EN 16815:2019
(Main)CleANopen - Application profile for municipal vehicles
CleANopen - Application profile for municipal vehicles
This European Standard provides a set of CANopen application profile specifications that describes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices).
It does not specify CANopen devices. The CleANopen application profile specifications consist of several parts dealing with the following:
- general definitions;
- functionality of the virtual devices;
- pre defined PDOs and SDOs;
- application objects.
CleANopen - Anwendungsprofil für Kommunalfahrzeuge
CleANopen - Profil d’application aux véhicules municipaux
Le présent document fournit un ensemble de spécifications des profils d’application CANopen qui
décrivent le réseau de contrôle de caisse embarqué CleANopen des véhicules municipaux, par exemple les camions de collecte des déchets. Il spécifie les interfaces de communication CANopen et les fonctionnalités de l’application de plusieurs
éléments fonctionnels (dispositifs virtuels). Il ne spécifie pas les dispositifs CANopen.
Les spécifications des profils d’application CleANopen sont composées de plusieurs parties traitant des points suivants :
— définitions générales ;
— fonctionnalités des dispositifs virtuels ;
— objets PDO et objets SDO prédéfinis ;
— objets d’application.
CleANopen - Aplikacijski profil za komunalna vozila
Ta evropski standard podaja nabor specifikacij za aplikacijski profil CANopen, ki opisuje vgrajeno mrežo CleANopen za nadzor komunalnih vozil, npr. vozil za zbiranje odpadkov. Določa komunikacijske vmesnike CANopen in aplikacijsko funkcionalnost več funkcijskih elementov (virtualne naprave).
Ne določa naprav CANopen. Specifikacije aplikacijskega profila CleANopen zajemajo več delov, v katerih je obravnavano naslednje:
– osnovne definicije;
– funkcionalnost virtualnih naprav;
– vnaprej določeni objekti PDO in SDO;
– aplikacijski objekti.
General Information
Relations
Standards Content (Sample)
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.CleANopen - Aplikacijski profil za komunalna vozilaCleANopen - Anwendungsprofil für KommunalfahrzeugeCleANopen - Profil d’application aux véhicules municipauxCleANopen - Application profile for municipal vehicles43.160Vozila za posebne nameneSpecial purpose vehicles35.240.60Uporabniške rešitve IT v prometuIT applications in transportICS:Ta slovenski standard je istoveten z:EN 16815:2019SIST EN 16815:2019en,fr,de01-junij-2019SIST EN 16815:2019SLOVENSKI
STANDARDSIST-TP CEN/TR 16815:20161DGRPHãþD
EUROPEAN STANDARD NORME EUROPÉENNE EUROPÄISCHE NORM
EN 16815
March
t r s { English Version
CleANopen æ Application profile for municipal vehicles CleANopen æ Profil d 5application aux véhicules municipaux
CleANopen æ Anwendungsprofil für Kommunalfahrzeuge This European Standard was approved by CEN on
u r December
t r s zä
egulations which stipulate the conditions for giving this European Standard the status of a national standard without any alterationä Upætoædate lists and bibliographical references concerning such national standards may be obtained on application to the CENæCENELEC Management Centre or to any CEN memberä
translation under the responsibility of a CEN member into its own language and notified to the CENæCENELEC Management Centre has the same status as the official versionsä
CEN members are the national standards bodies of Austriaá Belgiumá Bulgariaá Croatiaá Cyprusá Czech Republicá Denmarká Estoniaá Finlandá Former Yugoslav Republic of Macedoniaá Franceá Germanyá Greeceá Hungaryá Icelandá Irelandá Italyá Latviaá Lithuaniaá Luxembourgá Maltaá Netherlandsá Norwayá Polandá Portugalá Romaniaá Serbiaá Slovakiaá Sloveniaá Spainá Swedená Switzerlandá Turkey and United Kingdomä
EUROPEAN COMMITTEE FOR STANDARDIZATION COMITÉ EUROPÉEN DE NORMALISATION EUROPÄISCHES KOMITEE FÜR NORMUNG
CEN-CENELEC Management Centre:
Rue de la Science 23,
B-1040 Brussels
t r s { CEN All rights of exploitation in any form and by any means reserved worldwide for CEN national Membersä Refä Noä EN
s x z s wã t r s { ESIST EN 16815:2019
Manufacturer-specific TPDOs for unit-specific use . 966 Annex B (normative)
Manufacturer-specific RPDOs for unit-specific use . 971 Annex C (informative)
Measurement process . 976 Bibliography . 979
the 1st part (Clauses 3 to 9) contains general definitions and describes the functionality of the virtual devices as well as the CANopen physical layer requirements and recommendations.
the 2nd part (Clause 10) provides a detailed overview of communication and application parameters supported by the different virtual devices. Virtual devices include the body controller, and the change container, compaction, lifter, identification, measuring A and B, bin classification, washing, truck gateway as well as GPS units. Also a monitoring device is described
the 3rd part (Clauses 11 to 15) and its sub-parts specify the pre-defined Process Data Objects (PDO) and the additional pre-defined SDOs. The pre-defined Transmit-PDOs for all virtual devices ares specified in Clause 11. This includes the PDO communication parameter set as well as the PDO mapping parameter set. The corresponding Receive-PDOs are specified in Clause 13. The SDO communication between bin classification units and measuring units is specified in Clause 15.
the 4th part (Clause 16) specifies the application parameters. This covers the process data (mainly mapped into PDOs), configuration data, and diagnostic information (both mainly transmitted by SDO communication services). In this clause are defined parameter pools for the measuring units, and the data read as well as write for identification units. Other introduced parameters include support profile version, extended status for measuring units and measuring ident controllers. According to the CEN-CENELEC Internal Regulations, the national standards organisations of the following countries are bound to implement this European Standard: Austria, Belgium, Bulgaria, Croatia, Cyprus, Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Romania, Serbia, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom. SIST EN 16815:2019
general definitions;
functionality of the virtual devices;
pre-defined PDOs and SDOs;
application objects. 2 Normative references The following documents are referred to in the text in such a way that some or all of their content constitutes requirements of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. ISO 639-1, Codes for the representation of names of languages
Part 1: Alpha-2 code ISO/IEC 646, Information technology
ISO 7-bit coded character set for information interchange ISO 11898-2, Road vehicles
Controller area network (CAN)
High-speed medium access unit SAE J1939-71, Recommended practice for a serial control and communication network
Vehicle application layer 3 Terms and definitions For the purposes of this document, the following terms and definitions apply. ISO and IEC maintain terminological databases for use in standardization at the following addresses:
IEC Electropedia: available at http://www.electropedia.org/
ISO Online browsing platform: available at http://www.iso.org/obp 3.1 CleANopen unit virtual device that provides functional elements specified in this application profile 3.2 functional element atomic application function SIST EN 16815:2019
Figure 1
Pitch example 3.6 right side when viewing forward, the right side 3.7 roll angle from the left to the right side of the vehicle (see Figure 2)
Figure 2
Roll example 4 Acronyms The acronyms given in documents CiA301, CiA413 series and SAEJ1939 apply for this standard, too. BCU Bin classification unit BC Body controller MIC Measuring ident controller CAN Controller area network CCU Change container unit COB Communication object SIST EN 16815:2019
Figure 3
Virtual devices interconnection (example) Most of the application objects are mapped into pre-defined PDOs. If an implemented application object is not mapped into one of the pre-defined PDOs, other CANopen devices can access them by means of SDO. The CSDOs, which corresponds to the Default SSDO, shall be implemented always in the BC virtual device. CANopen devices compliant to this application profile without BC functionality shall not implement any CSDO that relates to Default SSDO. For systems not comprising a BC, additional SDO channels are needed. This application profile pre-defines some SDO channels for dedicated functionality. For some virtual devices up to eight instances are specified. The instances with the very same number belong to one sub-system, e.g. LU 1, MU-A 1, and WU 1 belong to sub-system 1; LU 2, MU-B 2, and WU 2 belong to sub-system 2. When the BC is implemented, it is connected to all sub-systems. 6.2 Communication to the in-vehicle networks The communication to the truckïs in-vehicle networks is possible by means of truck gateways provided by the truck manufacturer. There are different implementations on the market as shown in the examples given in Figure 4. In the past, most truck manufacturers provided digital and analog inputs and outputs (a). In this implementation example, the TGU only transmits and receives those objects that are not used by the BC. It is also possible to implement the TGU in a generic I/O module compliant to [CiA 401 (b)]; it provides than TGU-compliant PDOs. Nowadays, some truck manufacturers provide a [CiA 413] or [CiA 422] compliant truck gateway (c). In this implementation example, the truck gateway provides TPDOs and RPDOs that correspond to those provided by the TGU. SIST EN 16815:2019
Figure 4
Truck gateway implementation examples If the TGU is implement in the very same CANopen device as the BC, the communication can be done device-internally without transmitting COBs on the CAN network. 6.3 Numbering of the lifter units (LUs) The LUs can be positioned on the vehicle in different ways. The numbering of the LUs as given in this clause shall be used for the vehicles implementing this specification. The lifter units shall be enumerated from left to right while standing in front of the lifter. One compartment consists of four LUs in maximum. The 1st compartment consists of LUs 1 to 4. If there is a second compartment on the truck (e.g. for organic waste) it consists of the LUs 5 to 8. For other configurations it is up to the system integrator to provide the LU numbering. Figure 5 specifies the LU numbering for the single compartment front loader. Figure 6 specifies the LU numbering for the single compartment rear loader. Figure 7 specifies the LU numbering for the single compartment left side loader. Figure 8 specifies the LU numbering for the single compartment right side loader. Figure 9 specifies the LU numberi
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