EN 61375-3-3-2012 en Electronic railway equipment - Train communication network (TCN) - Part 3-3 CANopen Consist Network (CCN).pdf

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1、raising standards worldwideNO COPYING WITHOUT BSI PERMISSION EXCEPT AS PERMITTED BY COPYRIGHT LAWBSI Standards PublicationElectronic railway equipment Train communication network (TCN)Part 3-3: CANopen Consist Network (CCN)BS EN 61375-3-3:2012National forewordThis British Standard is the UK implemen

2、tation of EN 61375-3-3:2012. It is identical to IEC 61375-3-3:2012.The UK participation in its preparation was entrusted by Technical Committee GEL/9, Railway Electrotechnical Applications, to Panel GEL/9/-/4, Railway applications - Train communication network and multimedia systems.A list of organi

3、zations represented on this committee can be obtained on request to its secretary.This publication does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. The British Standards Institution 2012Published by BSI Standards Limited 2012

4、ISBN 978 0 580 68231 5 ICS 45.060Compliance with a British Standard cannot confer immunity from legal obligations.This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 August 2012.Amendments issued since publicationAmd. No. Date Text affectedBRI

5、TISH STANDARDBS EN 61375-3-3:2012EUROPEAN STANDARD EN 61375-3-3 NORME EUROPENNE EUROPISCHE NORM August 2012 CENELEC European Committee for Electrotechnical Standardization Comit Europen de Normalisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung Management Centre: Avenue Marni

6、x 17, B - 1000 Brussels 2012 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members. Ref. No. EN 61375-3-3:2012 E ICS 45.060 English version Electronic railway equipment - Train communication network (TCN) - Part 3-3: CANopen Consist Network (CCN) (I

7、EC 61375-3-3:2012) Matriel lectronique ferroviaire - Rseau embarqu de train (TCN) - Partie 3-3: Rseau de rame CANopen (CCN) (CEI 61375-3-3:2012) Elektronische Betriebsmittel fr Bahnen - Zug-Kommunikations-Netzwerk (TCN) - Teil 3-3: CCN-CANopen Consist Network Bus (IEC 61375-3-3:2012) This European S

8、tandard was approved by CENELEC on 2012-07-26. CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date lists and bibliographical references conc

9、erning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CENELEC member. This European Standard exists in three official versions (English, French, German). A version in any other language made by translation under the responsibility of a CENELEC m

10、ember into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions. CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Repu

11、blic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. BS EN 61375-3-3:2012EN 61375-3-3:2012 Foreword The te

12、xt of document 9/1646/FDIS, future edition 1 of IEC 61375-3-3, prepared by IEC/TC 9 “Electrical equipment and systems for railways“ was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 61375-3-3:2012. The following dates are fixed: latest date by which the document has to be

13、implemented at national level by publication of an identical national standard or by endorsement (dop) 2013-04-26 latest date by which the national standards conflicting with the document have to be withdrawn (dow) 2015-07-26 Attention is drawn to the possibility that some of the elements of this do

14、cument may be the subject of patent rights. CENELEC and/or CEN shall not be held responsible for identifying any or all such patent rights. This document has been prepared under a mandate given to CENELEC by the European Commission and the European Free Trade Association, and supports essential requ

15、irements of EU Directive(s). For the relationship with EU Directive(s) see informative Annex ZZ, which is an integral part of this document. Endorsement notice The text of the International Standard IEC 61375-3-3:2012 was approved by CENELEC as a European Standard without any modification. BS EN 613

16、75-3-3:2012EN 61375-3-3:2012 Annex ZA (normative) Normative references to international publications with their corresponding European publications The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application. For dated reference

17、s, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. NOTE When an international publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies. Publication Year Title EN/HD

18、Year - - Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces - Part 4: CANopen EN 50325-4 2002 IEC 61131 Series Programmable controllers EN 61131 Series IEC 61375-1 - Electronic railway equipment - Train communication network (TCN) - Part 1: General architec

19、ture EN 61375-1 - IEC 61375-2-1 - Electronic railway equipment - Train communication network (TCN) - Part 2-1: Wire Train Bus (WTB) EN 61375-2-1 - IEC 61375-2-2 - Electronic railway equipment - Train communication network (TCN) - Part 2-2: Wire Train Bus conformance testing EN 61375-2-2 - ISO/IEC 64

20、6 1991 Information technology - ISO 7-bit coded character set for information interchange - - ISO/IEC 9899 1999 Programming languages - C - - ISO 11898-1 2003 Road vehicles - Controller area network (CAN) - Part 1: Data link layer and physical signalling - - ISO 11898-2 2003 Road vehicles - Controll

21、er area network (CAN) - Part 2: High-speed medium access unit - - BS EN 61375-3-3:2012EN 61375-3-3:2012 Annex ZZ (informative) Coverage of Essential Requirements of EU Directives This European Standard has been prepared under a mandate given to CENELEC by the European Commission and the European Fre

22、e Trade Association and within its scope the standard covers all relevant essential requirements as given in Annex III of the EU Directive 2008/57/EC. Compliance with this standard provides one means of conformity with the specified essential requirements of the Directive concerned. WARNING: Other r

23、equirements and other EU Directives may be applicable to the products falling within the scope of this standard. BS EN 61375-3-3:201261375-3-3 IEC:2012 CONTENTS INTRODUCTION . 12 1 Scope 13 2 Normative references . 13 3 Terms, definitions and abbreviations . 14 3.1 Terms and definitions . 14 3.2 Abb

24、reviations . . 15 3.3 Conventions . 15 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 .

25、. 19 5.5 Physical signaling 19 6 Data Link layer . . 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

26、CANopen communication objects . . 24 7.6.1 Content . 24 7.6.2 Object 1000h: Device type . 24 7.6.3 Object 1001h: Error register . 24 7.6.4 Object 1014h: COB-ID emergency object . 24 7.6.5 Object 1017h: Heartbeat producer 24 7.6.6 Object 1018h: Identity object. . 24 7.6.7 Object 1029h: Error behavior

27、 . 24 7.6.8 Object 67FFh: Device type . 25 7.6.9 Service 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 BS

28、EN 61375-3-3:201261375-3-3 IEC:2012 8.3.2 Application data for door control . 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 manag

29、er functionality . 30 9.3.1 General . 30 9.3.2 Object dictionary usage 31 9.3.3 Redundant 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

30、. 43 9.5.3 NMT flying master start up . 43 9.5.4 Error status . . 44 9.6 Error control . 45 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 1020h: Verify configurat

31、ion 47 9.8.2 Object 102Ah: NMT inhibit time 48 9.8.3 Object 1F20h: Store DCF 49 9.8.4 Object 1F22h: Concise DCF . 50 9.8.5 Object 1F26h: Expected configuration date . 52 9.8.6 Object 1F27h: Expected configuration time . 53 9.8.7 Object 1F80h: NMT startup . . 54 9.8.8 Object 1F81h: NMT slave assignme

32、nt . . 56 9.8.9 Object 1F82h: Request NMT . . 58 9.8.10 Object 1F83h: Request node guarding . 61 9.8.11 Object 1F84h: Device type identification 63 9.8.12 Object 1F85h: Vendor identification 64 9.8.13 Object 1F86h: Product code . 65 9.8.14 Object 1F87h: Revision number . . 66 9.8.15 Object 1F88h: Se

33、rial number . 67 9.8.16 Object 1F89h: Boot time . 68 9.8.17 Object 1F8Ah: Restore configuration. 69 9.8.18 Object 1F91h: 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 .

34、73 10.3.2 Gateway class definitions . 73 BS EN 61375-3-3:201261375-3-3 IEC:2012 10.3.3 Service primitives 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

35、 services . 81 10.4.5 CANopen interface configuration services . . 82 10.4.6 Gateway management services . . 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 Tr

36、ain network management . 97 11.1 Content . . 97 11.2 Manager, Agents and interfaces (informative). . 98 11.3 Management 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

37、Station connected to CANopen consist network . 98 11.5.3 Management message structure for CANopen consist networks . 99 11.5.4 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.

38、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_Write_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

39、Reply_Read_CANopen_Command (without reservation) . . 103 12 CANopen management message data handling . 103 12.1 General . . 103 12.2 Message data format 105 12.3 Requirements for message data communication within CANopen networks . 105 12.4 Object 1F78h: CANopen message data reception . 106 13 Confo

40、rmance testing 107 Bibliography . . 108 Figure 1 Logical network architecture of the consist network . 16 Figure 2 Network topology of CANopen-based 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

41、field device . 21 Figure 7 CANopen device structure 22 BS EN 61375-3-3:201261375-3-3 IEC:2012 Figure 8 Structure of the device type object . 24 Figure 9 Object structure . 26 Figure 10 Object structure . 27 Figure 11 Object structure . 28 Figure 12 NMT startup, part 1 . 32 Figure 13 NMT startup, par

42、t 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 NMT slave, part 3 . 40 Figure 19 Check configuration 42 Figure 20 Check NMT state . . 43 Figure 21 Start error control . .

43、 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 configuration value . . 54 Figure 27 Object structure of the value . 56 Figure 28 Bit structure of the configuration

44、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 message data 99 Figure 32 Call_Write_CANopen_Command 102 Figure 33 Reply_Write_CANopen_Command . 102 Fi

45、gure 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 104 Figure 37 Message data format comparison . 105 Table 1 Pinning for 9-pin D-sub connector . 18 Table 2

46、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 description . 27 Table 8 Value definition . 27 Table 9 Object description . 27 Table 10 Entry description

47、. 28 Table 11 Value definition . 29 Table 12 Object description . . 29 BS EN 61375-3-3:201261375-3-3 IEC:2012 Table 13 Entry description . . 29 Table 14 Error status . 44 Table 15 Object description . . 48 Table 16 Entry description . 48 Table 17 Object description . . 49 Table 18 Entry description

48、. 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 description . . 53 Table 26 Entry description . 54 Table 27 Value NMT master (

49、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 nodes (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 (b