1、DEUTSCHE NORM Juli 2003Industrielles Kommunikationssubsystembasierend auf ISO 11898 (CAN)Teil 4: CANopenDeutsche Fassung EN 50325-4:2002, Text in EnglischEN 50325-4ICS 43.180Industrial communications subsystem based on ISO 11898 (CAN)for controller-device interfaces Part 4: CANopen;German version EN
2、 50325-4:2002, text in EnglishSous-systme de communications industriel bas sur lISO 11898(CAN) pour les interfaces des dispositifs de commande Partie 4:CANopen; Version allemande EN 50325-4:2002, texte en anglaisDie Europische Norm EN 50325-4:2002 hat den Status einer Deutschen Norm.Beginn der Gltig
3、keitDie EN 50325-4 wurde am 2002-07-01 angenommen.Nationales VorwortDie Europische Norm EN 50325-1 besteht nur aus einer englischen Sprachfassung, weil sie nichtunmittelbar im Zusammenhang mit Rechtsvorschriften steht und nicht als Sicherheitsnorm anzusehenist. Es kann davon ausgegangen werden, dass
4、 die Anwender dieser Norm ber hinreichende englischeSprachkenntnisse verfgen. Fr die meisten der verwendeten Begriffe existieren keine gebruchlichendeutschen Benennungen, da sich die deutschen Anwender in der Regel ebenfalls der englischenBenennungen bedienen.Fr die vorliegende Norm ist das national
5、e Arbeitsgremium K 956 Feldbus der DKE DeutscheKommission Elektrotechnik Elektronik Informationstechnik im DIN und VDE zustndig.Fortsetzung Seite 2und 117 Seiten ENDKE Deutsche Kommission Elektrotechnik Elektronik Informationstechnik im DIN und VDE DIN Deutsches Institut fr Normung e. V. Jede Art de
6、r Vervielfltigung, auch auszugsweise,nur mit Genehmigung des DIN Deutsches Institut fr Normung e. V., Berlin, gestattet.Alleinverkauf der Normen durch Beuth Verlag GmbH, 10772 BerlinRef. Nr. DIN EN 50325-4:2003-07Preisgr. 34 Vertr.-Nr. 2534DIN EN 50325-4:2003-072Fr den Fall einer undatierten Verweis
7、ung im normativen Text (Verweisung auf eine Norm ohne Angabe desAusgabedatums und ohne Hinweis auf eine Abschnittsnummer, eine Tabelle, ein Bild usw.) bezieht sich dieVerweisung auf die jeweils neueste gltige Ausgabe der in Bezug genommenen Norm.Fr den Fall einer datierten Verweisung im normativen T
8、ext bezieht sich die Verweisung immer auf die inBezug genommene Ausgabe der Norm.Der Zusammenhang der zitierten Normen mit den entsprechenden Deutschen Normen ergibt sich, soweit einZusammenhang besteht, grundstzlich ber die Nummer der entsprechenden IEC-Publikation. Beispiel:IEC 60068 ist als EN 60
9、068 als Europische Norm durch CENELEC bernommen und als DIN EN 60068 insDeutsche Normenwerk aufgenommen.IEC hat 1997 die Benummerung der IEC-Publikationen gendert. Zu den bisher verwendeten Normnummernwird jeweils 60000 addiert. So ist zum Beispiel aus IEC 68 nun IEC 60068 geworden.EUROPEAN STANDARD
10、EUROPISCHE NORMNORME EUROPENNEEN 50325-4December 2002ICS 43.180English VersionIndustrial communications subsystem based on ISO 11898 (CAN) forcontroller-device interfacesPart 4: CANopenIndustrielles Kommunikationssubsystem basierend aufISO 11898 (CAN)Teil 4: CANopenSous-systme de communications indu
11、strielbas sur lISO 11898 (CAN) pour les interfacesdes dispositifs de commandePartie 4: CANopenThis European Standard was approved by CENELEC on 2002-07-01. CENELEC members arebound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions forgiving this European Standard the
12、 status of a national standard without any alteration.Up-to-date lists and bibliographical references concerning such national standards may beobtained on application to the Central Secretariat or to any CENELEC member.This European Standard exists in one official version (English). A version in any
13、 other languagemade by translation under the responsibility of a CENELEC member into its own language andnotified to the Central Secretariat has the same status as the official versions.CENELEC members are the national electrotechnical committees of Austria, Belgium, Czech Republic,Denmark, Finland,
14、 France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Luxembourg, Malta,Netherlands, Norway, Portugal, Slovakia, Spain, Sweden, Switzerland and United Kingdom.CENELECEuropisches Komitee fr Elektrotechnische NormungEuropean Committee for Electrotechnical StandardizationComit Europen de Normalis
15、ation ElectrotechniqueCentral Secretariat: rue de Stassart 35, B - 1050 Brussels 2002 CENELEC All rights of exploitation in any form and by any means reserved worldwide for CENELEC members.Ref. Nr. EN 50325-4:2002 DEN 50325-4:20022ForewordThis European Standard was prepared by the Technical Committe
16、e CENELEC TC 65CX, Fieldbus.The text of the draft was submitted to the Unique Acceptance Procedure and was approved by CENELEC asEN 50325-4 on 2002-07-01.The following dates were fixed: latest date by which the EN has to be implementedat national level by publication of an identicalnational standard
17、 or by endorsement (dop) 2003-07-01 latest date by which the national standards conflictingwith the EN have to be withdrawn (dow) 2005-07-01Annexes designated “normative“ are part of the body of the standard.Annexes designated “informative“ are given for information only.In this standard, annexes A
18、and B are normative and annexes C, D and E are informative.This European standard is part of EN 50325 which consists of four parts:Part 1 General requirementsPart 2 DeviceNetPart 3 Smart Distributed System (SDS)Part 4 CANopenThe specifications for DeviceNet,SDS and CANopen are based on ISO 11898 Con
19、troller area network (CAN)for high-speed communication, a broadcast-oriented communications protocol. However, ISO 11898 specifiesonly part of a complete communication system, and additional specifications are needed for other layers toensure precise data exchange functionality and support of inter-
20、operating devices.General information on licensing and patentsAttention is drawn to the possibility that some of the elements of the European Standard EN 50325-4 may bethe subject of patent rights. CENELEC shall not be held responsible for identifying any or all such patentrightsIf during the applic
21、ation of those Standards Intellectual Property Rights may appear and will not be madeavailable on reasonable and non discriminatory terms and conditions to anyone wishing to obtain such alicense, applying the rules of CEN/CENELEC Memorandum 8, this fact shall be brought to the attention ofCENELEC Ce
22、ntral Secretariat for further action.EN 50325-4:20023ContentsPageIntroduction 41 Scope. 42 Normative references. 43 Definitions 44 Classifications 55 Characteristics . 126 Product information 667 Normal service, transport and mounting conditions 668 Constructional and performance requirements . 679
23、Tests 69Annex A (normative) Data types and encoding rules 70Annex B (normative) Object dictionary 77Annex C (informative) Implementation recommendations. 117Annex D (informative) Diagnostic information . 117Annex E (informative) Bibliography . 117EN 50325-4:20024IntroductionCANopen is intended for u
24、se in, but is not limited to, industrial automation applications. Theseapplications may include devices such as generic digital and analogue input/output modules, motioncontrollers, human machine interfaces, sensors, closed-loop controllers, encoders, hydraulic valves, andprogrammable controllers.1
25、ScopeEN 50325-4 specifies the following particular requirements for CANopen: requirements for interfaces between programmable controllers and devices with input/outputcapabilities; normal service conditions for devices; constructional and performance requirements.2 Normative referencesEN 50081-2 199
26、3 Electromagnetic compatibility (EMC) Generic emission standard -Part 2: Industrial environmentEN 61000-6-2 1999 Electromagnetic compatibility (EMC) - Generic standards -Part 2: Immunity for industrial environmentsEN 55011 1998 Industrial, scientific and medical (ISM) radio-frequency equipment Radio
27、 disturbance characteristics - Limits and methods of measurement(CISPR 11: 1997, mod.)EN 61000-4 Electromagnetic compatibility (EMC) Part 4: Testing and measurementtechniquesEN 61131-3 1993 Programmable controllers Part 3: Programming languages(IEC 61131-3:1993)ISO 11898 1993 Road vehicles - Interch
28、ange of digital information - Controller areanetwork (CAN) for high-speed communicationISO 646 1991 Information technology - ISO 7-bit coded character set for informationinterchangeISO 7498-1 1994 Information technology - Open Systems Interconnection - BasicReference Model: The Basic ModelISO 8859 1
29、998 Information technology - 8-bit single-byte coded graphic character sets3 DefinitionsFor the purpose of EN 50325-4 the definitions of EN 50325-1 and the following apply.3.1 Automatic Repeat Request (ARQ)scheme used to confirm the transmission of an SDO block3.2 Node-IDnumber, uniquely assigned to
30、 an NMT (NetworkManagemenT) slave; if 0, the NMT protocols address allNMT slavesEN 50325-4:200254 Classifications4.1 GeneralNetworks compliant to EN 50235-4 shall use the following reference model, device model, andcommunication model.4.2 Reference modelFigure 1 Comparison with OSI reference modelTh
31、e communication concept is described similar to the OSI reference model (left side of Figure 1).4.2.1 Application layer:The application layer comprises a concept to configure and communicate real-time-data as well as themechanisms for synchronisation between devices. The functionality the applicatio
32、n layer offers to anapplication is logically divided over different service objects in the application layer. A service object offersa specific functionality and all the related services. These services are described in the ServiceSpecification of that service object.Applications interact by invokin
33、g services of a service object in the application layer. To realise theseservices, this object exchanges data via the CAN network with (a) peer service object(s) via a protocol.This protocol is described in the Protocol Specification of that service object.Application(1)ApplicationPresentationSessio
34、nTransportNetworkData linkPhysical(2)(2)(1) specified in this European Standard(2) specified in ISO 11898LLCMACPLSPMAMDIApplication ProcessEN 50325-4:200264.2.2 Service primitives:Service primitives are the means by which the application and the application layer interact. There arefour different pr
35、imitives a request is issued by the application to the application layer to request a service, an indication is issued by the application layer to the application to report an internal event detectedby the application layer or indicate that a service is requested, a response is issued by the applica
36、tion to the application layer to respond to a previous receivedindication, a confirmation is issued by the application layer to the application to report the result of a previouslyissued request.4.2.3 Application layer service typesApplication XrequestLocal ServiceApplication XindicationProvider Ini
37、tiatedServiceApplication XindicationUnconfirmed ServiceApplication Y, Z, indicationindicationApplication XindicationConfirmed ServiceApplication YresponseconfirmationrequestFigure 2 - Service typesA service type defines the primitives that are exchanged between the application layer and the co-opera
38、ting applications for a particular service of a service object (see Figure 2). A local service involves only the local service object. The application issues a request to its localservice object that executes the requested service without communicating with (a) peer serviceobject(s). An unconfirmed
39、service involves one or more peer service objects. The application issues a requestto its local service object. This request is transferred to the peer service object(s). Each of them passit to their application as an indication. The result is not confirmed back. A confirmed service may involve only
40、 one peer service object. The application issues a request to itslocal service object. This request is transferred to the peer service object that passes it to the otherapplication as an indication. The other application issues a response that is transferred to theoriginating service object that pas
41、ses it as a confirmation to the requesting application. A provider initiated service involves only the local service object. The service object (being the serviceprovider) detects an event not solicited by a requested service. This event is then indicated to theapplication.Unconfirmed and confirmed
42、services are collectively called remote services.EN 50325-4:200274.3 Device model4.3.1 GeneralA device is modelled as follows (see Figure 3): communication This function unit provides the communication objects and the appropriatefunctionality to transport data items via the underlying network struct
43、ure; object dictionary The Object dictionary is a collection of all the data items which have an influenceon the behaviour of the application objects, the communication objects and the state machine usedon this device; application The application comprises the functionality of the device with respec
44、t to the interactionwith the process environment.Thus the Object dictionary serves as an interface between the communication and the application. Thecomplete description of a devices application with respect to the data items in the Object dictionary isnamed device profile.Figure 3 - Device model4.3
45、.2 Object dictionary4.3.2.1 GeneralThe most important part of a device profile is the Object dictionary description. The Object dictionary isessentially a grouping of objects accessible via the network in an ordered pre-defined fashion. Eachobject within the dictionary shall be addressed using a 16-
46、bit index.The overall layout of the standard Object dictionary is shown in Table 1. This layout closely conforms toother industrial serial bus system concepts.ApplicationObjectdictionaryCommunicationState machineComm.objectComm.objectComm.objectComm.objectApplicationobjectEntry 1Entry 2Entry n:Appli
47、cationobjectApplicationobjectApplicationobjectProcessBus systemEN 50325-4:20028Table 1 - Object dictionary structureIndex (hex) Object0000 Not used0001-001F Static data types0020-003F Complex data types0040-005F Manufacturer specific complex data types0060-007F Device profile specific static data ty
48、pes0080-009F Device profile specific complex data types00A0-0FFF Reserved for further use1000-1FFF Communication profile area2000-5FFF Manufacturer specific profile area6000-9FFF Standardised device profile areaA000-FFFF Reserved for further useThe object dictionary may contain a maximum of 65536 en
49、tries which are addressed through a 16-bitindex.The Static Data Types at indices 0001h through 001Fh shall contain type definitions for simple data typeslike boolean, integer, floating point, string, etc. These entries are included for reference only, they shallnot be read or written.Complex Data Types at indices 0020h through 003Fh are pre-defined structures that are composed ofsimple data types and are common to all devices.Manufacturer Specific Complex Data Types at indices 0040h through 005Fh are structures compose
