC interfaces like USB, PCI Express, PCI Express Mini, and M.2
▪ The PCAN-USB Pro FD can do this via USB.
Our first CAN Bus
Computer A 120 Ω Cable 120 Ω Computer B
To create our own CAN bus, what do we need?

1. At least 2 CAN nodes (Acknowledge error)
2. A cable for the connection (PCAN-Cable 1)
3. 120 Ohm termination at both ends (PCAN-Term)
4. CAN nodes using the same bit rate
Our first CAN Bus: Real Signals
Sensor data like temperatures, status of switches, and controlling
actuators is handled with digital and analog signals. But how to
transmit and receive these signals with CAN messages?
▪ PCAN-MicroMod FD:
▪ Basic hardware component with I/O and CAN FD connection
▪ Digital and analog I/O signals are mapped to CAN messages
▪ Configuration is done with a Windows software via CAN
▪ PCAN-MicroMod FD Evaluation Board:

▪ Board with pick-offs, screw terminals, switches, LEDs,
and potentiometers for testing and development
▪ Voltage supply via USB or power supply unit
▪ Runs as an autonomous CAN node
Our first CAN Bus: Real Signals
PCAN-MicroMod FD
PCAN-T-Adapter
Evaluation Board
▪ The PCAN-MicroMod FD Evaluation Board is added with a tap

▪ In this example a PCAN-T-Adapter is used
▪ No additional termination
PCAN-Explorer
The PCAN-Explorer from PEAK-System is a professional Windows®
software for the communication with CAN and CAN FD buses.
Use Cases:
▪ Observation and analysis of several CAN buses
▪ Understandable presentation of CAN traffic
▪ Influencing the CAN traffic for control
purposes or simulations
Organization: Projects
▪ Working with PCAN-Explorer 6 requires a project
▪ Projects contain:
▪ CAN bus connections
▪ Contents of the Transmit window
▪ References to files
(Symbols, transmit lists, traces, macros, Add-in files)
▪ Filters
▪ Folders (to help organize)
▪ Administration in the Project Manager

▪ Files (even opened ones) must be explicitly added
▪ Export of complete projects into packages via
File > Package…
CAN Connections and Nets
What do you need for displaying CAN messages?
1. Project
2. Connection to a Net
What is a Net?
▪ Net Virtual CAN bus structure in the computer
connecting Clients and CAN interfaces
▪ Client Software application connected to a Net
(like PCAN-Explorer or PCAN-View)
CAN Connections and Nets
How does it work?
▪ Multiple Clients can be connected with a Net
▪ A Client can be connected with multiple Nets
▪ A Net is connected to no or one CAN interface
Net 2
▪ Transmitted messages are

Client 1 Client 2 Client 3
passed to all Clients and via
the CAN interface to the
Net 1
external CAN bus
▪ Messages received by the
CAN Interface
interface, are received by
all Clients
CAN Bus
PCAN Nets Configuration Tool
Nets are created and managed with the
PCAN Nets Configuration Tool.
▪ Selection according to installed

drivers and available CAN interfaces
▪ Created Nets can be dragged and
dropped between hardware
▪ Internal: no connection to a
CAN interface (Net parking)
▪ With a Net the bit rate(s) of a
CAN connection are defined
▪ Lock: Net is in use
▪ Changes must be saved!
CAN Connections
▪ PCAN-Explorer uses Nets for the CAN Connection
▪ Connections are set in the Connections dialog
▪ Multiple Connections are possible
▪ Connections status display:
▪ OK, Error Passive Warning, BUSOFF, OVERRUN, …
▪ Additional options for diagnosis:

▪ Error Frames
▪ Listen Only
▪ Bus Load
▪ Error Frames:
▪ are displayed in the Receive window
▪ are recorded in Trace files
Note: This can cause huge files
Receive & Transmit
▪ CAN data traffic representation in
sortable receive and transmit lists
▪ Display of messages showing the
bus number, ID, length, data bytes, …
▪ Creation of transmit messages

▪ Manual, periodic, and RTR
message transmission
▪ Transmit message lists can be
saved and loaded
Tracer
▪ Recording of the whole CAN traffic
▪ Further application of traces:
▪ Play back (also with loop function)
▪ Manual examination with a text editor
▪ Application of filters
▪ Plotter import
▪ Several Tracers with different

filters are possible
▪ Import of third-party traces (*.asc)
Filters
▪ Filtering for the Receive window and the Tracer
▪ With Tracer: Subsequent filtering is possible
(result occurs in new window)
▪ If using several filter elements,

their order is important
▪ If a filter element applies,
further processing is canceled
Symbols
Symbols: Introduction
▪ CAN standard: No determination of transmitted data
▪ Symbols convert CAN messages to a readable format
Symbol
ID Signal 1 Signal
Data2 Variable
Coffee100h
Machine Pressure: 5 bar 0ATemperature:
FF CD 12 89 5A C1 70 Water: 1.5 l
120°C
▪ Symbol: Represents the CAN message by its ID

▪ Signals or Variables: Represent the transmitted data
Symbols
▪ Creating a Symbol file:
▪ Using the PCAN Symbol Editor is recommended
▪ Using the PCAN-Explorer 6 text editor but …
… it requires deep knowledge
… it's easy to make a mistake
▪ Format versions:
▪ Current version: 6.0
▪ PCAN-Explorer 6 can read all
formats, even 3.0
▪ Version conversion can be done
with the PCAN Symbol Editor
▪ Configuration is saved in
Symbol files (*.sym, text file)
Symbols
▪ A Symbol represents the CAN message by its ID
▪ Name: A name is assigned to the CAN ID
▪ Symbol Type: ▪ Standard CAN with 11 bits ID
▪ Extended CAN with 29 bits ID
▪ J1939 PG Special type for the J1939 Add-in
▪ FD Standard CAN FD with 11 bits ID
▪ FD Extended CAN FD with 29 bits ID
▪ Direction: ▪ Send Symbol is only interpreted in the Transmit list

▪ Receive Symbol is only interpreted in the Receive list
▪ Bi-Directional Symbol definition for flexible use
▪ Data Length: Select the amount of data bytes. If the data length
differs from the CAN message, the Symbol won’t apply
▪ Send Period: Set the cycle time for transmitting.
Signals & Variables
▪ Signals & Variables represent the CAN data
▪ Signals can be used in several Symbols
▪ Variables are used in only one Symbol
▪ A Symbol can contain several Signals or Variables
▪ The CAN data is divided into the carried information

▪ Only data that is associated to a Signal or a Variable is displayed
▪ Data types:
▪ Unsigned positive integers
▪ Signed positive and negative integers
▪ Bit 1 bit, Boolean, switch, etc.
▪ Char 1 byte, interpreted as an ASCII character
▪ String several bytes, character string (control codes are shown as dots)
▪ Float floating point number with 32 bits
▪ Double floating point number with 64 bits
Signals & Variables
▪ Factor & Offset
▪ At reception: physical value = (raw value * factor) + offset
▪ At transmission: raw value = (physical value - offset) / factor
▪ Unit indicator: °C, V, Volts, rpm, Apples, Pears

▪ Output Format:
▪ Decimal: values from 0 to 9
▪ Hexadecimal: values from 0 to F
▪ Binary: values 0 or 1
▪ Note: How to set the number of decimal places for float values?
▪ Global Symbol option: Custom Decimal Places
▪ Local Signal/Variable option: Custom Decimal Places
▪ Globally within PCAN-Explorer: Tools > Options > General > Float values
Applying the Symbol File
1. Add the Symbol file to your Project
2. Apply it to a Connection
▪ A changed Symbol file must be re-applied

▪ Only one active Symbol file per Connection
Locations of Interpreted CAN Data
▪ Receive window
▪ “Symbol” column is filled
▪ “Data” is interpreted
▪ Tip for view customization: Tools > Options > Receive/Transmit > Receive List
▪ Transmit window:
▪ Window for new message shows Symbols to be selected
▪ Subsequent change of data by double-clicking on “Data” field
▪ Trace:
▪ Symbol name is displayed directly
▪ Popup for variables when pointing with mouse on data
Signals in PCAN-Explorer 6
Signals and Variables from the Symbols definitions are
both handled as Signals in the PCAN-Explorer.
▪ Listed in the Project Manager > Project Items

▪ Physical (adjusted) magnitudes
▪ The general exchange medium in the PCAN-Explorer
▪ Signal values can be displayed in the Watch window
CANdb Import Add-in
CANdb Import Add-in
▪ CANdb is a file format from the company
“Vector Informatik” (*.dbc)
▪ Description of a CAN network
▪ PCAN-Explorer uses relevant information
analog to Symbols
Usage:
▪ Direct work with DBC file,
handling like Symbol files
▪ Conversion to a Symbol file is
possible with PCAN Symbol Editor
J1939 Add-in
J1939: General Information
▪ Standard is maintained by the
Society of Automotive Engineers (SAE J1939)
▪ Transfer of information between ECUs
in commercial vehicles
▪ Relies on CAN and covers different OSI layers
▪ 29-bit CAN IDs (CAN 2.0B)
▪ Usually 8 data bytes
▪ Transport protocol for up to 1785 data bytes
J1939 Add-in
▪ Select your Connection
▪ Properties > CAN section: Change the Protocol to J1939
▪ Symbols file J1939Default.sym is loaded and applied

▪ Settings for address claiming in the Connection properties
▪ Claiming via “Claim Address” in Connections window
▪ Note: Use of another Symbol file is possible:

J1939Template.sym in the Library for own adaptations
J1939 Add-in: Symbol File Specifics
▪ Type: J1939PG
▪ DLC: up to 1785 Bytes
▪ Multipacket: true
Enables the transmission of large CAN messages even with DLC = 8
Plotter Add-in
Plotter Add-in
The free Line Writer Add-in is a simple line writer for up to 4 Signals.
The Plotter Add-in is used for recording and enhanced graphical
representation of multiple Signal courses.
▪ Requires an active Symbol file

▪ Data access and exchange via Signals
▪ Recording and presentation of as
many Signals as desired
▪ Independent configuration dialog
▪ Not in the PE6 Properties window
▪ Wide range of formatting options for Signals,
layout, and presentation
▪ Changes of properties are instantly visible
Plotter Add-in
▪ Recording can be start, paused, and stopped
▪ Starting a recording does not erase prior recordings
▪ Erase all recordings with right-click > Clear all Data
▪ Cursor display for plot measurement

▪ Import of a trace file with all Signals (requires Symbol file)
▪ Export of the recording to a CSV file
Note: This contains only the Signal data, not the CAN messages
▪ The Plot Viewer, an independent software for the presentation of

recordings (*.plt), is available free of charge
Instruments Panel Add-in
The Instruments Panel Add-in is used for the representation
of digital and analog Signals via graphical instruments for an
easy simulation of complex CAN applications.
▪ Requires an active Symbol file

▪ Data access and exchange via Signals:
▪ Value of display instruments are set by Signals
▪ Signal values can be set by control instruments
▪ A Signal's change at an instrument generates a
transmit message (configured in the properties)
▪ Switching between
▪ Design mode: for layout and configuration
▪ Run mode: for instruments panel application
▪ Freely composable panel with instruments for
value indication and manipulation:
▪ Gauge meters, bar graphs, LEDs, and Trend diagrams
▪ Potentiometers, sliders, switches, and buttons
▪ Signal-dependent display of Bitmap Lists
▪ Many design options:

▪ Colors for instrument background and border
▪ Text font, size, and color
▪ Shapes and images
▪ And many more
▪ Representation of different Scenes on

the same panel during runtime
▪ Optional full-screen mode (F11)
Automation
via Scripting
Automation Possibilities of the PE6
▪ Standard Macro:
▪ Proprietary simple instruction set
▪ Rapid implementation of reception and transmission tasks
▪ Limited functionality
▪ Only Symbols are accessible, not Signals
▪ VBScript:
▪ Comprehensive implementation of VBScript
▪ Accessing COM objects of the PE6
▪ More effort needed at programming
Standard Macro: Instructions
▪ Transmit:
▪ Send Bus CAN_ID Length Data_bytes
▪ Receive:
▪ WaitMsg, WaitId, WaitData
▪ Outputs:
▪ In the Macro Status window: Print
▪ On the Macro tab of the Output window: PrintToOutputWindow
▪ ExecuteCommand PE6_Command
For Commands see Help topic: Reference > PCAN-Explorer Commands
▪ For further Instructions see Help topic:

Reference > Standard Macros > Standard Macro Instructions
VBScript: Creation & Application
▪ VBScript frame:
Sub Macro_name()
|
End Sub
▪ A VBS Macro file can contain

multiple macros
▪ All elements of the object model
can be accessed via VBScript
▪ Saving, access, and starting is
similar to Standard Macros
Further Information
▪ Visit our website for product information and our latest catalog
▪ Questions and feedback on training content:

▪ training@peak-system.com
▪ Our YouTube channel with video tutorials:

▪ https://www.youtube.com/user/peaksystemtechnik
▪ Stay up to date via Twitter or our news

▪ News at our start page: https://www.peak-system.com/?&L=1
▪ Twitter: https://twitter.com/PEAK_System
▪ Contact our support team:

▪ support@peak-system.com
▪ www.peak-system.com/forum/
Thank you
for your attention.
For questions and suggestions for
improvement, I am at your
disposal.

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CAN in Theory and Practice

Basics of the CAN Bus Communication

▪ Developed by Bosch for motor vehicles in the 1980s

▪ Connects sensors, actuators, switches, and displays (CAN nodes)

▪ The CAN standard provides a basic definition and is therefore versatile

▪ Primary goal: raise data transfer

▪ Automation Agriculture, machine control, robotics, medical technology

▪ Traffic and Signal control and monitoring, passenger information

▪ Home automation Elevator control systems, automatic climate control,

▪ Embedded systems POS systems, slot machines, coffee machines

▪ Broadcast transmission system

▪ Idle Unused bus (≥ 0 bits: all 1 recessive)

▪ Low-speed CAN (ISO 11898-3), also “fault-tolerant CAN”

▪ Conversion to optical waveguide

▪ Cable preferably with twisted lines

recessive dominant recessive

▪ Single Wire: Electromagnetic disturbance influences the signal level

The listed values have been calculated on the basis

▪ CAN node has two error counters

▪ Incrementation for a detected error

▪ Decrementation on correct CAN message

▪ Error Passive ▪ REC or TEC > 127

▪ Bus Off ▪ TEC = 255 (does not apply to REC)

▪ CAN interfaces are used to connect a computer or embedded

Computer A 120 Ω Cable 120 Ω Computer B

To create our own CAN bus, what do we need?

▪ PCAN-MicroMod FD Evaluation Board:

▪ The PCAN-MicroMod FD Evaluation Board is added with a tap

▪ Administration in the Project Manager

▪ Transmitted messages are

▪ Selection according to installed

▪ Additional options for diagnosis:

▪ Creation of transmit messages

▪ Several Tracers with different

▪ If using several filter elements,

▪ Symbol: Represents the CAN message by its ID

▪ Direction: ▪ Send Symbol is only interpreted in the Transmit list

▪ The CAN data is divided into the carried information

▪ Unit indicator: °C, V, Volts, rpm, Apples, Pears

▪ A changed Symbol file must be re-applied

▪ Listed in the Project Manager > Project Items

▪ Symbols file J1939Default.sym is loaded and applied

▪ Note: Use of another Symbol file is possible:

▪ Requires an active Symbol file

▪ Cursor display for plot measurement

▪ The Plot Viewer, an independent software for the presentation of

▪ Requires an active Symbol file

▪ Many design options:

▪ Representation of different Scenes on

▪ For further Instructions see Help topic:

▪ A VBS Macro file can contain

▪ Questions and feedback on training content:

▪ Our YouTube channel with video tutorials:

▪ Stay up to date via Twitter or our news

▪ Contact our support team:

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