SANS 53149-4-2009 Public transport - Road vehicle scheduling and control systems Part 4 General application rules for CANopen transmission buses《公共交通 道路车辆调度及控制系统 第4部分 CANopen传输总线的一.pdf

1、 Collection of SANS standards in electronic format (PDF) 1. Copyright This standard is available to staff members of companies that have subscribed to the complete collection of SANS standards in accordance with a formal copyright agreement. This document may reside on a CENTRAL FILE SERVER or INTRA

2、NET SYSTEM only. Unless specific permission has been granted, this document MAY NOT be sent or given to staff members from other companies or organizations. Doing so would constitute a VIOLATION of SABS copyright rules. 2. Indemnity The South African Bureau of Standards accepts no liability for any

3、damage whatsoever than may result from the use of this material or the information contain therein, irrespective of the cause and quantum thereof. ISBN 978-0-626-21858-4 SANS 53149-4:2009 Edition 1 EN 13149-4: 2004 Edition 1SOUTH AFRICAN NATIONAL STANDARD Public transport Road vehicle scheduling and

4、 control systems Part 4: General application rules for CANopen transmission buses This national standard is the identical implementation of EN 13149-4:2004 and is adopted with the permission of the CEN rue de Stassart 36 B-1050 Brussels. Published by SABS Standards Division 1 Dr Lategan Road Groenkl

5、oof Private Bag X191 Pretoria 0001 Tel: +27 12 428 7911 Fax: +27 12 344 1568 www.sabs.co.za SABS This standard may only be used and printed by approved subscription and freemailing clients of the SABS.SANS 53149-4:2009 Edition 1 EN 13149-4:2004 Edition 1 Table of changes Change No. Date Scope Nation

6、al foreword This South African standard was approved by National Committee SABS SC 71H, Information technology Intelligent transport systems, in accordance with procedures of the SABS Standards Division, in compliance with annex 3 of the WTO/TBT agreement. This SANS document was published in Februar

7、y 2009. This standard may only be used and printed by approved subscription and freemailing clients of the SABS.EUROPEANSTANDARD NORMEEUROPENNE EUROPISCHENORM EN131494 September2004 ICS35.240.60;43.080.20;45.060.01 SupersedesENV131494:2002 Englishversion PublictransportRoadvehicleschedulingandcontro

8、lsystems Part4:GeneralapplicationrulesforCANopentransmission buses TransportspublicsSystmesdordonnancementetde contrlesdesvhiculesroutiersRglesgnrales dapplicationdesbusdetransmissionCANopen ffentlicherVerkehrPlanungsundSteuerungssysteme frStraenfahrzeugeTeil4:Allgemeine AnwendungsregelnfrdenCANopen

9、bertragungsmodus ThisEuropeanStandardwasapprovedbyCENon21June2004. CENmembersareboundtocomplywiththeCEN/CENELECInternalRegulationswhichstipulatetheconditionsforgivingthisEuropean Standardthestatusofanationalstandardwithoutanyalteration.Uptodatelistsandbibliographicalreferencesconcerningsuchnational

10、standardsmaybeobtainedonapplicationtotheCentralSecretariatortoanyCENmember. ThisEuropeanStandardexistsinthreeofficialversions(English,French,German).Aversioninanyotherlanguagemadebytranslation undertheresponsibilityofaCENmemberintoitsownlanguageandnotifiedtotheCentralSecretariathasthesamestatusasthe

11、official versions. CENmembersarethenationalstandardsbodiesofAustria,Belgium,Cyprus,CzechRepublic,Denmark,Estonia,Finland,France, Germany,Greece,Hungary,Iceland,Ireland,Italy,Latvia,Lithuania,Luxembourg,Malta,Netherlands,Norway,Poland,Portugal,Slovakia, Slovenia,Spain,Sweden,SwitzerlandandUnitedKingd

12、om. EUROPEANCOMMITTEEFORSTANDARDIZATION COMITEUROPENDENORMALISATION EUROPISCHESKOMITEEFRNORMUNG ManagementCentre:ruedeStassart,36B1050Brussels 2004CEN Allrightsofexploitationinanyformandbyanymeansreserved worldwideforCENnationalMembers. Ref.No.EN131494:2004:E SANS 53149-4:2009This standard may only

13、be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 2 Contents page Foreword3 Introduction .4 1 Scope5 2 Normative references5 3 Terms and definitions .5 4 Basic concepts6 4.1 General6 4.2 Topology6 4.3 CANopen performance.6 4.4 CANopen OSI reference

14、6 5 Requirements.8 5.1 Physical layer8 5.2 Data link layer.8 5.3 Application layer8 5.4 Virtual device profiles 8 Bibliography 9 SANS 53149-4:2009This standard may only be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 3 Foreword This document (EN 1

15、3149:2004) has been prepared by Technical Committee CEN/TC 278 “Road Transport and Traffic Telematics“, the secretariat of which is held by NEN. 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 Mar

16、ch 2005, and conflicting national standards shall be withdrawn at the latest by March 2005. This document supersedes ENV 13149-4:2002. This document is part of the following series of standards related to road vehicle scheduling and control systems: EN 13149-1, Public transport - Road vehicle schedu

17、ling and control systems - Part 1: WORLDFIP definition and application rules for onboard data transmission EN 13149-2, Public transport - Road vehicle scheduling and control systems - Part 2: WORLDFIP cabling specifications prENV 13149-3, Public transport - Road vehicle scheduling and control system

18、s - Part 3: WORLDFIP message content EN 13149-4, Public transport - Road vehicle scheduling and control systems - Part 4: General application rules for CANopen transmission busses EN 13149-5, Public transport - Road vehicle scheduling and control systems - Part 5: CANopen cabling specifications prCE

19、N/TS 13149-6, Public transport - Road vehicle scheduling and control systems - Part 6: CAN message content According to the CEN/CENELEC Internal Regulations, the national standards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Cyprus, Czech

20、 Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom. SANS 53149-4:2009This standard may only be used and printed

21、 by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 4 Introduction This document is part 4 of EN 13149, which gives rules for on-board data transmission systems. This part 4 together with part 5 and part 6 describes a complete solution independent from part 1, part 2 an

22、d part 3. SANS 53149-4:2009This standard may only be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 5 1 Scope This document specifies the choice and the general applications rules of an onboard data transmission bus between the different equipment f

23、or service operations and monitoring of the fleet. This applies to equipment installed onboard buses, trolleybuses and tramways only as part of a bus fleet operation. It excludes tramways when they are operated as part of a train, subway or metro operation. This equipment includes operation aid syst

24、ems, automatic passenger information systems, fare collection systems, etc. The equipment directly related to the safety-related functioning of the vehicle (propulsion management, brake systems, door opening systems, etc.) is excluded from the scope of the present document and are dealt with in othe

25、r standardisation bodies. For the described application two bus systems are standardised. Part 1 to part 3 describes the WORLDFIP bus system and part 4 to part 6 describes the CANopen bus system. There is no ranking between the two bus systems. This document covers the link between equipments inside

26、 a single vehicle. Although it could be applied to multiple vehicles, this application is not explicitly covered by this document. Part 4 of this document specifies the CANopen-based network. This specification describes the general architecture in terms of hierarchical layers according to the ISO r

27、eference model for Open Systems Interconnection (OSI) specified in ISO 7498. Part 5 of this document specifies in detail the connectors and the connector pin assignment and the cabling. Part 6 of this document specifies in detail the application profiles for the virtual devices in public transport.

28、2 Normative references The following referenced documents are indispensable for the application of this document. For dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. EN 50325, Industrial commu

29、nications subsystem based on ISO 11898 (CAN) for controller-device interfaces EN 13149-5, Public transport - Road vehicle scheduling and control systems - Part 5: CANopen cabling specifications prCEN/TS 13149-6, Public transport - Road vehicle scheduling and control systems - Part 6: CAN message con

30、tent 3 Terms and definitions For the purposes of this document, the following terms and definitions apply. 3.1 CAN Controller Area Network. Data link layer protocol for serial communication as specified in EN 50325 3.2 CANopen application layer and the communication profile for CAN-based networks as

31、 specified in EN 50325-4 SANS 53149-4:2009This standard may only be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 6 3.3 ECU Electronic Control Unit 4 Basic concepts 4.1 General The CANopen bus system was developed for different applications for aut

32、omotive, industry and so on. For the application as defined in the scope, the valid particular documents (for example documents for temperature, vibration, EMC, etc.) for busses and tramways shall be taken into account. 4.2 Topology The preferred wiring topology of the CANopen network is a single li

33、ne structure with terminations on both sides of the network (see Figure 1). Detailed information on the network topology is given in EN 50325. Figure 1 Preferred CAN topology 4.3 CANopen performance The CANopen-based network has the following properties: master/slave network management capability in

34、cluding boot-up message and node guarding or heartbeat; unconfirmed Process Data Object (PDO) transmission for real-time data; confirmed read/write access to all entries in the object dictionary by means of Service Data Objects (SDO); pre-defined master/slave identifier connection set; default PDO m

35、apping for virtual devices. 4.4 CANopen OSI reference The relations between the OSI layer model, applied documents and the CANopen structure are shown in Figure 2. SANS 53149-4:2009This standard may only be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004

36、 (E) 7 Figure 2 Structure of the CANopen - ISO reference model The used physical layer is compliant to EN 50325 describing the CAN high-speed transceiver, the bit timing as defined in EN 50325-4 (CANopen). The data link layer is compliant to EN 50325. Network, transport, session and presentation lay

37、ers are not implemented (layer 3 through layer 6). The application layer is specified in EN 50325-4. SANS 53149-4:2009This standard may only be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 8 5 Requirements 5.1 Physical layer 5.1.1 General The phys

38、ical layer shall be as described in detail in EN 13149-5 and shall be compliant to EN 50325 describing the CAN high-speed transceiver and the bit timing as defined in EN 50325-4 (CANopen). 5.1.2 Transmission speed The devices connected to the bus shall be able to operate at the nominal data rates of

39、: 125 kBit/second or 250 kBit/second or 500 kBit/second or 800 kbit/second or 1 MBit/second. The corresponding bit timing is described in EN 50325. 5.2 Data link layer The data link layer is described in detail in EN 50325 and shall be compliant to that document. 5.3 Application layer In general the

40、 requirements of the EN 50325-4 apply. According to this document the customers specification shall define the following parameters: Transmission speed Bus cables Bus connectors 5.4 Virtual device profiles The virtual device profiles shall be according to prCEN/TS 13149-6. SANS 53149-4:2009This stan

41、dard may only be used and printed by approved subscription and freemailing clients of the SABS.EN 13149-4:2004 (E) 9 Bibliography ISO/IEC 7498-1, Information technology - Open Systems Interconnection - Basic Reference Model: The Basic Model ISO 7498-2, Information processing systems - Open Systems I

42、nterconnection - Basis Reference Model - Part 2: Security Architecture ISO/IEC 7498-3, Information technology - Open Systems Interconnection - Basic Reference Model: Naming and addressing ISO/IEC 7498-4, Information processing systems - Open Systems Interconnection - Basic Reference Model - Part 4:

43、Management framework SANS 53149-4:2009This standard may only be used and printed by approved subscription and freemailing clients of the SABS. This page has been left blank intentionally This standard may only be used and printed by approved subscription and freemailing clients of the SABS. SABS Sta

44、ndards Division The objective of the SABS Standards Division is to develop, promote and maintain South African National Standards. This objective is incorporated in the Standards Act, 2008 (Act No. 8 of 2008). Amendments and Revisions South African National Standards are updated by amendment or revi

45、sion. Users of South African National Standards should ensure that they possess the latest amendments or editions. The SABS continuously strives to improve the quality of its products and services and would therefore be grateful if anyone finding an inaccuracy or ambiguity while using this standard

46、would inform the secretary of the technical committee responsible, the identity of which can be found in the foreword. Tel: +27 (0) 12 428 6666 Fax: +27 (0) 12 428 6928 The SABS offers an individual notification service, which ensures that subscribers automatically receive notification regarding ame

47、ndments and revisions to South African National Standards. Tel: +27 (0) 12 428 6883 Fax: +27 (0) 12 428 6928 E-mail: salessabs.co.za Buying Standards Contact the Sales Office for South African and international standards, which are available in both electronic and hardcopy format. Tel: +27 (0) 12 42

48、8 6883 Fax: +27 (0) 12 428 6928 E-mail: salessabs.co.za South African National Standards are also available online from the SABS website http:/www.sabs.co.za Information on Standards The Standards Information Centre provides a wide range of standards-related information on both national and international standards, and is the official WTO/TBT enquiry point for South Africa. The Centre also offers an individual updating service called INFOPLUS, which ensures that subscribers automatically receive notification regarding amendments to, and revisions of, international standar