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BS EN 61375-3-3:2012

BS EN 61375-3-3:2012

$215.11

Electronic railway equipment. Train communication network (TCN) – CANopen Consist Network (CCN)

Published By Publication Date Number of Pages
BSI 2012 114
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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.

PDF Catalog

PDF Pages PDF Title
7 English
CONTENTS
15 INTRODUCTION
16 1 Scope
2 Normative references
17 3 Terms, definitions and abbreviations
3.1 Terms and definitions
18 3.2 Abbreviations
3.3 Conventions
4 Architecture
4.1 Content
4.2 Logical CANopen-based consist network
19 4.3 Network topology
4.4 Addressing
Figures
Figure 1 โ€“ Logical network architecture of the consist network
Figure 2 โ€“ Network topology of CANopen-based consist network
20 4.5 Data classes
5 Physical layer
5.1 Content
5.2 Cabling
5.3 Connector
21 Figure 3 โ€“ 9-pin D-sub connector
Figure 4 โ€“ 5-pin micro style connector
Tables
Table 1 โ€“ Pinning for 9-pin D-sub connector
22 5.4 Physical medium attachment
5.5 Physical signaling
6 Data Link layer
6.1 Content
Table 2 โ€“ Pinning for 5-pin micro style connector
Table 3 โ€“ Bit timing
23 6.2 CANopen data link layer
7 CANopen application layer
7.1 Content
7.2 Reference model
7.3 Field device model
Figure 5 โ€“ Field device model
24 Figure 6 โ€“ Minimum field device
25 7.4 CANopen communication objects
7.5 CANopen object dictionary
Figure 7 โ€“ CANopen device structure
26 Table 4 โ€“ CANopen object dictionary structure
27 7.6 Predefined CANopen communication objects
7.6.1 Content
7.6.2 Object 1000h: Device type
7.6.3 Object 1001h: Error register
7.6.4 Object 1014h: COB-ID emergency object
7.6.5 Object 1017h: Heartbeat producer
7.6.6 Object 1018h: Identity object
7.6.7 Object 1029h: Error behavior
Figure 8 โ€“ Structure of the device type object
28 7.6.8 Object 67FFh: Device type
7.6.9 Service data objects (SDOs)
7.6.10 Process data objects (PDOs)
8 Application data
8.1 Content
8.2 CANopen application data representation
8.3 Recommended representation principle of application data
8.3.1 Content
8.3.2 Application data for door control
29 8.3.3 Consumed door control application objects
Figure 9 โ€“ Object structure
Table 5 โ€“ Value definition
Table 6 โ€“ Object description
30 8.3.4 Produced door control application objects
Figure 10 โ€“ Object structure
Table 7 โ€“ Entry description
Table 8 โ€“ Value definition
Table 9 โ€“ Object description
31 Figure 11 โ€“ Object structure
Table 10 โ€“ Entry description
32 9 CANopen network management
9.1 Content
Table 11 โ€“ Value definition
Table 12 โ€“ Object description
Table 13 โ€“ Entry description
33 9.2 CANopen NMT slave functionality
9.3 CANopen manager functionality
9.3.1 General
34 9.3.2 Object dictionary usage
9.3.3 Redundant networks
35 9.4 CANopen NMT start-up
9.4.1 NMT startup
Figure 12 โ€“ NMT startup, part 1
37 Figure 13 โ€“ NMT startup, part 2
38 9.4.2 NMT startup simple
Figure 14 โ€“ NMT startup simple
39 9.4.3 Start process boot NMT slave
Figure 15 โ€“ Start process boot NMT slave
40 9.5 Boot NMT slave
Figure 16 โ€“ Boot NMT slave, part 1
42 Figure 17 โ€“ Boot NMT slave, part 2
43 Figure 18 โ€“ Boot NMT slave, part 3
45 9.5.1 Check configuration
Figure 19 โ€“ Check configuration
46 9.5.2 Check NMT state
9.5.3 NMT flying master start up
Figure 20 โ€“ Check NMT state
47 9.5.4 Error status
Table 14 โ€“ Error status
48 9.6 Error control
9.6.1 Start error control
Figure 21 โ€“ Start error control
49 9.6.2 Error handler
Figure 22 โ€“ Error handler
50 9.6.3 Bootup handler
9.7 Additional NMT master services and protocols
9.8 Object dictionary entries
9.8.1 Object 1020h: Verify configuration
Figure 23 โ€“ Bootup handler
51 9.8.2 Object 102Ah: NMT inhibit time
Table 15 โ€“ Object description
Table 16 โ€“ Entry description
52 9.8.3 Object 1F20h: Store DCF
Table 17 โ€“ Object description
Table 18 โ€“ Entry description
Table 19 โ€“ Object description
53 9.8.4 Object 1F22h: Concise DCF
Table 20 โ€“ Entry description
54 Figure 24 โ€“ Data stream definition of concise DCF
Table 21 โ€“ Object description
55 9.8.5 Object 1F26h: Expected configuration date
Table 22 โ€“ Entry description
Table 23 โ€“ Object description
56 9.8.6 Object 1F27h: Expected configuration time
Table 24 โ€“ Entry description
Table 25 โ€“ Object description
57 9.8.7 Object 1F80h: NMT startup
Figure 25 โ€“ Object structure
Figure 26 โ€“ Bit structure of the configuration value
Table 26 โ€“ Entry description
58 Table 27 โ€“ Value NMT master (bit: 0)
Table 28 โ€“ Value Start all nodes (bit: 1)
Table 29 โ€“ Value NMT master start (bit: 2)
Table 30 โ€“ Value Start node (bit: 3)
Table 31 โ€“ Reset all nodes (bit: 4)
Table 32 โ€“ Flying master (bit: 5)
Table 33 โ€“ Stop all nodes (bit: 6)
59 9.8.8 Object 1F81h: NMT slave assignment
Figure 27 โ€“ Object structure of the value
Table 34 โ€“ Exceptions for NMT start-up capable devices
Table 35 โ€“ Object description
Table 36 โ€“ Entry description
60 Figure 28 โ€“ Bit structure of the configuration value
Table 37 โ€“ NMT slave (bit: 0)
Table 38 โ€“ NMT boot slave (bit: 2)
Table 39 โ€“ Mandatory (bit: 3)
Table 40 โ€“ Reset communication (bit: 4)
Table 41 โ€“ Software version (bit: 5)
Table 42 โ€“ Software update (bit: 6)
61 9.8.9 Object 1F82h: Request NMT
Table 43 โ€“ Restore (bit: 7)
Table 44 โ€“ Object description
Table 45 โ€“ Entry description
63 Table 46 โ€“ Value definition
Table 47 โ€“ Object description
64 9.8.10 Object 1F83h: Request node guarding
Table 48 โ€“ Entry description
65 Tableย 49 โ€“ Value definition
Table 50 โ€“ Object description
66 9.8.11 Object 1F84h: Device type identification
Table 51 โ€“ Entry description
67 9.8.12 Object 1F85h: Vendor identification
Table 52 โ€“ Object description
Table 53 โ€“ Entry description
68 9.8.13 Object 1F86h: Product code
Table 54 โ€“ Object description
Table 55 โ€“ Entry description
69 9.8.14 Object 1F87h: Revision number
Table 56 โ€“ Object description
Tableย 57 โ€“ Entry description
70 9.8.15 Object 1F88h: Serial number
Table 58 โ€“ Object description
Table 59 โ€“ Entry description
71 9.8.16 Object 1F89h: Boot time
Table 60 โ€“ Object description
Tableย 61 โ€“ Entry description
72 9.8.17 Object 1F8Ah: Restore configuration
Table 62 โ€“ Object description
Table 63 โ€“ Entry description
Table 64 โ€“ Object description
73 9.8.18 Object 1F91h: Self-starting nodes timing parameters
Table 65 โ€“ Entry description
Table 66 โ€“ Object description
74 10 Gateway functions
10.1 Content
Table 67 โ€“ Entry description
75 10.2 Gateway architecture
Figure 29 โ€“ Gateway between Train backbone and CANopen consist network
76 10.3 General principles and services
10.3.1 Content
10.3.2 Gateway class definitions
10.3.3 Service primitives definitions
10.4 Network access service specification
10.4.1 SDO access services
77 Table 68 โ€“ Upload SDO service
78 10.4.2 PDO access services
Table 69 โ€“ Download SDO parameters
Table 70 โ€“ Configure SDO timeout parameters
79 Table 71 โ€“ Configure RPDO service parameters
80 Table 72 โ€“ Configure TPDO service parameters
Table 73 โ€“ Read PDO data service parameters
81 10.4.3 CANopen NMT services
Table 74 โ€“ Write PDO data service parameters
Table 75 โ€“ RPDO received service parameters
Table 76 โ€“ Start node service parameters
82 Table 77 โ€“ Stop node service parameters
Table 78 โ€“ Set node to pre-operational service parameters
Table 79 โ€“ Reset node service parameters
83 Table 80 โ€“ Reset communication service parameters
Table 81 โ€“ Enable node guarding service parameters
Table 82 โ€“ Disable node guarding service parameters
84 10.4.4 Device failure management services
Table 83 โ€“ Start heartbeat consumer service parameters
Table 84 โ€“ Disable heartbeat consumer service parameters
Table 85 โ€“ Error control event received parameters
85 10.4.5 CANopen interface configuration services
Table 86 โ€“ Read device error service parameters
Table 87 โ€“ Emergency event received service parameters
Table 88 โ€“ Initialize gateway service parameters
86 Table 89 โ€“ Store configuration service parameters
Table 90 โ€“ Restore configuration service parameters
Table 91 โ€“ Set heartbeat producer service parameters
87 10.4.6 Gateway management services
Table 92 โ€“ Set node-ID service parameters
Table 93 โ€“ Start emergency consumer service parameters
Table 94 โ€“ Stop emergency consumer service parameters
88 10.4.7 Manufacturer-specific services
10.5 ASCII mapping of network access services
10.5.1 Content
Tableย 95 โ€“ Set default network service parameters
Table 96 โ€“ Start default node-ID service parameters
Table 97 โ€“ Get version service parameters
89 10.5.2 Definitions
Table 98 โ€“ Syntax and CANopen data types
90 Table 99 โ€“ Command notation in BNF
91 Table 100 โ€“ Response notation
Table 101 โ€“ Internal error code (InEC)
Table 102 โ€“ Notation for event triggered messages
92 10.5.3 Network access command specification
Table 103 โ€“ Syntax for upload SDO command
Table 104 โ€“ Examples for upload SDO command
Table 105 โ€“ Syntax for Download SDO command
Table 106 โ€“ Examples for download SDO command
Table 107 โ€“ Syntax for configure SDO timeout command
93 Table 108 โ€“ Syntax for configure RPDO command
Table 109 โ€“ Examples for configure RPDO command
Table 110 โ€“ Syntax for configure TPDO command
Table 111 โ€“ Examples for configue TPDO command
94 Table 112 โ€“ Syntax for read PDO data command
Table 113 โ€“ Response syntax for read PDO data command
Table 114 โ€“ Syntax for write PDO data command
Table 115 โ€“ Syntax for RPDO receive command
Table 116 โ€“ Examples RPDO received command
Table 117 โ€“ Syntax for start node command
95 Table 118 โ€“ Syntax for stop node command
Table 119 โ€“ Syntax set node to pre-operational command
Table 120 โ€“ Syntax reset node command
Table 121 โ€“ Syntax reset communication command
Table 122 โ€“ Syntax enable node guarding command
96 Table 123 โ€“ Syntax disable node guarding command
Table 124 โ€“ Syntax start heartbeat consumer command
Table 125 โ€“ Syntax disable heartbeat consumer command
Table 126 โ€“ Syntax for error control event received command
97 Table 127 โ€“ Syntax for read device error command
Table 128 โ€“ Syntax for emergency event received command
Table 129 โ€“ Syntax for initialize gateway command
Table 130 โ€“ Bit rate indices
98 Table 131 โ€“ Syntax for store configuration command
Table 132 โ€“ Storage specifier
Table 133 โ€“ Syntax restore configuration command
Table 134 โ€“ Syntax set heartbeat producer command
Table 135 โ€“ Syntax set node-ID command
99 Table 136 โ€“ Syntax set default network command
Table 137 โ€“ Syntax set default node-ID command
Table 138 โ€“ Syntax for get version command
Table 139 โ€“ Response syntax for get version command
100 11 Train network management
11.1 Content
Figure 30 โ€“ Management messages (informative)
Table 140 โ€“ Example for get version response
101 11.2 Manager, Agents and interfaces (informative)
11.3 Management message protocol (informative)
11.4 Object interfaces (informative)
11.5 CANopen-specific management services
11.5.1 General
11.5.2 Agent interfaces on a Station connected to CANopen consist network
102 11.5.3 Management message structure for CANopen consist networks
11.5.4 Notation for the CANopen specific SIF_codes
Figure 31 โ€“ Agent interface on a CANopen (gateway) station for message data
Table 141 โ€“ Management message structure
103 11.5.5 Notation for a call CANopen management message
11.5.6 Notation for a reply CANopen management message
11.5.7 Notation for the TNM CANopen services command codes
Table 142 โ€“ CANopen specific SIF_codes
Table 143 โ€“ Notation for a call CANopen management message
Table 144 โ€“ Notation for a reply CANopen management message
104 11.6 TNM CANopen services
11.6.1 Content
11.6.2 Call_Write_CANopen_Command (with reservation)
Table 145 โ€“ TNM CANopen services command codes (reservation required)
Table 146 โ€“ TNM CANopen services command codes (reservation not required)
105 11.6.3 Reply_Write_CANopen_Command (with reservation)
11.6.4 Call_Read_CANopen_Command (without reservation)
Figure 32 โ€“ Call_Write_CANopen_Command
Figure 33 โ€“ Reply_Write_CANopen_Command
Table 147 โ€“ Value definition for Call_Write_CANopen_Command
Table 148 โ€“ Value definition Reply_Write_CANopen_Command
106 11.6.5 Reply_Read_CANopen_Command (without reservation)
12 CANopen management message data handling
12.1 General
Figure 34 โ€“ Call_Read_CANopen_Command (without reservation)
Figure 35 โ€“ Reply_Read_CANopen_command (without reservation)
Table 149 โ€“ Value definition for Call_Read_CANopen_Command (without reservation)
Table 150 โ€“ Value definition for Reply_Read_CANopen_Command (without reservation)
107 Figure 36 โ€“ CANopen device capable to handle TNM management messages
108 12.2 Message data format
12.3 Requirements for message data communication within CANopen networks
Figureย 37 โ€“ Message data format comparison
109 12.4 Object 1F78h: CANopen message data reception
Table 151 โ€“ Object description
Table 152 โ€“ Entry description
110 13 Conformance testing
111 Bibliography

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    Electronic railway equipment. Train communication network (TCN) – CANopen Consist Network (CCN) Published By Publicationโ€ฆ

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BS EN 61375-3-3:2012
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