CAN bus and outputs

The CAN implementation supports both CAN 2.0A and CAN 2.0B standards in a very versatile manner. It has been designed to maximize the compatibility with third party equipment and CAN software.

Configuration

High Performance products can not be configured via CAN.

The CAN Bus typical wiring:

SBG Systems products are designed to follow the ISO 11898 standard which defines the following specification for the CAN bus:

• a maximum output rate of 1 Mbps for a CAN bus length of 40m (backbone), and with a maximum of 30 nodes.
• backbone of the CAN bus should be a single line consisting in a twisted pair terminated at each end with 120 Ω resistor to prevent signal reflections.
• a maximum of 0.3m is recommended for each stub length (extension from the CAN bus backbone where a node is connected).

CAN termination resistor

The SBG Systems products don't have a termination resistor installed on the CAN port.

CAN Bus configuration with the Web interface:

Step 1:  Input/Output

To enable CAN output, just select the option for the bus mode, then adjust the Bus bitrate

The mode options are:

The Following view is accessible, after selecting the configuration icon and go to Input/Output tab. Then a CAN tab will show in Data output menu.

Step 2: Data output

After configuring the CAN Bus in the Input/Output tab, the data output section will define the enabled messages and frequencies.

The output data (IMU location or other lever arms) and the starting condition (Never - Power On - UTC valid - Position Valid) is also made via this tab.

Once enabled, the identifier can be changed (beware to keep it unique within your system to avoid collisions)

The definition of each CAN message can be found in our Firmware documentation.

sbgCan.dbc and sbgCan.dbf files can be found in the can folder of our sbgEcom GitHub page.

Default identifiers

Changing the messages default identifiers will break its compatibility with the .dbc and .dbf files provided by SBG Systems.

CAN Bus Status:

Some status are available to monitor the proper functioning of the CAN bus. They are available in web interface: 

The status are also available in sbgCenter application. By selectin ' display the device status' and go to the interfaces tab, we could read them: 

The CAN Bus status definitions are: