1、BSI Standards Publication CleANopen Application profile for municipal vehicles PD CEN/TR 16815:2015National foreword This Published Document is the UK implementation of CEN/TR 16815:2015. The UK participation in its preparation was entrusted by Technical Committee B/508, Waste Management, to Subcomm
2、ittee B/508/1, Waste containers and associated lifting devices on refuse collection vehicles. A list of organizations represented on this committee can be obtained on request to its secretary. This publication does not purport to include all the necessary provisions of a contract. Users are responsi
3、ble for its correct application. The British Standards Institution 2015. Published by BSI Standards Limited 2015 ISBN 978 0 580 88234 0 ICS 35.240.60; 43.040.15; 43.160 Compliance with a British Standard cannot confer immunity from legal obligations. This Published Document was published under the a
4、uthority of the Standards Policy and Strategy Committee on 30 November 2015. Amendments/corrigenda issued since publication Date Text affected PUBLISHED DOCUMENT PD CEN/TR 16815:2015 TECHNICAL REPORT RAPPORT TECHNIQUE TECHNISCHER BERICHT CEN/TR 16815 November 2015 ICS 35.240.60; 43.040.15; 43.160 En
5、glish Version CleANopen - Application profile for municipal vehicles CleANopen - Profil dapplication aux vhicules municipaux CleANopen - Anwendungsprofil fr Kommunalfahrzeuge This Technical Report was approved by CEN on 23 February 2015. It has been drawn up by the Technical Committee CEN/TC 183. CE
6、N members are the national standards bodies 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,
7、Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and United Kingdom. EUROPEAN COMMITTEE FOR STANDARDIZATION COMIT EUROPEN DE NORMALISATION EUROPISCHES KOMITEE FR NORMUNG CEN-CENELEC Management Centre: Avenue Marnix 17, B-1000 Brussels 2015 CEN All rights of exploitation in a
8、ny form and by any means reserved worldwide for CEN national Members. Ref. No. CEN/TR 16815:2015 E PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 2 Contents Page European foreword . 3 1 Scope 4 2 Normative references 4 3 Terms and definitions . 4 4 Acronyms . 5 5 Abbreviations . 6 6 General architecture
9、6 7 Physical layer specification 13 8 Error handling . 14 9 Data type specification . 15 10 Object dictionary entries . 15 11 Pre-defined TPDO communication 52 12 Manufacturer-specific TPDOs 493 13 Pre-defined RPDO communication 494 14 Manufacturer-specific RPDOs 902 15 Pre-defined additional SDO co
10、mmunication 902 16 Object dictionary 951 Annex A (normative) Manufacturer-specific TPDOs for unit-specific use 1094 Annex B (normative) Manufacturer-specific RPDOs for unit-specific use 1100 Annex C (informative) Measurement process . 1106 Bibliography 1109 PD CEN/TR 16815:2015CEN/TR 16815:2015 (E)
11、3 European foreword This document (CEN/TR 16815:2015) has been prepared by Technical Committee CEN/TC 183 Waste management of which is held by DIN. 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 he
12、ld responsible for identifying any or all such patent rights. This document is based on the version 2.0 of the CiA 422 specification series describes the embedded body control network of refuse collecting vehicles (RCV). It specifies the CANopen (EN 50325-4) communication interfaces and the applicat
13、ion functionality of several functional elements (virtual devices). It does not specify CANopen devices. This document is structured as follows: the 1 stpart (Clauses 3 to 9) contains general definitions and describes the functionality of the virtual devices as well as the CANopen physical layer req
14、uirements and recommendations. the 2 ndpart (Clause 10) provides a detailed overview of communication and application parameters supported by the different virtual devices. Virtual devices include the body controller, and the change container, compaction, lifter, identification, measuring A and B, b
15、in classification, washing, truck gateway as well as GPS units. Also a monitoring device is described the 3 rdpart (Clauses 11 to 15) and its sub-parts specify the pre-defined Process Data Objects (PDO) and the additional pre-defined SDOs. The pre-defined Transmit-PDOs for all virtual devices ares s
16、pecified in Clause 11. This includes the PDO communication parameter set as well as the PDO mapping parameter set. The corresponding Receive-PDOs are specified in Clause 13. The SDO communication between bin classification units and measuring units is specified in Clause 15. the 4 thpart (Clause 16)
17、 specifies the application parameters. This covers the process data (mainly mapped into PDOs), configuration data, and diagnostic information (both mainly transmitted by SDO communication services). In this clause are defined parameter pools for the measuring units, and the data read as well as writ
18、e for identification units. Other introduced parameters include support profile version, extended status for measuring units and measuring ident controllers. PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 4 1 Scope This Technical Report provides a set of CANopen application profile specifications that de
19、scribes the CleANopen embedded body control network of municipal vehicles, e.g. refuse collecting trucks. It specifies the CANopen communication interfaces and the application functionality of several functional elements (virtual devices). It does not specify CANopen devices. The CleANopen applicati
20、on profile specifications consist of several parts dealing with the following: general definitions; functionality of the virtual devices; pre-defined PDOs and SDOs; application objects. 2 Normative references The following documents, in whole or in part, are normatively referenced in this document a
21、nd 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. ISO 639-1, Codes for the representation of names of languages Part 1: Alpha-2 code ISO/IEC 646, In
22、formation technology ISO 7-bit coded character set for information interchange ISO 11898-2, Road vehicles Controller area network (CAN) High-speed medium access unit SAE J1939-71, Recommended practice for a serial control and communication network Vehicle application layer 3 Terms and definitions Fo
23、r the purposes of this document, the following terms and definitions apply. 3.1 CleANopen unit virtual device that provides functional elements specified in this application profile 3.2 functional element atomic application function 3.3 virtual device part of the logical device as defined in CiA301
24、3.4 left side when viewing forward, the left side PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 5 3.5 pitch angle from the front to the back of the vehicle (see Figure 1) Figure 1 3.6 right side when viewing forward, the right side 3.7 roll angle from the left to the right side of the vehicle (see Figur
25、e 2) Figure 2 4 Acronyms The acronyms given in documents CiA301, CiA413 series and SAEJ1939 apply for this standard, too. BCU Bin classification unit BC Body controller MIC Measuring ident controller CAN Controller area network CCU Change container unit COB Communication object COB-ID COB identifier
26、 CSDO Client SDO CU Compaction unit GPS Global positioning system PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 6 GPSU GPS unit IDU Identification unit IVN In-vehicle network LSB Least significant bit LU Lifter unit MSB Most significant bit MU Measuring unit SSDO Server SDO TGU Truck gateway unit WU Was
27、hing unit 5 Abbreviations Acc. Access Cat. Category const constant ro read-only rw read/write 6 General architecture 6.1 General This application profile specification describes the virtual devices of municipal vehicle bodies (CleANopen units). Figure shows a simple example: The BC virtual device co
28、ntrols the overall system, however the other virtual devices communicate directly by means of PDOs. The virtual interfaces are implemented as CANopen interfaces or as CANopen device internal interfaces if the virtual devices reside in the same CANopen device. If the virtual interfaces between virtua
29、l devices are implemented as CANopen interfaces they use SDO or PDO services to read or write application objects. PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 7 Figure 3 Virtual devices interconnection (example) Most of the application objects are mapped into pre-defined PDOs. If an implemented applic
30、ation object is not mapped into one of the pre-defined PDOs, other CANopen devices can access them by means of SDO. The CSDOs, which corresponds to the Default SSDO, shall be implemented always in the BC virtual device. CANopen devices compliant to this application profile without BC functionality s
31、hall not implement any CSDO that relates to Default SSDO. For systems not comprising a BC, additional SDO channels are needed. This application profile pre-defines some SDO channels for dedicated functionality. For some virtual devices up to eight instances are specified. The instances with the very
32、 same number belong to one sub-system, e.g. LU 1, MU-A 1, and WU 1 belong to sub-system 1; LU 2, MU-B 2, and WU 2 belong to sub-system 2. When the BC is implemented, it is connected to all sub-systems. 6.2 Communication to the in-vehicle networks The -vehicle networks is possible by means of truck g
33、ateways provided by the truck manufacturer. There are different implementations on the market as shown in the examples given in Figure 4. In the past, most truck manufacturers provided digital and analog inputs and outputs (a). In this implementation example, the TGU only transmits and receives thos
34、e objects that are not used by the BC. It is also possible to implement the TGU in a generic I/O module compliant to CiA 401 (b); it provides than TGU-compliant PDOs. Nowadays, some truck manufacturers provide a CiA 413 or CiA 422 compliant truck gateway (c). In this implementation example, the truc
35、k gateway provides TPDOs and RPDOs that correspond to those provided by the TGU. PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 8 Figure 4 Truck gateway implementation examples If the TGU is implement in the very same CANopen device as the BC, the communication can be done device-internally without trans
36、mitting COBs on the CAN network. 6.3 Numbering of the lifter units (LUs) The LUs can be positioned on the vehicle in different ways. The numbering of the LUs as given in this clause shall be used for the vehicles implementing this specification. The lifter units shall be enumerated from left to righ
37、t while standing in front of the lifter. One compartment consists of four LUs in maximum. The 1 stcompartment consists of LUs 1 to 4. If there is a second compartment on the truck (e.g. for organic waste) it consists of the LUs 5 to 8. For other configurations it is up to the system integrator to pr
38、ovide the LU numbering. Figure 5 specifies the LU numbering for the single compartment front loader. Figure 6 specifies the LU numbering for the single compartment rear loader. Figure 7 specifies the LU numbering for the single compartment left side loader. Figure 8 specifies the LU numbering for th
39、e single compartment right side loader. Figure 9 specifies the LU numbering for the two-compartment rear loader. Figure 10 specifies the LU numbering for the two-compartment combined rear and side loader. PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 9 Figure 5 LU numbering for the single compartment fr
40、ont loader Figure 6 LU numbering for the single compartment rear loader Figure 7 LU numbering for the single compartment left side loader PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 10 Figure 8 LU numbering for the single compartment right side loader Figure 9 LU numbering for the two compartment rear
41、 loader Figure 10 LU numbering for the two compartment combined rear and side loader 6.4 Virtual device description 6.4.1 General Every virtual device represents a specific functional unit. Some of them can be installed multiply in one application. PD CEN/TR 16815:2015CEN/TR 16815:2015 (E) 11 The fo
42、llowing brief descriptions give an overview on the functionality of the different virtual devices. The supported application objects are summarized in the clause on functionality of the virtual devices of this application profile. The detailed PDO interfaces are specified in the appropriate clause o
43、n pre-defined Process Data Objects (PDO) of this application profile. The detailed application objects are specified in the appropriate clause of this application profile. 6.4.2 Body controller (BC) The BC is the interface to the hydraulic and the pneumatic power supply of the disposal vehicle. Rela
44、ted to its operating mode some other units request optionally the supply of pressure from the BC. Other units need optionally the BC status information (e.g. to estimate the intervals of maintenance) for their operations. 6.4.3 Bin classification unit (BCU) The BCU classifies a waste bin attached to
45、 the lifter. Other units virtual devices use this classification for sequence control purposes: LU lifts and empties or does not lift and does not empty the bin. WU washes or does not wash the bin. The BCU implements optionally the measuring ident controller (MIC) functional element. The MIC combine
46、s the results of identification (through the IDU) and a measuring (through the MU). The MIC coordinates the correct matching of measured values and the waste bin using information from IDU and LU. The MIC can detect (using the LU) the emptying of a waste bin with or without transponder. There are up
47、 to eight BCU (1 to 8) instances possible in one logical CleANopen network. 6.4.4 Change container unit (CCU) The CCU is used for changing the collecting reservoir (container) of a disposal vehicle. It is also used for providing information about the mounted container (fixed or changeable). 6.4.5 Co
48、mpaction unit (CU) The CU is used for compacting the waste and for providing information about the compaction process. It is used for synchronizing and for coordinating its activities with the LU. Other units use optionally the CU status information (e.g. to estimate the intervals of maintenance). 6
49、.4.6 GPS unit (GPSU) The GPSU is used for providing geographical positioning as well as date and time information, which is recorded by other units. 6.4.7 Identification unit (IDU) The IDU is used for identifying waste bins by identifying a transponder attached to the waste bin. It can also write information to the transponder. The identification process is started by means of an explicit PD CEN/TR 16815:201
