Arbustic Wave Sensors—HowThe
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`Uncertainty Analysis
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`A New Magnetic
`Senser
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`Manufacture
`
`OCTOBER 2000 VOL. 17 No.10 $6.00
`
`The Principies at
`Levei Measurement
`
`DA Systems and Cover Story
`
`Getting Contr I
`Through
`'
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`THEJOURNALOFAPPLIEDSENSINGTECHNOLOGY
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`Petitioner's Exhibit 1006
`Page 1 of 16
`
`

`

`DUAL TEMPERATURE CDMPARATDRS
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`The MAX6505/MAX65OBIMAXSSOTIMAXBSOB family of products combines
`two temperature comparators on a single chip, making control, warning,
`and protection functions even easier to build into your system.
`The MAX6505 and MAXGSDB have two logic outputs. each corresponding to
`a different temperature. The outputs become active when temperature rises
`above factory-programmed thresholds. The difference between the two
`temperature thresholds is pin-selectable to 5°C, 10°C, 20°C, or 30°C.
`The MAX6507 and MAX6508 are ideal for maintaining a precise window of
`temperature to ensure optimum system performance. One logic output
`indicates when the system is within the desired operating temperature range.
`A second output indicates that the upper limit of the temperature window has
`been exceeded. HystereSIS for the two outputs Is pin selectable to 2°C or
`10°C. Avaiiable with open~drain or push-pull outputs, these temperature
`switches operate from 2.5V to 5.5V supplies and are available in a 6-pin
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`'
`'5 EXhlblt 1006
`Page 2 of 16
`
`Petitioner's Exhibit 1006
`Page 2 of 16
`
`

`

`
`
`OCTOBER 2000 VOL i7 NO 10
`
`
`
`
`OIFEATUEES
`
`H
`
`'
`
`.
`
`
`
`lirasgained widespread popularity not only in the
`climb:
`'ndustry'but also in the industrial automation arena.
`
`36 Noncontact Displacement Sensors in Automotive
`Manufacture Advances in noncontact displacement sensors are bringing
`new levels of quality and efficiency to the research labs and assembly lines of
`automakers worldwide. Bryan Manning and Robert Foster
`
`42 A Short Guide to Measurement Uncertainty its
`measurement device produces perfect results. Uncertainty analysls'is one way to
`define how confident you are of your measurements. Stephen Humpoge.”-=.
`
`48 Uncertainty Analysis in Pitot Static Pneumatic
`Mass Flow Measurements The integrity ofa mass flow rate
`
`measurement using a Pitot static technique should be a primary concern for
`low-flow applications because error in one ofthe calibration constants has an
`exaggerated effect when the difference between the total pressure and the
`static pressure is small. Don Ersland'
`
`52 An Innovative Passive Solid-State Magnetic Sensor
`A new magnetic sensor technology is based on the magnetostrictive and the
`piezoelectric effects.
`l’i-aun ti and Robert Offendley
`
`5 5 The Principles of Level Measurement RF capacitance,
`conductance, hydrostatic tank gauging, radar, and ultrasonic are the leading
`sensor technologies in liquid level tank measurement and control operations.
`Making the wisest selection for your own application requires a basic
`understanding of how these devices work. Gabor Voss
`
`65 Measuring Individual Wheel Noise How do you determine
`if your new wheel design is quieter, ifthe rest of the clanging, squealing train
`drowns it out? With a phased microphone array and intensive calculations.
`Johan Van Keymeulen
`
`
`
`S_LNaLN’V'O3
`woo-fiewsaosuas-MMM
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`DEPARTMENTS
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`6 Business Sense
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`1 0 Web Picks
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`1 4 Research & Developments
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`72 Advertiser Index/Reader Service Card
`
`
`79 Product News
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`33 Wish List
`
`ABOUT THE COVER
`What started as a bus tailored for the automotive industry is now a
`protocol that has been adopted by the industrial automation, test
`and measurement, and medical communities. The robust Control
`Area Network (CAN) is optimized with sophisticated error checking
`and handling that guarantees that the system will continue to run
`even when errors and failures occur. To see just how this bus works,
`read the article that begins on page 18. (Cover image courtesy of
`Microchip Technology |nc.l
`
`. 68 Acoustic Wave Technology Sensors Acousticwave sensors
`are extremely versatile devices that arejust beginning to realize their
`commercial potential. This tutorial addresses acoustic wave sensor physics and
`materials, and the various types of acoustic wave sensors and their industrial
`applications. Bill Drafts
`
`SEflSflfiS EHPD”
`Sensors magazine is the official sponsor ofSerrsars Expo Conferences and Expositions.
`
`Petfismet'sffiltiifiait 1006
`
`-
`
`Page 3 of 16
`
`Petitioner's Exhibit 1006
`Page 3 of 16
`
`

`

`
`A. 5 DA SYSTEMS
`
`
`
`Bruce Negley,
`(0 N T R 0 L Microchip Technology inc.
`
`Getting Control Through
`
`
`control capabllltles
`
`_
`
`'
`
`The CAN protocol has gained widespread popularity not only in the automotive industry but also. .
`
`
`in the industrial automation arena. Take a look at what it can-do, and see how you can extehdfyohr:
`
`
`- errnan automotive system supplier Robert Bosch created the Controller Ar . N two
`(CAN) to enable robust serial communications while decreasing wiringharnessWei
`- ”and complexity. The current version ofthe protocol, 2.03, provides transmission speeds
`
`-
`'up to 1 Mbps.
`'
`
`Since its inception, CAN has moved from automotive applications to industrlalx:
`trol. Now technicians and engineers are starting to use it in medical and test equipmen
`
`The test, measurement, and control community is discovering just what this bus can do
`when it is coupled with smart sensing technology.
`
`_ How Is CAN used?
`The CAN protocol creates a communications path that links all the nodes connected-
`
`to the bus and enables them to tail; to one another. Depending on how the designerhas'_
`' configured the s'yste‘rn, there may or may not be a central, or main,- node. The _p_ ' cc '
`'
`
`' defines aspectsof howeach node can respond, but it leaves tremendous flexibilityto th
`.' system designer to implement the nodesin Ways that suit the particular applies 7
`Figure 1 (page 20) shows.an 'autOmotive applicatiOnin which several nodes '
`'-
`c‘le door are connected through a door node conholler to the main CAN bus. As men—
`
`'tioned before the network need nothave a controller node; each node can just a cast
`
`be connected tothe main bus. Applying the concept shownin Figure l to a sens
`
`workrs as- easy as-changing the type and description ofthe nodes (see Figur _
`
`‘
`20)
`'
`-
`.
`
`.
`
`
`.
`What Makes Up a Node?
`The term node describes a portion of the overall system or network. Each nodecan
`have one function, or it can have many fiinctions Depending on the system configure-1
`
`tion, different nodes may transmit messages at different times based on the function(s)_
`_ ofeach node For example:
`
`-- A node may transmit a message only when a system failure occurs.
`
`Petltloners Exhiblt 1006
`' Page 4 of l6
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`18 www.5ensorsmag.com OCiOBERZDUO
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`Petitioner's Exhibit 1006
`Page 4 of 16
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`

`

`
`
`BfiifllmwéflmwfbiflOO6
`
`Page 5 of 16
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`Petitioner's Exhibit 1006
`Page 5 of 16
`
`

`

`DA CONTROL
`
`CAN Bus
`
`Implementation
`
`Poor-Neda
`'Qqn’irollefr -
`
`Implementation
`
`Figure 1. In this auto-
`motive application,
`the CAN bus is used to
`interconnect the indi-
`vidual nodes that de-
`tect button presses
`and control motors or
`solenoids in a door.
`Each node can com-
`municate with any
`other node.
`
`Figure 2. DAN is a
`robust protocol. which
`makes it well suited to
`interconnect sensor
`and motor control
`nodes in industrial
`environments.
`
`0 A node may transmit messages continu-
`ally, such as when it is monitoring the flow
`rate from a pump in a control loop.
`0 A node may take action or transmit a
`message only when instructed by another
`node, such as when a fan controller is in-
`structed to turn a fan on when the tempera-
`ture-monitoring node has detected an ele-
`vated temperature.
`
`Figure 3 (page 21} outlines the com-
`ponents of a generic node. In this
`node, a signal from a sensor passes
`through signal conditioning cir—
`cuitry and then into the AID con-
`verter. The node feeds the data
`from the converter into the micro-
`
`controller for analysis. Based on the func-
`tion of the node, the microcontroller may
`
`
`
`immediately pass the information on to the
`bus for other nodes to use, or it may wait for
`a value higher than a set point before trans-
`mitting any data. The bus transceiver con-
`verts the standard logic signals from the
`microcontroller to the signal levels used on
`the physical CAN bus.
`
`CAN Messages
`The CAN protocol uses a message-based
`data format in which information is trans-
`
`ferred from one location to another by
`sending a group of bytes at one time.
`Unlike address-based systems, every
`node in this system listens to every
`message on the bus (and will
`acknowledge it the message was prop-
`erly received) to determine if it needs to take
`action.
`
`.
`1
`
`i
`l
`
`20 www.5ensorsrnag.com OCTOBER 2000 Circle 51 on Sensors RS Card
`
`Petitioner's Exhibit 1006
`Page 6 of 16
`
`
`
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`
`Petitioner's Exhibit 1006
`Page 6 of 16
`
`

`

`node applications.
`
`
`Figure 3. Atypical smart
`sensor node is made up at
`both digital and analog
`components, which allow
`the sensor data to be cap-
`tured, translormed, ana-
`lyzed, and transmitted to
`other nodes in the system.
`System designers often
`create generic node hard-
`ware. which can be easily
`configured tor ditierent
`
`Every message has an identifier field con-
`sisting of either 11 or 29 bits. The message
`can also contain data, but it’s not required.
`The node uses the identifier to determine if
`
`the incoming message should be accepted
`and acted on or discarded.
`
`When one node wants to send data to any
`other node(s), it assembles a message with
`the proper identifier and data,
`checks to see if the bus is free, and
`then transmits the message.
`
`Every other node captures the message and
`examines it to see if it is required to take
`some action. A single node may act on the
`message, or many nodes may accept the
`message and act on it. For example, a tem—
`perature-monitoring node may send out
`temperature data that are acted on only by a
`node that displays the current temperature.
`But if the temperature sensor detects an
`overtemperature situation, then many nodes
`might act on the information.
`
`ISOIOSl Reference Model
`
`
`
`Figure 4. The ISIJIOSI reierence model delines seven layers ol system implementation for net-
`work applications, which allows standardization of network components irom dilterent manulac—
`turers. making them interchangeable. The BAN protocol defines the tower two layers of the model
`with the exception ot the medium-dependent interface (Mill) in the physical layer. The upper lay-
`ers were left undefined by CAN so that users could create interfaces that met their specific
`requirements. Some upper-level protocols, such as Deutcotlet (Allen-Bradley} and sec (Honey-
`well), are based on the CAN protocol.
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`Circle 90 on Sensors RS Card Petioo'umes'sltfintsitoto 1fl06
`
`Page 7 of 16
`
`Petitioner's Exhibit 1006
`Page 7 of 16
`
`

`

`DA CONTROL
`
`With the message-based format, you can
`add nodes to the bus without reprogram-
`ming the other nodes to recognize the addi-
`tion. The new node will start receiving mes—
`sages from the network immediately.
`Another useful feature built into the CAN
`
`protocol is the ability of a node to request
`information from other nodes. This is called
`
`a remote transmit request, or RTR. This is
`different from the previous example because
`instead of waiting for information to be sent
`to it, the node specifically requests that the
`data be transmitted.
`
`CAN Protocol Layers
`Most network applications follow a layered
`approach to system implementation. This
`enables interoperability among products
`from different manufacturers. The Inter-
`
`
`
`Figure 5. Many CAN sys-
`tems use a transceiver to
`implement the physical
`layer of the protocol. A
`typical transceiver uper-
`ates from a 5 ll supply and
`delivers a differential sig-
`nal of 0-3 it for the actual
`data transmission. The
`transceiver also provides
`protection against trau-
`sient voltages on the data.
`
`national Standards Organization (ISO) cre-
`ated the Open Systems Interconnection
`(051) Network Layering Reference Model
`to serve as a template for this approach (see
`Figure 4, page 21).
`
`The CAN protocol implements most of
`the features of the lower two layers of the ref-
`erence model. But Bosch did not include
`
`the communications medium portion of the
`model in the CAN specification because he
`
`wanted to give system designers the freedor
`to adapt and optimize the protocol on mull
`ple media (e.g., twisted pair, single win
`Optically isolated, RF, and IR) for maximur
`flexibility. A common method of impli
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`Page 8 of 16
`
`Petitioner's Exhibit 1006
`Page 8 of 16
`
`

`

`DA CONTROL
`
`inter-Frame Space
`
`End of My Frame
`
`Store01Frame
`
`BBII'
`
`
`
`Dora Fume loumbct oFbils ‘= 44 9 IN)
`
`IN “ENE”
`Dal: Field
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`u
`
`:2
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`s
`
`12
`Arbitration Fich‘i
`
`it
`
`new
`
`I r
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`‘3
`a
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`“2.9..
`
`4
`
`-
`-
`
`identifier
`
`m on»
`
`Slum! in Buffers
`
`Slated in TrumiL'chii t Bill“?!
`
`at: Stuffing
`
`Figure 6. The standard data lrame is one ol several frame types used in
`the CAN protocol. The data frame is made up at several fields, which
`include 11 hits tor the identifier, up to 8 data bytes, and 16 bits of cyclical
`redundancy check sum error checking. The nodes use the identifier lield to
`determine if a message should he acted on. It is also used in the bus arbi-
`tration scheme to prevent hus collisions if more than one node begins
`transmitting at the same time.
`
`If.
`csc field
`
`is(‘RC
`
`-c
`
`”fifth.-Actstarflit
`
`Inter-Frame Space
`
`menting the physical layer is
`by specifying a 5 V differen-
`tial electrical bus as the physi-
`cal interface (see Figure 5, page
`22). Such an implementation is fully
`defined in ISO-11398.
`
`The rest of the layers of the OSI protocol
`stack are left to be implemented by the sys-
`tem software developer. Higher Layer
`Protocols (HLPs) are generally used to
`implement the upper five layers of the OSI
`reference model. Two of the most notable
`
`industrial control HLPs are Allen-Bradley’s
`DeviceNet and Honeywell’s Smart Distrib-
`uted System (SIDS).
`Higher Layer Protocols are used to:
`0 standardize startup procedures, including
`the bit rates used
`
`It distribute addresses among participating
`nodes or types of messages
`' determine the structure of the messages
`0 provide system-level error handling
`
`24 www.5ensorsmag.com OCTOBERZOUO
`
`This is by no means a full list of the func-
`tions that HLPs perform, but it does describe
`some of their basic functionality.
`Most CAN systems implement the physi-
`cal layer of the protocol by using some kind
`of transceiver (see Figure 5). This device
`connects the CAN High (CANH) and CAN
`Low (CANL) pins to the CAN bus with a
`differential signal of 03 V. A trans-
`ceiver also provides transient protec-
`tion of $200 V and fault protection
`by acting as a barrier that can with-
`stand voltages of :40 V.
`
`CAN Message Frames
`The CAN protocol defines four types of
`messages, or frames. The first and most com-
`mon is a data frame, which is used when a
`node transmits information to any or all
`other nodes in the system. The second most
`common, a remote frame, is used when one
`node requests data from another node. The
`
`
`
`other two frame types are used to handle
`errors. A node generates an error frame when
`it detects one of the many protocol errors
`defined by CAN. And the protocol calls for
`an overload frame when it requires more
`time to process messages already received.
`Standard and Extended Data Frames.
`
`Data frames consist of fields that provide
`additional information about the mes-
`
`sage. Embedded in the data frames
`are arbitration fields, control fields,
`data fields, cyclic redundancy
`check sum (CRC) fields, a 2 bit
`acknowledge field, and an end of
`frame.
`
`The arbitration field prioritizes messages
`on the bus. Because the CAN protocol
`defines a logical 0 as the dominant state, the
`lower the number in the arbitration field,
`the higher the priority of the message on the
`bus. For a standard data frame, the arbitra-
`tion field consists of 12 bits—11 identifier
`
`Petitioner's Exhibit 1006
`
`Page 9 of 16
`
`Petitioner's Exhibit 1006
`Page 9 of 16
`
`

`

`DA CONTROL
`
`part of the CAN con:
`troller hardware
`
`
`tocol. Carrier sense means that before any
`node sends a message, it must monitor the
`bus for a period of inactivity before trying to
`send a message. Multiple access indicates
`that once the period of inactivity occurs,
`every node on the bus has an equal opportu-
`nity to transmit a message. The CD stands
`for collision detection. If two nodes on the
`
`network start transmitting at the same time,
`the nodes will detect the collision, and one
`of the nodes will stop transmitting.
`CAN uses a nondestructive bitwise arbitra-
`tion, which means that messages remain
`intact after arbitration is completed even if
`collisions are detected. All the arbitration
`takes place without corruption or delay of F
`
`
`
`Figure 7. To transmit a message, the node
`
`first must load the message identitier, data
`
`bytes, and control hits into the transmit
`
`message assembly registers. The node then
`
`transfers the data to the CAN protocol
`
`engine. The protocol engine creates the
`
`actual irame by inserting the irame ele-
`ments, such start and stop hits and inter-
`
`irame space hits. The protocol engine aiso
`
`handles hus arbitration, cyclical redundancy
`
`check sum calculations. and looks for trans-
`mission errors.
`
`
`
`
`
`
`
`
`
`
`
`
`
`bits and l RTR bit—(see Figure 6,
`
`page 24). Extended data frames are
`identical to the standard data frames
`
`except that the arbitration field is 32 bits (29
`identifier bits, 1 bit to define the message as
`an extended data frame, I unused bit, and
`an RTR bit).
`Remote Frames. As described in the pre~
`ceding section, the RTR is used when a
`node requests information from another
`node. This might be used when a sensor is
`tnonitoring the temperature but transmits a
`signal only when an overtemperature condi-
`tion exists or when another node requests
`the sensor to transmit the current tempera-
`ture. A remote frame is sent as a command
`and has no data field.
`Error Frames. When a node detects one of
`
`the errors defined by the CAN protocol, an
`error frame is automatically sent by the con-
`Itroller.
`i Overload Frames. These frames tell the
`hetwork that a node is busy and is not ready
`to receive additional messages at the time.
`' Bus Arbitration. CAN is based on the car-
`
`rier sense multiple access (CSMAI'CD) pro-
`
` These are generated
`(loaded) by the CAN
` The protowl angina is
`lllleaSlll‘e engine
`d namic to 50ltllz to1tltlfl°F
`
`
`
`0
`
`to <1 micron
`
`\
`o
`
`2
`
`IJIIR l'illllllSfllllTllST EIIDV CURRENT SENSORS MEASURE:
`
`o Rocker arm movementllifter leak-down
`
`0 Axial camshaftlcrankshaft run-outlbalancing
`
`e Push-rod deflection
`0 Valve lift and valve float investigation
`a Piston slap and skirt clearance
`0 Static bearing clearance on crank journal
`0 Engine mount deflection
`0 Dynamic TDCIhead gasket clearance
`0 Fuel injection needle lift (not shown)
`
`see what's hattlloninn‘
`
`www.hamanlnatnumentatlonmom
`
`800-552-6287 “W
`
`Circle 74 on Sensors RS Card
`
`SENSORS OClOBER 2000 25
`
`Petitioner's Exhibit 1006
`
`age
`
`
`
`Petitioner's Exhibit 1006
`Page 10 of 16
`
`

`

`multiNCDT
`
`Disolacement
`
`
`
`‘;m;<nricro+opsiton.oom
`
`Our sub-
`miniature
`eddy
`current
`sensors
`
`type U65
`and $05
`take you
`to new
`extremes
`
`Eddy Current Sensors
`II Non-Contact . Wear-free
`. [l 14 Sensor models
`0-32 in
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`:D Compatt single—channel systems
`El Modular mum-channel systems
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`[1 TempStability +0."01 96' FSQFF
`fl FreqUency response 100 kHz
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`mapl'acomont ominof
`
`Receiving and Processing a Message
`As mentioned previously, the CAN proto~
`
`,
`
`
`Into the microoontrotier
`
`The Receive Assembly
`Registerattarnpts recapture
`every message
`
`CAN Protocol Englne
`— Error Checking
`- CRC Checking
`
`Fitter and Mack values
`are typically programmed
`
`The microconh'olier
`can now not on the
`received message
`
`Figure 8. Every active node
`reads every message lransmilled
`on the bus. When a node
`receives a message and deter-
`mines that there are no errors
`with lhe message, the identifier
`field at lhe massage is checked
`againsl lillcr and mask registers
`to determine if the message
`should be acted on. Dilfcrcnt
`
`CAN controllers implement lil-
`lcrs and masks in diilcrcnt ways,
`and most controllers have mulli-
`plc racaive registers to increase
`the lhroughput or message
`reception. The system designer
`is free to determine how to use
`the receive cutters and filters In
`manage messages in a way thal
`suits their needs.
`
`5-
`
`'
`
`26 www.sensorsmag.com OCTOBER 2000 Circle 56 on Sensors R5 Card
`
`Petitioner's Exhibit 1006
`
`Page 11 of 16
`
`the message that wins the arbitration.
`There are a couple of things required to
`support nondestructive bitwise arbitration.
`First, logic states must be defined as domi-
`nant or recessive. Second, the transmitting
`node must determine if the logic state it is
`trying to send actually appears on the bus.
`CAN defines a logic bit 0 as a dominant bit
`and a logic bit 1 as a recessive bit. A domi-
`nant bit state will always win arbitration
`over a recessive bit state.
`
`For example, suppose two nodes
`are trying to transmit a message at
`the same time. Each node will
`monitor the bus to make sure the bit
`
`that it is trying to send actually appears
`on the bus. The lower priority message will
`at some point try to send a recessive bit (a
`logic high), and the monitored state on the
`bus will be a dominant bit (a logic low). At
`that point, the node sending the lower prior-
`ity message loses arbitration and immedi-
`ately stops transmitting. The higher priority
`message will continue until completion, and
`the node that lost arbitration will wait for the
`
`next period of inactivity on the bus and try to
`transmit its message again.
`
`Creating and Sending a Message
`Every CAN controiler handles the details
`of message transmission and reception differ-
`ently, but the overall concept is the same for
`
`
`
`most devices. A message is typically create?
`
`in the controller by filling registers with th:
`proper information This includes the identi!
`fier information that determines which
`
`that are required (see Figure 7, page 25
`
`nodes receive the message and the data bYtel
`Many CAN controllers have multiple transJ
`mit buffers so that messages can bfl
`preloaded in preparation for a particulari
`event.
`l
`After the data have been loadedaa,H
`the controller can be given thd“
`command to transmit the messagel
`When the controller receives the;
`command, it checks to see if the bus
`is busy before beginning the transmis-i
`.
`.
`.
`,
`s1on. As transmission of the message id
`occurring, the controller checks for bus col-l
`lisions and other transmission errors Othei.
`than loading the buffers and giving the com?
`mand to transmit all the details of this proc—i
`ess are handled1n hardware by the CA
`protocol engine. The controller automatif
`caily checks for the bus-free state and per-i?
`forms bit arbitration and error checlcingiE T
`Most CAN controllers maintain a series oi;
`status bits that can be used to determine if air-4,
`transmission is complete and if any errors;
`3;
`occurred during the transmission.
`
`l
`
`i
`
`Petitioner's Exhibit 1006
`Page 11 of 16
`
`

`

`
`
`
`
`DA {outset
`
`
`
`col is a messaged-based system that requires
`every node to listen to every message on the
`bus. Each node must determine if it should
`
`discard the message or take some action. A
`node determines if it should accept a mes
`sage by examining the identifier bits. Inside
`the controller, filters and masks are com-
`pared against the identifier bits to see if there
`
`is a match. If the identifier bits match one or
`
`more of the filters, then some action will be
`taken by the node.
`The system designer determines how the
`filters and masks are used. Most CAN con-
`
`trollers have multiple receive buffers, which
`increase the ability of the controller to han-
`dle higher transmission rates and reduce the
`
`
`
`chance of an overload condition, where the
`controller is still busy processing one mes-
`sage when another message is being trans
`mitted. Most CAN controllers have sophisti-
`cated methods of using masks, filters, and
`interrupts to minimize message processing
`requirements {see Figure 8, page 26).
`
`What is
`small,
`reliable,
`inexpensive,
`durable,
`generates a consistent 5-6 volt, 10us pulse,
`requires no external power,
`has no moving parts.
`operates in temperatures from 40°C to memo,
`is capable of zero speed detection, and
`ideal for
`Motor Control applications?
`
`
`
`(actual size}
`
`The 82000 Series Sensor.
`fluestions?
`At HID Corporation we have the answers for all your sensor needs.
`From design and development to manufacturing and assembly, we can
`help you find the perfect solution for your application.
`For more information give us a call or visit our Web site today.
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`
`800.243.2563 wwwhidcorpcom
`
`28 www.5ensorsmag.com OCTOBER 2000
`
`Circle 66 on Sensors RS Card
`
`_
`
`Error Handling
`Because CAN was initially designed for use
`in automobiles, the protocol had to efficiently
`handle errors if it was to gain market accep—
`tance. With the release of version 2.0B of the
`
`CAN specification, the maximum communi-
`cation rate was increased eight times over that
`of version 1.0 to 1 Mbps. At this rate, even the
`most time—critical parameters can be transmit-
`ted serially without latency concerns. ln addi-
`tion, the CAN protocol has a comprehensive
`list of errors that it can detect, which ensures
`the integrity of messages.
`CAN nodes can determine fault conditions
`and transition to different modes based on
`
`the severity of the problems encountered.
`They can also differentiate between short
`disturbances and permanent failures and
`modify their functionality accordingly. CAN
`nodes can transition from functioning as a
`normal node (i.e., being able to transmit and
`receive messages normally) to shutting down
`completely (bus off) based on the severity of
`the errors detected. This feature is called
`fault confinement.
`
`A faulty node cannot monopolize the
`bandwidth of the network because the fault
`is confined to that one node, which shuts off
`before bringing the network down. This fea-
`ture guarantees bandwidth for critical system
`information.
`
`///‘“*‘—-.g_\‘
`
`Errors Detected. The CAN protocol
`defines five errors.
`,
`CRC Error. The transmit-
`ting node calculates a CRC //
`value and then transmits the
`i
`,
`value in the CRC field. All
`,5;
`.
`nodes on the network receive
`the message, calculate a CRC, CM
`and verify that the CRC values match. If the
`values do not match, a CRC error occurs,
`and the node generates an error frame.
`Acknowledge Error. In the acknowledge
`field of a message, the transmitting node
`checks if the acknowledge slot (which it has
`sent as a recessive bit) contains a dominant I
`
`
`
`Petitioner's Exhibit 1006
`
`.
`
`,,
`
`Page 12 0f16
`
`Petitioner's Exhibit 1006
`Page 12 of 16
`
`

`

`DA CONTROL
`
`
`
`
`
`
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`Figure 9. A typical smart sensor network is made up at nodes that have different functions.
`Some codes will only transmit data, some will receive data, and some may have multiple func-
`tions. The BAN ous provides a rotrust means of interconnecting nodes and allows each node to
`communicate with any other node. If the system has many nodes and there is a lot of lrattic an
`the bus, message identitiers can he organized to include a scheme that ensures that priority
`messages are processed first.
`
`
`
`
`
`bit. Such a bit acknowledges that at least one
`receiving nodes to synchronize by recover-
`node correctly received the message. If the
`ing clock information from the data stream.
`bit is recessive, then no nude received the
`Receiving nodes synchronize on recessive-
`message properly. If an acknowledge error
`to-dominant transitions. If there are more
`occurs, the node generates an error frame.
`than five hits of the same polarity in a row,
`Forrn Error. If a node detects a dominant
`CAN automatically stuffs an opposite polar-
`bit in the end of frame, interframe space,
`ity bit in the data stream. The receiving
`acknowledge delimiter, or CRC delimiter,
`node(s) use it for synchronization but ignore
`the protocol defines this to be a form viola-
`the stuff bit for data purposes. If between the
`tion, and a form error is generated.
`start of frame and the CRC delimiter, six
`Bit Error. A bit error occurs if a