SIST EN 16603-50-15:2017

Space engineering - CANbus extention protocol

This standard is applicable to spacecraft projects that opt to use the CAN Network for spacecraft on-board communications and control. It also defines the optional use of the CANopen standard as an application layer protocol operating in conjunction with the CAN Network data link layer.
This standard does not modify the basic CAN Network specification and complies with ISO 11898-1/-2:2003. This standard does define protocol extensions needed to meet spacecraft specific requirements.
This standard covers the vast majority of the on-board data bus requirements for a broad range of different mission types. However, there can be some cases where a mission has particularly constraining requirements that are not fully in line with those specified in this standard. In those cases this standard is still applicable as the basis for the use of CAN Network, especially for physical layer and redundancy management.

Raumfahrttechnik - CANbus-Erweiterungsprotokoll

Ingénierie spatiale - Protocole d'extension du CANbus

Vesoljska tehnika - Razširitveni protokol CANbus

Ta standard se uporablja za projekte vesoljskih plovil z možnostjo uporabe omrežja CAN za komunikacije in upravljanje na krovu vesoljskih plovil. Določa tudi možnost uporabe odprtega standarda CAN kot protokola aplikacijske plasti, ki deluje v povezavi s plastjo podatkovne povezave omrežja CAN. Ta standard ne spreminja osnovne specifikacije omrežja CAN in je v skladu s standardom ISO 11898-1/-2:2003. Ta standard določa razširitve protokola, potrebne za izpolnjevanje posebnih zahtev glede vesoljskih plovil.  Ta standard zajema veliko večino zahtev glede podatkovnih vodil na krovu za širok nabor različnih vrst misij. Vendar obstajajo lahko nekateri primeri, pri katerih misija vključuje še posebej omejujoče zahteve, ki niso povsem v skladu z zahtevami, opredeljenimi v tem standardu. V takih primerih se ta standard še vedno uporablja kot osnova za uporabo omrežja CAN, zlasti za fizično plast in upravljanje redundanc.

General Information

• Status: Published
• Public Enquiry End Date: 29-Jun-2016
• Publication Date: 07-Aug-2017
• ICS: 49.140 - Space systems and operations
• Technical Committee: I13 - Imaginarni 13
• Current Stage: 6060 - National Implementation/Publication (Adopted Project)
• Start Date: 10-Jul-2017
• Due Date: 14-Sep-2017
• Completion Date: 08-Aug-2017
• Mandate: M/496 - Mandate addressed to CEN, CENELEC and ETSI to develop standardisation regarding space industry (Phase 3 of the process)
• Ref Project: EN 16603-50-15:2017 - Space engineering - CANbus extention protocol

Standards Content (Sample)

SLOVENSKI STANDARD
SIST EN 16603-50-15:2017
01-september-2017
Vesoljska tehnika - Razširitveni protokol CANbus
Space engineering - CANbus extention protocol
Raumfahrttechnik - CANbus-Erweiterungsprotokoll
Ingénierie spatiale - Protocole d'extension du CANbus
Ta slovenski standard je istoveten z: EN 16603-50-15:2017
ICS:
49.140 Vesoljski sistemi in operacije Space systems and
operations
SIST EN 16603-50-15:2017 en,fr,de
2003-01.Slovenski inštitut za standardizacijo. Razmnoževanje celote ali delov tega standarda ni dovoljeno.

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SIST EN 16603-50-15:2017

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SIST EN 16603-50-15:2017


EUROPEAN STANDARD
EN 16603-50-15

NORME EUROPÉENNE

EUROPÄISCHE NORM
June 2017
ICS 49.140

English version

Space engineering - CANbus extention protocol
Ingénierie spatiale - Protocole d'extension du CANbus Raumfahrttechnik - CANbus-Erweiterungsprotokoll
This European Standard was approved by CEN on 11 May 2017.

CEN and 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 CEN and 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 CEN and CENELEC member into its own language and notified to the CEN-CENELEC
Management Centre has the same status as the official versions.

CEN and CENELEC members are the national standards bodies and national electrotechnical committees of 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 United Kingdom.
























CEN-CENELEC Management Centre:
Avenue Marnix 17, B-1000 Brussels
© 2017 CEN/CENELEC All rights of exploitation in any form and by any means Ref. No. EN 16603-50-15:2017 E
reserved worldwide for CEN national Members and for
CENELEC Members.

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SIST EN 16603-50-15:2017
EN 16603-50-15:2017 (E)
Table of contents
European foreword . 7
Introduction . 8
1 Scope . 9
2 Normative references . 10
3 Terms, definitions and abbreviated terms . 12
3.1 Terms from other standards . 12
3.2 Terms specific to the present standard . 12
3.3 Abbreviated terms. 16
3.4 Bit numbering convention . 17
3.5 Nomenclature . 17
4 Overview of the standard and principles . 19
4.1 Document organization . 19
4.2 Relationship of CAN Bus Network to existing Architectures . 19
4.3 CANbus network . 20
4.4 Physical layer . 21
4.5 Communication model . 21
4.6 CANopen higher layer protocol . 21
4.7 Time distribution . 23
4.7.1 Overview . 23
4.7.2 SYNC message and protocol . 24
4.7.3 Bit timing . 24
4.8 Redundancy management and monitoring . 24
4.8.1 Overview . 24
4.8.2 Node Monitoring via Node-Guarding or Heartbeat Messages . 25
4.8.3 Bus monitoring and reconfiguration management . 26
4.9 Connectors and pin assignments . 27
4.10 Minimal protocol set . 27
5 Physical layer . 28
5.1 Topology . 28
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EN 16603-50-15:2017 (E)
5.1.1 Physical topology . 28
5.1.2 Maximum bus length and drop length. 30
5.1.3 Number of network devices . 30
5.2 Medium . 31
5.2.1 Cable requirements . 31
5.2.2 Connectors . 32
5.3 Transceiver characteristics . 32
5.3.1 General . 32
5.3.2 ISO 11898-2:2003 transceiver electrical characteristics . 33
5.3.3 Resistance to electrical CAN Network faults. 33
5.3.4 Transceiver isolation . 38
5.3.5 Physical layer implementation based on RS-485 transceivers . 38
5.3.6 Detailed implementation for RS-485 transceiver . 39
5.4 Bit timing . 39
5.4.1 Bit rate 1 Mbps . 39
5.4.2 Other bit rates . 39
5.4.3 Bit timing . 39
5.5 Electromagnetic compatibility (EMC) . 40
5.6 Data link layer . 40
5.6.1 ISO 11898 compliance . 40
5.6.2 Fault confinement . 40
6 CANopen higher layer protocol . 42
6.1 Service data objects . 42
6.2 Process data objects . 42
6.3 Synchronisation object . 42
6.4 Emergency object . 43
6.5 Network management objects. 43
6.5.1 Module control services . 43
6.5.2 Error control services . 43
6.5.3 Bootup service . 43
6.5.4 Node state diagram . 43
6.6 Electronic data sheets . 44
6.7 Device and application profiles . 44
6.8 Object dictionary . 45
6.9 Synchronous communications . 45
6.10 COB-ID and NODE-ID assignment . 45
7 Time distribution . 47
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EN 16603-50-15:2017 (E)
7.1 Time objects . 47
7.1.1 Time code formats . 47
7.1.2 Spacecraft elapsed time objects . 48
7.1.3 Spacecraft universal time coordinated objects . 48
7.2 Time distribution and synchronization protocols . 49
7.2.1 General . 49
7.2.2 Time distribution protocol . 49
7.2.3 High-resolution time distribution protocol . 50
8 Redundancy management . 52
8.1 General . 52
8.2 Node internal bus redundancy architectures . 52
8.2.1 General . 52
8.2.2 Parallel bus access architecture . 52
8.2.3 Selective bus access architecture . 52
8.3 Bus monitoring and reconfiguration management . 53
8.3.1 Bus redundancy management parameters . 53
8.3.2 Start-up procedure . 56
8.3.3 Bus monitoring protocol . 57
9 Minimal implementation of the CANopen protocol for highly
asymmetrical control applications . 60
9.1 COB-ID assignment . 60
9.2 Object dictionary . 60
9.3 Minimal set CANopen Objects . 60
9.4 Minimal Set Protocol . 61
9.4.1 Definitions . 61
9.4.2 Use of data bytes in application layer . 62
9.4.3 Minimal Set Protocol data transmission . 63
9.4.4 PDO transmit triggered by telemetry request. 64
9.4.5 PDO mapping . 64
9.4.6 Network management objects . 65
9.4.7 Special function objects . 65
9.4.8 Communication error object . 66
9.4.9 NMT error control objects . 66
9.4.10 Miscellaneous authorized objects . 66
9.5 Free COB–ID . 70
10 Connectors and pin assignments . 73
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EN 16603-50-15:2017 (E)
10.1 Overview . 73
10.2 Naming convention . 73
10.3 Circular connectors . 73
10.3.1 MIL-C D38999 configuration B: Dual CAN Network. 73
10.3.2 MIL-C D38999 configuration D: Single CAN Network . 74
10.4 Sub-miniature D connectors (9-pin D-sub) . 75
10.5 Sub-miniature D connectors (9-pin D-sub) – RS-485 . 76
11 CANopen standard applicability matrix . 77
11.1 Introduction . 77
Annex A (informative) Electrical connectivity . 88
A.1 Transceivers . 88
A.1.2 Detailed implementation for RS-485 transceiver . 88
A.2 Example Implementation of a RS-485 physical layer . 90
A.3 CAN Network Bus termination . 93
A.4 Bus management and redundancy . 93
A.4.1 Selective bus access architecture . 93
A.4.2 Parallel bus access architecture . 94
Bibliography . 95
Figures
Figure 3-1: Bit numbering convention . 17
Figure 4-1: Relationship between ISO layering, ISO 11898, CiA 301 and ECSS CAN
standard definitions . 20
Figure 4-2: Example of minimal implementation topology . 21
Figure 4-3: Format of hearthbeat message . 26
Figure 5-1: Linear multi-drop topology . 28
Figure 5-2: Daisy chain topology. . 29
Figure 7-1: Format for objects containing the SCET . 48
Figure 7-2: Format for objects containing the Spacecraft UTC . 49
Figure 8-1: Node start up procedure . 56
Figure 8-2: Bus monitoring logic . 58
Figure 8-3: Slave bus selection process, toggling mechanism . 59
Figure 9-1: Unconfirmed Command exchange overview (example with PDO1) . 61
Figure 9-2: Telemetry request exchange overview (example with PDO2) . 62
Figure 10-1: Illustration of a 9-pin D-Sub connector . 75
Figure A-1 : Principle of Isolated CAN Operation . 88
Figure A-2 : RS-485 CAN physical interface for OBC/Bus Master . 90
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EN 16603-50-15:2017 (E)
Figure A-3 : RS-485 CAN physical interface for nodes using single connector for
redundant buses . 91
Figure A-4 : RS-485 CAN physical interface nodes using dual connector for redundant
buses . 91
Figure A-5 : Split (left) and standard (right) Termination schemes. . 93
Figure A-6 : Selective bus access architecture . 94
Figure A-7 : Parallel bus access architecture . 94
Tables
Table 5-1: CAN levels in ISO 11898-2:2003 . 33
Table 5-2 – CAN failure modes and recommended FDIR actions. . 36
Table 8-1: BUS redundancy management parameters for slaves . 54
Table 8-2: BUS redundancy management parameters for master . 55
Table 9-1: Peer-to-Peer objects of the minimal set . 61
Table 9-2: Broadcast objects of the minimal set . 61
Table 9-3: PDO Communication Object description: . 63
Table 9-4: PDO Communication Entry Description: . 63
Table 9-5 PDO Communication Object description: . 64
Table 9-6: PDO Communication Entry Description: . 64
Table 9-7 : SYNC Message Object description: . 65
Table 9-8: SYNC Message Entry Description: . 65
Table 9-9 SYNC used with NMT master Object description: . 66
Table 9-10 SYNC used with NMT master Entry Description: . 66
Table 9-11: CANopen Object dictionary Data Types . 67
Table 9-12: Authorized and Forbidden Object Dictionary Entries of the Communication
profile . 68
Table 9-13 : COB ID -Predefined connection set . 71
Table 10-1 : Signal terminology . 73
Table 10-2: Pin function for MIL-C D38999 configuration B . 74
Table 10-3: Pin function for MIL-C D38999 configuration D . 74
Table 10-4: Pin function for sub D-type with CAN Network . 75
Table 10-5: Pin function for sub D-type with RS-485 CAN Network . 76
Table 11-1: DiA 301 (former CIA DS301) applicability matrix . 78
Table A-1 : Logic Table, RS-485 Driver implementation . 92
Table A-2 : Logic Table, RS-485 Receiver implementation . 92
Table A-3 : Component item values. 92

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EN 16603-50-15:2017 (E)
European foreword
This document (EN 16603-50-15:2017) has been prepared by Technical
Committee CEN-CENELEC/TC 5 “Space”, the secretariat of which is held by
DIN.
This standard (EN 16603-50-15:2017) originates from ECSS-E-ST-50-15C.
This European Standard shall be given the status of a national standard, either
by publication of an identical text or by endorsement, at the latest by December
2017, and conflicting national standards shall be withdrawn at the latest by
December 2017.
Attention is drawn to the possibility that some of the elements of this document
may be the subject of patent rights. CEN [and/or CENELEC] shall not be held
responsible for identifying any or all such patent rights.
This document has been prepared under a standardization request given to
CEN by the European Commission and the European Free Trade Association.
This document has been developed to cover specifically space systems and has
therefore precedence over any EN covering the same scope but with a wider
domain of applicability (e.g.: aerospace).
According to the CEN-CENELEC Internal Regulations, the national standards
organizations 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.
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SIST EN 16603-50-15:2017
EN 16603-50-15:2017 (E)
Introduction
This European Standard specifies requirements for the use of the CAN
(Controller Area Network) data bus in spacecraft onboard applications. These
requirements extend the CAN Network specification to cover the aspects
required to satisfy the particular needs of spacecraft data handling systems.
This standard is one of a series of ECSS standards relating to data link interfaces
and communication protocols e.g. MIL-STD-1553 and ECSS-E-ST-50-5x Space
Wire.
In order to provide a uniform set of communication services across these
standards the CCSDS Spacecraft Onboard Interface Services (SOIS) Subnetwork
Recommendations have been applied as driving requirements for protocol
specification.
The CAN Network has been successfully used for three decades in automotive
and critical control industry. In particular, its use in applications that have
demanding safety and reliability requirements, or operate in hostile
environments have similarities to spacecraft onboard applications.
The CAN Network is being adopted for a variety of space applications and care
has therefore been taken during the drafting of this standard to include existing
experience and feedback from European Space industry.
In addition to the CAN Network data link specifications, this standard also
specifies the optional use of the CANopen standard as an application layer
protocol operating over CANbus.
The set of CANopen specifications comprises the application layer and
communication profile as well as application, device, and interface profiles.
CANopen provides very flexible configuration capabilities.
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EN 16603-50-15:2017 (E)
1
Scope
This European Standard is applicable to spacecraft projects that opt to use the
CAN Network for spacecraft on-board communications and control. It also
defines the optional use of the CANopen standard as an application layer
protocol operating in conjunction with the CAN Network data link layer.
This standard does not modify the basic CAN Network specification and
complies with ISO 11898-1/-2:2003. This standard does define protocol
extensions needed to meet spacecraft specific requirements.
This standard covers the vast majority of the on-board data bus requirements
for a broad range of different mission types. However, there can be some cases
where a mission has particularly constraining requirements that are not fully in
line with those specified in this standard. In those cases this standard is still
applicable as the basis for the use of CAN Network, especially for physical
layer and redundancy management.
This standard may be tailored for the specific characteristic and constrains of a
space project in conformance with ECSS-S-ST-00.
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SIST EN 16603-50-15:2017
EN 16603-50-15:2017 (E)
2
Normative references
The following normative documents contain provisions which, through
reference in this text, constitute provisions of this ECSS Standard. For dated
references, subsequent amendments to, or revision of any of these publications
do not apply. However, parties to agreements based on this ECSS Standard are
encouraged to investigate the possibility of applying the more recent editions of
the normative documents indicated below. For undated references, the latest
edition of the publication referred to applies.

EN reference Reference in text Title
EN 16601-00-01 ECSS-S-ST-00-01 ECSS system – Glossary of terms
EN 16603-20 ECSS-E-ST-20 Space engineering - Electrical and electronic
EN 16603-20-07 ECSS-E-ST-20-07 Space engineering - Electromagnetic compatibility
EN 16602-70-08 ECSS-Q-ST-70-08 Space product assurance - Manual soldering of high-
reliability electrical connections
EN 16602-70-26 ECSS-Q-ST-70-26 Space product assurance - Crimping of high-reliability
electrical connections
ESCC 3401/029 Issue 1, Connectors Electrical Rectangular Microminiature,
October 2002 based on type MDM
ESCC 3401/01 Issue 2, Connectors, Electrical, Rectangular, Microminiature,
March 2010 Solder Bucket Contacts, with EMI Backshell, based on
Type MDM
ANSI/TIA/EIA-485-A- Electrical Characteristics of Balanced Voltage Digital
1998 (reaffirmed 28 Interface Circuits.
March 2003)
NOTE: This standard referenced in this document as
RS-485.
DIN 41652-1 (1990-06) Rack and panel connectors, trapezoidal, round
contacts ∅ 1 mm; common mounting features and
dimensions; survey of types
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
CiA 102 v. 2.0 CAN physical layer for industrial applications
(available from www.can-cia.org)
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EN 16603-50-15:2017 (E)
CANopen Application Layer and Communication
CiA 301 Version 4.2.0
Profile, CAN in Automation
(available from www.can-cia.org)
CANopen electronic data sheet specification
CiA 306 Version 1.3.0
(available from www.can-cia.org)
CAN in Automation - Computation of CAN Bit
iCC 2012
Timing Parameters Simplified - Meenanath Taralkar,
OTIS ISRC PVT LTD, Pune, India
(available from www.can-cia.org)
Connectors, Electrical, Circular, Miniature, High
MIL-DTL-38999
Density, Quick Disconnect (Bayonet, Threaded, and
(formerly MIL-C
Breech Coupling), Environment Resist
...