Diagnosis Master Technician - MPX Course CAN (Controller Area Network)

CAN (Controller Area Network) Description

In addition to the use of the BEAN (Body
CAN system diagram (RX330)
Electronic Area Network) and AVC-LAN
(Audio Visual Communication-Local
Area Network), from 2003 the MPX sys-
tem will employ the use of the CAN
(Controller Area Network) to control the
CAN J/C chassis electrical control system.
Skid control ECU
No.2

CAN J/C
Steering sensor No.1

Yaw rate &

deceleration sensor DLC3

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Layout of CAN Components

Layout of CAN components (RX330)
In the RX330, the CAN consists of the
Steering sensor CAN J/C No.1
following parts, which locations are
shown in the illustration.
• CAN J/C (Junction Connector) No.1
• CAN J/C No.2
• Skid control ECU
• Steering sensor
• Yaw rate and deceleration sensor
DLC3
Yaw rate &
• DLC3
deceleration sensor

Skid control ECU CAN J/C No.2

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©2003 TOYOTA MOTOR CORPORATION. All right reserved.

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Diagnosis Master Technician - MPX Course CAN (Controller Area Network)

Features of CAN
Electrical wiring diagram (RX330) 1. General
• The CAN comprises 2 junction con-
CAN-L nectors forming the main bus line
SIL CAN-H
and the sub bus lines connecting
each ECU and sensors. The main
bus line has a resister at the end to
DLC3 provide stability for the circuit.
• The CAN in the RX330 is equipped
Skid control
among the skid control ECU, steering
ECU sensor, yaw rate and deceleration
120
sensor and DLC3.
• The CAN uses a twisted-pair wire as
Steering
sensor
the communication line, so the bus
Junction connector No.2
line has a + (high) line and a - (low)
line.
Yaw rate & • A DTC for a CAN communication
deceleration sensor
120 :CAN main bus line (High) error is output to the hand-held tester
:CAN sub bus line (High) from the DLC3 via the serial commu-
:CAN main bus line (Low) nication line for diagnosis of skid
Junction connector No.1 :CAN sub bus line (Low) control ECU. The DLC3 is equipped
:Serial communication line with CAN-H and CAN-L terminals for
CAN diagnosis.
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2. Communication wire
Communication wire
An AV (Automobile Vinyl) single wire
Single wire voltage drive
is used for BEAN communication,
and a twisted-pair wire is used for
CAN and AVC- LAN communication.
AV single wire
(1) AV single wire
ECU ECU This is a lightweight single communi-
AV single wire cation wire that consists of a single
core line surrounded by insulation.
Voltage is applied to this line in order
to drive communication, and this sys-
tem is called a "Single wire voltage
drive".
Differential voltage drive
(2) Twisted-pair wire
Twisted-pair wire
In this communication wire, a pair of
(For AVC-LAN)
lines are twisted together and cov-
ered with insulation. Communication
+ +
ECU ECU
is driven by applying positive (+) and
- - negative (-) voltage to two lines in
(For CAN) Twisted-pair wire
order to send a single signal.
This system, which is called a "Differ-
ential voltage drive", can reduce a
noise.
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Diagnosis Master Technician - MPX Course CAN (Controller Area Network)

3. Differences of CAN, BEAN and

AVC-LAN

Differences of CAN, BEAN and AVC-LAN

• The protocols (rules) differ between
the CAN, BEAN and AVC- LAN.
Chassis electrical
If ECUs use different types of data
Control Body electrical system control such as communication speed, com-
system control
munication wire, and signals, they
Protocol
CAN BEAN AVC-LAN will be unable to understand each
(ISO standard) (TOYOTA original) (TOYOTA original)
other. Therefore, protocols must be
established among them.
500 k bps
Communication speed
(Max. 1 M bps)
Max.10 k bps Max.17.8 k bps • The CAN communication speed is
much faster than BEAN and AVC-
Communication wire Twisted-pair wire AV signal wire Twisted-pair wire LAN. When the chassis control sys-
tem uses BEAN and AVC- LAN with
a slower communication speed than
Differential voltage Single wire voltage Differential voltage
Drive type
drive drive drive CAN, this could mean that system
control is delayed.
Data length 1-8 Byte (Variable) 1-11 Byte (Variable) 0-32 Byte (Variable)
For this reason, the chassis control
system uses the CAN, which has a
fast communication speed and can
send and receive a large quantity of
data at one time.
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4. Diagnosis
Diagnostic trouble codes (RX330)
If the CAN has communication inter-
DTC combination chart
ruption at the ECU or sensors, multi-
DTC Detection item ple DTCs (Diagnostic Trouble
U0121 Codes) are output simultaneously to
U0123 indicate the malfunction location.
U0124 Skid control ECU communication interruption DTCs are output to the hand-held
U0126 tester from the DLC3 via the serial
Simultaneous output
communication line for diagnosis of
U0126 Steering sensor communication interruption the skid control ECU.
U0123
U0124 Yaw rate & deceleration sensor communication interruption
Simultaneous output

DTC chart output from skid control ECU

DTC Detection item
U0121 CAN communication function fault
Communication interruption between skid control ECU - yaw rate &
U0123
deceleration sensor (no yaw rate signal)

Communication interruption between skid control ECU - yaw rate &

U0124
deceleration sensor (no deceleration sensor signal)

Communication interruption between skid control ECU - steering

U0126
sensor

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Diagnosis Master Technician - MPX Course CAN (Controller Area Network)

• The DLC3 is equipped with CAN-H

CAN-H, CAN-L terminals
and CAN-L terminals for the CAN
diagnosis.
CAN-H - CAN-L Inspection It is possible to determine if there is
Resistance
Bus line condition CG CAN-H SIL an open or short on the main bus line
value
by measuring the resistance value
Normal
Sub bus line open
between terminals. It is possible to
54 67 (Except DLC3 bus line, DTC output) determine if there is a short between
Short between bus line - power supply/ground the bus line-power supply/ground by
(DTC output)
measuring the resistance value
More than Sub bus line open (DLC3 bus line, No DTC) between the CAN-H or CAN-L termi-
67 Main bus line open
CAN-L BAT
nal, and the BAT or CG terminal.
Less than
54
Short between bus lines DLC3 • For details of the CAN diagnosis sys-
tem, refer to the Repair Manual.
Inspection for short between bus line - power supply/ground

Inspection item Resistance value Bus line condition

1k or more No bus line malfunction if no DTC output
CAN-H BAT
Less than 1k Short between bus line - power supply/ground
1k or more No bus line malfunction if no DTC output
CAN-L BAT
Less than 1k Short between bus line - power supply/ground
1k or more No bus line malfunction if no DTC output
CAN-H CG
Less than 1k Short between bus line - power supply/ground
1k or more No bus line malfunction if no DTC output
CAN-L CG
Less than 1k Short between bus line - power supply/ground

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CAN-L CAN-H
SIL

DLC3

Skid control
ECU
120

Steering
sensor Junction connector No.2

Yaw rate & :CAN main bus line (High)

deceleration sensor
:CAN sub bus line (High)
120
:CAN main bus line (Low)
:CAN sub bus line (Low)
:Serial communication line
Junction connector No.1

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Diagnosis Master Technician - MPX Course CAN (Controller Area Network)

CAN Wire Harness Repairing

1. Wire harness repair
(1) After repairing the wire harness,
Bypass wire wrap the repaired part with a vinyl
tape.
NOTICE:
The CAN-L wire harness and CAN-H
wire harness must be installed
together all the time.
The difference in the length of the
CAN-L wire harness and CAN-H wire
harness should be within 100 mm
(3.937 in.).
Repair wire
(2) Do not perform the bypass wiring
between the connectors.
NOTICE:
If you perform the bypass wiring, the
characteristic of the twisted wire har-
ness will be lost.
Tester probes
2. Connector handling
(1) When inserting tester probes into a
connector, insert them from the rear
of the connector.
(2) If it is impossible to check resistance
from the back of the connector, use a
repair wire to check it.

See the Repair Manual for details.

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Diagnosis Master Technician - MPX Course CAN (Controller Area Network)

Exercise

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Diagnosis Master Technician - MPX Course CAN (Controller Area Network)
Question- 1
The following statements pertain to the CAN (Controller Area Network), which is used in LEXUS RX330. Select the
statement that is True.

1. The CAN has main bus lines and sub bus lines, which are connected to the ECUs and sensors.

2. The main bus line and sub bus line have a resistor to provide a stability.

3. The CAN uses the twisted-pair wire and AV single wire as the communication line.

4. Diagnosis of CAN is performed only by the hand-held tester.

Question- 2
The following statements pertain to the difference between CAN, BEAN and AVC-LAN. Select the statement that is
True.

1. The CAN, BEAN and AVC-LAN control the body electrical system.

2. The CAN and BEAN use the twisted-pair wire and the AVC-LAN uses the AV single wire.

3. The communication speed of CAN is greatly faster than that of BEAN and AVC-LAN.

4. All the communication protocols of MPX are TOYOTA original.

Question- 3
The following statements pertain to the CAN diagnosis system. Select the statement that is False.

1. The DLC3 is equipped with CAN-H and CAN-L terminals for the CAN diagnosis.

2. The CAN DTC can output by the hand-held tester, or make a short between CAN-H and CAN-L termi-
nals.

3. It is possible to determine if there is a short circuit by measuring the resistance between the CAN-H and
CAN-L terminals.

4. Diagnosis of CAN differs by the models.

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