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12.6.2009 CANopen vs. J1939 1
Outline
Governing bodies
Standard build-up
Physical layer
Data link layer
Network layer
Application layer
12.6.2009 CANopen vs. J1939 2
Governing body - CANopen
CAN in Automation (CiA)– Users and manufacturers group– Non-profit organization– Founded 1992– Approx 500 member companies– Administers CANopen Vendor-ID– Maintains all CANopen specifications, from physical layer to application layer– Membership fee based on number of employees (~600...5500 EUR/year)– Headquarters in Nürnberg, Germany
All completed specifications freely downloadable from web, all other documents freely accessable for members
http://www.can-cia.org
12.6.2009 CANopen vs. J1939 3
Governing body – J1939
Society of Automotive Engineers (SAE)– Users and manufacturers society– Founded 1905– 121000 members (persons)– Maintains all J1939 specifications– Membership fee $90/person per year– Headquarters in Warrendale, Pennsylvania
All completed specifications can be downloaded and are subject to cost. Member discounts apply
http://www.sae.org
12.6.2009 CANopen vs. J1939 4
Standard build up
Top level definition
Physical layer definitions
Data link layer definitions
Network layer definitions
Application layer definitions
Device profiles
Application profiles
CiA-301 J1939
CiA-303, CiA-102
CiA-302
CiA-302
CiA-301, CiA-302
J1939/1X
J1939/21
J1939/31
J1939/7X
CiA-401, CiA-402... N/A
CiA-415, CiA-422... N/A
12.6.2009 CANopen vs. J1939 5
Physical layer
Bitrates 10-1000 kbit/sNo cable types specified, only cable characteristicsNr of nodes up to 127/segment
Bus length max 5000m– Stublengths according to each bitrate
Several connector types specified– Dsub9 – Dsub15 – RJ-10 – RJ-45– Multipole connectors – open style connector – M12 etc.
Bitrate fixed 250 kbit/sShielded twisted pair (Unshielded for J1939-15)Nr of nodes fixed to 30/segment(10 nodes/segment in J1939-15)Bus length max 40m
– Stublengths max 1m (3m in J1939-15)Two types of connector specified
– 3-pin Deutch connector– 10-pin diagnostics connector
12.6.2009 CANopen vs. J1939 6
Data link layer
ISO 11898-1– 8 bytes data/message– Larger data amoutns with TP
ISO 11898-1– 8 bytes data/message – Larger data amounts with TP
12.6.2009 CANopen vs. J1939 7
Network layer
Hierarchical networks possible– Up to 127 network levels through
CANopen/CANopen gateway
Standardized connectivity to several different network types
– J1939– Ethernet– ASi– CANopen– Ethernet Powerlink
Hierarchical networks possible– 2 network levels through gateway or router– Tractor-trailer (sub)network
Connectivity to other networks – via proprietary gateways– Autosar
12.6.2009 CANopen vs. J1939 8
Hierachical CANopen network
CANopen device (system
master)
NMT master
CANopen/ CANopen gateway
NMT master
CANopen device
CANopen device
CANopen device
CANopen/ CANopen gateway
NMT master
CANopen device
CANopen device
CANopen/ CANopen gateway
NMT master
CANopen/ CANopen gateway
NMT master
CANopen device
CANopen device
CANopen device
CANopen device
CANopen device
CANopen device
12.6.2009 CANopen vs. J1939 11
Application layer
Device Profiles– I/O– Hydraulic drives– Measurement– Programmable devices (PLC) etc.
Producer/consumer signalingConfigurable messages
– ID, signal mappingHighly configurable boot up sequence
– Services based on node functionalityEmergency signaling with EMCYDefines configuration management process
No device profiles defined– Industry groups defined
Peer-to-peer or broadcast signalingFixed messages (large part)
– ID, signal mappingBoot up sequence fixed by SAE
– Node claimingEmergency signaling with DTCProprietary configuration management process
12.6.2009 CANopen vs. J1939 12
Configuration management process
Applicationinterface
management
System-levelconfigurationmanagement
Field serviceand sparepartconfiguration
Applicationdevelopment
Systemproduction and
validation
Applicationinterfaceconverter
System-levelsimulation
12.6.2009 CANopen vs. J1939 14
Configuration management process
Applicationinterface
management
System-levelconfigurationmanagement
Field serviceand sparepartconfiguration
Applicationdevelopment
Systemproduction and
validation
Applicationinterfaceconverter
System-levelsimulation
12.6.2009 CANopen vs. J1939 16
The End
Thank you for your attention!
Questions?
Contact:Magnus Wikman
TK Engineering Oy
[email protected]+358 (0)6 357 6302