1、Juni 2005DEUTSCHE NORM Normenausschuss Kraftfahrzeuge (FAKRA) im DINPreisgruppe 9DIN Deutsches Institut f r Normung e.V. Jede Art der Vervielf ltigung, auch auszugsweise, nur mit Genehmigung des DIN Deutsches Institut f r Normung e. V., Berlin, gestattet.ICS 35.160; 35.240.60; 43.080.20; 45.060.01?:
2、 9545752www.din.deXDIN EN 13149-4ffentlicher Verkehr Planungs und Steuerungssysteme f r Stra enfahrzeuge Teil 4: Allgemeine Anwendungsregeln f r den CANopen bertragungsmodus;Englische Fassung EN 131494:2004Public transport Road vehicle scheduling and control systems Part 4: General application rules
3、 for CANopen transmission buses;English version EN 131494:2004Transports publics Systmes d ordonnancement et de contr les des vhicules routiers Partie 4: Rgles gnrales d application des bus de transmission CANopen;Version anglaise EN 131494:2004Alleinverkauf der Normen durch Beuth Verlag GmbH, 10772
4、 Berlin www.beuth.deGesamtumfang 11 SeitenDIN EN 13149-4:2005-062Nationales VorwortDie Europische Norm EN 14816 wurde vom Technischen Komitee CEN/TC 278 Straenverkehrstelematikunter deutscher Mitarbeit ausgearbeitet. Fr die deutsche Mitarbeit ist das Gemeinschafts-komitee GK 717 Straenverkehrstelema
5、tik im Normenausschuss Kraftfahrzeuge (FAKRA) zustndig.Das Prsidium des DIN hat mit seinem Beschluss 1/2004 festgelegt, dass von dem in den Regeln der Euro-pischen Normungsarbeit von CEN/CENELEC verankerten Grundsatz, wonach Europische Normen in dendrei offiziellen Sprachen, Deutsch, Englisch und Fr
6、anzsisch verffentlicht werden , in begrndeten Aus-nahmefllen abgewichen und auf die deutsche Sprachfassung verzichtet werden kann.Diese Bedingungen sind fr diese Norm erfllt.Fr die im Abschnitt 2 zitierten internationalen Normen wird im Folgenden auf die entsprechenden DeutschenNormen hingewiesen:EN
7、 50325 siehe DIN EN 50325EN 13149-5 siehe DIN EN 13149-5prCEN/TS 13149-6 siehe EUROPEAN STANDARDNORME EUROPENNEEUROPISCHE NORMEN 13149-4September 2004ICS 35.240.60; 43.080.20; 45.060.01 Supersedes ENV 13149-4:2002 English versionPublic transportRoad vehicle scheduling and control systemsPart 4: Gene
8、ral application rules for CANopen transmissionbusesTransports publics Systmes dordonnancement et de contrles des vhiculesroutiers Rgles gnrales dapplication des bus de transmissionCANopenffentlicher Verkehr Planungs- und Steuerungssysteme frStraenfahrzeuge Teil 4: Allgemeine Anwendungsregeln fr den
9、CANopen-bertragungsmodusThis European Standard was approved by CEN on 21 June 2004.CEN members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this EuropeanStandard the status of a national standard without any alteration. Up-to-date lists and
10、bibliographical references concerning such nationalstandards may be obtained on application to the Central Secretariat or to any CEN member.This European Standard exists in three official versions (English, French, German). A version in any other language made by translationunder the responsibility
11、of a CEN member into its own language and notified to the Central Secretariat has the same status as the officialversions.CEN members are the national standards bodies of Austria, Belgium, Cyprus, Czech Republic, Denmark, Estonia, Finland, France,Germany, Greece, Hungary, Iceland, Ireland, Italy, La
12、tvia, Lithuania, Luxembourg, Malta, Netherlands, Norway, Poland, Portugal, Slovakia,Slovenia, Spain, Sweden, Switzerland and United Kingdom.EUROPEAN COMMITTEE FOR STANDARDIZATIONCOMIT EUROPEN DE NORMALISATIONEUROPISCHES KOMITEE FR NORMUNGManagement Centre: rue de Stassart, 36 B-1050 Brussels 2004 CE
13、N All rights of exploitation in any form and by any means reservedworldwide for CEN national Members.Ref. No. EN 13149-4:2004: EEN 13149-4:2004 (E)2ContentsPageForeword . 3Introduction 41 Scope . 52 Normative references . 53 Terms and definitions. 54 Basic concepts 64.1 General 64.2 Topology . 64.3
14、CANopen performance 64.4 CANopen OSI reference 65 Requirements 75.1 Physical layer 75.2 Data link layer . 85.3 Application layer. 85.4 Virtual device profiles 8Bibliography . 9EN 13149-4:2004 (E)3ForewordThis document (EN 13149:2004) has been prepared by Technical Committee CEN/TC 278 Road Transport
15、 andTraffic 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 orby endorsement, at the latest by March 2005, and conflicting national standards shall be withdrawn at the latest byMar
16、ch 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 scheduling and control systems Part 1: WORLDFIP definition andapplication rules for onboard da
17、ta transmissionEN 13149-2, Public transport Road vehicle scheduling and control systems Part 2: WORLDFIP cablingspecificationsprENV 13149-3, Public transport Road vehicle scheduling and control systems Part 3: WORLDFIP messagecontentEN 13149-4, Public transport Road vehicle scheduling and control sy
18、stems Part 4: General application rulesfor CANopen transmission bussesEN 13149-5, Public transport Road vehicle scheduling and control systems Part 5: CANopen cablingspecificationsprCEN/TS 13149-6, Public transport Road vehicle scheduling and control systems Part 6: CAN messagecontentAccording to th
19、e CEN/CENELEC Internal Regulations, the national standards organizations of the followingcountries are bound to implement this European Standard: Austria, Belgium, Cyprus, Czech Republic, Denmark,Estonia, Finland, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembou
20、rg, Malta,Netherlands, Norway, Poland, Portugal, Slovakia, Slovenia, Spain, Sweden, Switzerland and United Kingdom.EN 13149-4:2004 (E)4IntroductionThis 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 com
21、plete solution independent from part 1, part 2 and part 3.EN 13149-4:2004 (E)51 ScopeThis document specifies the choice and the general applications rules of an onboard data transmission busbetween the different equipment for service operations and monitoring of the fleet. This applies to equipmenti
22、nstalled onboard buses, trolleybuses and tramways only as part of a bus fleet operation. It excludes tramwayswhen they are operated as part of a train, subway or metro operation. This equipment includes operation aidsystems, automatic passenger information systems, fare collection systems, etc.The e
23、quipment directly related to the safety-related functioning of the vehicle (propulsion management, brakesystems, door opening systems, etc.) is excluded from the scope of the present document and are dealt with inother standardisation bodies.For the described application two bus systems are standard
24、ised. Part 1 to part 3 describes the WORLDFIP bussystem 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 multiplevehicles, this application
25、is not explicitly covered by this document.Part 4 of this document specifies the CANopen-based network. This specification describes the generalarchitecture in terms of hierarchical layers according to the ISO reference model for Open Systems Interconnection(OSI) specified in ISO 7498.Part 5 of this
26、 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.2 Normative referencesThe following referenced documents are indispensable for the applicatio
27、n of this document. For dated references,only the edition cited applies. For undated references, the latest edition of the referenced document (including anyamendments) applies.EN 50325, Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfacesEN 13149-5, Public t
28、ransport Road vehicle scheduling and control systems Part 5: CANopen cablingspecificationsprCEN/TS 13149-6, Public transport Road vehicle scheduling and control systems Part 6: CAN messagecontent3 Terms and definitionsFor the purposes of this document, the following terms and definitions apply.3.1CA
29、NController Area Network. Data link layer protocol for serial communication as specified in EN 503253.2CANopenapplication layer and the communication profile for CAN-based networks as specified in EN 50325-43.3ECUElectronic Control UnitEN 13149-4:2004 (E)64 Basic concepts4.1 GeneralThe CANopen bus s
30、ystem was developed for different applications for automotive, industry and so on. For theapplication 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 TopologyThe preferred wir
31、ing topology of the CANopen network is a single line structure with terminations on both sides ofthe network (see Figure 1). Detailed information on the network topology is given in EN 50325.Figure 1 Preferred CAN topology4.3 CANopen performanceThe CANopen-based network has the following properties:
32、 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-defined master/
33、slave identifier connection set; default PDO mapping for virtual devices.4.4 CANopen OSI referenceThe relations between the OSI layer model, applied documents and the CANopen structure are shown in Figure 2.EN 13149-4:2004 (E)7Figure 2 Structure of the CANopen ISO reference modelThe used physical la
34、yer is compliant to EN 50325 describing the CAN high-speed transceiver, the bit timing asdefined 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 application layer is specified i
35、n EN 50325-4.5 Requirements5.1 Physical layer5.1.1 GeneralThe physical layer shall be as described in detail in EN 13149-5 and shall be compliant to EN 50325 describing theCAN high-speed transceiver and the bit timing as defined in EN 50325-4 (CANopen).5.1.2 Transmission speedThe devices connected t
36、o the bus shall be able to operate at the nominal data rates of: 125 kBit/second or 250 kBit/second orEN 13149-4:2004 (E)8 500 kBit/second or 800 kbit/second or 1 MBit/second.The corresponding bit timing is described in EN 50325.5.2 Data link layerThe data link layer is described in detail in EN 503
37、25 and shall be compliant to that document.5.3 Application layerIn general the requirements of the EN 50325-4 apply. According to this document the customers specification shalldefine the following parameters: Transmission speed Bus cables Bus connectors5.4 Virtual device profilesThe virtual device
38、profiles shall be according to prCEN/TS 13149-6.EN 13149-4:2004 (E)9BibliographyISO/IEC 7498-1, Information technology Open Systems Interconnection Basic Reference Model: The BasicModelISO 7498-2, Information processing systems Open Systems Interconnection Basis Reference Model Part 2: Security ArchitectureISO/IEC 7498-3, Information technology Open Systems Interconnection Basic Reference Model: Naming andaddressingISO/IEC 7498-4, Information processing systems Open Systems Interconnection Basic Reference Model Part 4: Management framework
