Cattron CCM12 CANbus User manual

CCM12 CANbus
User Manual

CCM12 CANbus
User Manual
2
9M02-7717-A001-EN
Version 3.0
Revision History
VERSION
DATE
NOTES
EP1
11/05/2008
Preliminary Version
EP1a
11/19/2008
Added physical dimensions drawing
EP2
06/03/2009
Specifications update: max voltage set to 32V
Added specifications to fuses
A1
11/23/12
Overall revision: Added sections on CANbus redundant operation, CCM12 rotary
switches, CANopen and J1939-specific information
2.0
04/2016
Updated styles and branding
3.0
03/2019
Changed part number to 9M02-7717-A001 from 9M04- and rebranded
Any information furnished by Cattron™ and its agents is believed to be accurate and reliable. All specifications are subject to change without notice.
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uses.Cattronmakesnowarrantiesastonon-infringementnorastothefitness, merchantability,orsustainabilityofanyCattronproductsforany
specificorgeneraluses.CattronHoldings,Inc.,oranyofitsaffiliatesoragentsshallnotbeliableforincidental or consequentialdamagesofany
kind. All Cattron products are sold pursuant to the Terms and Conditions of Sale, a copy of which will be furnished upon request. When used as a
tradename herein, Cattron means Cattron Holdings, Inc. or one or more subsidiaries of Cattron Holdings, Inc. Cattron™, corresponding logos,
and other marks are trademarks or registered trademarks of Cattron Holdings, Inc. Other marks may be the property of third parties. Nothing
hereinprovidesalicenseunderanyCattronoranythirdpartyintellectualpropertyright.

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Contents
1. Functional Overview.............................................................................................................................................................................. 5
1.1 Features .....................................................................................................................................................................5
1.2 Block Diagram............................................................................................................................................................6
2. Physical Description and Interfaces.................................................................................................................................................... 7
2.1 Physical Description...................................................................................................................................................7
2.2 Interface Description...................................................................................................................................................9
2.2.1 Power Supply ..................................................................................................................... 9
2.2.2 Safety Relays .....................................................................................................................9
2.2.3 CAN Interface................................................................................................................... 10
2.2.4 RS485 ............................................................................................................................ 11
2.2.5 LED Indicators .................................................................................................................. 12
3. CANbus Operation............................................................................................................................................................................... 13
3.1 CANbus Redundant Controllers for Safety-Relevant Applications............................................................................13
3.1.1 Parallel Operation.............................................................................................................. 13
3.1.2 Cross-Monitored Operation .................................................................................................. 13
3.2CANbus Protocols....................................................................................................................................................14
3.3 CANopen..................................................................................................................................................................14
3.3.1 Standard Configuration ....................................................................................................... 14
3.3.2 Custom Configurations........................................................................................................ 15
3.3.3 Rotary Switches –Baud rate and Node ID................................................................................ 15
3.3.4 LEDs.............................................................................................................................. 17
3.4 J1939........................................................................................................................................................................18
3.4.1 Standard Configuration ....................................................................................................... 18
3.4.2 Custom Configurations........................................................................................................ 18
3.4.3 Rotary Switches ................................................................................................................ 18
3.4.4 LEDs.............................................................................................................................. 18
3.5 CANbus Termination Resistor..................................................................................................................................19
3.6 CCM12 Power-On Sequence...................................................................................................................................19
3.7 Active STOP and Passive STOP..............................................................................................................................20
3.8 Error Behavior ..........................................................................................................................................................20
6.9 RF AutoScan Mode..................................................................................................................................................20
4. Connectors............................................................................................................................................................................................ 21
4.1 Main Connector........................................................................................................................................................21
4.2 Programming Connector...........................................................................................................................................22
4.3 RF Connector...........................................................................................................................................................22

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5. Compliance Information...................................................................................................................................................................... 23
5.1 FCC Part 15 Notice ..................................................................................................................................................23
5.2 Industry Canada.......................................................................................................................................................23
5.3 Approved Antennas..................................................................................................................................................23
Appendix A: Error Codes............................................................................................................................................................................ 24
Appendix B: Spare Parts List..................................................................................................................................................................... 25

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1. Functional Overview
The Cattron CANbus compact MCU (CCM12) is a radio remote control receiver with CANbus interfaces. It is
designed to be used with the Cattron OCU (Operator Control Unit) product line.
Figure 1: CattronControl CANbus CCM12 typical application
In most applications, the two redundant safety relays are connected in series as shown.
1.1 Features
Several important features of the CCM12 are described here.
•CANbus interface –The CCM12 CANbus interfaces meet the ISO11898-2 standard. Both interfaces are
electrically isolated. Higher level protocols such as CANopen and J1939 are supported.
•Dual safety relays outputs –The CCM12 provides two monitored safety relays (forcibly guided contact
relays, according to EN50205). The normally-opened contacts close when a valid RF link is present
between the OCU and the CCM12, and both units operate without error. The safety relays are used as
STOP devices independent of the CANbus link.
•RF Communication –The CCM12 supports two-way RF communication with the OCU, providing
feedback capability for sending information to the OCU display. RF transmission is protected against
noise and corruption with mechanisms as CRC, sequencing control, etc.
The CCM12 is compatible with several Cattron RF modules, each one supporting a particular frequency
band. It can be configured to operate on a specific RF channel, or to scan among the available channels
(auto-scan mode).
•TransKey Configuration Device –System configuration is done using a removable, contact-less RFID
memory device, the TransKey. TransKeys are produced in pairs (one for the OCU and one for the MCU).
Each pair has a unique 24-bit ID. RF links can only be established between an OCU and MCU sharing
the same TransKey ID.
The TransKeys are also used to store configuration parameters, such as RF channel, link time-out delay,
etc. To be programmed, the TransKey has to be removed from the unit and programmed using a PC with
the proper programming hardware and software.
The TransKey cannot be removed during operation; if removed, the unit enters Error mode within a few
seconds.
•Dual Processor Redundant Architecture for Safety (EN13849) –In order to meet the EN13849
requirements for safety-relevant applications, the system design is based on a dual channel redundant
architecture. Two processors running in parallel perform similar operations on the process data, and
compare their results at specific check points for consistency. In addition, active fault detection is
performed at run-time by each processor. In the case of inconsistency or fault detection, the device enters
Error mode.

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1.2 Block Diagram
The following block diagram illustrates the CCM12. The main interfaces are described in more detail in the next
sections.
Figure 2: Block Diagram

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2. Physical Description and Interfaces
2.1 Physical Description
The CCM12 is enclosed in a compact, watertight, impact-resistant black nylon housing. The main connector
is integrated to the front plate, ensuring sealed packaging.
Figure 3: CCM12housing
Figure 4: CCM12 internal –the main PCB is assembled to the front panel PCB-mount connector

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Figure 5 shows the CCM12 physical dimensions. The unit can be mounted using two ¼-20 screws.
Figure 5: CCM12 physical dimensions

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2.2 Interface Description
2.2.1 Power Supply
The system is designed to support off-road mobile applications on 12 VDC and 24 VDC systems.
Table 1: Power Supply Characteristics
INPUT VOLTAGE
6-32 VDC
INPUT CURRENT
Less than 300 mA at 12 VDC
Less than 175 mA at 24 VDC
PROTECTION
- Reverse polarity
- Load dumps and electrical transients
2.2.2 Safety Relays
The CCM12 has two independent safety relays; each relay is controlled by one processor, and monitored by
both of them, as shown:
Figure 6: Safety Relays interface block diagram
Contacts for the relays normally-open are connected to the CCM12 main connector, while the normally-closed are
used for relay monitoring.
The safety relays main contacts (normally-opened) are closed when a valid RF connection is established from the
OCU, and the MCU is operating without error. Since the master and slave processors run parallel operation, both
relays operate quasi-simultaneously.
It is recommended that the contacts for both relays be connected in series to the machine E-STOP circuitry.

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Table 2: Safety Relays Characteristics
RELAYS TYPES
EN 50205, type A (forcibly guided contacts)
RELAYS SWITCHING VOLTAGE
5 to 250 VDC/VAC
RELAYS SWITCHING CURRENT
5 mA to 6 A
SHOCK RESISTANCE 16MSEC
17 g
VIBRATION RESISTANCE 10-200 HZ
7 g
RELAYS CONTACT FUSE RATING
4 A, 125 VDC/VAC
2.2.3 CAN Interface
The system supports two CAN controllers, each driving its own isolated CAN interface.
Figure 7: CAN interface block diagram
Each CAN interface is connected to one processor, providing redundancy and self-verification capabilities.
Both interfaces are electrically isolated from each other and from the rest of the electronics. They meet the
specifications of the ISO 11898 standard.
Table 3: CAN Interface Characteristics
CAN FORMAT
CAN 2.0A and CAN 2.0B
BUS SPEED
10, 20, 50, 125, 250, 500, 800 and 1000 kbps
STANDARD
ISO 11898-2
PROTECTION
According to ISO 11898-2:
- Bus fault protection from -27 to +40 V
- Transient voltage from -200 to +200 V
ISOLATION
Each port is individually isolated for signals and power supply
CONFIGURATION
Node ID and bitrate can be configured using rotary switches

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2.2.3.1 Protocols
The CAN interfaces support CANopen and SAE J1939 protocol, as well as lower-level CANbus protocol variants.
Section 0 provides details on CANbus operation.
2.2.3.2 Redundant Controllers
The two CAN controllers operate in a redundant fashion to meet the needs of safety-relevant applications. Two
modes are supported:
•Parallel Operation: Both controllers perform identical processing; the same messages are sent
simultaneously on both channels. The recipient nodes are responsible for comparing and validating the
messages.
•Cross-Monitored Operation: The slave CAN controller monitors the CAN frames sent by the master and
compares the frames with its own copy of the process data. In case of any discrepancy, the MCU enters
Error mode.
In the case where no redundancy is desired, only the master controller interface is used. Refer to Section 0 for
more details.
2.2.4 RS485
The MCU provides two RS485 ports. These ports are electrically isolated from the system, but they share
the same isolated power supply. In the default configuration, both ports are connected together with
jumpers.
Note: This interface is currently not implemented as a standard feature. Please contact Cattron with your
requirements.
Figure 8: RS485 interface block diagram

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Table 4: RS485 Interface Characteristics
BUS SPEED
TBD
STANDARD
TBD
PROTECTION
TBD
ISOLATION
Each port is individually isolated for signals, and globally isolated for power supply
CONFIGURATION
TBD
2.2.5 LED Indicators
The MCU has five bicolor LEDs.
Figure 9: MCU LEDs
Table 5: MCU LEDs Description
LED NAME
COLOR
MEANING
ON
Orange
The MCU is powered and properly initialized.
RF
Green
Valid RF Telegrams are received from peer OCU, and RF connection is
established. Both main relays are activated - MCU is in Active State.
Orange
Valid RF Telegrams are received from peer OCU, but RF connection is not
established. Main relays are not activated - MCU is in Passive State.
Red
Indicates that valid RF Telegrams are received from another OCU (an OCU with
a different TransKey ID).
Red/Orange
Flashing
MCU is scanning RF channels to find its peer OCU. Main relays are not
activated - MCU is in Passive State.
Off
No RF Telegrams received. Main relays are not activated - MCU is in Passive
State.
SYSTEM
Green
Commands are being received (OCU actuators are being moved).
Red Blinking
Error indication; the number of blinks provides an error code. Refer to Appendix
A for description of error codes.
CAN1
Green, Red
Master Processor CAN status. Behavior depends on CAN operation (CANopen
or J1939). Refer to the sections specific to CANopen and J1939.
CAN2
Green, Red
Slave Processor CAN status. As for CAN1, refer to the sections specific to
CANopen or J1939 for more details.
*“Peer OCU” refers to an OCU using the peer TransKey (with the same 24-bit ID)

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3. CANbus Operation
3.1 CANbus Redundant Controllers for Safety-Relevant Applications
The two CANbus interfaces are designed to operate in redundant fashion, so as to meet the requirements for
safety-relevant applications. Two different configurations are supported, as illustrated in Figure 10.
Figure 10: Two CANbus redundant operation
3.1.1 Parallel Operation
In parallel operation, the two processor/CANbus controllers operate independently from each other. They perform
similar processing on received RF telegrams, so the same CANbus data frames are sent from both of them. In
this configuration, it is up to the receiving nodes to validate the CANbus frames by comparing the master and
slave sides.
•Node IDs –The two CANbus controllers are assigned different node IDs so they can be connected to the
same bus; the CCM12 actually appears as two different nodes running in parallel. The slave node ID equals
the master node ID + 1.
•Received Data Frames –This redundant scheme works for transmit data frames only. The received data
frames (RPDO for CANopen, Rx PGN for J1939) are ignored by the slave controller.
•Network Parameters –The master and slave controllers can be configured with different network
parameters by the network master. For example, in CANopen, one can be programmed for asynchronous
transmission and one for synchronous transmission. By default, the parameters are the same.
For applications where no redundancy is required, the master controller shall be used; the slave controller can be
left floating.
3.1.2 Cross-Monitored Operation
In cross-monitored operation mode, both processors perform the same processing on the received RF telegrams,
but CAN frames are sent by the master controller only. The slave reads back the frames transmitted by the
master controller for comparison. In addition, the slave processor reports to the master at regular intervals with
Monitoring Status Heartbeat messages so the master can double-check that the slave performs its verification
activity properly.
To
CANbus
Tx
frames
Heart
beat
Master
processor &
CANbus
controller
To
CANbus
RF telegrams
from OCU
To
CANbus
RF telegrams
from OCU
(a) Parallel Operation (b) Cross-Monitored Operation
Slave
processor &
CANbus
controller
Master
processor &
CANbus
controller
Slave
processor &
CANbus
controller

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•Node ID –Unlike parallel operation, the CCM12 appears as a single CAN node, so a single node ID is used.
•Error Detection –In case of error detection from the slave or from the master, the MCU enters Error mode.
In this mode, the transmission of CAN frames is aborted until the next power off/on cycle.
•Received Data Frames –As for parallel operation, this scheme operates for transmitted CAN frames only;
there is no cross-verification of received data frames.
•Master-Slave Interconnection –The two CANbus controllers are not connected internally. They need to be
connected together outside the MCU:
Connect CANH_M (pin1)
to CANH_S (pin 14)
(Master and Slave CAN High signals)
Connect CANL_M (pin2)
to CANL_S (pin 15)
(Master and Slave CAN Low signals)
The CCM12 main connector is shown in Section Error! Reference source not found..
Note: The standard configuration for the CCM12 is the cross-monitored configuration. Parallel operation is
available upon request.
3.2 CANbus Protocols
The CCM12 supports two standard configurations:
•CANopen protocol standard configuration
•J1939 protocol standard configuration
In many applications, low-level CANbus protocols can be supported using a subset of CANopen.
In addition, custom configurations can be implemented according to the customer’s requirements. The selection
of the protocol configuration is done at the Cattron factory.
Sections 0 and 0 provide basic information about CANopen and J1939 usage.
3.3 CANopen
3.3.1 Standard Configuration
The CANopen CCM12 is a slave device that supports three transmit PDOs (TPDO1-3) and two receive PDOs
(RPDO1-2). The transmit PDO contains control data from the OCU, and the receive PDO contains feedback data
to be sent to the OCU for display.
Table 6: PDO summary
PDO
COB-ID
DLC
CONTENT
TPDO1
Node ID + 180h
8
Digital inputs (OCU pushbuttons, switches)
TPDO2
Node ID + 280h
8
Proportional inputs 1 to 6 (OCU paddles/joysticks)
TPDO3
Node ID + 380h
8
Proportional inputs 7 to 8 + alternate digital inputs
RPDO1
Node ID + 200h
8
Feedback bits 1-64
RPDO2
Node ID + 300h
8
Feedback bits 65-128
The standard CANopen implementation is described in the following documents:
[1] Cattron #9S02-7887-A002, “Standard CANopen Protocol Specification”
[2] Cattron #9S02-7887-A100, “Standard CANopen Protocol Specification for Pushbutton OCUs”

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The TPDO mapping depends on the RF Telegram Format. Reference [1] is the general specification, applicable
to Telegram Formats 0F, 1F, 2F, 3F and 4F. Reference [2] is the application of [1] to Cattron pushbutton OCUs
(Excalibur and MKU), which employ Telegram Format 0F.
3.3.2 Custom Configurations
Custom definitions can also be implemented by Cattron based on customer requirements.
3.3.3 Rotary Switches –Baud rate and Node ID
The CANbus baud rate and node ID are configured using the three CCM12 16-position rotary switches labeled
SW1, SW2 and SW3, as shown in Figure 11. SW1 is used for baud rate selection, and SW2 and SW3 are used
for node ID. Note that the rotary switches are read at initialization only. Any position change at run-time has no
effect.
Figure 11: CCM12 rotary switches (SW1, SW2, SW3)
3.3.3.1 CAN Baud rate
SW1 selects amongst standard CANbus baud rates, according to the table below:
Table 7: CANbus baud rate selection table
SW1 POSITION
BAUD RATE
0
Do not use
1
20 kbps
2
50 kbps
3
100 kbps
4
125 kbps
5
250 kbps
6
500 kbps
7
800 kbps
8 –F
1 Mbps
3.3.3.2 CANbus Node ID
SW2 and SW3 select the CANopen node ID. SW3 is the most significant and SW2 the least significant nibble.

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In parallel operation, the CCM12 appears as two nodes; the slave controller adds one to the rotary switch value.
In cross-monitored operation, the CCM12 appears as a single node.

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Table 8: CANopen Node ID selection table
SW3
POSITION
SW2
POSITION
NODE ID,
CROSS-MONITORED
OPERATION
NODE ID,
PARALLEL OPERATION
MASTER
CONTROLLER
SLAVE CONTROLLER
0
0
Invalid –Do not use
Invalid –Do not use
0
1
01h
01h
02h
0
2
02h
02h
03h
…
…
…
…
..
7
D
7Dh
7Dh
7Eh
7
E
7Eh
7Eh
7Fh
7
F
7Fh
Invalid –Do not use
8-F
X
Invalid –Do not use
Invalid –Do not use
If SW1, SW2 or SW3 are set to an invalid position, the CCM12 goes to Error mode at start-up (with the 14 flashes
code).
3.3.4 LEDs
The MCU CAN1 and CAN2 LEDs are bicolor (Green and Red), operating according to CiA DR303-3, “CANopen
Indicator Specification”. CAN1 is associated with the master controller and CAN2 with the slave controller.
The behavior of the Green and Red components is independent. Green behavior indicates the RUN state, and
Red behavior the ERROR state. In the case of conflict between turning the LED Green or Red, Red has priority.
Table 9: CAN LED Green component behavior (CANopen operation)
GREEN (RUN) BEHAVIOR
MEANING
Blinking
(200 ms ON, 200 ms OFF)
The MCU is in PRE-OPERATION state
Single flash
(200 ms ON, 1 s OFF)
The MCU is in STOPPED state
On
The MCU is in OPERATIONAL state
Table 10: CAN LED Red component behavior (CANopen operation)
RED (ERROR) BEHAVIOR
MEANING
OFF
No error
Single flash
(200 ms ON, 1 s OFF)
A warning limit has been reached (too many error frames)
ON
Bus off condition

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3.4 J1939
3.4.1 Standard Configuration
The standard J1939 CCM12 is an arbitrary address capable device, supporting three proprietary transmit PGNs
and two proprietary receive PGNs. The transmit PGN contains control data from the OCU, and the receive PGN
contains feedback information to be sent to the OCU for display.
Table 11: PGN summary
PGN
FORMAT
TX/RX
CONTENT
65280
PDU2
Tx
Digital inputs (OCU pushbuttons, switches)
65281
PDU2
Tx
Proportional inputs 1 to 6 (OCU paddles/joysticks)
65282
PDU2
Tx
Proportional inputs 7 to 8 + alternate digital inputs
65288
PDU2
Rx
Feedback bits 1-64
65289
PDU2
Rx
Feedback bits 65-128
The PGN standard definition is described in the following documents:
[3] Cattron #9S02-8019-A002, “Standard J1939 Protocol Specification”
[4] Cattron #9S02-8019-A100, “Standard J1939 Protocol Specification for Pushbutton OCUs”
[5] Cattron #9S02-8019-A200, “Standard J1939 Protocol Specification for LRC-M1 OCU; N-A Standard
Configuration”
The transmit PGN mapping depends on the RF Telegram Format. Reference [3] is the general specification,
applicable to Telegram Formats 0F, 1F, 2F, 3F and 4F. Reference [4] is the application of [3] to Cattron
pushbutton OCUs (Excalibur and MKU), which employ Telegram Format 0F. Similarly, reference [5] is the
application of [3] to the N-A standard LRC-M1 configuration.
3.4.2 Custom Configurations
Custom definitions can also be implemented by Cattron based on customer requirements.
3.4.3 Rotary Switches
The rotary switches are not used in J1939 mode.
3.4.4 LEDs
The MCU CAN1 and CAN2 LEDs are bicolor (Green and Red). CAN1 is associated with the master controller and
CAN2 with the slave controller.
The Red component indicates the status of the CAN physical layer (as defined in the CiA DR303-3
recommendation for the ERROR LED). The Green component indicates the state of the J1939 address claiming
process.
In the case of conflict between turning the LED Green or Red, Red has priority.

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Table 12: CAN LED Green component behavior (J1939 operation)
GREEN (RUN) BEHAVIOR
MEANING
Blinking
(200 ms ON, 200 ms OFF)
The MCU is currently negotiating for a node address
Single flash
(200 ms ON, 1 s OFF)
The MCU was not able to get an address –it cannot
send/receive normal messages
ON
The MCU negotiated successfully for a node address –it can
now send and receive normal messages
Table 13: CAN LED Red component behavior (J1939 operation)
RED (ERROR) BEHAVIOR
MEANING
OFF
No error
Single flash
(200 ms ON, 1 s OFF)
A warning limit has been reached (too many error frames)
ON
Bus off condition
3.5 CANbus Termination Resistor
The CCM12 does not have an internal termination resistor.
3.6 CCM12 Power-On Sequence
1. The MCU turns on as soon it is powered up. It performs internal tests, and it gets ready for a RF connection
to an OCU and operation on the CANbus.
While the RF connection is off, the MCU is in Passive Mode:
–The Safety Relays are released
–The “ON” LED is on (orange)
The CANbus status depends on the system configuration. For example, if it is configured as a CANopen
Boot Master, the unit enters the CANopen OPERATIONAL state, and the “CAN” LED is solid green. If not,
the unit enters the CANopen PRE-OPERATIONAL state, and the “CAN” LED blinks green.
2. When the MCU receives a valid connection request from its peer OCU, it enters Active Mode. The safety
relays close and the “RF” LED turns on green.
RF and CANbus connections are independent of each other; any connection can happen first.
RF Connection Variants
There are basically two RF connection variants, which are configurable through the OCU TransKey device.
1. The OCU sends connection requests for a short period after switching on. In this case, a MCU powered up
after the OCU would remain in Passive Mode (“RF” LED would turn on orange, with the main relays
released). The OCU has to be switched off and then on again.
2. The OCU sends connection requests continuously if all control elements are released.

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3.7 Active STOP and Passive STOP
•Active STOP –When the MCU receives a STOP command from the OCU (resulting from pressing the
STOP switch), it opens the main relays and transits into Passive Mode, getting ready for a new OCU
connection request.
•Passive STOP –While in a connected state, if no valid RF telegrams are received within the passive STOP
delay (programmable in the TransKey), the MCU opens the main relays and enters into Passive Mode, as for
Active STOP.
3.8 Error Behavior
In the case of any internal error detection from one processor, an indication is given to the other processor and
the MCU enters Error Mode:
•The main relays are released
•RF reception is disabled
•The error code is displayed on the “SYSTEM” LED (red blinking).
The MCU has to be switched off and then on again in order to be restarted.
6.9 RF AutoScan Mode
The MCU can either be programmed to a fixed RF channel, or programmed to operate in scan mode, where the
MCU continuously scans a predefined RF channel group until it receives valid RF telegrams from its peer OCU.
This programming is done in the MCU TransKey.