1、BRITISH STANDARD BS EN 13149-4:2004 Public transport Road vehicle scheduling and control systems Part 4: General application rules for CANopen transmission buses The European Standard EN 13149-4:2004 has the status of a British Standard ICS 35.240.60; 43.080.20; 45.060.01 BS EN 13149-4:2004 This Bri
2、tish Standard was published under the authority of the Standards Policy and Strategy Committee on 20 September 2004 BSI 20 September 2004 ISBN 0 580 44458 9 National foreword This British Standard is the official English language version of EN 13149-4:2004. It supersedes DD ENV 13149-4:2002 which is
3、 withdrawn. The UK participation in its preparation was entrusted to Technical Committee EPL/278, Road transport informatics, which has the responsibility to: A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references The British Standards whi
4、ch implement international or European publications referred to in this document may be found in the BSI Catalogue under the section entitled “International Standards Correspondence Index”, or by using the “Search” facility of the BSI Electronic Catalogue or of British Standards Online. This publica
5、tion does not purport to include all the necessary provisions of a contract. Users are responsible for its correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. aid enquirers to understand the text; present to the responsible European comm
6、ittee any enquiries on the interpretation, or proposals for change, and keep the UK interests informed; monitor related international and European developments and promulgate them in the UK. Summary of pages This document comprises a front cover, an inside front cover, the EN title page, pages 2 to
7、9 and a back cover. The BSI copyright notice displayed in this document indicates when the document was last issued. Amendments issued since publication Amd. No. Date CommentsEUROPEANSTANDARD NORMEEUROPENNE EUROPISCHENORM EN131494 September2004 ICS35.240.60;43.080.20;45.060.01 SupersedesENV131494:20
8、02 Englishversion PublictransportRoadvehicleschedulingandcontrolsystems Part4:GeneralapplicationrulesforCANopentransmission buses TransportspublicsSystmesdordonnancementetde contrlesdesvhiculesroutiersRglesgnrales dapplicationdesbusdetransmissionCANopen ffentlicherVerkehrPlanungsundSteuerungssysteme
9、 frStraenfahrzeugeTeil4:Allgemeine AnwendungsregelnfrdenCANopenbertragungsmodus ThisEuropeanStandardwasapprovedbyCENon21June2004. CENmembersareboundtocomplywiththeCEN/CENELECInternalRegulationswhichstipulatetheconditionsforgivingthisEurope an Standardthestatusofanationalstandardwithoutanyalteration.
10、Uptodatelistsandbibliographicalreferencesconcernings uchnational standardsmaybeobtainedonapplicationtotheCentralSecretariatortoanyCENmember. ThisEuropeanStandardexistsinthreeofficialversions(English,French,German).Aversioninanyotherlanguagemadebytra nslation undertheresponsibilityofaCENmemberintoits
11、ownlanguageandnotifiedtotheCentralSecretariathasthesamestatusast heofficial versions. CENmembersarethenationalstandardsbodiesofAustria,Belgium,Cyprus,CzechRepublic,Denmark,Estonia,Finland,France, Germany,Greece,Hungary,Iceland,Ireland,Italy,Latvia,Lithuania,Luxembourg,Malta,Netherlands,Norway,Poland
12、,Portugal, Slovakia, Slovenia,Spain,Sweden,SwitzerlandandUnitedKingdom. EUROPEANCOMMITTEEFORSTANDARDIZATION COMITEUROPENDENORMALISATION EUROPISCHESKOMITEEFRNORMUNG ManagementCentre:ruedeStassart,36B1050Brussels 2004CEN Allrightsofexploitationinanyformandbyanymeansreserved worldwideforCENnationalMemb
13、ers. Ref.No.EN131494:2004:EEN 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 6 5 Requirements.8 5.1 Physical layer8 5.2 Data link l
14、ayer.8 5.3 Application layer8 5.4 Virtual device profiles 8 Bibliography 9 EN 13149-4:2004 (E) 3 Foreword This document (EN 13149:2004) 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 b
15、e given the status of a national standard, either by publication of an identical text or by endorsement, at the latest by March 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 s
16、eries of standards related to road vehicle scheduling and control systems: EN 13149-1, Public transport - Road vehicle scheduling and control systems - Part 1: WORLDFIP definition and application rules for onboard data transmission EN 13149-2, Public transport - Road vehicle scheduling and control s
17、ystems - Part 2: WORLDFIP cabling specifications prENV 13149-3, Public transport - Road vehicle scheduling and control systems - Part 3: WORLDFIP message content EN 13149-4, Public transport - Road vehicle scheduling and control systems - Part 4: General application rules for CANopen transmission bu
18、sses 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 content According to the CEN/CENELEC Internal Regulations, the national stan
19、dards organizations of the following countries are bound to implement this European Standard: Austria, Belgium, Cyprus, Czech Republic, Denmark, Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, S
20、lovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom. 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
21、2 and part 3. 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 for service operations and monitoring of the fleet. This applies to equipment installed onboard buses, trolleybuses an
22、d 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 systems, automatic passenger information systems, fare collection systems, etc. The equipment directly related to the saf
23、ety-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 other standardisation bodies. For the described application two bus systems are standardised. Part 1 to part 3 describes
24、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 a single vehicle. Although it could be applied to multiple vehicles, this application is not explicitly covered by t
25、his 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 reference model for Open Systems Interconnection (OSI) specified in ISO 7498. Part 5 of this document specifies in det
26、ail 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. 2 Normative references The following referenced documents are indispensable for the application of this document. For
27、 dated references, only the edition cited applies. For undated references, the latest edition of the referenced document (including any amendments) applies. EN 50325, Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces EN 13149-5, Public transport - Road veh
28、icle 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 content 3 Terms and definitions For the purposes of this document, the following terms and definitions apply. 3.1 CAN Co
29、ntroller 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 specified in EN 50325-4 EN 13149-4:2004 (E) 6 3.3 ECU Electronic Control Unit 4 Basic concepts 4.1 General The CANop
30、en bus system was developed for different applications for automotive, 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 p
31、referred wiring topology of the CANopen network is a single line 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 follo
32、wing properties: master/slave network management capability including 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
33、-defined master/slave identifier connection set; default PDO mapping 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. EN 13149-4:2004 (E) 7 Figure 2 Structure of the CANopen - ISO reference mo
34、del 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 layers are not implemented (layer 3 through layer 6). The appl
35、ication layer is specified in EN 50325-4. EN 13149-4:2004 (E) 8 5 Requirements 5.1 Physical layer 5.1.1 General The physical 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 (C
36、ANopen). 5.1.2 Transmission speed The devices connected to the bus shall be able to operate at the nominal data rates of: 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 lin
37、k layer is described in detail in EN 50325 and shall be compliant to that document. 5.3 Application layer In general the 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.
38、4 Virtual device profiles The virtual device profiles shall be according to prCEN/TS 13149-6. 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 In
39、terconnection - 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: M
40、anagement framework BS EN 13149-4:2004 BSI 389 Chiswick High Road London W4 4AL BSI British Standards Institution BSI is the independent national body responsible for preparing British Standards. It presents the UK view on standards in Europe and at the international level. It is incorporated by Roy
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