Service Training

Electrical Training - Hydraulic Excavators

04. CAN BUS and Data Exchange
CAN Bus Technology
Service Training

Data Exchange on all TEREX|O&K Excavators is mainly done by Means of a CAN Bus.

CAN stands for Controller Area Network and is a very reliable high speed data bus
which was developed in the early 80s by the automotive industry.

There are three CAN Bus’s on the Machine:

CAN Bus I
Communication between BCS, DER, PMS, CMS, PLC

CAN Bus II
Communication between CMS, Joysticks, Footpedals

SAE J 1939 Bus (LH and RH engines are independent)

Communication between ECM and PMS

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Can Troubleshooting
Service Training

Controller Area Network (CAN Buses 1 and 2)

For the interactions within the entire system, it is very important that the two CAN bus systems (CAN 1 and CAN 2) work
correctly. For this reason, the necessary data bus lines must be laid with particular care. After the installation, the first
system test must be run with the help of the BCS terminal. To be able to perform this test, all assemblies must be fitted and
connected up. After this the ignition key must be turned on. The BCS starts and detects whether all components connected
to the bus respond.

These are:
• The two DER data acquisition processors,
• The two PMS units.
• The CMS central unit, and
• The CMS controls.

If one or more items connected to the bus (electronic assemblies) are missing, a message is given in the BCS display in
the form of a system error "DER BUS OFF" or "PMS BUS OFF". In such a case, the data bus line and the missing
assembly must be carefully checked.

CAN bus 2 exclusively serves for data connection between controls (hand levers, pedals) and the CMS central unit.

CAN bus 1 connects the BCS terminal with the DER processors, the PMS master and slave, and the CMS components
with one another.

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Controller Area Network
Service Training

The BCS display, PMS master and slave boxes and the 2 DER cards form the controller area network or CAN they are
linked to each other by two communication wires (BUS) known as CAN+ and CAN-.

The BCS detects whether all items are connected to the BUS respond. If one or more item connected to the BUS are
missing a message is displayed by the BCS in the form of a system error “DER BUS OFF” or “PMS BUS OFF”. In such
cases the data BUS lines and the missing assembly must be carefully checked

The CAN BUS is used to transmit machine data (sensor signals) and operator commands between the various electrical
systems installed on the machine.

CAN Bus 1 Communication between BCS, DER, PMS, CMS

CAN Bus 2 Communication between CMS, joysticks, foot pedals.

The BCS display, PMS master and slave boxes and the 2 DER cards form the controller area network or CAN they are
linked to each other by two communication wires (BUS) known as CAN+ and CAN-.

The BCS detects whether all items are connected to the BUS respond. If one or more item connected to the BUS are
missing a message is displayed by the BCS in the form of a system error “DER BUS OFF” or “PMS BUS OFF”. In such
cases the data BUS lines and the missing assembly must be carefully checked.

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CAN Bus I Layout on the Machine
Service Training

RH Engine PMS Slave LH Engine PMS Master

Diagnostic Plug

BCS
120 Ω

PLC CMS II
LH Engine DER 1 RH Engine DER 2

120 Ω

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Controller Area Network
Service Training

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CAN Bus I Layout Electrical Schematic
Service Training

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 CAN Bus II Layout on the Shovel Machine
Service Training

Foot-Pedal left Foot-Pedal middle Foot-Pedal right

Adr.: 2 Adr.: 3 Adr.: 4

Hand-Lever left
Adr.: 0 Hand-Lever right
Adr.: 1

120 Ω

120 Ω

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 CAN Bus II Layout on the Backhoe Machine
Service Training

Foot-Pedal middle Foot-Pedal right

Adr.: 3 Adr.: 4

Hand-Lever left
Hand-Lever right
Adr.: 0
Adr.: 1

120 Ω

120 Ω

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Controller Area Network
Service Training

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Controller Area Network
Service Training

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CAN Bus II Layout Electrical Schematic
Service Training

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Adjustment of Joysticks and Footpedals
Service Training

Handpiece

Locknut

Spool Dust Cover

Plungers

Address
Adjustment

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 SAE-J-1939 CAN Bus Layout on the Machine
Service Training

120 Ω

120 Ω

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Controller Area Network
Service Training

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SAE-J-1939 Bus Layout in the Electric Schematic
Service Training

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Troubleshooting CAN-Bus System
Service Training

• Every CAN bus needs to be terminated on the end with two 120 Ω resistors

• The resistors are hooked up in parallel between the CAN+ (white cable ) and CAN- (blue cable) communication line.

• The two 120 Ω resistors do result in a total of 60 Ω.

This value of 60 Ω can be measured everywhere on the bus.

• The resistance between each of the CAN bus lines and ground (machine chassis) needs to be high.

120 Ω

120 Ω

1 MΩ

60 Ω

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Troubleshooting CAN-Bus System
Service Training

RH Engine PMS Slave LH Engine PMS Master

Diagnostic Plug

BCS

120 Ω
CMS II
PLC
LH engine DER 1 RH engine DER 2

120 Ω

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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

CAN High
(white cable)
CAN low CAN High
CAN low ( blue cable) (white cable)
0 VDC
( blue cable)
( black cable)

0 VDC
( black cable)
+ 24VDC
(red cable)
Shield
(metal cable) Shield
(metal cable)
+ 24VDC
(red cable)

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CAN Bus Cable Overview
Service Training

BLACK cable – Voltage supply Ground

RED cable – Voltage supply + 24VDC

WHITE cable – CAN Bus high

BLUE cable – CAN Bus low

SILVER (metal) cable – CAN Bus Shield

CAN Bus signal/CAN Bus data is being

send on the CAN Bus communication
lines. The communication lines are the

BLUE and the WHITE cable

When the CAN Bus is active the signal

varies between 3.5VDC (CAN high)
and 1.5VDC (CAN low)
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CAN-Bus Troubleshooting Correct Resistance 60 Ω
Service Training

Correct Bus resistance with

2 x 120Ω parallel
Ignition OFF = 60 Ω (+/- tolerances) 120 Ω

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CAN-Bus Troubleshooting Incorrect Resistance 120 Ω
Service Training

Incorrect Bus resistance with

1 x 120Ω parallel
Ignition OFF = 120 Ω (+/- tolerances) No resistor

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CAN-Bus Troubleshooting Incorrect Resistance 40 Ω
Service Training

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0

0
Ω
Ω

Inorrect Bus resistance with

3 x 120Ω parallel
Ignition OFF = 40 Ω (+/- tolerances) 120 Ω

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CAN-Bus Troubleshooting Incorrect Resistance 40 Ω
Service Training

Jumper closes a 120Ω resistor.

On PMS 4 machines the jumper has to be open

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CAN-Bus Troubleshooting no Resistor in Place
Service Training

N
O

R
e
s
i
s
t
o
r Incorrect Bus resistance with
no resitor in place
= 5-40 KΩ (depending on the
BUS participants)

Ignition OFF No Resistor

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CAN-Bus Troubleshooting Short Circuit
Service Training

1
2
0

Short circuit on the

CAN BUS
= 0 Ω (continuity)
Ignition OFF 120 Ω

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CAN-Bus Troubleshooting CAN High
Service Training

1 Ground
2
0

CAN high (white line) to ground

= Voltage slightly higher than
2.5 VDC
Ignition ON 120 Ω

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CAN-Bus Troubleshooting CAN Low
Service Training

1
2
0 Ground

CAN low (blue line) to ground

= Voltage slightly lower than
2.5 VDC
Ignition ON 120 Ω

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