Nissan Rogue (T33) 2021-Present Service Manual: System

Nissan Rogue (T33) 2021-Present Service Manual / Electrical & Power Control :: Lan System / Can :: System Description / System

Can Communication System

System Description

SYSTEM DIAGRAM

With type B meter
With type A meter Without ProPILOT Assist 2.1
With type A meter With ProPILOT Assist 2.1

DESCRIPTION

CAN (Controller Area Network) is a serial communication line for real time application. It is an on-Nissan Ariya vehicle multiplex communication line with high data communication speed and excellent error detection ability. Many electronic control units are equipped onto a Nissan Ariya vehicle, and each control unit shares information and links with other control units during operation (not independent). In CAN communication, control units are connected with 2 communication lines (CAN-H line, CAN-L line) allowing a high rate of information transmission with less wiring. Each control unit transmits/receives data but selectively reads required data only.

The following control units connect to CAN communication circuits.

With type B meter

CAN communication circuit	Control unit	Reference
Between the following circuits. Nissan Ariya Vehicle CAN communication 1 circuit Vehicle CAN communication 2 circuit Nissan Ariya Vehicle CAN communication 4 circuit	BCM	System Description
Between the following circuits. Nissan Ariya Vehicle CAN communication 4 circuit ITS CAN communication 1 circuit ITS CAN communication 4 circuit Chassis CAN communication 4 circuit Drivetrain CAN communication 2 circuit IT CAN communication circuit Diagnostic CAN communication circuit	8CH CAN gateway	8CH CAN Gateway
Between the following circuits. ITS CAN communication 1 circuit ITS CAN communication 2 circuit ITS CAN communication 3 circuit ITS CAN communication 4 circuit	ADAS control unit 2	ADAS Control Unit 2
Between the following circuits. Chassis CAN communication 1 circuit Chassis CAN communication 2 circuit Chassis CAN communication 4 circuit Chassis CAN communication 5 circuit Drivetrain CAN communication 1 circuit	Chassis control module	Chassis Control Module
Between the following circuits. (with Intelligent around view monitor system) ITS CAN communication 1 circuit ITS CAN communication 4 circuit ITS CAN communication 6 circuit	Around view monitor control unit	Around View Monitor Control Unit
ITS CAN communication 4 circuit ⇔ ITS CAN communication 6 circuit	Sonar control unit	Sonar Control Unit
Chassis CAN communication 2 circuit ⇔ Chassis CAN communication 5 circuit	ABS actuator and electric unit (control unit)	ABS Actuator and Electric Unit (Control Unit)
Between the following circuits. Drivetrain CAN communication 1 circuit Drivetrain CAN communication 2 circuit Engine CAN communication circuit	ECM	System Description
Drivetrain CAN communication 1 circuit ⇔ Drivetrain CAN communication 2 circuit	TCM	TCM

With type A meter

CAN communication circuit	Control unit	Reference
Between the following circuits. Nissan Ariya Vehicle CAN communication 1 circuit Vehicle CAN communication 2 circuit Nissan Ariya Vehicle CAN communication 4 circuit	BCM	System Description
Between the following circuits. Nissan Ariya Vehicle CAN communication 4 circuit ITS CAN communication 1 circuit ITS CAN communication 4 circuit Chassis CAN communication 4 circuit Drivetrain CAN communication 2 circuit IT CAN communication circuit 1 IT CAN communication circuit 2 IT CAN communication circuit 3 Diagnostic CAN communication circuit	8CH CAN gateway	8CH CAN Gateway
Between the following circuits. ITS CAN communication 1 circuit ITS CAN communication 2 circuit ITS CAN communication 3 circuit ITS CAN communication 4 circuit	ADAS control unit 2	ADAS Control Unit 2
Between the following circuits. Chassis CAN communication 1 circuit Chassis CAN communication 2 circuit Chassis CAN communication 4 circuit Chassis CAN communication 5 circuit ITS CAN communication 6 circuit (with ProPILOT Assist 2.1) Drivetrain CAN communication 1 circuit	Chassis control module	Chassis Control Module
Between the following circuits. (with Intelligent around view monitor system) ITS CAN communication 1 circuit ITS CAN communication 4 circuit ITS CAN communication 6 circuit	Around view monitor control unit	Around View Monitor Control Unit
ITS CAN communication 4 circuit ⇔ ITS CAN communication 6 circuit	Sonar control unit	Sonar Control Unit
Chassis CAN communication 1 circuit ⇔ Chassis CAN communication 3 circuit (with ProPILOT Assist 2.1)	Power steering control module	System Description
Chassis CAN communication 1 circuit ⇔ Chassis CAN communication 2 circuit (with ProPILOT Assist 2.1)	Electrically-driven Intelligent brake unit	Component Description
Chassis CAN communication 2 circuit ⇔ Chassis CAN communication 5 circuit	ABS actuator and electric unit (control unit)	ABS Actuator and Electric Unit (Control Unit)
Between the following circuits. Drivetrain CAN communication 1 circuit Drivetrain CAN communication 2 circuit Engine CAN communication circuit	ECM	System Description
Drivetrain CAN communication 1 circuit ⇔ Drivetrain CAN communication 2 circuit	TCM	TCM

CAN Communication Signal Generation

Termination circuits (resistors) are connected across the CAN communication system. When transmitting a CAN communication signal, each control unit passes a current to the CAN-H line and the current returns to the CAN-L line.
The current flows separately into the termination circuits connected across the CAN communication system and the termination circuits drop voltage to generate a potential difference between the CAN-H line and the CAN-L line.

NOTE:
A signal with no current passage is called “Recessive” and one with current passage is called “Dominant”.
The system produces digital signals for signal communications, by using the potential difference.

The Construction of CAN Communication Signal (Message)

No.	Message name	Description
1	Start of frame (1 bit)	Start of message.
2	Arbitration of field (11 bit)	Priorities of message-sending are shown when there is a possibility that multiple messages are sent at the same time.
3	Control field (6 bit)	Signal quantity in data field is shown.
4	Data field (0-64 bit)	Actual signal is shown.
5	CRC field (16 bit)	The transmitting control unit calculates sending data in advance and writes the calculated value in a message. The receiving control unit calculates received data and judges that the data reception is normal when the calculated value is the same as the value written in the sent data.
6	ACK field (2 bit)	The completion of normal reception is sent to the transmitting unit.
7	End of frame (7 bit)	End of message.

CAN Communication Line

The CAN communication line is a twisted pair wire consisting of strands of CAN-H and CAN-L and has noise immunity.

NOTE:

The CAN communication system has the characteristics of noise-resistant because this system produces digital signals by using the potential difference between the CAN-H line and the CAN-L line and has the twisted pair wire structure.

Since the CAN-H line and the CAN-L line are always adjacent to each other, the same degree of noise occurs, respectively, when a noise occurs. Although the noise changes the voltage, the potential difference between the CAN-H line and the CAN-L line is insensitive to noise. Therefore, noise-resistant signals can be obtained.

CAN Signal Communications

Each control unit of the CAN communication system transmits signals through the CAN communication control circuit included in the control unit and receives only necessary signals from each control unit to perform various kinds of control.

Example: Transmitted signals
Example: Received signals

NOTE:

The above signal names and signal communications are provided for reference purposes. For CAN communications signals of this Nissan Ariya vehicle, refer to CAN Communication Signal Chart.

CAN Communication Control Circuit

CAN communication control circuit is incorporated into the control unit and transmits/receives CAN communication signals.

Component	System description
CAN controller	It controls CAN communication signal transmission and reception, error detection, etc.
Transceiver IC	It converts digital signal into CAN communication signal, and CAN communication signal into digital signal.
Noise filter	It eliminates noise of CAN communication signal.
Termination circuit^* (Resistance of approx. 120 Ω)	Generates a potential difference between CAN-H and CAN-L.

*: These are the only control units wired with both ends of CAN communication system.

CAN Communication Signal Chart

Refer to System Description for how to use CAN communication signal chart.

NOTE:

Refer to Abbreviation List for the abbreviations of the connecting units.

T: Transmit R: Receive

Signal name	ECM	ABS	IPDM-E	TCM	M&A	A-BAG	HVAC	HFM	EPS/DAST 3	BCM	SONAR	A-AMP.	LANE	ICC 2	LASER	CCM	AVM	RDR-RR	RDR-RL	AV	IVC	4WD	ADP	E-HUD	WL CHG	PWBD	E-SHIFT	STRG	EVTC	VCR	ANC	RDR-FL	RDR-FR	DM CAM	BRAKE
A/C compressor request signal	T		R
A/C relay control signal	T		R
Accelerator pedal position signal	T	R		R								R		R		R						R									R
ASCD status signal	T											R												R							R
Battery warning request signal (ECM)	T				R
Closed throttle position signal	T			R										R
Cooling fan control signal	T		R
Cooling fan speed request signal	T		R
Cranking enable (ECM) signal	T		R
Driving force control permission signal	T													R
ECO mode indicator signal	T				R
ECO pedal guide signal	T				R
Electrical power cut freeze signal	T									R
Engine and CVT integrated control signal	T			R
Engine and CVT integrated control signal	R			T
Engine coolant temperature signal	T			R	R		R			R
Engine oil pressure warning lamp signal	T				R																R
Engine speed signal	T	R		R	R		R			R		R		R								R									R
Engine status signal	T				R				R	R											R	R
Engine torque signal	T	R										R				R															R
EPS assist request signal	T								R
Fuel consumption monitor signal	T				R
Malfunction indicator lamp signal	T			R																	R
Malfunction indicator lamp signal	R			T
Motor speed signal	T													R
ProPILOT Assist 2.1 steering switch signal	T													R
ProPILOT Assist permission signal	T													R
ProPILOT Assist permission signal									T					R
ProPilot Assist status signal	T															R^*
														T		R
														R^*		T
																R^*	T
ProPILOT Assist steering switch signal	T													R
Refrigerant pressure sensor signal	T						R
Remaining distance reset request signal	T				R
Remaining distance reset request signal	R				T
Remaining distance signal	T				R
Starter cut relay request signal	T									R
Stop/Start status signal	T								R
Valve timing target position	T																												R
VCR target position	T																													R
Nissan Ariya Vehicle speed display signal	T				R							R																			R
Nissan Ariya Vehicle speed display signal					T																			R
Nissan Ariya Vehicle speed signal	T					R
	R	T	R	R			R	R	R	R	R	R	R	R		R	R	R	R	R	R		R								R
	R				T				R	R		R																			R
													R	T	R			R	R
														R						T
Wheel torque signal	T																					R
Wheel torque signal																R						T
ABS actuator and electric unit (control unit) control signal		T																																	R
ABS malfunction signal	R	T		R										R		R
ABS operation signal	R	T		R										R		R						R
ABS warning lamp signal		T			R									R							R
Automatic brake hold switch status signal		T														R
Brake booster pressure status signal	R	T
Brake booster pressure status signal	R									T
Brake control permission signal		T												R
Brake control permission signal														R		T
Brake fluid pressure signal	R	T												R		R																			R
Brake hold status signal		T														R
Brake system warning lamp signal		T			R
Brake system warning lamp signal					R																														T
Brake warning lamp signal		T			R																R
Brake warning lamp signal					R																														T
Buzzer output signal		T			R
					T						R
					R			T
					R					T
					R								T
					R									T
					R												T
					R													T
					R														T
Decel G sensor signal		T		R												R						R
Driver brake signal		T														R
Electric parking brake indicator lamp signal		T			R
Electric parking brake malfunction signal		T			R											R
Electric parking brake operation signal		T												R
Electric parking brake operation signal (switch)		T														R
Electric parking brake status signal	R	T			R											R
Electric parking brake warning lamp signal		T			R
Front LH wheel speed signal		T														R	R					R													R
Front RH wheel speed signal		T														R	R					R													R
Odometer signal		T			R		R					R										R		R							R
Odometer signal					T																R
Rear LH wheel speed signal		T														R	R					R													R
Rear RH wheel speed signal		T														R	R					R													R
Road slope estimetion signal	R	T
Roll back information request signal		T														R
Roll back information request signal					R											T
Side G sensor signal		T												R								R													R
Stand Still Assist signal	R	T
Steep slope warning request signal		T														R
Steep slope warning request signal					R											T
Steering angle sensor signal		T														R	R
														T	R
									R				R	R						R		R						T							R
Stop lamp request signal		T								R
Stop lamp request signal										R				T
Stop/Start permit signal	R	T
	R		T
	R			T
	R						T
	R													T
TCS malfunction signal		T												R		R
TCS operation signal	R	T		R										R		R						R
VDC malfunction signal		T			R									R		R																			R
VDC OFF indicator lamp signal		T			R
VDC OFF signal		T												R		R																			R
VDC operation signal	R	T		R										R		R						R
VDC standstill status signal	R	T
VDC status signal		T														R
VDC warning lamp signal		T			R																R
Yaw rate signal		T												R								R													R
12V battery (Li-ion battery) status signal			T											R
A/C compressor feedback signal			T				R
Auto ACC status signal			T																	R
Auto ACC status signal										T														R
Battery voltage signal			T									R												R
Battery warning request signal (IPDM E/R)			T		R
Front wiper status signal			T							R
Front wiper stop position signal			T							R
Generator voltage request signal	R		T
Headlamp warning signal			T		R
Hood switch signal	R		T							R
Ignition ON signal			T							R
Ignition ON signal	R		R							T						R							R
Ignition switch ON signal		R	T
Reverse position signal			T							R
Sleep-ready signal			T							R
					T					R
								T		R
										R		T
										R						T
										R										T
										R											T
										R													T
										R																T
Starter cut relay status signal			T							R
Starter relay status signal			T		R
Cranking enable (TCM) signal			R	T
Current gear position signal	R	R		T								R		R		R						R									R
CVT accept permission signal		R		T
CVT accept permission signal		R		T
CVT fluid temperature signal	R			T
CVT warning message signal				T	R
Electric shift warning lamp signal				T	R
Electric shift warning message signal				T	R
G sensor signal	R			T
Input speed signal				T										R
Neutral hold mode signal				T	R
Output shaft revolution signal	R			T										R													R
P/N signal	R			T																							R
Shift position signal	R	R	R	T	R			R		R	R			R			R	R	R	R	R		R				R
Shift P range request display signal				T	R
Shift refuse buzzer signal				T	R
Shift target signal				T																							R
Ambient temperature signal					T		R			R
Automatic back door setting signal					T																					R
Brake fluid level switch signal		R			T
Driver seat belt switch signal					T									R
HUD setting signal					T																			R
MOD setting signal					T												R
Parking brake status signal	R				T					R										R	R	R
Steering effort setting signal					T											R
Steering effort setting signal									T							R
System selection signal					T						R		R	R				R	R
Car crush information signal						T				R											R
Occupant detection signal					R	T
SRS air bag warning lamp signal					R	T
Seat belt buckle switch (rear) signal					R	T
Seat belt warning (front RH) signal					R	T
A/C evaporator temperature signal	R						T
A/C ON signal	R						T
Blower fan ON signal	R						T			R
Cooling fan request signal	R						T
ECV control signal			R				T
Idle up request signal	R						T
PTC thermal request signal							T			R
Rear window defogger request signal							T			R
Target A/C evaporator temperature signal	R						T
Charge stop request signal								T																	R
Door lock/unlock request signal								T		R
Key ID verification completed signal								T																		R
Meter display signal					R			T
					R								T
					R									T
					R				R							T
					R													T
					R														T
Push-button ignition switch status signal								T		R
User identification signal								T																R
Battery supply current signal	R								T
EPS operation signal	R								T
EPS torque on signal	R								T
Pinion angle signal									T					R
Power steering warning lamp signal					R				T
Steering control permission signal									T					R
Steering status signal^*									T							R
Steering torque signal									T					R
Back door open request signal										T																R
Back door switch signal										T							R
Brake operation signal	R	R								T
Brake pedal position switch signal										T				R
Brake pedal position switch signal		T												R
Brake pedal status signal		R								T						R
Daytime running light request signal			R							T
Delivery mode signal	R									T
Dimmer signal					R					T				R				R	R
Door lock status signal										T											R		R
Door switch (driver side) signal		R								T
Door switch signal	R			R	R			R		T		R		R			R						R								R
Drive mode select switch signal										T						R
Driver door malfunction signal				R						T
Driver's seat belt buckle signal										T				R
Driver seat belt switch malfunction signal	R									T
ECO advice signal					R					T
Front wiper request signal			R							T				R							R
Front washer pump request signal			R							T
Hazard warning lamp status signal			R							T
High beam assist indicator signal					R					T
High beam request signal			R							T							R
High beam status signal					R					T
Horn request signal			R							T
Ignition switch signal	R									T
I-key exist information signal	R									T
Key ID signal										T													R
Key ID verification request signal								R		T
Light reminder warning signal					R					T
Low beam request signal			R							T							R
Low beam status signal					R					T
Low tire pressure warning lamp signal					R					T
Low tire pressure wheel location signal					R					T
Paddle shifter shift down signal				R						T
Paddle shifter shift up signal				R						T
Passing request signal			R							T
Position light request signal			R							T							R			R
Position light status signal					R					T
Rear washer pump request signal			R							T
Rear window defogger feedback signal							R			T
Remote engine start status signal							R			T
Seat belt buckle switch (driver side) signal	R	R		R						T						R
Seat belt buckle switch (front LH) signal					R	R				T
Sleep wake up signal		R	R		R			R		T		R								R	R		R			R	R				R				R
Stop lamp status signal										T				R
Stop lamp switch signal	R	R		R				R		T				R								R
Stop/Start OFF switch signal	R									T
TPMS malfunction warning lamp signal					R					T
Turn indicator signal			R							T				R			R	R	R
Turn indicator signal													R	T
Nissan Ariya Vehicle status signal		R	R							T														R											R
Obstacle signal											T			R
Parking sensor error signal					R						T
Sonar indicator signal					R						T						R
Sonar sensor signal											T			R
Nissan Ariya Vehicle detection signal											T			R
														R				T
														R					T
														R																		T
														R																			T
Detected lane condition signal													T	R
Display signal													T											R
Display signal														T										R
Driver assistance buzzer signal													T	R
														R				T
														R					T
Motor operation signal													T	R
Pedestrian ahead signal													T	R
Nissan Ariya Vehicle ahead signal													T	R
AEB warning lamp signal					R									T
Brake fluid pressure control signal	R	R												T
Brake torque request signal														T		R
		R														T
																R^*	T
Brake wheel torque signal		R												T
Brake wheel torque signal														R						T
BSW indicator dimmer signal														T				R	R
BSW indicator signal														T				R	R
Decelerate control command signal		R												T
Electric parking brake operation request signal		R												T
Electric parking brake operation request signal		R														T
Hazard lamp request signal										R				T
ProPILOT Assist 2.1 operation signal	R													T
ProPILOT Assist operation signal	R								R					T
RAB warning lamp signal					R									T
RAB warning signal														T			R
Steering angle command signal									R					T
Steering angle request signal														T		R
									R							T
																R^*	T
SOS call request signal														T							R
Target yaw moment signal		R												T
Target wheel end torque signal	R													T
Turn signal lamp request signal										R				T
Wheel torque request signal	R													T
Yaw moment request signal														T		R
Yaw moment request signal		R														T
Distance sensor signal														R	T
Active ride control signal		R														T
Automatic brake hold indicator lamp signal					R											T
Automatic brake hold operation request signal		R														T
Automatic brake hold release request signal		R														T
Automatic brake hold switch release operation request signal					R											T
Chassis control module malfunction signal		R			R											T
Drive mode signal	R	R		R	R				R			R		R		T						R									R
Engine brake request signal				R												T
Intelligent engine brake signal		R														T
Intelligent trace control signal		R														T
Master warning lamp signal					R											T
Meter display setting signal					R				R							T
Power supply state signal														R		T
Camera image signal (Side camera)														R			T
MOD setting status signal					R												T
View change signal																	T			R
Free space detection signal														R				T
														R					T
														R																		T
														R																			T
Rear Nissan Ariya vehicle approach signal														R				T
Rear Nissan Ariya vehicle approach signal														R					T
Audio mute/unmute signal												R								T											R
Auto ACC request signal										R										T
Auto ACC request signal										R											T
Blower reduction request signal							R													T
Camera switch signal																	R			T
Curve signal														R						T
Key link activation status signal																				T				R
Language setting signal																	R			T
Road information signal														R						T
Navigation status signal														R						T
Route guide status signal														R						T
Door lock/unlock signal										R											T
Engine start request signal										R											T
Panic alarm request signal										R											T
AWD warning display signal					R																	T
Torque distribution indicator signal					R																	T
Memory guidance display request signal					R																		T
Mirror control signal										R													T
CVT warning message request signal				R																							T
Electric shift malfunction signal				R																							T
Electric shift selector signal				R																							T
Steering angle sensor malfunction signal														R														T
Steering angle speed signal														R														T
Trouble detection signal	R																												T
Trouble detection signal	R																													T
Valve timing position	R																												T
VCR actual position	R																													T
Aside warning signal														R																				T
Doze warning signal														R																				T
Inattentive warning signal														R																				T
Brake assist request signal		R																																	T
Brake power supply backup operation request signal		R																																	T
Brake power supply backup operation signal		R																																	T
Brake system warning lamp ON request signal		R																																	T
Brake warning lamp ON request signal		R																																	T
Electrically-driven intelligent brake control signal		R																																	T
Stroke sensor signal		R																																	T
Target brake force signal		R																																	T

*: With ProPILOT Assist 2.1

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