INTRODUCTION Controller Area Network (CAN) serial communication protoc

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INTRODUCTION Controller Area Network (CAN) serial communication protoc

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AND8169/D EMI/ESD Protection Solutions
INTRODUCTION Controller Area Network (CAN) serial communication protocol designed providing reliable high-speed data transmission harsh environments. system designers being challenged meet stringent Electromagnetic Interference (EMI) Electrostatic Discharge (ESD) standards increase reliability, while reducing size cost their products. This document provides guidelines select protection circuit that prevent conducted radiated noise problems. attributes several practical protection circuits will analyzed using discrete filters, common mode chokes Transient Voltage Suppression (TVS) devices. protection circuits used supplement noise immunity level transceivers. Many second generation transceivers meet minimum transient overvoltage test levels; however, higher immunity levels easily achieved adding external EMI/ESD protection circuits. protection circuits improve reliability module, without significantly adding cost complexity transceiver circuit. OVERVIEW
Centralized Distributed Control
Control systems implemented using either centralized distributed architecture, shown Figure centralized control system typically consists single, relatively complex control unit that used perform multiple tasks monitor several sensors. contrast, distributed control system consists many controllers that perform specialized task. sensors, actuators motors centralized system require point point wiring order exchange information with control unit, while distributed system requires only wires connect control units. Also, each control unit distributed system, such implemented with cost microprocessor.
Solenoid Control Sensor Main Control Unit Sensor Motor Control Centralized Control System Sensor Sensor
Sensor Control Unit
Solenoid Control Control Unit
Sensor Control Unit
Control Unit Sensor
Control Unit Motor Control
Control Unit Sensor
Distributed Control System
Figure Centralized Distributed Control
Semiconductor Components Industries, LLC, 2004
July, 2004 Rev.
Publication Order Number: AND8169/D
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Applications
network serial communication protocol initially developed connect sensors electronic modules automobiles trucks. Since inception mid-1980's, also gained wide popularity industrial control building automation applications.
network also becoming popular other applications that need communication with high level data integrity, such train, marine medical systems. Figures provide examples typical automotive industrial control system, respectively.
Rear Lighting Control Diagnostic Port Transmission Control Module
Instrument Panel High-Speed
Engine Control Module
Environment Control System
Active Suspension Control Module Mirror Motor Window Motor Speed, Single Wire Local Interconnect Network (LIN)
Passenger Seat Module
Door Module
Figure Example Typical Automotive Network
Smart Sensor
Smart Valve
Smart Motor
Stub Cable Control Interface
Termination Resistor Termination Resistor Connector
Figure Example Industrial Network
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Network Model
seven-layer Open Systems Interconnection (OSI) network layering model used define network. model, shown Figure developed International Standards Organization (ISO) define standard network that implemented with components from different manufacturers that interchangeable. specification defines encoding, timing synchronization information transmitted signal.
electrical characteristics transceiver given Society Automotive Engineers (SAE) physical layer specifications summarized Table layers model specified that users create unique interfaces that their specific requirements. Rockwell (Allen-Bradley) DeviceNetTM, Honeywell Smart Distributed System(SDS), Kvaser Kingdom, Time Triggered (TTCAN) J1939 popular networks that incorporate protocol.
Reference Layers Application Industry Standard Networks J1939, TTCAN, Kingdom, DeviceNet, Presentation Session Transport Specification encoding protocol, message identification, etc. Network Data Link Layer Physical Layer ISO/SAE Physical Layer Specifications Electrical specifications: transceiver characteristics, connectors, cable, etc.
Hardware Implementation Microcontroller
Controller
Transceiver
CAN_H
CAN_L
Figure Uses Seven-Layer Model Implement High-Speed Communication Network
Messages
protocol uses multi-master broadcast technique where each node initiate transmission message that sent other nodes. Each node also request information from another node. Messages marked identifier field sent with
Cycle Redundancy Check (CRC) Acknowledge (ACK) fields that enable system detect correct transmission errors. growing popularity results from ability provide error-free communications high noise environment. Figure provides definitions standard data frame.
bits Start Frame bits Arbitration Field (Identifier) bits Control Field bits Data Field bits Field Field bits Frame
bits Data Length Code
Figure Example Standard Data Frame
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Hardware Implementation
node portion network that consists controller that implements function such measuring speed temperature automobile's transmission. Figure shows that node formed using microcontroller, external controller, Input/Output (I/O) Expander transceiver. Typically connection implemented with transceiver that provides ability receive transmit messages over bus. Table provides summary physical layer standards defined that define electrical characteristics transceivers.
system designer create network using either high-speed, fault tolerant single wire physical layer protocol. Many applications constructed using combination three major physical layer standards. example, many automobiles, power train will high-speed Mbits/s differential bus, while less critical functions such rear view mirror controls either secondary kbits/s differential single wire bus.
Node Microcontroller
Node
Node
Controller
Microcontroller with Built-in Controller
Expander
Transceiver
Transceiver
Transceiver
CAN_H CAN_L High-Speed Lines
Figure Node Configuration Options
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Table Popular Physical Layer Standards
Parameter Physical Layer Specification Features Popular Applications Transmission Speed Cable Termination Resistance High-Speed 11898-2 High-speed, differential bus, good noise immunity Automotive industrial controls Mbits/s meters kbits/s meters Twisted parallel pair wires, shielded unshielded cable resistors located each Fault Tolerant 11519-2, 11898-3, 11992 Ability detect wiring error switch single wire mode Large trucks trailers kbits/s Twisted parallel pair wires, shielded unshielded cable Separate CAN_H CAN_L termination resistors located each node, resistance determined number nodes System: -3.0/16 System: -3.0/32 CAN_L: -2.0 (min)/2.5 (nom) CAN_H: (nom)/7.0 (max) Figure Single Wire J2411 cost Automotive, GM-LAN network 33.3 kbits/s (normal mode) 83.3 kbits/s (diagnostic mode) Single unshielded wire Termination resistor located each node, resistance determined number nodes System: -3.0/16 CAN_Bus offset voltage (max) Figure
Min/Max Voltage Min/Max Common Mode Voltage Transceiver Schematic Waveform
System: -3.0/16 System: -3.0/32 CAN_L: -2.0 (min)/2.5 (nom) CAN_H: (nom)/7.0 (max) Figure
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High-Speed
11898-2 high-speed differential most popular transmission protocol. differential protocol good high-speed (1.0 Mbits/s) medium-speed (125 kbits/s) applications that require transfer large amounts data. differential also provides excellent noise immunity inherent noise cancellation characteristics achieved using shielded cable with twisted wire pair receiver with differential amplifier.
11898-2 consists CAN_H (high) CAN_L (low) data lines common ground signal. termination resistor located each minimize reflections ringing waveforms. logic states bits determined differential voltage between CAN_H CAN_L signals. most systems, recessive state represents logic `1', while logic provided dominant state. Figure shows simplified transceiver system schematics, along with voltage waveforms data line signals.
Transmitter
CAN_H
CAN_H Receiver VDD/2 CAN_L
CAN_L
Recessive Dominant Recessive
High-Speed Transceiver
Logic States Recessive: Dominant:
Node High-Speed Transceiver
Node High-Speed Transceiver
Node High-Speed Transceiver
CAN_H CAN_L
Figure 11898-2 Differential High-Speed
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Fault Tolerant Fault tolerant transceivers normally wire differential that identical high-speed bus; however, transceivers automatically switch single wire mode either CAN_H CAN_L signal lines shorted ground power. fault tolerant maximum specified data rate kbits/s. composite termination resistance equal resistors located next each transceiver. There three different specifications that used define fault tolerant bus. 11519-2 11898-3 specifications popular automobiles, while 11992 widely used truck trailer applications. voltage levels 11519-2 11898-3 correspond data bus. contrast, voltage levels 11992 signals specified voltage level supply voltage which typically Figure shows simplified system schematic 11898-3 protocol, along with voltage waveforms data line signals.
CAN_H Logic States Dominant: CAN_H CAN_L Recessive: CAN_H CAN_L CAN_L Recessive Dominant CAN_H CAN_L
Node Fault Tolerant Transceiver CAN_H CAN_L
Node Fault Tolerant Transceiver CAN_H CAN_L
Node Fault Tolerant Transceiver CAN_H CAN_L
CAN_H
CAN_L
Figure 11898-3 Fault Tolerant
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Single Wire
single wire J2411 used network applications with rate transmissions requirements relatively short lengths. Typical applications single wire include non-critical comfort accessories automobile with lengths less than meter, such adjustable driver passenger seats. normal transmission rate 33.3 kbits/s; however, system also
provision 83.3 kbits rate diagnostic mode. typically implemented with unshielded cable with signal ground wire. termination resistors located next each transceiver have value determined parallel resistance individual node resistors. Figure shows simplified system schematic, along with voltage waveform data line signal.
Single Wire Transceiver Transmitter CAN_Bus CAN_Bus Recessive Receiver Logic States Recessive: CAN_Bus Dominant: CAN_Bus Load Dominant Recessive
Loss Ground Protection
Node Single Wire Transceiver
Node Single Wire Transceiver
Node Single Wire Transceiver
CAN_Bus
Load
CAN_Bus
Load
CAN_Bus
Load
CAN_Bus
Figure J2411 Single Wire
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TRANSCEIVER SPECIFICATIONS There several transceiver specifications that must evaluated order pick appropriate protection circuit. critical transceiver characteristics include: Maximum supply voltage Common mode voltage Maximum transmission speed rating Coupled electrical disturbance
Maximum Supply Voltage Maximum Transmission Speed
physical layer specifications require that transceiver must survive indefinite short between battery power lines signal lines. Most transceivers require supply voltage that created from either battery. external protection circuit devices needed meet maximum supply voltage requirement because majority transceivers designed withstand voltage greater signal lines. maximum battery voltage important factor selection devices. devices should chosen that minimum breakdown voltage Zener diode over operating temperature range greater than maximum system supply voltage. devices designed dissipate large peak power transient event; however, they should used regulate steady-state voltage.
Common Mode Voltage
transmission rate network critical parmenter selection process protection circuit. inductance capacitance protective devices will cause distortion signal waveforms, which often becomes major design concern high transmission frequencies. high-to-low low-to-high transitions signal lines will have rounded transitions that result system being unable clearly identify high logic state. important match filter attenuation each signal line. Minor distortion signal lines differential system acceptable amount filtering CAN_H CAN_L lines identical. typically possible tightly match discrete capacitors capacitance device; thus, practical approach select protection device with minimum possible capacitance. However, design trade-off exists because energy absorption rating Zener diodes MOVs typically increases with capacitance. recommended that maximum capacitance protective network measured from each signal line ground should less than Mbits/s kbits/s.
Rating
common mode voltage specification important parameter selecting device. Often case networks such CAN, there significant difference voltage potential between ground reference transmitting receiving nodes. 11898-2 specification requires that transceiver function with signal line voltage that offset much above below nominal voltage level CAN_H CAN_L signal lines. solution common mode problem bidirectional devices that will clamp voltage signal lines offset. MOVs inherently bidirectional have breakdown voltage that equal both positive negative voltages. contrast, standard diode will function Zener diode positive voltage (cathode voltage anode voltage) standard diode negative voltage (cathode voltage anode voltage). differential transceiver functions monitoring voltage difference signal lines, rather than absolute voltage levels. essential that devices clamp transmission signals during normal operating conditions.
There many ways that enter node. event occur when charged object such person touches module's connector pins cable. transceivers designed have higher rating than standard because they drive lines that connected external input/output (I/O) connector; however, their levels typically below rating that achieved using external device. 11898-2, DeviceNet physical layer specifications list requirement; however, generally recommended that network system should have contact rating least ±8.0 non-contact rating There several different specifications used measure immunity, including human body model (HBM) 61000-4-2 tests. test typically specification listed transceiver data sheets, while specification gaining popularity system level test. Both specifications designed simulate direct contact person object such connector; however, test more severe than HBM. test defined discharge capacitor through resistor, while uses capacitor 1500 resistor.
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Coupled Electrical Disturbances Filters
transceiver must able survive high energy transients that produced number disturbances including load dump, inductive load switching, relay contact chatter ignition system noise. These transient signals usually generated nodes supply voltage; however, noise coupled into adjacent data line signals because power data lines typically located inside same wire bundle. severest transient automotive application load dump which occurs when battery inadvertently disconnected from generator. Studies groups have shown that load dump produces exponentially decaying positive voltage with magnitude pulse between common method protect against high energy load dump surge device power supply line entering module. physical layer specifications require transceiver pass load dump test. Protection against load dump surge provided devices that part module's power supply circuit, which typically dropout (LDO) linear voltage regulator. specifications used verify systems immunity coupled transient noise power supply lines given 7637-1 systems) 7637-2 systems). data line immunity requirement repetitive high frequency disturbance such noise produced arcing contacts relay typically tested with 7637-3. 61000-4-4 Electrical Fast Transient (EFT) test similar 7637-3 required test network. PROTECTION OPTIONS options available protect signal lines from interference include shielded twisted wire pair cables, differential common mode filters devices. most applications combination multiple protection devices required provide robust communication system. Also, location circuit board layout critical maximize effectiveness protection circuit.
Shielded Twisted Wire Pair Cable
Filters provide protection with either discrete resistor-capacitor (RC) inductor-capacitor (LC) filters common mode choke. Filters will attenuate magnitude noise signal lines; however, they distort signal waveform provide voltage clamping. filter approach also limited physical layer specifications that specify maximum capacitance load each node. device should always used combination with filter protect only transceiver, also discrete filter components such capacitors.
Devices
devices used absorb transient energy overvoltage event prevent damage transceiver. preferred devices digital circuit Zener diodes Metal Oxide Varistors (MOVs). These clamping devices have very fast turn-on time limit overvoltage safe value within transceiver's operating range. Zener diodes MOVs also have feature that they function capacitor normal signal transmissions below their breakdown voltage. capacitance Zener diodes MOVs readily available that make these devices essentially transparent operation high-speed data bus.
Layout Recommendations
shielded cable effective tool prevent radiated interference from introducing common mode noise voltage signal wires. shielded twisted wire pair cable minimizes voltage induced signal lines. There will still some noise signal coupled into signal lines, noise level lines will essentially equal. transceiver's differential amplifier ability cancel majority common mode noise specified common mode rejection ratio (CMRR) specification. CMRR transceiver increased discrete filters using common mode choke.
location circuit board layout critical maximize effectiveness protection circuit. following guidelines recommended: Locate protection devices close possible connector. This allows protection devices absorb energy transient voltage before coupled into adjacent traces PCB. Minimize loop area high-speed data lines, power ground lines reduce radiated emissions susceptibility noise. Minimize path length between signal lines protective devices. ground planes wherever possible reduce parasitic capacitance inductance that degrades effectiveness filter device. PROTECTION CIRCUITS There several different options available provide protection transceiver. protective device options available include diodes, MOVs, common mode choke, split termination circuit RC/LC filters. combination multiple protection devices required many applications ensure reliable communication system noisy electrical environment.
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Diode Protection Circuits
diodes provide protection transceiver clamping surge voltage safe level. diodes have high impedance below impedance above their breakdown voltage. Zener diode junction optimized absorb high peak energy transient event, while standard Zener diode designed specified clamp steady state voltage. bidirectional diode created combining unidirectional diodes, shown Figure bidirectional diode typically required data line signals that have offset voltage. bidirectional diode created from either dual common cathode common anode arrays both configurations equivalent their clamping characteristics.
Bidirectional Diode
breakdown voltage either diode main advantage three-diode configuration that smaller package used house array.
CAN_H Transceiver CAN_L
Figure Alternative High-Speed Fault Tolerant Protection Circuit
Anode Common Cathode Anode
Cathode Common Anode Cathode
Figure Bidirectional Diodes Implemented with Zeners Common Cathode Common Anode Configuration
third circuit configuration using diodes shown Figure This array consists four standard diodes unidirectional Zener diode. Protection lines provided clamping signal lines either forward diode voltage drop above supply voltage (VDD) forward diode drop below ground. advantage this circuit that diode array clamps voltage closer normal amplitude waveform diodes used remove overshoot ringing signal lines.
CAN_H Transceiver CAN_L LC03-6R2
Figure provides example dual bidirectional diode array that used protection with high-speed network. bidirectional array created from four identical Zener diodes. clamping voltage composite device equal breakdown voltage diode that reversed biased, plus diode drop second diode that forwarded biased.
CAN_H Transceiver CAN_L
NUP2105L
Figure Alternative High-Speed Diode Array Protection Circuit
Figure High-Speed Fault Tolerant Protection Circuit
circuit shown Figure functionally equivalent Zener array Figure however, only three diodes required provide bidirectional feature. clamping voltage data lines positive voltage surge will equal forward voltage drop diode plus breakdown voltage reversed biased diode clamping voltage negative voltage will equal forward voltage drop diode plus
Another advantage this configuration that capacitive load signal lines typically less than bidirectional Zener diode circuits shown Figures Diodes have capacitance designed have fast turn-on time. diode used dissipate majority energy when overvoltage condition occurs. large capacitance, high energy rated Zener used because capacitive load device power supply lines rather than data line.
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main disadvantage diode array circuit that clamp CAN_L CAN_H waveforms common mode offset voltage exists. 11898-2 specification lists common mode voltage specification -2.0 +7.0 data lines array circuit will provide undesired clamping signals minimum maximum limits specification when transceiver's supply voltage (VDD) equals +5.0 common mode voltage corresponds possible offset voltage that exist from difference between ground references transmitting receiving modules. diode array circuit Figure should only used system that ensure that offset voltage between module's ground references will relatively small less than turn-on voltage diodes.
MOVs Protection Circuit
were prone early high voltage repetitive strike wear out. contrast, multi-layer varistors available that prone inconsistent grain size problem single layer devices which resulted limited lifetime.
Common Mode Choke Circuit
MOVs used provide clamping protection transceivers shown Figure varistor non-linear resistor which electrical characteristics similar bidirectional Zener diode. voltages below breakdown voltage, modeled very large resistance parallel with capacitance. When voltage surge exceeds breakdown voltage, resistance device decreases value that will clamp transient event resistive divider effect impedance series with resistance voltage source.
CAN_H Transceiver CAN_L
Common mode chokes effective tool attenuating noise that common both transceiver lines, shown Figure Chokes function providing high impedance common mode signals impedance differential signals, which increases common mode rejection ratio (CMRR) transceiver. Chokes effective device implement filtering without adding large amount distortion high-speed data lines. common mode choke functions limits magnitude overvoltage surge data lines functioning filter; thus, recommended that devices added circuit provide clamping protection.
Common Mode Choke
CAN_H Transceiver CAN_L
NUP2105L
Figure High-Speed Fault Tolerant Common Mode Choke Circuit
MOVs
Figure High-Speed Fault Tolerant Protection Circuit
main advantage MOVs that they provide clamping protection relatively cost. main disadvantage that clamping voltage typically higher than comparable Zener diode. Also, MOVs traditionally have been used only cost sensitive applications because their clamping voltage decreased over life part. However, this problem been minimized multi-layer MOVs improvements their manufacturing process. MOVs made from metal oxides that form polycrystalline structure with granular structure. Single layer "pressed pill" MOVs often large variance their breakdown voltage
There several disadvantages chokes. issue with chokes that their inductance capacitance board transceiver form resonant tank circuit that will oscillate. Oscillations signal lines will result false detections transceiver. Another issue with choke filters that mismatch inductance coils will cause distortion signal waveforms.
Split Termination Circuit
Figure shows split termination circuit that used provide noise protection transceiver. termination circuit functions low-pass filter formed equal valued resistors capacitor. common mode signal terminated through capacitor that shunts high frequency noise signal ground. tolerance termination resistors should good possible tol. order maintain waveform symmetry between CAN_H CAN_L signals.
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line voltage does exceed maximum voltage rating transceiver capacitors. Typically termination resistors high-speed located ends network. node located bus, resistors used instead resistor. Otherwise, transceiver located stub node that would normally contain termination resistor, higher value resistors required that parallel value termination resistance remains
Multiple Suppression Device Circuit Figure High-Speed Fault Tolerant Protection Circuits Using Split Termination
CAN_H Transceiver CAN_L
NUP2105L
split termination circuit combined with either diode clamping diode. resistor-capacitor (RC) circuit provides protection functioning low-pass filter limiting slew rate transient overvoltage signal. clamping device should added split termination circuit ensure that
combination common mode choke, capacitors diodes used solve most stringent emission immunity requirements, shown Figure Noise entering node attenuated second order filters formed inductance choke filter capacitors CL1. contrast, capacitors provide filter reduce emissions noise that exits transceiver. bidirectional diodes function clamp transient voltage disturbance lines safe value.
CAN_H Transceiver CAN_L
Common Mode Choke
NUP2105L
Figure High-Speed Protection Circuits Combining Choke, Capacitors Diodes Single Wire Protection Circuit
CAN_Bus Transceiver RLoad Load MMBZ27VCLT1
Figure shows protection circuit that recommended J2411 specification single wire transceiver. circuit consists bidirectional diode provide overvoltage protection discrete filter. inductor capacitor form low-pass filter attenuate emissions noise exiting node. contrast, inductor resistor combination form filter that reduces noise entering node. transceiver's "load" connected "loss ground protection circuit" that serves compensate broken ground connection.
Figure J2411 Single Wire Recommended Interface Circuit
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CONCLUSION Controller Area Network (CAN) popular serial communication protocol that provides reliable high-speed data transmission multitude applications ranging from automotive industrial control. protection circuits Bibliography Broyles, Sam, "Application Report SLLA109 System Evaluation Transceivers", Texas Instruments, 2002. Corrigan, Steve, "Application Report SLOA101 Introduction Controller Area Network (CAN)", Texas Instruments, 2002. Demcko, "Multilayer Varistors Automobile Applications", International Congress Exposition, Detroit, February, 1998. Durham, Durham, Durham, Performance Evaluation Transient Voltage Suppression Devices", IEEE Industry Applications Magazine, Sept./Oct., 2002. Eisele, "AN96116 PCA82C250/251 Transceiver", Philips Semiconductors, 1996. "AN10211 TJA1040 High-Speed Transceiver", Philips Semiconductors, 2003. Richards, Pat, "AN228 Physical Layer Discussion", Microchip Technology, 2002. Suermann, "AN00020 TJA1050 High-Speed Transceiver", Philips Semiconductors, 2000. Beneden, "Varistors: Ideal Solution Surge Protection", Power Electronics Technology, May, 2003. "AN2005 AU5790 Single Wire Transceiver", Philips Semiconductors, 2001. "The Physical Layer", Automation, GmbH, May, 2004. "Application Hints Fault-tolerant Transceiver", Philips Semiconductors, 2001. used increase transceivers noise immunity ESD. protection circuits improve reliability module, without significantly adding cost complexity transceiver circuit. Industry Websites Further Information Automation (CIA) Industry Group, www.can-cia.de Kingdom, www.kvaserinc.com/ CANopen, International Organization Standardization (ISO), www.iso.org IXXAT Automation GmbH, www.ixxat.com/ Open DeviceNet Vendor Association (ODVA), www.odva.org Robert Bosch GmbH, www.can.bosch.com Smart Distributed System (SDS), Society Automotive Engineers (SAE), www.sae.org
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APPENDIX SEMICONDUCTOR SOLUTIONS
Zener Diode Selection Guidelines
Select device with working reverse voltage (VRWM) that greater than equal maximum voltage. maximum voltage voltage equal system system, physical layer specifications. Select device with clamping voltage (VC) less than maximum specified voltage transceiver's lines.
bidirectional device should used most applications meet common mode voltage specification. common voltage specification required because there significant difference voltage potential between ground reference transmitting receiving nodes. diode array circuit Figure should only used system that ensure that offset voltage between module's ground references will relatively small less than turn-on voltage diodes.
Table Recommended Devices
System Voltage High-Speed Fault Tolerant Single Wire
NUP2105L SOT-23 Package Dual Bidirectional Zener
NUP2105L SOT-23 Package Dual Bidirectional Zener
MMBZ27VCLT1 SOT-23 Package Dual Common Cathode Zener
LC03-6R2 SO-8 Package Capacitance Diode Array Plus Zener Recommended only short cable lengths
LC03-6R2 SO-8 Package Capacitance Diode Array Plus Zener Recommended only short cable lengths
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INTRODUCTION Controller Area Network (CAN) serial communication protoc

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