Electronic railway equipment - Train communication network - Part 3-3: CCN - CANopen Consist Network bus (IEC 61375-3-3:2012)

This part of IEC 61375 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. In the application field of rail vehicles CANopen networks are utilized to network subsystems in consists such as e.g. brake control system, diesel engine control system and interior or exterior lighting control system. In addition CANopen is utilized as consist network to enable the data exchange between the different subsystems within one single rail vehicle or a group of rail vehicles sharing the same Consist Network. 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. The applicability of this standard to a TCN implementation allows for individual conformance checking of the implementation itself and is a pre-requisite for further interoperability checking between different TCN implementations. In any case, proof of compatibility between Train Backbone and the Consist Network will have to be brought by the supplier. This part of IEC 61375 applies to the architecture of communication systems in Open trains. In addition it may be applicable to closed trains and multiple unit trains when so agreed between purchaser and supplier.

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

Status
Published
Publication Date
24-Sep-2012
Current Stage
6060 - National Implementation/Publication (Adopted Project)
Start Date
30-Aug-2012
Due Date
04-Nov-2012
Completion Date
25-Sep-2012

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SLOVENSKI STANDARD
SIST EN 61375-3-3:2012
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
SIST EN 61375-3-3:2012 en

2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

---------------------- Page: 1 ----------------------
SIST EN 61375-3-3:2012
---------------------- Page: 2 ----------------------
SIST EN 61375-3-3:2012
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
---------------------- Page: 3 ----------------------
SIST EN 61375-3-3:2012
EN 61375-3-3:2012 - 2 -
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.
---------------------- Page: 4 ----------------------
SIST EN 61375-3-3:2012
- 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
---------------------- Page: 5 ----------------------
SIST EN 61375-3-3:2012
EN 61375-3-3:2012 - 4 -
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.
---------------------- Page: 6 ----------------------
SIST EN 61375-3-3:2012
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

Warning! Make sure that you obtained this publication from an authorized distributor.

Attention! Veuillez vous assurer que vous avez obtenu cette publication via un distributeur agréé.

® Registered trademark of the International Electrotechnical Commission
Marque déposée de la Commission Electrotechnique Internationale
---------------------- Page: 7 ----------------------
SIST EN 61375-3-3:2012
– 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

7.6.3 Object 1001 : Error register ....................................................................... 24

7.6.4 Object 1014 : COB-ID emergency object ................................................... 24

7.6.5 Object 1017 : Heartbeat producer ............................................................. 24

7.6.6 Object 1018 : Identity object...................................................................... 24

7.6.7 Object 1029 : Error behavior ..................................................................... 24

7.6.8 Object 67FF : 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

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SIST EN 61375-3-3:2012
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

9.8.2 Object 102A : NMT inhibit time .................................................................. 48

9.8.3 Object 1F20 : Store DCF ........................................................................... 49

9.8.4 Object 1F22 : Concise DCF ....................................................................... 50

9.8.5 Object 1F26 : Expected configuration date ................................................ 52

9.8.6 Object 1F27 : Expected configuration time ................................................ 53

9.8.7 Object 1F80 : NMT startup ........................................................................ 54

9.8.8 Object 1F81 : NMT slave assignment ........................................................ 56

9.8.9 Object 1F82 : Request NMT ...................................................................... 58

9.8.10 Object 1F83 : Request node guarding ....................................................... 61

9.8.11 Object 1F84 : Device type identification .................................................... 63

9.8.12 Object 1F85 : Vendor identification ........................................................... 64

9.8.13 Object 1F86 : Product code ....................................................................... 65

9.8.14 Object 1F87 : Revision number ................................................................. 66

9.8.15 Object 1F88 : Serial number ..................................................................... 67

9.8.16 Object 1F89 : Boot time ............................................................................ 68

9.8.17 Object 1F8A : Restore configuration.......................................................... 69

9.8.18 Object 1F91 : 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

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SIST EN 61375-3-3:2012
– 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

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

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SIST EN 61375-3-3:2012
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

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SIST EN 61375-3-3:2012
– 6 – 61375-3-3  IEC:2012

Table 13 – Entry description ............................................................................

...

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