NOTE

DISCLAIMER

NOTE!

This is not official PDF file from Sandvik and is not upkept, the information in the
presentation can be old and false

The files have not been checked through and they can also include false information.

The correct information source is the manual and documentation provided for the
1
machine In the Toolman!
CAN BUS & MACHINE CONTROL IN GENERAL
DECEMBER 2019 – REV E
CONTENTS
• Machine Control

• CAN Bus Basics, troubleshooting & fault finding

• Questions / Test

3
HOW TO CONTROL A MACHINE ?
1 +

When controlling the machine with electrical

controls, there are several different ways on
how to do it
-

Depending of the complexity of the control,

different control methods are used 4 +

Communication
BUS
CAN
DI DI CAN

PLC PLC
Sandvik UG-machines implement wide array of DO DO

different control ways

- - -
-
HOW TO CONTROL A MACHINE ?
1 +
2 + +

- -
-

3 + 4 +

Communication
BUS
DI CAN CAN
DI DI
PLC DO
PLC PLC DO
DO

- - - - -
-
HOW TO CONTROL A MACHINE ?
1 +
2 + +

- -
-

3 + 4 +

Communication
BUS
DI CAN CAN
DI DI
PLC DO
PLC PLC DO
DO

- - - - -
-
DIRECT CONTROL
Control system built with fully passive components, for example a
flashlight

1 +
Practical when:
- System is technically very simple
- Demands for Output control are very simple

Not practical when:

- Complexity in application increases -

- Size of the system increases

EXAMPLE CIRCUIT OF DIRECT CONTROL
DD420 as example

Horn control from

carrier circuit
diagram
HOW TO CONTROL A MACHINE ?
1 +
2 + +

- -
-

3 + 4 +

Communication
BUS
DI CAN CAN
DI DI
PLC DO
PLC PLC DO
DO

- - - - -
-
RELAY CONTROL LOGIC
Control system which adds electro-mechanical and possibly
active components for the control

Example of this: thermostat 2 + +

Practical when:
- System is technically getting more complex
- Demands for Output control are moderate - -
- When it is practical to build separate control and
power circuits

Not practical when:

- System size grows significantly
- Requirements for control get more complex
- When signal information is required at multiple locations
EXAMPLE CIRCUIT OF DIRECT & RELAY CONTROL
DD420 as example

Reel control from

carrier circuit
diagram
HOW TO CONTROL A MACHINE ?
1 +
2 + +

- -
-

3 + 4 +

Communication
BUS
DI CAN CAN
DI DI
PLC DO
PLC PLC DO
DO

- - - - -
-
PLC CONTROL
PLC is abreviation for Programmable Logic Controller

PLC is a computer which can read inputs and send power to outputs by its programming.

Below a picture of simplified PLC:

OUTPUT 1
DIGITAL INPUT 1

ANALOG INPUT 2 INPUT OUTPUT

COMPUTER OUTPUT 2
MODULE & MEMORY MODULE
PT1000

INPUT 3
OUTPUT 3
S1

S2

POWER MODULE

+ -

24V DC POWER SOURCE

INPUTS

14
 Time Delayed/Filtered
DIGITAL INPUT - DI
Rising Edge Lowering Edge
When the voltage rises to 24 Volts, the
Programmable Logics sees the situation as
number 1 and can act accordingly. 24V
1
There are different ways in logic programming
to see the input status as 1
0
- From the rising edge – MOST COMMON
- From the lowering edge 0V
- Time filtered input Time
Input Output
- Different voltage levels
1 PLC 1
There are different levels of voltage which the
PLC sees as 1, for example:
2 2
(0 = 0…5V , 1 = 5….24 V) 3 3

PWR

GND
Equal potentials ! No flowing of ground
potentials in machine !
ANALOG INPUT – AI - CURRENT
System powered ON Possible disturbance
Analog input can be made as an voltage input
or current input mA
20
Common one is 4-20 mA current input, in
Sensor reading
current input the resistance of the wiring is level, 0…100 %
naturally negated
4
0…4 mA are seen as zero and this negates
false inputs from very small inducted currents Time
Input Output
4…20 mA is usually comparable linearly to the
1 PLC 1
sensors reading area
2 2
When the signal goes a lot over 20 mA, the 3 3
system can report an error

PWR

GND
ANALOG INPUT – AI - VOLTAGE Possible disturbance
Analog input can be made as an voltage input
or current input V
5
One way to read the sensor level is to read the
Sensor reading
voltage level level, 0…100 %

0…5 Volts level can be seen as area 0…100%

0
Can be used in for example Joysticks etc. Time
Input Output
More weaker protection against disturbances
1 PLC 1
and resistance in wiring
2 2
3 3

PWR

GND
 PT100
ANALOG INPUT – PT100 & PT1000
PT100 is a resistor which has the resistance
varying linearly depending of the temperature.
At 0 degrees the resistance is 100 ohms, when
it goes up the temperature increases

PT1000 does exactly the same as PT100, but

the resistance is at 0 degrees 1000 ohms

VIU units can measure the PT100/PT1000

Temperature
sensors from -200….+800 degrees of C

PT1000s are used in WEG powerpacks as

temperature monitoring and in Multivoltage
transformer

Resistance
ANALOG INPUT – PT100
OUTPUTS

20
DIGITAL OUTPUT - DO
When the program has the necessary inputs it
turns the output on to full 24 Volts
24V
Several different types of outputs by
construction:
- Relay powered outputs (Inside Omron
1
PLCs)
- Electronically controlled outputs (FPVC, 0V
IFM) Time
Input Output
Relay powered outputs can have normal relay
1 PLC 1
related faults like outputs welding on etc.
2 2
Important thing is to have equal grounding on 3 3
machines control system. If potentials are

PWR

GND
flowing, then false outputs can be caused
DIGITAL OUTPUT – DO GROUNDING
Grounding output does not provide power to
output 24 V
Grounding output provides ground for the
supply and this closes the electric circuit

Input Output
1 PLC 1

2 2
3 3

PWR

GND
POTENTIAL FREE CONTROL
Potential Free Input/Output is a “relay
connection” inside the PLC which is only used
to connect
24 V
As potential free, the contacts will not have
anything to do with the potentials of the PLC

Potential Free

1.1

1.2

PWR

GND
PLC
RELAY CONTROL OMRON Relay output
Is visible for the user as an output, but 24 V
internally in the module there is a relay 1.1

PLC controls the relay and drives the output

PLC

GND
Single output on a card can fail if the relay fails

Problematic with new Omrons if we drive

solenoids directly
ANALOG OUTPUT – PWM
PWM output is a “scaleable” output, which can
give an output range of 0….100 %

This is done by keeping the output on or off

during a period of time 6V

Hysteresis in hydraulic valves can cause the

situation that small changes in output do not 12V
change the valves status. To counter this a
dithering is used to create a different frequency
and amplitude of noise over the signal, which is 18V
constantly breaking the hysteresis of the valve.

Correct dithering settings enables to use PWM

24V
in an exact manner to control the valve
PLC PROGRAM EXAMPLE
Let’s write a simple program:
If Digital Input1 is 24 Volts, then put Output 1 ON
If PT1000 shows temperature over 100 degrees, then put Output 2 ON
If Input 3 and Input 1 is 24 Volts, then put Output 2 and Output 3 ON

OUTPUT 1
DIGITAL INPUT 1

ANALOG INPUT 2 INPUT OUTPUT

COMPUTER OUTPUT 2
MODULE & MEMORY MODULE
PT1000

INPUT 3
OUTPUT 3
S1

S2

POWER MODULE

+ -

24V DC POWER SOURCE

EXAMPLE CIRCUIT OF DIRECT & RELAY CONTROL
DS421 as example

Input module for

the machine
control
EXAMPLE CIRCUIT OF DIRECT & RELAY CONTROL
DS421 as example

Output module for

the machine
control
CENTRALIZED CONTROL LOGIC WITH PLC
Control system which adds programmable components for
the control which can perform more complex tasks

Example of this: MSE logic in Main Switchger

Practical when:
- System requires more complex control for Outputs
- When multiple actions are required to be controlled by
multiple single inputs with different working logics

Not practical when:

- Machine has multiple complex control requirements
distributed to multiple physical locations
- When only a very simple system is required, here PLC
only adds costs
HOW TO CONTROL A MACHINE ?
1 +
2 + +

- -
-

3 + 4 +

Communication
BUS
DI CAN CAN
DI DI
PLC DO
PLC PLC DO
DO

- - - - -
-
COMMUNICATION BUSSES AND DECENTRALIZATION
Decentralized systems allows distribution of IO and
different ways of controlling functions.

For example rear lights in Bedrock carriers: 4 +

Communication
BUS
PLC PLC DI CAN
DI CAN

PLC PLC DO
DO

- - -
-

Button pressed is transferred to PLC in Cabin, and

communication bus delivers the information to PLC
at Rear Carrier. Rear Carrier PLC turns on the
light.
CENTRALIZING & DECENTRALIZING
Centralized system examples By dividing functions to different
modules, a decentralized system can
be created

Decentralization makes system more

difficult to understand, but it gives
other benefits for the architecture

Decentralized system examples For example in DD422i:

Drilling Computer for Boom 1 is only
responsible for boom 1 calculations
CAN BUS
and commands the needed valves
and reads required sensors. Carrier
functions are taken care of by other
modules.
COMMUNICATION BUS - 4 +

CAN BUS CAN

Communication
BUS
DI DI CAN

PLC PLC DO
There are different PLCs and DO

computers on the UG rigs and

they communicate with CAN
Bus -
-
- -

It is important to understand
the basic functional principles
of this communication and
how to do troubleshooting on
the system
BINARY SYSTEM – COMPUTER COMMUNICATION
When humans communicate, we use ABCDEFGH
differnet sounds which will form up IJKLMNOPQ
words with different meanings
RSTUVWXYZ
Words form up sentences and
sentences deliver messages

Our written communication is based

on for example on latin alphabet,
cyrillic alphabet, japanese, chinese
etc…

34
BINARY SYSTEM – COMPUTER COMMUNICATION
ABCDEFGHIJKLM
Our letters form up more than 20
NOPQRSTUVWXYZ
different sounds with different
stresses etc. 01000001 00100000 01000010 00100000
01000011 00100000 01000100 00100000
When all of these variations are 01000101 00100000 01000110 00100000
combined, we understand a 01000111 00100000 01001000 00100000
message of the person trying to send 01001001 00100000 01001010 00100000
it 01001011 00100000 01001100 00100000
01001101 00100000 01001110 00100000
When building a computer, this sort 01001111 00100000 01010000 00100000
of variations in base of 01010001 00100000 01010010 00100000
communication would make the 01010011 00100000 01010100 00100000
system extremely complex 01010101 00100000 01010110 00100000
01010111 00100000 01011000 00100000
01011001 00100000 01011010
35
BINARY SYSTEM – COMPUTER COMMUNICATION
For computer language, we simplify
the base of the communication to ABCDEFGH
practically two letters, 0 and 1 IJKLMNOPQ
RSTUVWXYZ
0 and 1 practically means that we
only need 2 states on the machine, 01001001 00100000 01001100
for example power on or power off 01001001 01001011 01000101
00100000 01000010 01001001
This is technically simple to create 01000111 00100000 01010100
and quite robust communication way 01001001 01010100 01010011
for computers

This communication is binary code

36
BINARY SYSTEM – COMPUTER COMMUNICATION
With different combinations of ones and zeros, we can
communicate, as long as we just agree how do we do it

One way to match binary values with lathin alphabet is

ASCII-code, example of capital letters of that coding at the
picture at right

When you write a file to the computer in ASCII-code in

Notepad, it is practically saved with the zeroes and ones at
the table at right

37
BINARY SYSTEM – HOW MANY ”MARKS” WE NEED?
Binary is a numerical system with base number 2,
comparing to our Decimal system with base number of
10

Binary calculation is quite simple, use same logic as with

0…10 but now only use 0 and 1. Example at right.

Amount of ”markings” increase significantly faster than

with Decimal system, in Decimal system we can mark
following letters with only one ”mark”
ABCDEFGH I
12 34 567 8 9

In binary:
A B C
0 1 10
 Aid Calculus:
BINARY SYSTEM
For mathematical conversions from binary to Dec system:

Example 1: Example 2:

1 0 1 1 1 1 1 1

3 2 1 0 3 2 1 0
1 × 2 + 0 × 2 +1 × 2 +1 × 2 1 × 2 +1 × 2 + 1× 2 + 1× 2

8 + 0 + 2 + 1 8 + 4 + 2 + 1

11 15
 Aid Calculus:
EVERY DAY EXAMPLES OF BITS
If we think about 8-bit system, it means that 28 = 256 different status
informations

IPv4 addresses of the Internet are informed with four 8-bit marks, for
example:
196.162.0.2  11000000 . 10100010 . 00000000 . 00000010

If we would instead have a 16 bit system, then we can have 216 = 65

536 different statuses.
 Aid Calculus:
EVERY DAY EXAMPLES OF BITS
When talking of PC processors, which nowdays are at 64 bit level,
original 8-bit processors of PCs were able to transfer 8-bits of data at the
same time.

Comparing these two:

8-bits: 28 = 256 different status informations
64-bits: 264 = 18 446 744 073 709 551 615 different status informations

When talking about graphic adapted of the computer, 8-bit refers to the
amount of colors capable of being displayed:
8-bits: 28 = 256 different colors
16-bits: 216 = 65 536 different colors
EVERY DAY EXAMPLES OF BITS Aid Calculus:
The 8-bit consoles like Commodore 64 games are significantly more
entertaining and better than the modern day Call Of Duties, NHLs, etc…
NUMBER SYSTEM – KILOS, MEGAS, TERAS
When talking about bigger numbers it is more easier
to use multiplier at front of the basic unit.

For example:
I want to buy 5 500 grams of delicious Tampere
made black sausages

Significantly easier way to say is:

I want to buy 5,5 kilograms of very delicious
Tampere made black sausages

The same system is in use in binary based systems

DECIMAL SYSTEM – KILOS, MEGAS, TERAS
In Decimal system out multipliers are easy to understand, but in
binary system they are slightly different:

Kilobits calculated in Bits or in Decimals can mean different

things.

This can be seen for example in marketing, hard drive

manufacturers state the size of the hard drives with the Decimal
size, even though actually bits would matter. But to simplify,
nearest ”000”-number makes things easier.
COMPUTER COMMUNICATION 4 +

Communication
Communication between these two PLCs happen BUS
with sending these 0 and 1 signals between each DI
PLC
CAN
DI
PLC
CAN

DO
other
DO

Communication protocol between the modules in

Sandvik UG rigs is CAN BUS -
-
- -

010000111011001011100111101110101011101

CAN BUS
CAN BUS
COMMUNICATION
COMMUNICATION

OUTPUT INPUT COMPUTER OUTPUT

INPUT COMPUTER
MODULE & MEMORY MODULE
MODULE & MEMORY MODULE

45
POWER MODULE POWER MODULE
WHAT IS THE CAN BUS ?
CAN Bus is communication way which is based physically
to voltage difference between two wires, and depending on
how the voltages are, we read 0 or 1
4 +

The message structure is something, but depending on

Communication
how we send out 0 and 1 signals we define what is the BUS
message, simplified example: DI CAN
DI CAN

PLC PLC DO
DO

MODULE ONE SWITCH 1 IS ON

PLEASE TURN ON THE LIGHT ON MODULE 2
END
- - -
-

This message forms up from 0 and 1 signals, and usually

has about 70….200 bits
DIFFERENT CAN BUSSES ?
CAN
There are different CAN Bus systems, for example NODE 1
CAN HIGH

CANopen and J1939 CAN LOW

Physically they are exactly the same, but how the 0 CAN CAN HIGH
NODE 2
and 1 signals are sent is different
CAN LOW

For example for CANopen the message can be built CAN CAN HIGH
like: NODE 3
HELLO EVERYONE, MY TEMPERATURE IS 25 CAN LOW

DEGREES
CAN CAN HIGH
NODE 4
CAN LOW

And for J1939 the message can be like:

CAN
EVERYONE HELLO, 25 DEGREES IS MY NODE 5
CAN HIGH

TEMPERATURE CAN LOW

So language is the same, but the message forms up

differently
CAN MESSAGE SIMPLIFIED – IMPORTANT POINTS
A single CAN message carries different parts, if we simplify it a little bit, let’s divide
it to 3 parts which will help to understand the message:
1. Start of message & Priorization
2. Actual message
3. CRC Check sum
0110101010011010101001101010100110101010011010101001101010100110101

Start of message & Message CRC Check

Priorisation 0….8 bytes

Total CAN Message 67…131bits

+ stuff bits
CAN MESSAGE SIMPLIFIED

0110101010011010101001101010100110101010011010101001101010100110
Start of message &
Priorisation
1. Start of message & Priorization
- Every CAN Message has a priority, more

Total CAN Message 67…131bits

important messages will get through first, less
important ones will need to wait

2. Actual message

+ stuff bits
- Message itself is in ”middle” of the bit burst, its

0….8 bytes
lenght varies depending of the message, but

Message
maximum lenght is 8 bytes (64 bits)

3. CRC Check sum

- From the actual message, a mathematical check
sum is calculated. If this check sum has a mismatch

CRC Check
to actual message, then entire message will be
rejected and it is requested again from the sender
CAN BUS STRUCTURE
CAN BUS has two wires which are used for the communication: CAN High and CAN Low

Their colors in CAN bus cables are:

White for HIGH & Brown for LOW

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2

24 V GND 24 V GND

24V DC POWER SOURCE

NODE = A device connected to the bus
CAN BUS STRUCTURE
CAN Bus can have about 100 Nodes connected to it, the structure remains always the same:

Resistors at end of the lines

High and Low wirings going from one module to another

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND

24V DC POWER SOURCE

NODE = A device connected to the bus
CAN BUS STRUCTURE
Example of the connection points for the CAN High and CAN Low points in the VCH module

In the module, XJ4.1 and XJ4.2 are the same potential (CAN1H),
XJ4.3 and XJ4.4 are also same potential (CAN1L)
NOTE! (CAN1H and CAN1L are different)

Internal connection of the module

CAN1H
ELECTRONICS
CAN1H
FOR CAN
CAN1L COMMUNICATION
CAN1L
CAN BUS COMMUNICATION PRINCIPLE
CAN Nodes communicate by voltage changes at High and Low wires

Similar ground levels are important for the different CAN Nodes, with floating ground levels the
reference of the voltage 0 can also possibly disturb the message  check that GND is always in
good condition

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND

24V DC POWER SOURCE

WHY GND LEVEL IS IMPORTANT WITH NODES ?
Voltage can be compared to water fall, level of it depends from point of measure.

Do we measure it from the bottom of the water, of from the water surface ?

If the base level with bad Ground

in PLCs is different, then this
means that the voltages are also
different at the control side

If measurements would be done

differently, it would mean that 24 V
in one place would be 20 V in other
place.

In water fall, is the height 5 meters

or 6 meters
CAN BUS STRUCTURE
Consists of nodes which are communicating with each other with two wires

Wires are called CAN High, another one CAN Low

At the end of the wiring there is 120 ohm resistor

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND

24V DC POWER SOURCE

NODE = A device connected to the bus
SENDING A MESSAGE IN CAN BUS
Bus only communicates by 0 or 1, this is done by changing voltages of the high and
low wires.

When CAN Bus sends 0 out, then:

CAN HIGH – GND Voltage level is 3,5 V
CAN LOW – GND Voltage level is 1,5 V

When CAN Bus sends 1 out, then:

CAN HIGH – GND Voltage level is 2,5 V
CAN LOW – GND Voltage level is 2,5 V

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND
SENDING A MESSAGE IN CAN BUS
Bus can only communicate by sending 0 or 1, this is done by changing voltages of the lines
One bit is one 0 or 1. One byte is 8 bits.
LOW-GND
HIGH-GND When CAN Bus sends 0 out, then:
CAN HIGH – GND Voltage level is 3,5 V 3,5
3,5 CAN LOW – GND Voltage level is 1,5 V 2,5
2,5
When CAN Bus sends 1 out, then: 1,5
1,5 CAN HIGH – GND Voltage level is 2,5 V
CAN LOW – GND Voltage level is 2,5 V

0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND
SENDING A MESSAGE IN CAN BUS
However, the CAN Bus communication happens through differential signal, meaning that the messages are
readed by measuring the voltage between CAN HIGH and CAN LOW:
LOW-GND
HIGH-GND 3,5
3,5
2,5
2,5
1,5
1,5

0 0 1 1 0 0 0 1 0 0 1 1 0 0 0 1

HIGH- LOW
3,0

2,0
1,0

0
0 0 1 1 0 0 0 1
 DIFFERENTIAL SIGNAL IN CAN BUS
DISTURBANCE
Differential signal is used for more robust
communication in CAN bus
CAN HIGH

If outside disturbance gets to CAN wires, ideally it

CAN LOW gets to both of them with equal ”strenght” causing a
voltage spike to both of the wires in same way
DIFFERENTIAL

As we read the differential signal (measure voltage

HIGH- LOW between CAN HIGH – CAN LOW) then the spike is
3,0 not visible as it is equal at both lines and it will not
2,0 cause interference
1,0

0
0 0 1 1 1
 TWISTED PAIR CABLINGS
If external strong magnetic field is present, it can
cause interference to the signals

In NON-twisted pair cablings the interference creates

Magnetic Field
a current spike
Induced Noise Current

In twisted pair cablings the current spike is negated by

opposite direction of inducing currents at different
loops. Practically the loops ”eat the spike” away from
each other
TWISTED PAIRS IN CAN BUS VS LADIES HAIR

Magnetic Field
Induced Noise Current

Many ladies like to twist their hair, but this is done with 3 loops of hair.

When men invented the twisting pair, they are more simple and ugly than the beautiful
women with the things what they do, so men only ”twisted two things”.

The more beautiful and more complex women way of twisting the hair is not suitable for
more simple men and their technical requirements.
Do not attempt to twist 3 wires together in CAN Bus cablings, there is only two.
TWISTED PAIRS IN CAN BUS

Magnetic Field
Induced Noise Current

When doign any rewiring etc for the CAN wiring, then twist the wires together
everywhwere where they are not in their jackets.

This will increase the signal quality in CAN bus.

 TWISTED PAIR CABLINGS
Twisted pairs can be described as ”elegant simplicity”
for protecting the signal lines

Invented to telephone use at 1881 by Bell, and

Magnetic Field
nowdays it is very common technique all around
Induced Noise Current

In general all the signal lines are good to twist around

each other according to the original construction and
instructions
CAN BUS COMMUNICATION SPEED
Can nodes communicate with 0 & 1 messages by
changing the voltage in certain speed and the
3,0
nodes are synchronized with each other

2,0 Bedrock UG Drills communicate by doing voltage

1,0 changes 500 000 times in a second, this means
that their communication speed is 500 kbit/s
0
500 kbit /s 0 0 1 1 0 0 0 1

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s

CAN NODE 1 500 kbit/s CAN NODE 2 500 kbit/s

250 kbit/s 250 kbit/s

24 V GND 24 V GND
CAN BUS COMMUNICATION SPEED
3,0
If speed is dropped to half, then reading and
voltage changes happens half of the time
2,0
If speed is doubled, then reading and voltage
1,0 changes are happening twice as fast

1 000 kbit /s 00 00 1 1 1 1 00 00 00 1 1 All of the nodes in CAN Bus will need to

communicate with the same speed or else their
500 kbit /s 0 0 1 1 0 0 0 1 communication will fail
250 kbit /s 0 1 0 ?

120 Ω 120 Ω

Example: CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s

Level sets speed

Different speeds: CAN NODE 1 500 kbit/s CAN NODE 2 500 kbit/s

250 kbit/s
Bus doesn’t work 24 V GND
250 kbit/s
24 V GND
CAN BUS COMMUNICATION SPEED & LENGHT
3,0
CAN Bus speed limits the physical length of the
2,0
bus cabling

1,0 Faster the bus, shorter it needs to be

1 000 kbit /s 00 00 1 1 1 1 00 00 00 1 1 BUS speed is also defined from total system delay,
500 kbit /s 0 0 1 1 0 0 0 1 which can cause the system to act slower than it is
theorethically possible. Delay is formed also from
250 kbit /s 0 1 0 ? the speed of electromagnetic fields passing by the
wiring
MAX BUS BUS SPEED
LENGHT (M) (KBIT/S) Effects on speed:
40 1000 Skin effects
100 500 Proximity to other circuts
200 250 Dielectric loss
500 100
Radiation loss
Speed of Software
1000 50
CAN BUS COMMUNICATION SPEED
Speed can be configured in some modules with jump wires
Internal connection of the module

CAN1H
ELECTRONICS
CAN1H
FOR CAN
CAN1L COMMUNICATION
CAN1L

BR1 BR2

TERMS
BIT RATE = Speed of the BUS
BAUD RATE = Same thing, different words
COMMUNICATION DATA AMOUNT
3,0
Depending of the speed of the bus, we
2,0
can deliver different amount of
messages in the bus
1,0

For example, let’s simplify that one CAN

1 000 kbit /s 00 00 1 1 1 1 00 00 00 1 1
message lenght would be 130 bits.
500 kbit /s 0 0 1 1 0 0 0 1
250 kbit /s In one second with 500 kbit/s we can
0 1 0 ? have 500 000 bits.

This means that theorethically we can

have:
500 000 / 130 = 3846 messages per
second
COMMUNICATION DATA AMOUNT – NICE TO KNOW
3,0
However in normal situations problems
2,0
start to appear when amount of load on
the bus goes over 40 %, meaning that
1,0
bus will still work well and fast when
500 kbit /s 0 0 1 1 0 0 0 1 there is about:
3846 * 0,4 = 1 538 messages

This value can be seen from the

Troubleshooting windows as Bus Load.
If Bus load rises too high, then low
priority messages will have hard time
getting through the bus.
TERMS
BUS LOAD = How much messages are
travelling on the bus
NODE ADRESSES
When nodes are communicating now with correct speed, they also
need to know with who are they communicating with

This is defined by an address set to each one of the nodes

In same CAN Bus every Node will need to have different address

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s
ID: 1 ID: 1

ID: 2 CAN NODE 1 500 kbit/s ID: 2 CAN NODE 2 500 kbit/s

ID: 3 250 kbit/s ID: 3 250 kbit/s

24 V GND 24 V GND
NODE ADRESSES - CONFLICT
If there is conflict with the Node IDs, then bus communication can fail

If the Node ID is wrong, then messages do not get through as the

address is wrong

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s
ID: 1 ID: 1

ID: 2 CAN NODE 1 500 kbit/s ID: 2 CAN NODE 2 500 kbit/s

ID: 3 250 kbit/s ID: 3 250 kbit/s

24 V GND 24 V GND
NODE ADRESSES –
DIFFERENT NUMBER SYSTEMS CAN
NODE 1
CAN HIGH

CAN LOW
When reading diagrams you might see following extra
informations of the node IDs: CAN CAN HIGH
NODE 2
CAN LOW

CAN CAN HIGH

NODE 3
CAN LOW

CAN CAN HIGH

NODE 4
CAN LOW
0x at front of the number tells that the Node ID is in Hex-
code. CAN CAN HIGH
NODE 5
CAN LOW
NODE ADRESSES – DIFFERENT NUMBER SYSTEMS

Node Ids DD422i, VCH model

NOTE! If you are reading about the Node IDs can
be shown with Dec or Hex code

Decimal is system with base number being 10

Hex is system with base number being 16

Hex code is used sometimes by designers to give

some values out from the system in more compact
form, example:

Binary: 01100100
Dec: 100
Hex: 0x64

Other benefit of Hex numbering system is that

biggest 8-bit binary value can be expressed with 2
numbers/letters. Hex can usually be identified from
0x marking at front of the number
HEX SYSTEM CALCULATIONS DEC
1
HEX
1
DEC
17
HEX
11
2 2 18 12
Hex system adds letters A…F to express Decimal
number 10, 11, 12, 13, 14 and 15. 3 3 19 13
4 4 20 14
5 5 21 15

After these have been expended, we jump to 10 and 6 6 22 16

continue calculation forward. Then follow the same logic 7 7 23 17
at next tens, and eventually hundreds, etc…. 8 8 24 18
9 9 25 19
10 A 26 1A
Benefit for the Hex system is that with two marks (FF), 11 B 27 1B
255 different statuses can be indicated (also maximum of 12 C 28 1C
8-bit binary system), with Decimal system only 99. 13 D 29 1D
14 E 30 1E
15 F 31 1F
16 10 32 20
BIN, DEC AND HEX SYSTEMS - EXAMPLES
DEC, HEX AND BINARY SYSTEMS:
Our number system at the moment is based on number
10, when we reach 9, we go to 2 digit number 10

In hex system the number system is based on 16,

meaning that after reaching F we go to 2 digit number 10

In Binary system the system is based on number 2,

meaning that when we reach number 1, then we go to 2
digit number 10

CLOCK SYSTEM
Our clock has base number of 60, which comes from the
mathematical system of ancient Babylonians (about
2000…500 BC) who had 60 as their base number. This
is called sexagesimal system, more about that in
Wikipedia
SPEED & ADDRESS – OTHER MODULES
When changing modules on the
machine, it is important that their speed
and address is correct before they have
been fitted back to the machine

Some modules require these to be set

by programming sofware (spare part
programming on machines) for example
drilling control panels

Depending of the modules, some of

them are plug&play when changing
them and machine can configure them
as needed, or in some other machines
they require more work to be done for
them. Refer to the manual.
SPEED & ADDRESS –INTERNAL ELECTRONICS VCH
Internal connection principle of
the module:

ID1 ID2 ID3 ID4

CAN1H
ELECTRONICS
CAN1H
FOR CAN
CAN1L COMMUNICATION
CAN1L

BR1 BR2
NMT MASTER
CAN
Every CAN Bus needs NMT Master which has the NODE 1
CAN HIGH

responsibility of starting everyone and reporting CAN LOW

their status out

CAN CAN HIGH
NODE 2
CAN LOW
CAN NODE 1 at right is now NMT Master in this
example, every other node is slave CAN CAN HIGH
NODE 3
CAN LOW

When power is turned on NMT Master will give start

CAN CAN HIGH
commands: NODE 4
CAN NODE 2 START CAN LOW

CAN NODE 3 START

CAN
CAN NODE 4 START NODE 5
CAN HIGH

CAN NODE 5 START CAN LOW

NMT MASTER = A device that starts everyone on CAN

Bus and monitors them
NMT MASTER & HEARTBEAT
CAN
After the start command every Node starts to run NODE 1
CAN HIGH

their internal program and do the work what they are CAN LOW

suppose to do
CAN CAN HIGH
NODE 2
While doing this they will be continuously sending
CAN LOW
out Heartbeat signal to the Master, informing that
they are alive CAN CAN HIGH
NODE 3
For example, at below FS2 nodes is not transmitting CAN LOW

Hearbeat message:
CAN CAN HIGH
NODE 4
CAN LOW

HEARTBEAT =
CAN
A signal from CAN Node NODE 5
CAN HIGH

that informs the Master that CAN LOW

Node is alive and present

NMT MASTER & HEARTBEAT
CAN CAN HIGH
NODE 1
CAN LOW

CAN CAN HIGH

NODE 2
CAN LOW

CAN CAN HIGH

NODE 3
CAN LOW

In the picture above the FS2 can have for example

CAN CAN HIGH
wrong speed, wrong address or no power. NODE 4
CAN LOW

The master on that bus (DM2) does not see the FS2
CAN
due to the missing Heartbeat, this makes fault NODE 5
CAN HIGH

finding of the bus significantly faster as it narrows CAN LOW

done the options in the bus.
3 DIFFERENT NMT STATES
Pre Operational
Node has not received Start Command from NMT
Master, the module often tries to show this with
some blinking lights or by showing Pr text at its
display, module is also missing from troubleshooting
view

Operational
Node is up and running normally, everything is OK
from CAN Bus point of view. Some logic of blinking
lights or Op text at the screen of the module display.

Stopped
Not in use at UG rigs. So much things have gone
wrong in the bus communication that the module
shutted down from communication point of view.
Modules would show St if it would be used.
DIFFERENT NMT STATES – IFM MODULES

Operational and running,

everything else is a problem
CAN BUS – DROP LINE
Sometimes the module construction or something else prevents the wiring of Can Bus from directly entering
to the module and continuing from there

At these points it is necessary to have somewhere a connection point, from where the wiring is done to the
module. This wiring is called DROP LINE

This wiring will need to be as short as possible as it causes interference to the system

DROP LINE DROP LINE = Wiring ”off” from

the Main CAN line wiring

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND
WHY TO HAVE THE SCREEN AROUND CAN CABLE?
Screen surrounding the CAN Bus cable is there to prevent outside interference from entering the
cable

Screen needs to be grounded from both ends to the machine frame

Screen creates Faraday’s cage around the wires and it will also give some amount of mechanical
protection for the internal wiring

CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2

24 V GND 24 V GND

BOX FRAME BOX FRAME

WHY TO HAVE THE SCREEN AROUND CAN CABLE?
Example of screen grounding:
Box is framed to the ground of the machine
Screen is connected to the same grounding point
NOTE! CAN Node GND is not the same as frame of the box, it is a separate wire. Do not
mix 24V system GND ( or 0V ) to machine frame grounding !

CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2

24 V GND 24 V GND

BOX FRAME BOX FRAME

RESISTORS – CONNECTION THEORY

87
RESISTORS IN SERIES - THEORY
Quick theory of ohm measurements:

If we have resistors in series, then total resistance is their sum, for example:

200 Ω 70 Ω

Basic guidelines:
R is always bigger than single
100 Ω 100 Ω resistor of the group
10Ω 50Ω 10Ω
Passing current is always
lower in series
100Ω + 100 Ω = 200 Ω 10Ω + 50Ω + 10Ω = 70Ω
RESISTORS IN PARALLER THEORY
Quick theory of ohm measurements:
If we have resistors in paraller, then inverse value (1/R) of total resistance is sum of inverse values
of the resistances in connection. Example of the calculation below:
Resistance calculation:
60 Ω 55 Ω
…
1/R=
1/100 + 1/200 + 1/300 =
0,01 + 0,005 + 0,003 = If
0,01833
𝑅1 =𝑅2 = 𝑅3 =𝑅𝑛
R = 1 / 0,01833
R = 54,6 Ω Then:
1/R= 100 Ω R=
1/120 + 1/120 =
120 Ω 0,0083 + 0,0083 =
200 Ω Basic guidelines:
0,016633
R always lower than smallest Rn
120 Ω R = 1 / 0,016633 300 Ω
R = 60 Ω More Resistors  less resistance
SAME SIZE RESISTORS IN PARALLER THEORY
Quick theory of ohm measurements equal size resistors in paraller:

If R1 = R2 = R3 = Rx then:
Theory of the calculation: In same way the
R = R1 / amount of R
calculation can be scaled
up or down, depending of
100 Ω
the amount of resistors as
long as they are same
sized.

300 Ω R = Rx / n
Practical applications in
CAN Busses are usually
Rn = 300 ohm
300 Ω n=3
related with 1, 2 or 3
resistors in paraller in
300 Ω R = 300 / 3 system.
R = 100 ohm
RESISTORS IN CAN BUS

91
WHY TO HAVE THE RESISTORS ?
If built correctly, CAN Bus will always have end
resistors of 120 ohms at the end of the
communication lines

If resistors are missing the CAN Bus will not

work

Checking the CAN Bus resistance is one of the

basic fault findings that can be done

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s

CAN NODE 1 500 kbit/s CAN NODE 2 500 kbit/s

250 kbit/s 250 kbit/s

24 V GND 24 V GND
WHY 120 OHM RESISTORS ?
ISO standard 11898 decided to use 120 ohm
STANDARD TERMINATION nominal impedance as standard.
120 Ω
CiA has defined some higher resistances as a
proposal for longer busses, but practically 120
ohm is the standard

Internal constructions of CAN Node tranceivers

are designed with 60 ohm impedance matching
to provide good signal quality.

So practically Tx and Rx impedances should be

matching in the internal construction of the bus
WHY TO HAVE THE RESISTORS ?
Everytime that the voltage changes in CAN bus,
we need energy. We want that voltage change
is fast, practically instant

The resistors will dissipate the energy of the

voltage changes and reduce the effect of
inductive and capacitive phenonemoms

Also external interference requires more

“strength” to effect on the Can bus with resistors

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s

CAN NODE 1 500 kbit/s CAN NODE 2 500 kbit/s

250 kbit/s 250 kbit/s

24 V GND 24 V GND
WHY TO HAVE THE RESISTORS ?
Capacitive phenonemom would practically
mean that voltage would take a while to rise as
it ”charges the circuit” and when voltage drops,
the charge will need to dissipate over time

Inductive phenonemom would mean that coil

structure (twisted pair) would slow the current
changes and when voltage drops, would cause
surges

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s

CAN NODE 1 500 kbit/s CAN NODE 2 500 kbit/s

250 kbit/s 250 kbit/s

24 V GND 24 V GND
MEASURING OHMS FROM CAN BUS
When you measure the ohms If we simplify the CAN Nodes
of CAN BUS, think about the to resistors, they are
circuit from point of view of something worth of 19…52
series and paraller kilo ohms, without power
connections and simplify. usually around 50 kΩ

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

9624 V GND 24 V GND 24 V GND
MEASURING OHMS FROM CAN BUS
If we simplify the CAN Nodes Now if we draw the nodes as
to resistors, they are resistors and see what is their
something worth of 19…52 effect on the circuit:
kilo ohms, without power
usually around 50 kΩ

120 Ω 120 Ω

HIGH LOW HIGH LOW HIGH LOW

50kΩ 50kΩ
50kΩ
CAN NODE 1 CAN NODE 2 CAN NODE 3
MEASURING OHMS FROM CAN BUS
Now we have a paraller Therefore let’s simplify the
connection of 5 resistors connection by removing the
50 kΩ resistors completely
As 50 kΩ resistors are very from the big picture
big, they do not effect on total
resistance significantly

120 Ω 50kΩ 50kΩ 50kΩ 120 Ω

MEASURING OHMS FROM CAN BUS
Now multimeter practically When equal sized resistors
sees paraller connection of are connected in paraller, the
two 120 Ω resistors. total resistance is resistance
value divided with the amount
of resistors on the bus:
120 / 2 = 60 ohms

120 Ω 120 Ω
MEASURING OHMS FROM CAN BUS
If there would be connection If we only see 120 Ω when
mistake and accidentally third measuring, then we do not
resistor would have been have connection to other
added, then resistance would resistor or it is broken.
be:
120Ω / 3 = 40 ohms

120 Ω 120 Ω
HOW BIG EFFECT THE NODES HAVE TO CALCULATION?
Without Nodes:

With Nodes:

Difference caused by CAN Node in calculation is neglible.

Bigger differences will come already from the end resistor tolerances, measuring
leads etc…
CAN BUS STRUCTURE – END RESISTORS
Resistors are usually visible outside the module connectors or connected straight to terminal
strips of the module.

Sandvik uses module RLU and Epec PLCs in some applications, and they can have resistor
inside the module.
CAN BUS TERMINATION WAYS
Usually termination is done with 120 Ω resistor,
STANDARD TERMINATION this is called standard termination

120 Ω In situations where there is significant amount of

high frequency disturbances, a split termination
can be used.

SPLIT TERMINATION In split termination end resistor is divided to two

60Ω resistors and Capacitor is connected to
60 Ω ground between them. This practically creates a
RC-filter (low pass filter)
60 Ω
CAN BUS TERMINATION WAYS
With the capacitor present, the high frequencies
STANDARD TERMINATION
will connect to the ground. Impendance for the
connection can be written as:
120 Ω

SPLIT TERMINATION
Practically when the frequency increases, then
60 Ω impedance of the capacitor changes linearly
towards short circuit
60 Ω
By selecting a correct size Capacitor
(C ~ 10…100 nF), the interference frequencies
lead to the ground and thus filtered off from the
system
MULTIPLE CAN BUSSES
CAN CAN HIGH
If a single CAN Bus would be wired through the NODE 1

entire machine, it would be quite fragile CAN LOW

CAN CAN HIGH

NODE 2
CAN LOW

Therefore is many applications it is better to divide CAN CAN HIGH

the CAN Bus to smaller physical segments. NODE 3

CAN LOW

CAN CAN HIGH

NODE 4
CAN LOW
If one segment damages, it does not affect on other
segments of the bus. CAN CAN HIGH
NODE 5
CAN LOW

105
EXAMPLE OF DIFFERENT CAN BUSSES BLOCK DIAGRAM
CAN BUS COMMUNICATION 1

INPUT COMPUTER OUTPUT

MODULE & MEMORY MODULE

PT1000 PT1000

POWER MODULE

CAN BUS 1 CAN BUS 2

CAN BUS 2 CAN BUS 1
COMMUNICATION COMMUNICATION
COMMUNICATION COMMUNICATION

OUTPUT INPUT COMPUTER OUTPUT

INPUT COMPUTER
MODULE & MEMORY MODULE
MODULE & MEMORY MODULE

106
POWER MODULE POWER MODULE
DIFFERENT CAN BUSSES
Internal connection of the module

CAN1H
ELECTRONICS
CAN1H
FOR CAN1
CAN1L COMMUNICATION
CAN1L

COMPUTER &
MEMORY

CAN2H
ELECTRONICS
CAN2H
FOR CAN2
CAN2L COMMUNICATION
2 physically separate busses which are independent
CAN2L
from each other

Communication between them with the computer

inside the module
DD422I EXAMPLE DM2:
-Drill Master for Boom 2
-NMT Master for Boom 2
CAN2 HIGH
DM2
BC2:
-Controller for Boom Valves CAN2 LOW

DC2:
-Controller for Drilling Valves CAN1 HIGH
BC2

CAN1 LOW

CAN2 HIGH CAN1 HIGH

DC2
FS2
CAN2 LOW CAN1 LOW

CAN1 HIGH
BS2
BS2 CAN1 LOW BS2:
- Sensors at the boom

CAN1 HIGH
FS2 FS2:
- Sensors at the feed
DC2 CAN1 LOW

108
BC2
DM2
COMMON TERMS IN CAN BUS
Node Device attached to the bus, for example PLC or computer

Node-ID CAN bus address for Node

Bit/Baud Rate Speed of communication

NMT Master Master module responsible for starting of the devices and
”monitoring”

Heartbeat Message from Node reporting that it is alive in the bus

Twisted pair CAN High and Low twisted around each other

Drop Line CAN wiring to module which is ”off” from the main route of wiring
ACTUAL MESSAGE OF CANOPEN AND J1939
Main Point:
More technical than
the simplification, but
difference of the
busses:
Different layout and
insides of the
messages
DIFFERENCE OF CANOPEN AND J1939
Main Point:
Different message
structure

Messages form up of
voltage changes

FILL

FILL

FILL
CAN MESSAGE PRIORISATIONS A B OUTPUT
0 0 0

OUTPUT
Every CAN Messages start with ”a fight”, this A

fight is called priorisation or arbitration B

& 0 1 0
1 0 0
This fight is the message priorisation, where 1 1 1
the most important message will win the fight
A

OUTPUT
Priorisation function in CAN Bus can be seen
B
C
&
as logical AND-function, where 0 is dominant
A B C OUTPUT
0 0 0 0
So this means that all of the bits will need to
0 1 0 0
be 1 that the message would be 1, if the
0 0 1 0
message is 0, then end result is 0  0
0 1 1 0
dominant 1 0 0 0
1 1 0 0
Example of different AND-functions at right, 1 0 1 0
with 2 inputs and with 3 inputs 1 1 1 1
CAN MESSAGE PRIORISATIONS
Example 3 CAN Nodes which are sending Node 1
messages with different priorities, one has Node 2
Node 3
& CAN Bus
priority 177, second 813, third 218:

One which sends 0 for longer, meaning a

Another way to see the structure:
smaller binary-value, wins the race:
+5V +5V

+5V

Practically technical construction is voltage

measurement. Sending 0 is always stronger in
CAN Bus, you could compare this to small
power supply Vs strong GND. GND will
always win.
SIGNAL REFLECTION PART

114
SIGNAL REFLECTION AS A TERM
Many materials state that one purpose for end
STANDARD TERMINATION resistors is preventing the signal reflections
120 Ω
This is quite complex situation theorethically and
works outside the ”common understanding of
electrics”
SPLIT TERMINATION

60 Ω Next slides explain the signal reflection and how it

affects on the CAN Bus
60 Ω
MEANING OF SIGNAL REFLECTION
When signal is transmitted along a cable, some of
the signal power will be reflected back to its origin
rather than being carried all the way along the
cable to the far end if there is no end termination

As the signal passes through the wiring it will reach

the end of the cables at some point. If there is no
load to eat the energy of the signal, then the
energy from signal is reflected back to transmitter

This creates inconstintency to signal and errors

MEANING OF SIGNAL REFLECTION
At right an example of square wave generator
connected to oscilloscope and to a long cable
without termination

As you see the wave changing, the cable

momentarily acts as a load and then as the signal
sent is dissipated, it drops back to zero

SWG

SCOPE
MEANING OF SIGNAL REFLECTION
If the ends of the cable is shorted, then signal form
changes

A brief pulse creates a momentarily voltage to the

lines, but then it levels down to 0 volts and this
pattern repeats

The width at the top or bottom of the screen is the

time that it takes for the signal to end up to the
short circuited part and then to reflect back
SWG
It could be used to calculate the lenght of the cable
in this example
SCOPE
MEANING OF SIGNAL REFLECTION
When resistance is installed to end of the cable
then signal type depends of the ohms

Ohms very low: Ohms too high

Ohms at optimal level

With too low ohms, the signal generator is not

SWG able to keep the signal shape up
With too high ohms, the signal takes time to rise
up and the system is not able to rise the voltage
SCOPE fast enough
IF TERMINATION IS IN MIDDLE OF THE CAN BUS
Center termination in CAN Bus will not affect if the
bus lenght is short

If the lenght of the CAN Bus increases, then

reflections in signal can happen at the end where
there is no ”load” from the resistor

At longer busses this can cause some amount of

error frames

It will also generate overshoots and undershoots

CAN CAN
NODE NODE
MEANING OF SIGNAL REFLECTION
STANDARD TERMINATION
In short: The energy of the signal from the
transmitting unit is reflected back to the sender and
120 Ω the wave form suffers

The design of the CAN bus has been optimized to

SPLIT TERMINATION
2 pieces of 120 ohm end resistors and this creates
the optimal wave shape for the signal
60 Ω

60 Ω Signal reflections can also happen due to the

imperfections in the cable when there is impedance
mismatches and changes in the cable
characteristics / connectors
SIGNAL REFLECTION – WORST CASE SCENARIO
If multiple dominant bits are simultaneously sent from many nodes in the CAN bus

As the signal wave goes forward in the bus line and arrives to the readily loaded
section of the bus, then mismatch in impedances causes reflection for the voltage
to backwards in the bus

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND
CAN ERROR COUNTERS
CAN bus has error calculators which are
calculating the amount of errors in messages

The ways of calculations are:

Bit error
CRC-error
Stuff bit error
Ack error
ERROR
Depending of the application, the error
messages can be built with different limits,
ACTIVE

> X XX
XX
with internal up&down counters or just up

co toma e/bo
Re and ally
or s > X

au h tim
mm tic ot
wit

se
>X X
XX
er r r s
counter

ors XX

t b , or
Rx erro

y
err s >
Tx

Rx error
If amount of errors rises over certain treshold,

Tx
CAN Node can end up in BUS OFF state
ERROR
BUS OFF
PASSIVE Tx errors > XXX
OTHER COMMUNICATION WAYS
CAN Bus is very limited from amount of data
what it can deliver

Example:
- CAN Bus data amount 500 kilobits / second
- Ethernet data amount 100/1000 Mbits per
second

Therefore in some well protected areas of the

machine Ethernet is used for data transfer
OTHER COMMUNICATION WAYS
Ethernet in Bedrock machines is used
inside Cabin, it transfers the critical
information between the main computers
and could also be used for external
access

Ethernet is in so well protected area

(cabin) that there is practically almost no
problems with it on the machine

Machine can also have other

communication ways between the
modules
TROUBLESHOOTING
• First question: What is wrong ?
• What bus is broken ?
• What can cause it ?
• Is the problem outside the bus ?
• Has something been done to the
machine ?
• Do I have all the necessary
documentation for troubleshooting ?

126
HOW TO APPROACH THE BUS PROBLEM
STEP 1:
Use the main screen to identify
trouble area 1

STEP 2:
Check the documentation for actual
structure of bus (diagnostic views are
not the correct structure for the bus) 2

- Corroded connector
STEP 3: - Broken cable in boom
- Power off from module
Identify different fault cases, list them 3 2
and start removing them until you find - Circuit breaker tripped
- etc……..
the problem
MULTIMETER MEASUREMENTS

128
MEASURING OHMS IN CAN BUS
INSTRUCTIONS: RESULTS:
- Turn OFF power ~ 0 Ω = Bus wires broken to both end
~ 40 Ω = One resistor too much in bus
- Measure correct BUS
~ 60 Ω = Both resistors found, bus intact
~ 120 Ω = One resistor only seen in
measurement
~ xx kΩ = Power is probably ON while
measuring

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V
129 GND 24 V GND 24 V GND
TRYING TO FIND BROKEN PART OF THE CABLE
INSTRUCTIONS: RESULTS:
If broken connection is found, ~ 0 Ω = Bus cabling connecting
find the part of the wiring which
is broken. ~ high Ω = Bus cabling broken
- Turn OFF power
- Measure correct BUS

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V
130 GND 24 V GND 24 V GND
BASIC TROUBLESHOOTING IN CAN BUS
INSTRUCTIONS: RESULTS:
- Power ON About 0 V = Bus is shorted to GND or
power is OFF
- Measure correct BUS
Under 5 V = Things are looking about good
Over 5 V = Something is badly wrong,
probably short to some other
voltage supply

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V
131 GND 24 V GND 24 V GND
MEASURING SHORTS TO 24 V
INSTRUCTIONS: RESULTS:
- Turn OFF power ~ 0 Ω = Short Circuit
~ high Ω = Circuit ok
- Measure correct BUS
- Measure CAN HIGH & CAN LOW

120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2

24 V GND 24 V GND

24V DC POWER SOURCE

MEASURING SHORTS TO GND
INSTRUCTIONS: RESULTS:
- Turn OFF power ~ 0 Ω = Short Circuit
~ high Ω = Circuit ok
- Measure correct BUS
- Measure CAN HIGH & CAN LOW

120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2

24 V GND 24 V GND

24V DC POWER SOURCE

MODULE POWER SUPPLY CHECKS
RESULTS:
INSTRUCTIONS:
~ 0V = Internal power supply Failed
- Turn ON power
~ 3V = Internal power supply OK
- Measure ID / BR points against
ground
FAULT FINDINGS WITH MULTIMETER
DO YOU NEED SOMETHING MORE FANCY ?
• Oscilloscope

• CAN Bus analyzer

• Something else ?

136
WHAT ABOUT OSCILLOSCOPE ?
OSCILLOSCOPE IMAGE OF ONE CAN BUS
Overshoot So, what are you
going to do ?

Voltage change is not Disturbances in bus

Undershoot fast enough after voltage change
COMPUTER ANALYSING TOOL
So, what are you going to
do to fix things ?
TOOLS FOR FAULT FINDING
TOOLS NEEDED FOR CAN BUS
TROUBLEHOOTING:
- Multimeter which can read DC voltage up to
24V and measure ohms with accuracy of 1 Ω is
needed OR some device which does the
similiar things
- Basic set of tools, different screwdrivers, hex
keys, Torxes etc…
- Machine documentation and circuit diagrams
- Fault Finders logical thinking abilities and
some level of understanding about electrics

With these it is possible to cover 99% of problems

happening on field with the machines
BASIC REPAIR GUIDELINES
- Replace the broken cables with same lenght
cable or shorter
- If longer cable is required in the moment of repair, 1
replace it later with correct lenght one

- Avoid extra connectors while repairing

- If necessary for the fix, then remove them at
next maintenance
2
- Use correct amount of protective grease on
connectors - Corroded connector
- If not available during repair, add later
- Broken cable in boom
- - Power off from module
Only use correct parts and correct pin 3 2
materials - Circuit breaker tripped
- If not available during repair, change them later
- etc……..
- Avoid quick & dirty repairs for the bus
- If only possibility during repair, fix the structure
later
NOTE! DIFFERENT PIN&SOCKET MATERIALS
Wire harnesses on Sandvik UG rigs use two different pin
material on Deutsch connectors:
- Tin (Sn) plated ones
- Less corrosion resistance
- Cheaper
- Good availability
- GOLD (Au) plated ones
- Best Corrosion resistance
- More expnsive
- Mediocre availability

Do not mix different pin materials! If mixed, this will cause

corrosion and Tin plated connector will corrode away.
Always use Gold plated connection pins in CAN lines.
NOTE! POSSIBLE DEUTSCH CORROSION INSIDE THE
CONNECTOR

Possible place for corrosion build up.

Externally connector might look ok, but
inside the connector it can be corroded.
NOTE! EPIROC & SANDVIK M12 CABLES
Epiroc uses different pin lay-out in their BG00779149 – M12 CABLE
Sandvik Male – CiA Female
cables
24 V 1 2

CAN LOW 2 5

If working in site which have spare parts from GND 3 3

both manufacturer, do not mix them CAN HIGH 4 4

SHIELD 5 1

Use original M12 cables from Sandvik to BG00779148 – M12 CABLE

avoid possible trouble with compatibility, Sandvik Female – CiA Male
adapter cables are existing, example of them 24 V 1 2
at right CAN LOW 2 5
GND 3 3
CAN HIGH 4 4
SHIELD 5 1
COMMON CONNECTOR PIN-LAYOUT

In Bedrock rigs, connector pin-lay outs can be found from end of the Cabin diagram.
CONNECTOR LAY-OUTS
MOST COMMON FAULTS IN BUS
1. CONNECTOR
- Corroded or damaged connector
- Too much protective grease

2. EXTERNALLY CAUSED TROUBLE

- Mechanical damage
5. INCORRECT PROGRAMMING
- EMC Trouble
- Module is not programmed
- Correct procedures not
3. BROKEN CABLE followed
- Cable damaged
- Trouble can continuous or
6. BROKEN COMPONENT
appear only at certain bends - Component damaged somehow

4. POWER SUPPLY / GROUND MISSING

- Power/GND is not coming to the module
- Power cable is damaged
MACHINE BACKUPS – CAN DATABASE FILE
In Bedrock machine backup section there is a
selection to download CAN Database files

This includes practically rules for conversion of units

and messages:
- Channel Names
- Location (start bit) and size (number of bits)
of the channel withing a given message
- Byte Orders
- Data type
- Scaling and Unit Strings
- Ranges
- Default Values
- Comments
CAN DATABASE FILE – PRACTICAL PURPOSE
This data file can be used to convert the raw frame
information from the CAN Bus to real world values, for
example:
´ Data Frame of boom position
Offset Boom Lift = 300
xxxx… 1157 …. 1028 ….. Offset Boom Swing = 100
Unit = degree

Boom Swing
Boom Lift

Now using the offset values:

Boom Lift = 1157 + 300 = 1357 raw value

Of course more understanding and knowledge is

needed for these conversions, but this is the rough
principle.
150
CAN TOOLS AVAILABLE FROM SANDVIK
Sandvik provides several different specialized tools for CAN BUS
Troubleshooting:

1. SGW
- Does basic diagnostics on the BUS, similiar checks as
with Multimeter and indicates with lights the status of the
BUS
2. Logger
- Logs all the CAN Bus date which can then be used by
designers to check if something is wrong there
3. RLU
- Repeater Logger Unit, same functionality as Logger
with less memory and acts as a CAN Repeater as well
4. Fluke 179
- Basic multimeter
SGW KIT

152
SGW – SANDVIK GATEWAY
Functions as RS to CAN converter in DL machines

Functions as mini CAN Analyzer when configured so

In future can function as programming tool provided

with every Bedrock jumbo and at the same time
would be a fault finding tool for CAN Bus, which is
always provided with the machine
SGW – SANDVIK GATEWAY
CONNECTION TO PC
Kit code:
BG001061383 includes:
- SGW
- Deutsch adapter cables
- M12 adapter cables
- T connector
- M12 – RJ45 Ethernet cable
SGW – SANDVIK GATEWAY
LOGGER

156
LOGGER – BG00508068
CAN-Logger

32 Gb Flash ( Vs 4 Gb or more in RLU )

-- 4 Gb = 30h log with 30% Bus load with 500kbit/s --

RTC Capasitor ( Clock to hold time for about a week)

2 x DT04-6P

IP- address: 192.168.0.100

LOGGER – INSIDE WITH ETHERNET
LOGGER – INSIDE WITH ETHERNET
RLU

160
RLU – REPEATER LOGGER UNIT – BG00360378
8…36V, -40…+85 C Diagnostic LEDs:
ARM Cortex-M4 100MHz, 512 kB Flash, 128kB RAM Leds green: Power is switched ON
Freescale MK20DX512ZVLL10 Is CAN Trafic: Led blinks according to the
Mass storage 4 (…64) GB eMMC load
MMA8451QR1 3-axis accelerometer (same as IKL) If error msgs, led blinks red
Current consumption <30 mA @ 24 V If logging active, both leds blink yellow
once every few seconds
CAN, 120 ohm 2W resistors at both side

Ethernet 10BASE-T & 100BASE-TX

Default IP 192.168.0.100 – Internal web server
RLU – REPEATER LOGGER UNIT CONNECTING
Switch off Proxy server from computer Ethernet
settings, connect using IPv4, shut down other
Ethernet connections

Connect ethernet cable and power and with internet

browser go to 192.168.0.100

Browser opens up the web server inside the RLU

RLU – REPEATER LOGGER UNIT FUNCTIONS
Accelerometer
Same as IKL

Repeater
Terminates BUS from both ends, cleans and filters
the messages going through the RLU and ”cleans”
the signal shape. Negative effect: slows down the
bus

CAN Date Log:

Writes to internal memory all of the CAN
communication passing through the unit
RLU – REPEATER LOGGER UNIT CONNECTING
RLU Configurations at right side

Note: Baud rate, Repeater, Logger, Time,

RLU – REPEATER LOGGER UNIT CONNECTING
Log file is created from power up to power down OR
size is limited to 100 MB
File needs to be converted to ASCII format with RLU
Converter program (Hardware library):

After conversion, the data can be analyzed by

”software guy” with CAN message analysis tools
MULTIMETER

166
QUESTIONS / TEST

167
QUESTION 1
What are the ohms for the USE:
system if it is operational and Paper and Pen
working well + power is OFF ?

What would be the value about

if the power is ON ?

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V
168 GND 24 V GND 24 V GND
QUESTION 2
DD422i:
You see from machines troubleshooting
window the following problem.

What is the problem and how do you start

doing troubleshooting ?

USE:
Schematics of the machine
Paper and Pen
QUESTION 3
CAN CAN HIGH
At right CAN NODE 1 is sending message 0011 NODE 1
to the bus. CAN LOW

CAN CAN HIGH

NODE 2
How does the communication happen and why CAN LOW

does every node on the bus see the message ?

CAN CAN HIGH
NODE 3
CAN LOW
Use:
CAN
Paper and Pen NODE 4
CAN HIGH

CAN LOW

CAN CAN HIGH

NODE 5
CAN LOW
QUESTION 4
At right you see Centralized system and De-
centralized system.

Explain benefits of both system over each other

at least in one case.

USE:
Pen and Paper
QUESTION 5
Calculate in binary system:

1
2
3
4
5

USE:
Pen and Paper
QUESTION 6
At right there is VCH
component.

Explain the purpose of CAN1

and CAN2 connectors.

USE:
Pen and Paper
QUESTION 6
At picture, what has been done to
CAN Bus cable wiring and why ?
QUESTION 7
CAN CAN HIGH
Open up schematics from DD422i, and draw CAN NODE 1
Bus structure to paper from DM1 to FS with roughly CAN LOW

the same logic as at right in picture. Also add cable CAN CAN HIGH
markings and connectors to the picture. NODE 2
CAN LOW

CAN CAN HIGH

NODE 3
CAN LOW

CAN CAN HIGH

NODE 4
CAN LOW

CAN CAN HIGH

NODE 5
CAN LOW
QUESTIONS 7,8, 9
QUESTION 7
Purpose of NMT Master ?

QUESTION 8:
Purpose of Hearbeat signal ?

QUESTION 9:
Purpose and meaning of Node ID ?
QUESTION 10
• Basic rules when fixing the CAN Bus on a machine, what do you need to take in
consideration:
1
2
3
4
5

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s
ID: 1 ID: 1

ID: 2 CAN NODE 1 500 kbit/s ID: 2 CAN NODE 2 500 kbit/s

ID: 3 250 kbit/s ID: 3 250 kbit/s

24 V GND 24 V GND
QUESTION 11
CAN2 HIGH
DM2
You measure ohms from DC2 CAN2 LOW
controller of a system which
has been built like at right. BC2 CAN1 HIGH

CAN1 LOW
What are ohms at CAN2 and
CAN1 side if the resistors in CAN2 HIGH
DC2 CAN1 HIGH

use are all standard resistors CAN2 LOW CAN1 LOW

for CAN Bus ?

CAN1 HIGH
BS2
CAN1 LOW

CAN1 HIGH
FS2
CAN1 LOW
QUESTION 12 – PLC PROGRAM
If Digital Input 1 is 24 Volts, then we follow PT1000 value, if not we do not care of it
If Input 3 is ON, we turn on Output 1 and 2, but force Output 3 to be OFF
If Input 3 is OFF, we turn on Output 1
If PT1000 shows value of 20…50 degrees we turn on Output 1
If PT1000 shows value of 30…70 degrees we turn on Output 3, if nothing else is stopping us

OUTPUT 1
DIGITAL INPUT 1 QUESTION:
ANALOG INPUT 2 INPUT COMPUTER OUTPUT OUTPUT 2
What needs to
MODULE & MEMORY MODULE
happen that
PT1000

INPUT 3
OUTPUT 3 Output 3 is
S1

S2

turned ON by the
POWER MODULE
program ? And
what else
happens ?
+ -

24V DC POWER SOURCE

QUESTION 13 – J1939 MESSAGE
When CAN Bus message is sent, in this example J1939, what system
inbuilt to the message checks that the message is correctly readed by
the receiver ?
QUESTION 14
CAN CAN HIGH
You measure CAN High and CAN Low with Multimeter NODE 1
CAN LOW

What does the instrument show when system is up and

CAN
running roughly when you measure: NODE 2
CAN HIGH

CAN LOW

Ohms ?
CAN CAN HIGH
NODE 3
CAN LOW

DC Voltage ? CAN CAN HIGH

NODE 4
CAN LOW

CAN CAN HIGH

NODE 5
AC Voltage ? CAN LOW
QUESTION 15
What is the purpose for the connectors XJ4.7 to XJ4.10 ?
QUESTION 16
What is the purpose for the connectors XJ4.11 to XJ4.12 ?
QUESTION 17
Why the CAN Bus below would not work correctly ?

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s
ID: 1 ID: 1

ID: 2 CAN NODE 1 500 kbit/s ID: 2 CAN NODE 2 500 kbit/s

ID: 3 250 kbit/s ID: 3 250 kbit/s

24 V GND 24 V GND
QUESTION 18
Explain the working and purpose of CAN Bus differential signal communication

CAN HIGH CAN LOW CAN LOW CAN HIGH CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND

24V DC POWER SOURCE

QUESTION 19 Make one line drawing of the following bus with
end resistors also showing in the picture:
BUS Structure:
- DM1 and DM2 connected to each other with
CAN1, DM2 has end resistor. From DM1 bus
continues to somewhere
- DM2 CAN2 connected to BC2 and DC2 CAN1
- DC2 CAN2 connected to BS2 and FS2 CAN1
QUESTION 20

How are you suppose to connect the CAN Bus cable screen according to
the picture below ?

120 Ω 120 Ω

CAN HIGH CAN LOW 1 000 kbit/s CAN HIGH CAN LOW 1 000 kbit/s

CAN NODE 1 500 kbit/s CAN NODE 2 500 kbit/s

250 kbit/s 250 kbit/s

24 V GND 24 V GND
QUESTION 21

If you need to fix CAN Bus cabling and it will end up having a Drop Line.
What points you need to consider when fixing this sort of bus structure
with whatever spares you have at your hands ?

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND
QUESTION 22

In your machine you have a CAN Bus with speed of 1000 kbit/s and 250
kbit/s.

What is the weakness of 1000 kbit/s Bus comparing to 250 kbit/s and what
do you need to take in consideration when fixing it ?
QUESTION 23
What should be done to the
CAN wiring in this picture to
make it work better ?
QUESTION 24
Why the CAN Bus below does not work ?

120 Ω 120 Ω

CAN HIGH CAN LOW CAN HIGH CAN LOW CAN HIGH CAN LOW

CAN NODE 1 CAN NODE 2 CAN NODE 3

24 V GND 24 V GND 24 V GND

24V DC POWER SOURCE

QUESTION XX

Do you feel confident with CAN Bus ?