SIST EN 61375-3-3:2012
(Main)Electronic railway equipment - Train communication network - Part 3-3: CCN - CANopen Consist Network bus (IEC 61375-3-3:2012)
Electronic railway equipment - Train communication network - Part 3-3: CCN - CANopen Consist Network bus (IEC 61375-3-3:2012)
IEC 61375-3-3:2012 specifies the data communication bus inside consists that are based on CANopen. CANopen was developed for use in, but is not limited to, industrial automation applications. These applications may include devices such as input/output modules, motion controllers, human machine interfaces, sensors, closed-loop controllers, encoders, hydraulic valves or programmable controllers. This part of IEC 61375 applies to all equipment and devices operated on a CANopen-based consist network within TCN architecture as described in IEC 61375-1.
Elektronische Betriebsmittel für Bahnen - Zug-Kommunikations-Netzwerk (TCN) - Teil 3-3: CANopen Consist Network (CCN) (IEC 61375-3-3:2012)
Matériel électronique ferroviaire - Réseau embarqué de train (TCN) - Partie 3-3: Réseau de rame CANopen (CCN) (CEI 61375-3-3:2012)
La CEI 61375-3-3:2012 spécifie les bus de communication de données à l'intérieur des rames basés sur CANopen. CANopen a été développé pour une utilisation dans les applications d'automatisation industrielle, sans toutefois s'y limiter. Ces applications peuvent inclure des dispositifs tels que les modules d'entrée/sortie, contrôleurs de mouvement, interfaces homme-machine, capteurs, contrôleurs en boucle fermée, codeurs, valves hydrauliques ou contrôleurs programmables. La présente partie de la CEI 61375 s'applique à tous les équipements et dispositifs utilisés sur un Réseau de Rame basé sur CANopen au sein d'une architecture TCN comme décrit dans la CEI 61375-1.
Železniške elektronske naprave - Komunikacijsko omrežje vlaka - 3-3. del: CCN - CAN odprto skladno omrežno podatkovno vodilo (IEC 61375-3-3:2012)
Ta del standarda IEC 61375 določa podatkovno vodilo v kompozicijah, ki temeljijo na CAN odprtem protokolu. CAN odprti protokol je bil razvit med drugim za uporabo v napravah industrijske avtomatizacije. Te naprave lahko vključujejo vhodno/izhodne module, krmilnike gibanja, vmesnike med človekom in strojem, senzorje, regulatorje v zaprti zanki, kodirnike, hidravlične ventile ali programirljive krmilnike. CAN odprta omrežja se v napravah železniških vozil uporabljajo za omrežne podsisteme v kompozicijah, kot je npr. sistem za zaviranje, sistem za krmiljenje dieselskega motorja in sistem za krmiljenje notranje ali zunanje razsvetljave. Poleg tega se CAN odprto omrežje uporablja kot omrežje kompozicije, ki omogoča izmenjavo med različnimi podsistemi v enem samem železniškem vozilu ali skupini železniških vozil v istem omrežju kompozicije. Ta del standarda IEC 61375 se uporablja za vso opremo in naprave, ki delujejo v omrežju kompozicije na osnovi CAN odprtega omrežja v arhitekturi komunikacijskega omrežja vlaka (TCN) iz standarda IEC 61375-1. Uporaba tega standarda za izvedbo komunikacijskega omrežja vlaka (TCN) omogoča posamezno preverjanje skladnosti same izvedbe in je pogoj za nadaljnje preverjanje interoperabilnosti med različnimi izvedbami komunikacijskega omrežja vlaka. V vsakem primeru mora združljivost hrbtenice vlaka z omrežjem kompozicije dokazati dobavitelj. Ta del standarda IEC 61375 se uporablja za arhitekturo komunikacijskih sistemov v odprtih vlakih. Poleg tega se lahko uporablja tudi za zaprte vlake in vlake z večdelnimi enotami, če se o tem dogovorita kupec in dobavitelj.
General Information
Standards Content (Sample)
SLOVENSKI STANDARD
01-oktober-2012
Železniške elektronske naprave - Komunikacijsko omrežje vlaka - 3-3. del: CCN -
CAN odprto skladno omrežno podatkovno vodilo (IEC 61375-3-3:2012)
Electronic railway equipment - Train communication network - Part 3-3: CCN - CANopen
Consist Network bus (IEC 61375-3-3:2012)
Elektronische Betriebsmittel für Bahnen - Zug-Kommunikations-Netzwerk (TCN) - Teil 3-
3: CANopen Consist Network (CCN) (IEC 61375-3-3:2012)
Matériel électronique ferroviaire - Réseau embarqué de train (TCN) - Partie 3-3: Réseau
de rame CANopen (CCN) (CEI 61375-3-3:2012)
Ta slovenski standard je istoveten z: EN 61375-3-3:2012
ICS:
45.020 Železniška tehnika na Railway engineering in
splošno general
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.
EUROPEAN STANDARD
EN 61375-3-3
NORME EUROPÉENNE
August 2012
EUROPÄISCHE NORM
ICS 45.060
English version
Electronic railway equipment -
Train communication network (TCN) -
Part 3-3: CANopen Consist Network (CCN)
(IEC 61375-3-3:2012)
Matériel électronique ferroviaire - Elektronische Betriebsmittel für Bahnen -
Réseau embarqué de train (TCN) - Zug-Kommunikations-Netzwerk (TCN) -
Partie 3-3: Réseau de rame CANopen Teil 3-3: CCN-CANopen Consist Network
(CCN) Bus
(CEI 61375-3-3:2012) (IEC 61375-3-3:2012)
This European Standard 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 concerning 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 member 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 Republic 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.
CENELEC
European Committee for Electrotechnical Standardization
Comité Européen de Normalisation Electrotechnique
Europäisches Komitee für Elektrotechnische Normung
Management Centre: Avenue Marnix 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
Foreword
The text 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:
(dop) 2013-04-26
• latest date by which the document has
to be implemented at national level by
publication of an identical national
standard or by endorsement
• latest date by which the national (dow) 2015-07-26
standards conflicting with the
document have to be withdrawn
Attention is drawn to the possibility that some of the elements of this document 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 requirements 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.
- 3 - EN 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 references, 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 Year
- - Industrial communications subsystem based EN 50325-4 2002
on ISO 11898 (CAN) for controller-device
interfaces -
Part 4: CANopen
IEC 61131 Series Programmable controllers EN 61131 Series
IEC 61375-1 - Electronic railway equipment - Train EN 61375-1 -
communication network (TCN) -
Part 1: General architecture
IEC 61375-2-1 - Electronic railway equipment - Train EN 61375-2-1 -
communication network (TCN) -
Part 2-1: Wire Train Bus (WTB)
IEC 61375-2-2 - Electronic railway equipment - Train EN 61375-2-2 -
communication network (TCN) -
Part 2-2: Wire Train Bus conformance testing
ISO/IEC 646 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 - Controller area network - -
(CAN) -
Part 2: High-speed medium access unit
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 Free 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 requirements and other EU Directives may be applicable to the products falling within
the scope of this standard.
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)
Matériel électronique ferroviaire – Réseau embarqué de train (TCN) –
Partie 3-3: Réseau de rame CANopen (CCN)
INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XE
ICS 45.060 ISBN 978-2-88912-072-7
– 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
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 . 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 Object 1000 : Device type . 24
h
7.6.3 Object 1001 : Error register . 24
h
7.6.4 Object 1014 : COB-ID emergency object . 24
h
7.6.5 Object 1017 : Heartbeat producer . 24
h
7.6.6 Object 1018 : Identity object. 24
h
7.6.7 Object 1029 : Error behavior . 24
h
7.6.8 Object 67FF : Device type . 25
h
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
61375-3-3 IEC:2012 – 3 –
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 manager 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 . 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 1020 : Verify configuration . 47
h
9.8.2 Object 102A : NMT inhibit time . 48
h
9.8.3 Object 1F20 : Store DCF . 49
h
9.8.4 Object 1F22 : Concise DCF . 50
h
9.8.5 Object 1F26 : Expected configuration date . 52
h
9.8.6 Object 1F27 : Expected configuration time . 53
h
9.8.7 Object 1F80 : NMT startup . 54
h
9.8.8 Object 1F81 : NMT slave assignment . 56
h
9.8.9 Object 1F82 : Request NMT . 58
h
9.8.10 Object 1F83 : Request node guarding . 61
h
9.8.11 Object 1F84 : Device type identification . 63
h
9.8.12 Object 1F85 : Vendor identification . 64
h
9.8.13 Object 1F86 : Product code . 65
h
9.8.14 Object 1F87 : Revision number . 66
h
9.8.15 Object 1F88 : Serial number . 67
h
9.8.16 Object 1F89 : Boot time . 68
h
9.8.17 Object 1F8A : Restore configuration. 69
h
9.8.18 Object 1F91 : Self starting nodes timing parameters . 70
h
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 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 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 Train 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 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
11.5.7 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 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 1F78 : CANopen message data reception . 106
h
13 Conformance 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 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 . 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 NMT 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 configuration 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 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 . 104
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 description . 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 description . 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 description . 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 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 (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 version (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 description . 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 – Entry 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 SDO 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 80 – Reset communication service parameters. 80
Table 81 – Enable node guarding service parameters . 80
Table 82 – Disable node guarding service parameters . 80
Table 83 – Start heartbeat consumer service parameters . 81
Table 84 – Disable heartbeat consumer service parameters . 81
Table 85 – Error control event received parameters . 81
Table 86 – Read device error service parameters . 82
Table 87 – Emergency event received service parameters . 82
Table 88 – Initialize gateway service parameters . 82
Table 89 – Store configuration service parameters . 83
Table 90 – Restore configuration service parameters . 83
Table 91 – Set heartbeat producer service parameters . 83
Table 92 – Set node-ID service parameters . 84
Table 93 – Start emergency consumer service parameters . 84
Table 94 – Stop emergency consumer service parameters. 84
Table 95 – Set default network service parameters . 85
Table 96 – Start default node-ID service parameters . 85
Table 97 – Get version service parameters . 85
Table 98 – Syntax and CANopen data types . 86
– 8 – 61375-3-3 IEC:2012
Table 99 – Command notation in BNF . 87
Table 100 – Response notation. 88
Table 101 – Internal error code (InEC) . 88
Table 102 – Notation for event triggered messages . 88
Table 103 – Syntax for upload SDO command . 89
Table 104 – Examples for upload SDO command . 89
Table 105 – Syntax for Download SDO command . 89
Table 106 – Examples for download SDO command . 89
Table 107 – Syntax for configure SDO timeout command . 89
Table 108 – Syntax for configure RPDO command . 90
Table 109 – Examples for configure RPDO command . 90
Table 110 – Syntax for configure TPDO command . 90
Table 111 – Examples for configue TPDO command . 90
Table 112 – Syntax for read PDO data command . 91
Table 113 – Response syntax for read PDO data command . 91
Table 114 – Syntax for write PDO data command . 91
Table 115 – Syntax for RPDO receive command . 91
Table 116 – Examples RPDO received command . 91
Table 117 – Syntax for start node command . 91
Table 118 – Syntax for stop node command . 92
Table 119 – Syntax set node to pre-operational command . 92
Table 120 – Syntax reset node command . 92
Table 121 – Syntax reset communication command . 92
Table 122 – Syntax enable node guarding command . 92
Table 123 – Syntax disable node guarding command . 93
Table 124 – Syntax start heartbeat consumer command . 93
Table 125 – Syntax disable heartbeat consumer command . 93
Table 126 – Syntax for error control event received command . 93
Table 127 – Syntax for read device error command . 94
Table 128 – Syntax for emergency event received command . 94
Table 129 – Syntax for initialize gateway command . 94
Table 130 – Bit rate indices . 94
Table 131 – Syntax for store configuration command . 95
Table 132 – Storage specifier . 95
Table 133 – Syntax restore configuration command . 95
Table 134 – Syntax set heartbeat producer
...
Questions, Comments and Discussion
Ask us and Technical Secretary will try to provide an answer. You can facilitate discussion about the standard in here.
Loading comments...