Hydraulic Mining Excavators

CAMP/ SIL – Electric System CAT-6060FS AC

Can Bus and Mod Bus

Sebastian Fillinger - 2014

 Service Training
CAN-BUS Breakdown
BCS Screen Hand Lever and Foot Pedals

CAN - Bus 1

CAN - Bus 2 (safety Bus)

MOD - Bus

Drive Controller

Auxiliary
Servo Controller
Controller

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CAN-Bus Service Training

CAN means:

“Controller Area Network” and is developed 1983 by Robert Bosch GmbH to reduce the Harness trees on Vehicles like Cars, Trucks etc.

Can is a massage based protocol, designed specifically for automotive applications.

Basic Buildup
(Example):

CAN – CAN – CAN –

Participant Participant Participant
1 2 ……..

Terminating Terminating
Resistor Resistor

120Ω 120Ω

CAN_High

CAN_Low

T-Piece T-Piece T-Piece

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 CAN-BUS Signal Service Training

Bit Rate = 250kbit/s

U CAN

4,5V

3,5V CAN - High

2,5V

1,5V CAN - Low

Bit time 4µs at 250kbit/s

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CAN-BUS I Service Training

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CAN-BUS II Service Training

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CAN-BUS II Service Training

SIL 2 relevant Joysticks SIL 1 relevant Foot Pedals

-Cause of SIL 2 relevant Hardware the Joystick -Cause of SIL 1 relevant Hardware the Foot
can not swapped against each other Pedals can swapped against each other
-There is each Part Number for LH and RH -There is only one Part Number for all Foot
Joystick existing Pedals existing
-The Foot Pedals can be adjusted via rotary
switch on the bottom of the Pedal

Address
Adjustment

Address Table Foot Pedals

Control Unit Address

-Foot Pedal Left 2

-Foot Pedal Middle 3
-Foot Pedal Right 4
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MOD-Bus Service Training

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CAN-Bus Layout Service Training

CAN - Bus 1

CAN - Bus 2 (safety Bus)

MOD - Bus

Drive
Controller

MPR

Auxiliary
Controller

Servo
Controller

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CAN-BUS Cable Overview Service Training

CAN Bus cable complete Metal shield

Metal shield around each pair of

cables. Cables also twisted Single wires

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CAN Bus Connector (T-piece) Overview Service Training

PIN 4
CAN High
(white cable)
PIN 5 PIN 4
PIN 5
PIN 3 CAN low CAN High
CAN low (blue cable) (white cable)
0 VDC (blue cable)
(black cable)
PIN 3
0 VDC
PIN 2
(black cable)
+ 24VDC
(red cable) PIN 1
Shield PIN 1
(metal cable)
Shield
(metal cable) PIN 2
+ 24VDC
(red cable)

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CAN-BUS Troubleshooting Service Training

• Each CAN bus is connected with two 120Ω Terminating Resistors.

• The Terminating Resistors are connected in parallel between CAN-High (white cable ) and CAN-Low
(blue cable).
• The total Resistant of each CAN Bus System on the Machine is around 60Ω.

CAN – CAN – CAN –

Participant Participant Participant
1 2 ……..

Terminating Terminating
Resistor Resistor
CAN_High
120Ω 120Ω

CAN_Low

T-Piece T-Piece T-Piece

Please Note: For Resistance Check Ignition has to be off!

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CAN-BUS Troubleshooting Service Training

The resistance between each of the CAN bus lines (CAN-High / CAN Low) and ground (machine chassis)
needs to be high (MΩ).
CAN – CAN – CAN –
Participant Participant Participant
1 2 ……..

Terminating Terminating
Resistor Resistor
CAN_High
120Ω 120Ω

CAN_Low

T-Piece T-Piece T-Piece

T-Piece

Ground Ground
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Please Note: For Resistance Check Ignition has to be off!
CAN-BUS Troubleshooting Service Training

• Voltage between CAN-High and Ground (machine chassis) needs to be about 2,6V.
• Voltage between CAN-Low and Ground (machine chassis) needs to be about 2,4V.

CAN – CAN – CAN –

Participant Participant Participant
1 2 ……..

Terminating Terminating
Resistor Resistor
CAN_High
120Ω 120Ω

CAN_Low

T-Piece T-Piece T-Piece

T-Piece

Ground Ground
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Please Note: For Voltage Check Ignition has to be on!
CAN-BUS Troubleshooting Service Training

In case of missing Resistor the total Resistance of CAN Bus System is 120Ω.

CAN – CAN – CAN –

Participant Participant Participant
1 2 ……..

Terminating
Resistor
CAN_High
120Ω

CAN_Low

T-Piece T-Piece T-Piece

Please Note: For Resistance Check Ignition has to be off! 15

CAN-BUS Troubleshooting Service Training

In case of three Resistors the total Resistance of CAN Bus System is 40Ω.

CAN – CAN – CAN –

Participant Participant Participant
1 2 ……..

Terminating Terminating
Resistor Resistor
CAN_High
120Ω 120Ω

CAN_Low

T-Piece T-Piece T-Piece

Please Note: For Resistance Check Ignition has to be off! 16

Questions? Service Training

Questions are free of charge!!!

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Notes: Service Training

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