MVS-CAN通信协议-翻译版

CAN-Specification for MVS MS6.2 V33

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1.General Requirements (3)

1.1.Standards and Additional Specifications (3)

2.Construction of the CAN Bus (3)

3.Messages (3)

3.1.Baud Rate (3)

3.2. Configuration Parameter for CAN Identifier and Transmission Rates (3)

3.3Configuration Parameter to Enable Messages (4)

3.4 Monitoring of Receive Messages (4)

3.5Not Available or not Valid Data Bytes (4)

3.6List of Messages (4)

4.CAN Send Messages (5)

5.CAN Receive Messages (10)

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1. General Requirements

The CAN Bus (Controller Area Network) is a communication port to exchange data between diagnostic systems and other controllers.

MVS receives data for engine operation and sends diagnostic information, measured data and calculated data via the CAN Bus.

1.1. Standards and Additional Specifications

The CAN-Interface is based on following standards :

SAE-J1939/21 1994-07.

SAE-J1939/71 1996-05

DIN ISO 11898 August 1995

Additional Specifications:

List of MVS Error codes, Blink Codes

2. Construction of the CAN Bus

The can bus lines must be twisted pair.

The maximum length of the complete Bus should not exceed 40m.

The distance between two CAN Bus controllers must be min. 0,1m.

The CAN BUS wires should go directly from one controller to the next controller,

because separate lines from a controller to the can bus must be max. 0.3m (for max baud rates up to

1Mbaud).

The CAN Bus must be terminated with a resistor 121 1% min 0.5W at both ends of the CAN Bus. MVS has got an internal termination resistor. So it must be place at the end of the CAN Bus.

For special applications MVS controller without termination resistors are available.

3. Messages

3.1. Baud Rate

Baud rate: 250 K Bit/s

3.2. Configuration Parameter for CAN Identifier and Transmission Rates

The messages are corresponding to the standards see above.

Additional MVS specific proprietary messages are defined.

The transmit rates, the receive rates and the identifiers are specified in this document, but for special applications modifications may be necessary.

The following parameter are configuration parameters for the CAN messages:

1. Scan rates of the receive messages

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2. the identifiers are set to the values which are listed in the chapters of transmit and receive messages.

For special application like to MVS controllers on one CAN BUS the complete identifiers can be modified by configuration parameters.

3. The identifiers consist on:

? The Priority of the message

? The 2 Byte PDU which tells the receiver what message it is

? The source address of the message. That is the node address of the sender.

It is the last byte of the identifier and normally set to zero for engine controllers.

3.3 Configuration Parameter to Enable Messages

It depends on the application which MVS CAN Bus messages are enabled.

MVS sends the CAN messages all the time.

The receive messages have access to the MVS engine control functions. Therefore for each receive message there is a configuration parameter to enable the receiving and the access to the MVS functionality. Enabled receive messages are monitored continuously.

3.4 Monitoring of Receive Messages

Each enabled receive message will be monitored. Three seconds (configuration parameter) after start of the engine the time out monitoring will be started. If the receive message is missing longer than 5s (configuration parameter) then the message is in time out and a fault message will be generated.

3.5 Not Available or not Valid Data Bytes

If data of a messages are foreseen but not available or not used, then these data have to be marked as …not defined“ by setting value to FF in byte data and FFxx for 2byte data, as defined in the standard. Not valid data, i.e. recognized as defective by an diagnostic function, have to be set to the value FE or FExx.

3.6 List of Messages

The first column of the following lists contains the Message name, the repetition rate and the identifier. The second column explains the data bytes.

Example:

Name: Electronic Engine Controller Message 1

EEC1

Repetition rate: 10 ms

Identifier: 0C F0 04 00

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4. CAN Send Messages

MVS MS6.2 P060.V33

Message Data Bytes

Electronic Engine Controller Message 1 EEC1 10 ms 0C F0 04 00 Byte 1: Status Bits 1 to 4 engine torque mode 0 = Idle governor active (default) 1 = Accelerator pedal active 2 = Cruise control active 3 = PTO governor active 4 = Road speed limitation active 5 = Brake control active 6 = Transmission control 7 = Torque limitation is active 8 = High speed governor is active Bits 5 to 8 are not defined Byte 2: Requested engine torque in % related to Mdmax 1% / bit, Offset 125, range 0 to 100% Example 135 = 10% Byte 3: Engine torque related to Mdmax 1% / bit, Offset 125, range 0 to 100% Byte 4,5: Engine speed 0,125 rpm/ bit, range 0 to 8031 rpm Bytes 6, 7, 8 not defined Electronic Engine Controller Message 2 EEC2 50 ms 0C F0 03 00 Byte 1: Status Bit 1, 2 Idle throttle switch 00 = not idle and plausible 01 = idle and plausible 10 = not plausible ( error value) 11 = switch not available Bits 3, 4 status accelerator pedal Kick down switch 00 = not active, 01 = active, 10 = Error Bits 5,6,7,8 not defined Byte 2: Accelerator pedal 0,4 % / bit, range 0 to 100% Byte 3: Percent load at current speed Engine torque related to max engine torque at engine speed 1% / bit, range 0 to 125% Bytes 4, 5, 6, 7, 8 Not available

Electronic Engine Controller Message 3 EEC3

250 ms

18 FE DF 00 Byte 1: Engine friction torque

nominal friction torque related to max. friction torque ( Mdmax) 1% / bit, Offset 125, range 0 to 100%

Example 135 = 10%

Bytes 2, 3, 5,6,7,8: = not available / not defined

Cruise Control / Vehicle Speed 100 ms

18 FE F1 00 Byte 1: Status

Bits 3, 4 parking brake switch

00 = not active, 01 = active

Bits 1,2,5,6,7,8 not available

Byte 2,3: Vehicle speed

1/256 km/h /bit, Range 0 to 251 km/h

Byte 4: Bits 1, 2 Cruise Control Switch 1

00 = not active, 01 = active

Bits 5, 6 Brake Switch, Bits 7, 8 Clutch Switch

00 = not active, 01 = active, 10 = error, 11 = not available Bits 3, 4 are not supported

Byte 5: Cruise Control Switch 2, Set speed switch:

Bits 1, 2 set, Bits 3, 4 decelerate,

Bits 5, 6 resume, Bits 7, 8 accelerate

00 = not active, 01 = active, 10 = error, don’t care

Byte 6: Cruise Control Set Speed

1/256 km/h /bit, range 0 to 251 km/h

Byte 7, 8: State Cruise Control

Bits 6, 7,8:

0 = Off/Disabled

1 = Hold

2 = Accelerate

3 = Decelerate/Coast

4 = Resume

5 = Set

6 = Accelerator Override

7 = not available

Retarder message ERC1 100ms

18 F0 00 29 Byte 1: Status ERC1:

Bits 1 to 4: Retarder Torque Mode, decimal values:

0 = no request

1 = exhaust brake switch operated, i.e. driver operated

2 = exhaust brake requested by vehicle management, i.e.

cruise control

3 = Request for exhaust brake by transmission control

6 = Locking out of exhaust brake by transmission control

7 = Locking out of exhaust brake by ABS,ASR,MSR

Bits 5,6,7,8, Not supported

Byte 2: Percent exhaust brake torque, actual retarder percent torque 1%/ bit, Offset 125, operating range –125% to 0%

0 % = exhaust brake inactive ( Byte 2 = 125 –0 = 125)

100% = exhaust brake active ( Byte 2 = 125 –100 = 25) Bytes 3 to 8 not defined

Engine configuration

(Broadcast Announce Message BAM) 1000 ms

18 EC FF 00 This message contains more than 8 data bytes as must be transmitted using multi packet transport protocol, consisting of one header message (BAM) to define what message to transfer and the following packet messages.

Byte 1: Control Byte = 32d

Bytes 2, 3 Total Message Size = 28 (data length)

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Byte 4: Total number of packets = 4

Byte 5: = FFh

Bytes 6-8 Parameter Group Number of engine configuration = 00 FE E3 (PGN of engine configuration)

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Engine Configuration ( Data Transfer Packages) 1000 ms

packet interval 100ms

18 EB FF 00 Points of limiting torque map:

Point 1: Torque / speed point at idle

Point 2: Torque / speed at highest possible engine speed

Points 3-5: Torque / speed points between points 1 and 2 to permit

linear interpolation over the entire torque range.

Point 6: High idle speed (torque = 0)

Point 7: Maximum momentary engine override speed (torque = 0)

Package 1:

Byte 1: Package identification = 1 (first package)

Byte 2,3: Engine speed at idle, point 1

Byte 4: Percent torque at idle, point 1

Byte 5, 6: Highest possible engine speed, pt 2

Byte 7: Percent torque at highest speed, pt 2

Byte 8:Low byte of engine speed at point 3

Package 2:

Byte 1: Package identification = 2 (second package)

Byte 2: High byte of engine speed at pt 3 1

Byte 3: Percent torque at point 3 2

Byte 4, 5: Engine speed at point 4

Byte 6: Percent torque at point 4

Byte 7, 8: Engine speed at point 5

Package 3:

Byte 1: Package identification = 3 (third package)

Byte 2: Percent torque at point 5

Byte 3, 4: Engine speed at high idle, point 6

Byte 5, 6: Gain of end speed governor

Byte 7, 8: Reference engine torque

Package 4:

Byte 1: Package identification: 4 (fourth package)

Byte 2, 3: Maximum momentary engine override speed, point 7 Byte 4: Maximum momentary engine override time, 0.1s/bit,0 to 25s Byte 5-8: Not supported by EDC

Speed values: 0.125 rpm / bit, Range: 0 to 8031 rpm

Percent torque values: 1%/ bit, Offset: -125%, Range: 0 to 125%

Reference is reference torque of package 3, i.e. 135 = 10%

Gain KP: it is not the droop, it is torque/ speed

0.0007813 % of engine reference torque/rpm / bit,

Range: 0 to 50,2 %/rpm

Torque values: 1 Nm / bit, Range: 0 to 64 255 Nm

Engine temperature 1000ms

18 FE EE 00 Byte 1: Coolant Water Temperature

1K/bit, Offset –40 0C, range -40 to 210 0C i.e. 50d = 10 Degrees Celsius

Bytes 2 to 8 not available

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Inlet Conditions 1000ms

18 FE F6 00 Byte 2: Boost Pressure

2 kPa/bit, range 0 to 500 kPA

Byte 3: Charge Air Temperature, intake manifold temperature 1K/bit, Offset –40 0C, Range -40 to 210 0C

Bytes 1, 4 to 8 not available

Analog Message (AM-MSG)

MVS specific message, not standard 500ms

0C FE DA 00 Byte 1,2: Injection fuel

0,1 mg/stroke/bit, range 0 to 409 mg/stroke/bit Byte 3, 4: fuel temperature

1K/bit, Offset –40 0C, range -40 to 210 0C Bytes 5, 6 Oil pressure

4 kPa/bit, range 0 to 1000 kPa/bit

Bytes 7, 8 Oil temperature (if available)

0,03125 0C, offset -273 0C, i.e. 11936d = 100 0C

Digital Message (DM-MSG)

MVS specific message, not standard 500ms

0CFEDB00 Byte 1: Switch Input

Bits:

0 = Brake switch

1 = reserved

2 = clutch switch

3 = Hand brake switch

4 = Motor Brake switch

5 = Low idle switch

Bits 6 and 7 reserved (set to zero) Byte 2: Switch Output

Bits:

0 = Motor brake switch

1 = Cold start relay

Bits 2 to 7 reserved (set to zero) Byte 3: Switch Position (multi function switch

1 = Position 1

2 = Position 2 .....and so on

Bytes 4 to 7 not defined (FFh)

Engine Hours 500 ms

0C FE E5 00 These engine hours are accumulated also when engine is stopped and the MVS is switched on. It counts the switched on time of the controller. Byte 1 Engine hours Low Byte Low Word

Byte 2 Engine Hours High Byte Low Word

Byte 3 Engine Hours Low Byte High Word

Byte 4 Engine Hours High Byte High Word

Bytes 5 to 8 not defined (FFh)

Resolution 0,05 h / bit

Failure Report (FRM-MSG)

MVS specific message, not standard 1000 ms

0C FE D4 00 Byte 1: Failure Code

Byte 2: Type of failure

Byte 3: Environment condition 1

Byte 4: Environment condition 2

Byte 5: Frequency counter

Bytes 6 to 8 not defined (FFh)

When there is more than one error present, they are to be transmitted one after another in a cyclic order. One failure message, per second has to be sent . If there are no failures present , then a NULL Block has to be transmitted.

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There error codes a listed in a separate document.

5. CAN Receive Messages

MVS MS6.2 P060.V33

Message Data bytes Engine torque request from transmission TSC1_TE 10 ms 0C 00 00 03 To control engine torque during gear shift Highest priority of all TSC1 messages Byte 1: Control Bits 00 = no access (default status in MVS) 10 = torque control active, torque value in byte 4 11 = torque limit control active, limit value in byte 4 Byte 4: Requested torque or torque limit 1% / bit, Offset 125, range 0 to 100% Example 135 = 10% Bytes 2, 3, 5,6,7,8: = FFh

Engine torque request from ABS/ASR TSC1_AE 10 ms 0C 00 00 0B To control engine torque during driving wheels slipping conditions: Byte 1: Control Bits 00 = no access (default status in MVS) 10 = torque control active, torque value in byte 4 11 = torque limit control active, limit value in byte 4 Byte 4: Requested torque or torque limit 1% / bit, Offset 125, range 0 to 100% Example 135 = 10% Bytes 2, 3, 5,6,7,8: = FFh

Torque request from vehicle controller TSC1_FM 10 ms 0C 00 00 11 Message from the vehicle ECU to control engine torque: Byte 1: Control Bits 00 = no access (default status in MVS) 10 = torque control active, torque value in byte 4 11 = torque limit control active, limit value in byte 4 Byte 4: Requested torque or torque limit 1% / bit, Offset 125, range 0 to 100% Example 135 = 10% Bytes 2, 3, 5,6,7,8: = FFh

Pseudo Pedal Position MVS specific message, not standard DEC_V1 50 ms 0C FF 01 17

Byte 1: Control Bits 1 = pedal position request active 0 = no pedal position request, low idle Byte 2: Pseudo Pedal Position 0,4% / Bit Byte 3 to Byte 5: FF

Retarder torque request from transmission

TSC1_TER

50 ms

0C 00 29 03 Message from transmission to control retarder torque during gear shift: Byte 1: Control Bits

00 = no access (default status in MVS)

10 = torque control active, torque value in byte 4

11 = torque limit control active, limit value in byte 4

Byte 4: Requested torque or torque limit

1% / bit, Offset 125, range 0 to 100%

Example 135 = 10%

Bytes 2, 3, 5,6,7,8: = FFh

Retarder torque request from ABS/ASR TSC1_AER

50 ms

0C 00 29 0B Message from ABS/ASR to disable engine retarder during ABS-phase (ABS) or to command engine retarder with the desired torque (brake - engine retarder coupling):

Byte 1: Control Bits

00 = no access (default status in MVS)

10 = torque control active, torque value in byte 4

11 = torque limit control active, limit value in byte 4

Byte 4: requested torque value or limit torque value

1% / bit, Offset 125, range -125% to 0%

Example 110 = -15%

If injection fuel is calculated lower zero then the retarder

will be active

Bytes 2, 3, 5,6,7,8: = FFh

Retarder torque request from vehicle ECU

TSC1_FMER

50 ms

0C 00 29 11 Message from the vehicle ECU to control engine retarder: Byte 1: Control Bits

00 = no access (default status in MVS)

10 = torque control active, torque value in byte 4

11 = torque limit control active, limit value in byte 4 Byte 4: requested torque value or limit torque value

1% / bit, Offset 125, range -125% to 0%

Example 110 = -15%

If injection fuel is calculated lower zero then the retarder will be active

Bytes 2, 3, 5,6,7,8: = FFh

Transmission Control ETC1

10ms

0C F0 02 03 Message from transmission control

Byte 1: Status

Bits 1,2: will be ignored

Bits 3,4: 00 = Torque converter lockup disengaged 01 = Torque converter lockup engaged Bits 5,6: 00 = shift not in progress

01 = shift in progress

Bits 7,8: will be ignored

Bytes 2,3: output shaft speed 0,125 rpm / bit

Byte 5: Command ETC1

Bit 1,2: 0= Kick down status is not requested

1= Kick down status is requested

Bits 3-8: will be ignored

Bytes 4, 6 to 8 will be ignored

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Failure Space Erase (clear error memory) FSPER

MVS specific message, not standard

not cyclic

18 D0 03 2B No data necessary Data Length = 0

The error memory will be cleared after receiving the message identifier. This is not a cyclic message therefore there is no time out monitoring enabled for this message.

Power Reduction

RRO

MVS specific message, not standard 50ms

0C FE DB 2B Byte 1: Power Reduction value 1% / Bit,

Example 4Bh = 75% of the max. power (torque) is available

0 = engine stops

Byte 2: start lock

0 = no start lock

1 = start locked (start prevention)

Immobilizer

TSSL

50ms

18 E5 00 1D

Not used yet

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