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EN 50325-4:2002

(Main)

Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces - Part 4: CANopen

Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces - Part 4: CANopen

EN 50325-4 specifies the following particular requirements for CANopen: • requirements for interfaces between programmable controllers and devices with input/output capabilities; • normal service conditions for devices; • constructional and performance requirements.

Industrielles Kommunikationssubsystem basierend auf ISO 11898 (CAN) - Teil 4: CANopen

Sous-système de communications industriel basé sur l'ISO 11898 (CAN) pour les interfaces des dispositifs de commande - Partie 4: CANopen

Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces - Part 4: CANopen

General Information

Status
Published
Publication Date
11-Dec-2002
Withdrawal Date
30-Jun-2005
ICS
43.180 - Diagnostic, maintenance and test equipment
Technical Committee
CLC/TC 65X - Industrial-process measurement, control and automation
Drafting Committee
IEC/SC 17B - IEC_SC_17B
Parallel Committee
IEC/SC 17B - IEC_SC_17B
Current Stage
9093 - Decision to confirm - Review Enquiry
Completion Date
10-May-2023
Ref Project
SIST EN 50325-4:2003 - Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces -- Part 4: CANopen

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2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces - Part 4: CANopenIndustrielles Kommunikationssubsystem basierend auf ISO 11898 (CAN) -- Teil 4: CANopenSous-système de communications industriel basé sur l'ISO 11898 (CAN) pour les interfaces des dispositifs de commande -- Partie 4: CANopenIndustrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces -- Part 4: CANopen43.040.15Car informatics. On board computer systems35.240.50Uporabniške rešitve IT v industrijiIT applications in industryICS:Ta slovenski standard je istoveten z:EN 50325-4:2002SIST EN 50325-4:2003en01-julij-2003SIST EN 50325-4:2003SLOVENSKI
STANDARD
EUROPEAN STANDARD
EN 50325-4 NORME EUROPÉENNE EUROPÄISCHE NORM
December 2002 CENELEC European Committee for Electrotechnical Standardization Comité Européen de Normalisation Electrotechnique Europäisches Komitee für Elektrotechnische Normung
Central Secretariat: rue de Stassart 35, B - 1050 Brussels
© 2002 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members.
Ref. No. EN 50325-4:2002 E
ICS 43.180
English version
Industrial communications subsystem
based on ISO 11898 (CAN)
for controller-device interfaces Part 4: CANopen
Sous-système de communications industriel basé sur l'ISO 11898 (CAN) pour les interfaces des dispositifs de commande Partie 4: CANopen
Industrielles Kommunikationssubsystem basierend auf ISO 11898 (CAN) Teil 4: CANopen
This European Standard was approved by CENELEC on 2002-07-01. 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 concerning such national standards may be obtained on application to the Central Secretariat or to any CENELEC member.
This European Standard exists in one official version (English). A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the Central Secretariat has the same status as the official versions.
CENELEC members are the national electrotechnical committees of Austria, Belgium, Czech Republic, Denmark, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Luxembourg, Malta, Netherlands, Norway, Portugal, Slovakia, Spain, Sweden, Switzerland and United Kingdom.
The text of the draft was submitted to the Unique Acceptance Procedure and was approved by CENELEC as EN 50325-4 on 2002-07-01. The following dates were fixed:
- latest date by which the EN has to be implemented
at national level by publication of an identical
national standard or by endorsement (dop) 2003-07-01
- latest date by which the national standards conflicting
with the EN have to be withdrawn (dow) 2005-07-01 Annexes designated "normative" are part of the body of the standard.
Annexes designated "informative" are given for information only.
In this standard, annexes A and B are normative and annexes C, D and E are informative. This European standard is part of EN 50325 which consists of four parts: Part 1 General requirements Part 2 DeviceNet
Part 3 Smart Distributed System (SDS)
Part 4 CANopen The specifications for DeviceNet,SDS and CANopen are based on ISO 11898 Controller area network (CAN) for high-speed communication, a broadcast-oriented communications protocol. However, ISO 11898 specifies only part of a complete communication system, and additional specifications are needed for other layers to ensure precise data exchange functionality and support of inter-operating devices. General information on licensing and patents Attention is drawn to the possibility that some of the elements of the European Standard EN 50325-4 may be the subject of patent rights. CENELEC shall not be held responsible for identifying any or all such patent rights If during the application of those Standards Intellectual Property Rights may appear and will not be made available on reasonable and non discriminatory terms and conditions to anyone wishing to obtain such a license, applying the rules of CEN/CENELEC Memorandum 8, this fact shall be brought to the attention of CENELEC Central Secretariat for further action. SIST EN 50325-4:2003

- 3 - EN 50325-4:2002
Contents
Page Introduction. 4 1
Scope. 4 2
Normative references. 4 3
Definitions. 4 4
Classifications. 5 5
Characteristics. 12 6
Product information. 64 7
Normal service, transport and mounting conditions. 64 8
Constructional and performance requirements. 65 9
Tests. 67
Annex A (normative) Data types and encoding rules. 68 Annex B (normative) Object dictionary. 75 Annex C (informative) Implementation recommendations. 115 Annex D (informative) Diagnostic information. 115 Annex E (informative) Bibliography. 115
Part 2: Industrial environment EN 61000-6-2 1999 Electromagnetic compatibility (EMC) - Generic standards -
Part 2: Immunity for industrial environments EN 55011 1998 Industrial, scientific and medical (ISM) radio-frequency equipment – Radio disturbance characteristics - Limits and methods of measurement (CISPR 11: 1997, mod.) EN 61000-4 Electromagnetic compatibility (EMC) – Part 4: Testing and measurement techniques EN 61131-3 1993 Programmable controllers – Part 3: Programming languages
(IEC 61131-3:1993) ISO 11898 1993 Road vehicles - Interchange of digital information - Controller area network (CAN) for high-speed communication ISO 646 1991 Information technology - ISO 7-bit coded character set for information interchange ISO 7498-1 1994 Information technology - Open Systems Interconnection - Basic Reference Model: The Basic Model ISO 8859 1998 Information technology - 8-bit single-byte coded graphic character sets 3 Definitions For the purpose of EN 50325-4 the definitions of EN 50325-1 and the following apply. 3.1
Automatic Repeat Request (ARQ) scheme used to confirm the transmission of an SDO block 3.2
Node-ID number, uniquely assigned to an NMT (NetworkManagemenT) slave; if 0, the NMT protocols address all NMT slaves SIST EN 50325-4:2003

- 5 - EN 50325-4:2002
4 Classifications 4.1 General Networks compliant to EN 50235-4 shall use the following reference model, device model, and communication model. 4.2 Reference model
Figure 1 – Comparison with OSI reference model The communication concept is described similar to the OSI reference model (left side of Figure 1). 4.2.1 Application layer: The application layer comprises a concept to configure and communicate real-time-data as well as the mechanisms for synchronisation between devices. The functionality the application layer offers to an application is logically divided over different service objects in the application layer. A service object offers a specific functionality and all the related services. These services are described in the Service Specification of that service object. Applications interact by invoking services of a service object in the application layer. To realise these services, this object exchanges data via the CAN network with (a) peer service object(s) via a protocol. This protocol is described in the Protocol Specification of that service object. Application (1)Application Presentation Session Transport Network
Data link
Physical
(2)(2)(1) specified in this European Standard(2) specified in ISO 11898 LLC MAC PLS PMA MDI Application Process SIST EN 50325-4:2003

• A confirmed service may involve only one peer service object. The application issues a request to its local service object. This request is transferred to the peer service object that passes it to the other application as an indication. The other application issues a response that is transferred to the originating service object that passes it as a confirmation to the requesting application.
• A provider initiated service involves only the local service object. The service object (being the service provider) detects an event not solicited by a requested service. This event is then indicated to the application. Unconfirmed and confirmed services are collectively called remote services. SIST EN 50325-4:2003

- 7 - EN 50325-4:2002
4.3 Device model 4.3.1 General A device is modelled as follows (see Figure 3): • communication – This function unit provides the communication objects and the appropriate functionality to transport data items via the underlying network structure; • object dictionary – The Object dictionary is a collection of all the data items which have an influence on the behaviour of the application objects, the communication objects and the state machine used on this device; • application – The application comprises the functionality of the device with respect to the interaction with the process environment. Thus the Object dictionary serves as an interface between the communication and the application. The complete description of a device’s application with respect to the data items in the Object dictionary is named device profile. Figure 3 - Device model 4.3.2 Object dictionary 4.3.2.1 General The most important part of a device profile is the Object dictionary description. The Object dictionary is essentially a grouping of objects accessible via the network in an ordered pre-defined fashion. Each object within the dictionary shall be addressed using a 16-bit index. The overall layout of the standard Object dictionary is shown in Table 1. This layout closely conforms to other industrial serial bus system concepts. Application Object dictionary Communication State machineComm. object Comm. object Comm. object Comm. object Application object Entry 1Entry 2Entry n: Application object Application object Application object Process Bus system SIST EN 50325-4:2003

The object dictionary may contain a maximum of 65536 entries which are addressed through a 16-bit index. The Static Data Types at indices 0001h through 001Fh shall contain type definitions for simple data types like boolean, integer, floating point, string, etc. These entries are included for reference only, they shall not be re
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