1、 IEC 61375-3-3 Edition 1.0 2012-06 INTERNATIONAL STANDARD NORME INTERNATIONALE Electronic railway equipment Train communication network (TCN) Part 3-3: CANopen Consist Network (CCN) Matriel lectronique ferroviaire Rseau embarqu de train (TCN) Partie 3-3: Rseau de rame CANopen (CCN) IEC 61375-3-3:201
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16、RD NORME INTERNATIONALE Electronic railway equipment Train communication network (TCN) Part 3-3: CANopen Consist Network (CCN) Matriel lectronique ferroviaire Rseau embarqu de train (TCN) Partie 3-3: Rseau de rame CANopen (CCN) INTERNATIONAL ELECTROTECHNICAL COMMISSION COMMISSION ELECTROTECHNIQUE IN
17、TERNATIONALE XE ICS 45.060 PRICE CODE CODE PRIX ISBN 978-2-88912-072-7 Registered trademark of the International Electrotechnical Commission Marque dpose de la Commission Electrotechnique Internationale Warning! Make sure that you obtained this publication from an authorized distributor. Attention!
18、Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agr. 2 61375-3-3 IEC:2012 CONTENTS FOREWORD . 10 INTRODUCTION . 12 1 Scope . 13 2 Normative references . 13 3 Terms, definitions and abbreviations 14 3.1 Terms and definitions 14 3.2 Abbreviations 15 3.3 Conventions 15
19、4 Architecture 15 4.1 Content . 15 4.2 Logical CANopen-based consist network . 15 4.3 Network topology. 16 4.4 Addressing 16 4.5 Data classes . 17 5 Physical layer . 17 5.1 Content . 17 5.2 Cabling 17 5.3 Connector . 17 5.4 Physical medium attachment . 19 5.5 Physical signaling 19 6 Data Link layer
20、. 19 6.1 Content . 19 6.2 CANopen data link layer 20 7 CANopen application layer . 20 7.1 Content . 20 7.2 Reference model . 20 7.3 Field device model 20 7.4 CANopen communication objects 22 7.5 CANopen object dictionary 22 7.6 Predefined CANopen communication objects 24 7.6.1 Content . 24 7.6.2 Obj
21、ect 1000 h : Device type . 24 7.6.3 Object 1001 h : Error register . 24 7.6.4 Object 1014 h : COB-ID emergency object . 24 7.6.5 Object 1017 h : Heartbeat producer . 24 7.6.6 Object 1018 h : Identity object 24 7.6.7 Object 1029 h : Error behavior . 24 7.6.8 Object 67FF h : Device type . 25 7.6.9 Ser
22、vice data objects (SDOs) 25 7.6.10 Process data objects (PDOs) . 25 8 Application data 25 8.1 Content . 25 8.2 CANopen application data representation 25 8.3 Recommended representation principle of application data . 25 8.3.1 Content . 25 61375-3-3 IEC:2012 3 8.3.2 Application data for door control
23、25 8.3.3 Consumed door control application objects 26 8.3.4 Produced door control application objects . 27 9 CANopen network management . 29 9.1 Content . 29 9.2 CANopen NMT slave functionality . 30 9.3 CANopen manager functionality 30 9.3.1 General . 30 9.3.2 Object dictionary usage . 31 9.3.3 Redu
24、ndant networks 31 9.4 CANopen NMT start-up . 32 9.4.1 NMT startup 32 9.4.2 NMT startup simple . 35 9.4.3 Start process boot NMT slave 36 9.5 Boot NMT slave . 37 9.5.1 Check configuration . 42 9.5.2 Check NMT state . 43 9.5.3 NMT flying master start up . 43 9.5.4 Error status . 44 9.6 Error control 4
25、5 9.6.1 Start error control 45 9.6.2 Error handler . 46 9.6.3 Bootup handler 47 9.7 Additional NMT master services and protocols 47 9.8 Object dictionary entries 47 9.8.1 Object 1020 h : Verify configuration . 47 9.8.2 Object 102A h : NMT inhibit time 48 9.8.3 Object 1F20 h : Store DCF . 49 9.8.4 Ob
26、ject 1F22 h : Concise DCF . 50 9.8.5 Object 1F26 h : Expected configuration date 52 9.8.6 Object 1F27 h : Expected configuration time 53 9.8.7 Object 1F80 h : NMT startup 54 9.8.8 Object 1F81 h : NMT slave assignment 56 9.8.9 Object 1F82 h : Request NMT 58 9.8.10 Object 1F83 h : Request node guardin
27、g . 61 9.8.11 Object 1F84 h : Device type identification 63 9.8.12 Object 1F85 h : Vendor identification . 64 9.8.13 Object 1F86 h : Product code . 65 9.8.14 Object 1F87 h : Revision number . 66 9.8.15 Object 1F88 h : Serial number . 67 9.8.16 Object 1F89 h : Boot time 68 9.8.17 Object 1F8A h : Rest
28、ore configuration 69 9.8.18 Object 1F91 h : Self starting nodes timing parameters . 70 10 Gateway functions 71 10.1 Content . 71 10.2 Gateway architecture 72 10.3 General principles and services . 73 10.3.1 Content . 73 10.3.2 Gateway class definitions 73 4 61375-3-3 IEC:2012 10.3.3 Service primitiv
29、es definitions . 73 10.4 Network access service specification. 73 10.4.1 SDO access services . 73 10.4.2 PDO access services . 75 10.4.3 CANopen NMT services . 78 10.4.4 Device failure management services . 81 10.4.5 CANopen interface configuration services . 82 10.4.6 Gateway management services .
30、84 10.4.7 Manufacturer-specific services 85 10.5 ASCII mapping of network access services . 85 10.5.1 Content . 85 10.5.2 Definitions . 86 10.5.3 Network access command specification . 89 11 Train network management 97 11.1 Content . 97 11.2 Manager, Agents and interfaces (informative) 98 11.3 Manag
31、ement message protocol (informative) 98 11.4 Object interfaces (informative) . 98 11.5 CANopen-specific management services . 98 11.5.1 General . 98 11.5.2 Agent interfaces on a Station connected to CANopen consist network . 98 11.5.3 Management message structure for CANopen consist networks 99 11.5
32、.4 Notation for the CANopen specific SIF_codes . 99 11.5.5 Notation for a call CANopen management message 100 11.5.6 Notation for a reply CANopen management message 100 11.5.7 Notation for the TNM CANopen services command codes . 100 11.6 TNM CANopen services 101 11.6.1 Content . 101 11.6.2 Call_Wri
33、te_CANopen_Command (with reservation) . 101 11.6.3 Reply_Write_CANopen_Command (with reservation) 102 11.6.4 Call_Read_CANopen_Command (without reservation) 102 11.6.5 Reply_Read_CANopen_Command (without reservation) 103 12 CANopen management message data handling 103 12.1 General . 103 12.2 Message
34、 data format . 105 12.3 Requirements for message data communication within CANopen networks . 105 12.4 Object 1F78 h : CANopen message data reception 106 13 Conformance testing 107 Bibliography 108 Figure 1 Logical network architecture of the consist network 16 Figure 2 Network topology of CANopen-b
35、ased consist network 16 Figure 3 9-pin D-sub connector 18 Figure 4 5-pin micro style connector 18 Figure 5 Field device model . 20 Figure 6 Minimum field device 21 Figure 7 CANopen device structure 22 61375-3-3 IEC:2012 5 Figure 8 Structure of the device type object . 24 Figure 9 Object structure .
36、26 Figure 10 Object structure . 27 Figure 11 Object structure . 28 Figure 12 NMT startup, part 1 32 Figure 13 NMT startup, part 2 34 Figure 14 NMT startup simple 35 Figure 15 Start process boot NMT slave 36 Figure 16 Boot NMT slave, part 1 . 37 Figure 17 Boot NMT slave, part 2 . 39 Figure 18 Boot NM
37、T slave, part 3 . 40 Figure 19 Check configuration . 42 Figure 20 Check NMT state . 43 Figure 21 Start error control . 45 Figure 22 Error handler 46 Figure 23 Bootup handler . 47 Figure 24 Data stream definition of concise DCF . 51 Figure 25 Object structure . 54 Figure 26 Bit structure of the confi
38、guration value . 54 Figure 27 Object structure of the value 56 Figure 28 Bit structure of the configuration value . 57 Figure 29 Gateway between Train backbone and CANopen consist network 72 Figure 30 Management messages (informative) . 97 Figure 31 Agent interface on a CANopen (gateway) station for
39、 message data 99 Figure 32 Call_Write_CANopen_Command 102 Figure 33 Reply_Write_CANopen_Command . 102 Figure 34 Call_Read_CANopen_Command (without reservation) . 103 Figure 35 Reply_Read_CANopen_command (without reservation) . 103 Figure 36 CANopen device capable to handle TNM management messages 10
40、4 Figure 37 Message data format comparison . 105 Table 1 Pinning for 9-pin D-sub connector . 18 Table 2 Pinning for 5-pin micro style connector 19 Table 3 Bit timing . 19 Table 4 CANopen object dictionary structure . 23 Table 5 Value definition . 26 Table 6 Object description . 26 Table 7 Entry desc
41、ription . 27 Table 8 Value definition . 27 Table 9 Object description . 27 Table 10 Entry description . 28 Table 11 Value definition . 29 Table 12 Object description . 29 6 61375-3-3 IEC:2012 Table 13 Entry description . 29 Table 14 Error status . 44 Table 15 Object description . 48 Table 16 Entry d
42、escription . 48 Table 17 Object description . 49 Table 18 Entry description . 49 Table 19 Object description . 49 Table 20 Entry description . 50 Table 21 Object description . 51 Table 22 Entry description . 52 Table 23 Object description . 52 Table 24 Entry description . 53 Table 25 Object descript
43、ion . 53 Table 26 Entry description . 54 Table 27 Value NMT master (bit: 0) . 55 Table 28 Value Start all nodes (bit: 1) 55 Table 29 Value NMT master start (bit: 2) 55 Table 30 Value Start node (bit: 3) 55 Table 31 Reset all nodes (bit: 4) 55 Table 32 Flying master (bit: 5) . 55 Table 33 Stop all no
44、des (bit: 6) 55 Table 34 Exceptions for NMT start-up capable devices 56 Table 35 Object description . 56 Table 36 Entry description . 56 Table 37 NMT slave (bit: 0) 57 Table 38 NMT boot slave (bit: 2) 57 Table 39 Mandatory (bit: 3) 57 Table 40 Reset communication (bit: 4) . 57 Table 41 Software vers
45、ion (bit: 5) 57 Table 42 Software update (bit: 6) . 57 Table 43 Restore (bit: 7) 58 Table 44 Object description . 58 Table 45 Entry description . 58 Table 46 Value definition . 60 Table 47 Object description . 60 Table 48 Entry description . 61 Table 49 Value definition . 62 Table 50 Object descript
46、ion . 62 Table 51 Entry description . 63 Table 52 Object description . 64 Table 53 Entry description . 64 Table 54 Object description . 65 Table 55 Entry description . 65 61375-3-3 IEC:2012 7 Table 56 Object description . 66 Table 57 Entry description . 66 Table 58 Object description . 67 Table 59 E
47、ntry description . 67 Table 60 Object description . 68 Table 61 Entry description . 68 Table 62 Object description . 69 Table 63 Entry description . 69 Table 64 Object description . 69 Table 65 Entry description . 70 Table 66 Object description . 70 Table 67 Entry description . 71 Table 68 Upload SD
48、O service 74 Table 69 Download SDO parameters . 75 Table 70 Configure SDO timeout parameters . 75 Table 71 Configure RPDO service parameters . 76 Table 72 Configure TPDO service parameters . 77 Table 73 Read PDO data service parameters 77 Table 74 Write PDO data service parameters. 78 Table 75 RPDO received service parameters . 78 Table 76 Start node service parameters . 78 Table 77 Stop node service parameters . 79 Table 78 Set node to pre-operational service parameters 79 Table 79 Reset node service parameters . 79 Table 8
