CANopen vs. J1939TEKES UBICOM Seminar 11.6.09

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 9

J1939 Network layout

Tractor/trailer

12.6.2009 CANopen vs. J1939 10

J1939 Network layout

Agricultural

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 13

COTS toolchain example - CANopen

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 15

Toolchain example – J1939

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12.6.2009 CANopen vs. J1939 16

The End

Thank you for your attention!

Questions?

Contact:Magnus Wikman

TK Engineering Oy

magnus.wikman@tke.fi+358 (0)6 357 6302