1、BSI Standards PublicationCleANopen Application profile for municipal vehiclesPD CEN/TR 16815:2015National forewordThis Published Document is the UK implementation of CEN/TR 16815:2015. The UK participation in its preparation was entrusted by TechnicalCommittee B/508, Waste Management, to Subcommitte
2、e B/508/1, Wastecontainers and associated lifting devices on refuse collection vehicles.A list of organizations represented on this committee can be obtained onrequest to its secretary.This publication does not purport to include all the necessary provisions ofa contract. Users are responsible for i
3、ts correct application. The British Standards Institution 2015.Published by BSI Standards Limited 2015ISBN 978 0 580 88234 0ICS 35.240.60; 43.040.15; 43.160Compliance with a British Standard cannot confer immunity fromlegal obligations.This Published Document was published under the authority of the
4、Standards Policy and Strategy Committee on 30 November 2015.Amendments/corrigenda issued since publicationDate Text affectedPUBLISHED DOCUMENTPD CEN/TR 16815:2015TECHNICAL REPORT RAPPORT TECHNIQUE TECHNISCHER BERICHT CEN/TR 16815 November 2015 ICS 35.240.60; 43.040.15; 43.160 English Version CleANop
5、en - 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. CEN members are the nat
6、ional 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, Portugal, Romania, Sl
7、ovakia, 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 any form and by any me
8、ans reserved worldwide for CEN national Members. Ref. No. CEN/TR 16815:2015 EPD 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 6 7 Physical layer spe
9、cification 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 communication 902 16 Obj
10、ect 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) 3 European foreword Th
11、is document (CEN/TR 16815:2015) has been prepared by Technical Committee CEN/TC 183 “Waste management”, the secretariat 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 held
12、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 application
13、 functionality of several functional elements (virtual devices). It does not specify CANopen devices. This document is structured as follows: the 1st part (Clauses 3 to 9) contains general definitions and describes the functionality of the virtual devices as well as the CANopen physical layer requir
14、ements and recommendations. the 2nd part (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, bin
15、classification, washing, truck gateway as well as GPS units. Also a monitoring device is described the 3rd part (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 spec
16、ified 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 4th part (Clause 16) sp
17、ecifies 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 write f
18、or 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 descr
19、ibes 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 application
20、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 and
21、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, Infor
22、mation 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 For t
23、he 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 3.4
24、 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 Figure 2
25、) 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 CS
26、DO 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 Washin
27、g 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 contr
28、ols 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 virtual d
29、evices 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 applicati
30、on 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 shal
31、l 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 sa
32、me 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 communication to the trucks in-vehicle networks is p
33、ossible by means of truck gateways 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
34、transmits and receives those 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 imple
35、mentation example, the truck 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 devi
36、ce-internally without transmitting 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 e
37、numerated from left to right while standing in front of the lifter. One compartment consists of four LUs in maximum. The 1st compartment 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
38、the system integrator to provide 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 specif
39、ies the LU numbering for the 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 fo
40、r the single compartment front 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 f
41、or the two compartment rear 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/
42、TR 16815:2015 (E) 11 The following 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
43、in the appropriate clause on 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
44、 the disposal vehicle. Related 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 classif
45、ies a waste bin attached to 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) function
46、al element. The MIC combines 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 withou
47、t transponder. There are up 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 (fix
48、ed or changeable). 6.4.5 Compaction 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 i
49、ntervals of maintenance). 6.4.6 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 16815:2015CEN/TR 16815:2015 (E) 12 start command received from the MIC or automatically,
