1、 Februar 2005DIN-Fachbericht 141CleANopen Anwendungsprofil fr Kommunalfahrzeugenach DIN EN 50325-4ICS 35.240.99; 43.160 DIN Deutsches Institut fr Normung e.V. Jede Art der Vervielfltigung, auch auszugsweise,nur mit Genehmigung des DIN Deutsches Institut fr Normung e.V. , Berlin gestattet.Alleinverka
2、uf der Normen durch Beuth Verlag GmbH, 10772 BerlinPreisgruppe 35www.din.dewww.beuth.deGesamtumfang 280 SeitenCleANopen Application profile for municipal vehicles based on DIN EN 50325-4CleANopen Profile dapplication pour les vhicules municipales suivant DIN EN 50325-4BQ 9607500B55EB1B3E14C22109E918
3、E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-i-Nationales VorwortDieser DIN-Fachbericht wurde vom Normenausschuss Kommunale Technik (NKT), ArbeitsausschussNKT-AA 5.1 Identifizieren und Wgen“ erarbeitet.EinfhrungDas Anwendungsprofil CleANopen fr Kommunalfahrzeuge basiert auf der in DIN EN 50325-4g
4、enormten CANopen-Anwendungsschicht. In der derzeitigen Version definiert es dieKommunikationsschnittstellen fr Aufbauten auf Kommunalfahrzeugen.Anwendungsobjekte und KommunikationsobjekteDas Anwendungsprofil CleANopen definiert Anwendungsobjekte und Kommunikationsobjekte, dieber die Kommunikationssc
5、hnittstelle mit einem 16-bit-Index und einem 8-bit-Index eindeutigadressierbar sind. Zu den Anwendungsobjekten gehren die eigentlichen Prozessdaten,Konfigurationsparameter und Diagnoseinformationen. Die Kommunikationsobjekte beschreiben dieFunktionalitt der CANopen-Schnittstelle.Definition der physi
6、kalischen bertragungDie physikalische bertragungsschicht entspricht der Internationalen Norm ISO 11898-2. Zustzlichdefiniert das Anwendungsprofil CleANopen eine bertragungsrate, die untersttzt werden muss.Definition virtueller GerteDas Anwendungsprofil CleANopen definiert virtuelle Gerte. In einem p
7、hysischen Gert knnenmehrere virtuelle Gerte implementiert werden. Ein virtuelles Gert kann jedoch nicht aufverschiedene physische Gerte verteilt werden. Folgende virtuelle Gerte sind in dieser Versiondefiniert: Behlterhub-Einheit Presswerk-Einheit Container-Wechseleinheit Steuereinheit Identifikatio
8、ns-Einheit Wiege-Einheit Behlter-Klassifizierungseinheit GewichtsidentifikationssteuerungVordefinierte KommunikationsobjekteUm ohne Gertekonfiguration ein System in Betrieb nehmen zu knnen, sind smtlicheKommunikationsobjekte vordefiniert. Insbesondere die zu empfangenden und zu sendendenProzessdaten
9、objekte sind bezglich CAN-Identifier, bertragungsart (transmission type), Verbotszeit(inhibit time), Ereigniszeit (event timer) und des Inhaltes (mapping) vordefiniert. Die in denProzessdatenobjekten transportierten Prozessdaten haben immer nur eine Datenquelle, knnen abervon mehreren Gerten empfang
10、en werden. Der Systementwickler kann diese Vordefinitionenumkonfigurieren, wenn das Gert diese FunktionalittzurVerfgung stellt.Detaillierte Definition der AnwendungsobjekteDas Anwendungsprofil CleANopen definiert smtliche Prozessdaten, Konfigurationsparameter undDiagnoseinformationen. Die Definition
11、 erfolgt einheitlich. Sie ist gegliedert in eine Wertedefinition(value definition), eine Objektbeschreibung (object description) und eine Beschreibung derObjektattribute (entry description). Die Anwendungsobjekte sind dabei den jeweiligen virtuellenGerten zugeordnet, die sie senden beziehungsweise e
12、mpfangen.LiteraturverzeichnisDIN EN 50325-4, Industrielles Kommunikationssubsystem basierend auf ISO 11898 (CAN) Teil 4:CANopen Deutsche Fassung EN 50325-4:2002, Text in Englisch.ISO 11898-2, Road vehicles Controller area network (CAN) Part 2: High-speed medium accessunit.B55EB1B3E14C22109E918E8EA43
13、EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-ii-Contents1 Scope 262 References . 262.1 Normative references 262.2 Informative references 263 Definitions, acronyms and abbreviations . 264 Hardware preferences. 284.1 Physical layer 284.2 Bit rate. 284.3 Bus topology . 284.4 Bus cable 284.5 Bus connector
14、. 285 Node-ID assignment 285.1 Introduction . 286 Error handling 286.1 Principle 286.2 Error behavior . 286.3 Additional error code meanings 287 Virtual device definitions 297.1 Introduction . 297.2 Lifter unit . 297.3 Compaction unit 307.4 Change container unit. 307.5 Body controller 317.6 Identifi
15、cation unit .317.7 Weighing unit 317.8 Bin classification unit. 327.9 Washing unit . 327.10 Weighing ident controller. 328 Pre-defined communication objects 33B55EB1B3E14C22109E918E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03- iii -8.1 Introduction . 338.2 Object 1000h: Device type. 338.3 Object 1
16、001h: Error register 338.4 Object 1017h: Heartbeat producer time 338.5 Object 1029h: Error behavior. 339 Pre-defined PDO communication 359.1 Introduction . 359.2 Pre-defined virtual device PDOs. 359.2.1 Body controller 359.2.1.1 Transmit PDO body controller . 359.2.1.2 Transmit PDO body controller c
17、ompaction unit. 359.2.1.3 Transmit PDO body controller lifter unit 1 and washing unit 1 369.2.1.4 Transmit PDO body controller lifter unit 2 and washing unit 2 369.2.1.5 Transmit PDO body controller lifter unit 3 and washing unit 3 369.2.1.6 Transmit PDO body controller lifter unit 4 and washing uni
18、t 4 379.2.1.7 Transmit PDO body controller lifter unit 5 and washing unit 5 379.2.1.8 Transmit PDO body controller lifter unit 6 and washing unit 6 379.2.1.9 Transmit PDO body controller lifter unit 7 and washing unit 7 389.2.1.10 Transmit PDO body controller lifter unit 8 and washing unit 8 389.2.1
19、.11 Transmit PDO body controller lifter unit 9 and washing unit 9 389.2.1.12 Transmit PDO body controller lifter unit 10 and washing unit 10 399.2.1.13 Transmit PDO body controller lifter unit 11 and washing unit 11 399.2.1.14 Transmit PDO body controller lifter unit 12 and washing unit 12 399.2.1.1
20、5 Transmit PDO body controller lifter unit 13 and washing unit 13 409.2.1.16 Transmit PDO body controller lifter unit 14 and washing unit 14 409.2.1.17 Transmit PDO body controller lifter unit 15 and washing unit 15 409.2.1.18 Receive PDO change container unit . 419.2.1.19 Receive PDO lifter unit 1
21、. 419.2.1.20 Receive PDO lifter unit 2 . 419.2.1.21 Receive PDO lifter unit 3 . 419.2.1.22 Receive PDO lifter unit 4 . 429.2.1.23 Receive PDO lifter unit 5 . 429.2.1.24 Receive PDO lifter unit 6 . 429.2.1.25 Receive PDO lifter unit 7 . 429.2.1.26 Receive PDO lifter unit 8 . 439.2.1.27 Receive PDO li
22、fter unit 9 . 439.2.1.28 Receive PDO lifter unit 10 . 439.2.1.29 Receive PDO lifter unit 11 . 439.2.1.30 Receive PDO lifter unit 12 . 44B55EB1B3E14C22109E918E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-iv-9.2.1.31 Receive PDO lifter unit 13 . 449.2.1.32 Receive PDO lifter unit 14 . 449.2.1.33 Rec
23、eive PDO lifter unit 15 . 449.2.1.34 Receive PDO washing unit 1. 459.2.1.35 Receive PDO washing unit 2. 459.2.1.36 Receive PDO washing unit 3. 459.2.1.37 Receive PDO washing unit 4. 459.2.1.38 Receive PDO washing unit 5. 469.2.1.39 Receive PDO washing unit 6. 469.2.1.40 Receive PDO washing unit 7. 4
24、69.2.1.41 Receive PDO washing unit 8. 469.2.1.42 Receive PDO washing unit 9. 479.2.1.43 Receive PDO washing unit 10. 479.2.1.44 Receive PDO washing unit 11. 479.2.1.45 Receive PDO washing unit 12. 479.2.1.46 Receive PDO washing unit 13. 489.2.1.47 Receive PDO washing unit 14. 489.2.1.48 Receive PDO
25、washing unit 15. 489.2.1.49 Receive PDO compaction unit 489.2.2 Compound master 499.2.2.1 Transmit PDO compound mode unit 1 499.2.2.2 Transmit PDO compound mode unit 2 499.2.2.3 Transmit PDO compound mode unit 3 499.2.2.4 Transmit PDO compound mode unit 4 509.2.2.5 Transmit PDO compound mode unit 5
26、509.2.2.6 Transmit PDO compound mode unit 6 509.2.2.7 Transmit PDO compound mode unit 7 519.2.2.8 Transmit PDO compound mode unit 8 519.2.2.9 Transmit PDO compound mode unit 9 519.2.2.10 Transmit PDO compound mode unit 10 529.2.2.11 Transmit PDO compound mode unit 11 529.2.2.12 Transmit PDO compound
27、 mode unit 12 529.2.2.13 Transmit PDO compound mode unit 13 539.2.2.14 Transmit PDO compound mode unit 14 539.2.2.15 Transmit PDO compound mode unit 15 539.2.3 Change container unit 549.2.3.1 Transmit PDO change container unit 549.2.3.2 Transmit PDO change container unit position. 549.2.3.3 Receive
28、PDO body controller 549.2.3.4 Receive PDO compaction unit 549.2.4 Lifter unit 1 55B55EB1B3E14C22109E918E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-v-9.2.4.1 Transmit PDO lifter unit 1 559.2.4.2 Transmit PDO lifter unit 1 position. 559.2.4.3 Receive PDO change container unit . 559.2.4.4 Receive P
29、DO compound mode unit 1. 569.2.4.5 Receive PDO body controller lifter unit 1 and washing unit 1 . 569.2.4.6 Receive PDO weighing unit 1 569.2.4.7 Receive PDO bin classification unit 1 569.2.4.8 Receive PDO washing unit 1. 579.2.4.9 Receive PDO compaction unit 579.2.5 Lifter unit 2 579.2.5.1 Transmit
30、 PDO lifter unit 2 579.2.5.2 Transmit PDO lifter unit 2 position. 589.2.5.3 Receive PDO change container unit . 589.2.5.4 Receive PDO compound mode unit 2. 589.2.5.5 Receive PDO body controller lifter unit 2 and washing unit 2 . 589.2.5.6 Receive PDO weighing unit 2 599.2.5.7 Receive PDO bin classif
31、ication unit 2 599.2.5.8 Receive PDO washing unit 2. 599.2.5.9 Receive PDO compaction unit 599.2.6 Lifter unit 3 609.2.6.1 Transmit PDO lifter unit 3 609.2.6.2 Transmit PDO lifter unit 3 position. 609.2.6.3 Receive PDO change container unit . 609.2.6.4 Receive PDO compound mode unit 3. 619.2.6.5 Rec
32、eive PDO body controller lifter unit 3 and washing unit 3 . 619.2.6.6 Receive PDO weighing unit 3 619.2.6.7 Receive PDO bin classification unit 3 619.2.6.8 Receive PDO washing unit 3. 629.2.6.9 Receive PDO compaction unit 629.2.7 Lifter unit 4 629.2.7.1 Transmit PDO lifter unit 4 629.2.7.2 Transmit
33、PDO lifter unit 4 position. 629.2.7.3 Receive PDO change container unit . 639.2.7.4 Receive PDO compound mode unit 4. 639.2.7.5 Receive PDO body controller lifter unit 4 and washing unit 4 . 639.2.7.6 Receive PDO weighing unit 4 639.2.7.7 Receive PDO bin classification unit 4 649.2.7.8 Receive PDO w
34、ashing unit 4. 649.2.7.9 Receive PDO compaction unit 649.2.8 Lifter unit 5 65B55EB1B3E14C22109E918E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-vi-9.2.8.1 Transmit PDO lifter unit 5 659.2.8.2 Transmit PDO lifter unit 5 position. 659.2.8.3 Receive PDO change container unit . 659.2.8.4 Receive PDO c
35、ompound mode unit 5. 659.2.8.5 Receive PDO body controller lifter unit 5 and washing unit 5 . 669.2.8.6 Receive PDO weighing unit 5 669.2.8.7 Receive PDO bin classification unit 5 669.2.8.8 Receive PDO washing unit 5. 669.2.8.9 Receive PDO compaction unit 679.2.9 Lifter unit 6 679.2.9.1 Transmit PDO
36、 lifter unit 6 679.2.9.2 Transmit PDO lifter unit 6 position. 679.2.9.3 Receive PDO change container unit . 689.2.9.4 Receive PDO compound mode unit 6. 689.2.9.5 Receive PDO body controller lifter unit 6 and washing unit 6 . 689.2.9.6 Receive PDO weighing unit 6 689.2.9.7 Receive PDO bin classificat
37、ion unit 6 699.2.9.8 Receive PDO washing unit 6. 699.2.9.9 Receive PDO compaction unit 699.2.10 Lifter unit 7 709.2.10.1 Transmit PDO lifter unit 7 709.2.10.2 Transmit PDO lifter unit 7 position. 709.2.10.3 Receive PDO change container unit . 709.2.10.4 Receive PDO compound mode unit 7. 709.2.10.5 R
38、eceive PDO body controller lifter unit 7 and washing unit 7 . 719.2.10.6 Receive PDO weighing unit 7 719.2.10.7 Receive PDO bin classification unit 7 719.2.10.8 Receive PDO washing unit 7. 719.2.10.9 Receive PDO compaction unit 729.2.11 Lifter unit 8 729.2.11.1 Transmit PDO lifter unit 8 729.2.11.2
39、Transmit PDO lifter unit 8 position. 729.2.11.3 Receive PDO change container unit . 739.2.11.4 Receive PDO compound mode unit 8. 739.2.11.5 Receive PDO body controller lifter unit 8 and washing unit 8 . 739.2.11.6 Receive PDO weighing unit 8 739.2.11.7 Receive PDO bin classification unit 8 749.2.11.
40、8 Receive PDO washing unit 8. 749.2.11.9 Receive PDO compaction unit 749.2.12 Lifter unit 9 75B55EB1B3E14C22109E918E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-vii-9.2.12.1 Transmit PDO lifter unit 9 759.2.12.2 Transmit PDO lifter unit 9 position. 759.2.12.3 Receive PDO change container unit . 75
41、9.2.12.4 Receive PDO compound mode unit 9. 759.2.12.5 Receive PDO body controller lifter unit 9 and washing unit 9 . 769.2.12.6 Receive PDO weighing unit 9 769.2.12.7 Receive PDO bin classification unit 9 769.2.12.8 Receive PDO washing unit 9. 769.2.12.9 Receive PDO compaction unit 779.2.13 Lifter u
42、nit 10 779.2.13.1 Transmit PDO lifter unit 10 779.2.13.2 Transmit PDO lifter unit 10 position. 779.2.13.3 Receive PDO change container unit . 789.2.13.4 Receive PDO compound mode unit 10. 789.2.13.5 Receive PDO body controller lifter unit 10 and washing unit 10 . 789.2.13.6 Receive PDO weighing unit
43、 10 789.2.13.7 Receive PDO bin classification unit 10 799.2.13.8 Receive PDO washing unit 10. 799.2.13.9 Receive PDO compaction unit 799.2.14 Lifter unit 11 809.2.14.1 Transmit PDO lifter unit 11 809.2.14.2 Transmit PDO lifter unit 11 position. 809.2.14.3 Receive PDO change container unit . 809.2.14
44、.4 Receive PDO compound mode unit 11. 809.2.14.5 Receive PDO body controller lifter unit 11 and washing unit 11 . 819.2.14.6 Receive PDO weighing unit 11 819.2.14.7 Receive PDO bin classification unit 11 819.2.14.8 Receive PDO washing unit 11. 819.2.14.9 Receive PDO compaction unit 829.2.15 Lifter u
45、nit 12 829.2.15.1 Transmit PDO lifter unit 12 829.2.15.2 Transmit PDO lifter unit 12 position. 829.2.15.3 Receive PDO change container unit . 839.2.15.4 Receive PDO compound mode unit 12. 839.2.15.5 Receive PDO body controller lifter unit 12 and washing unit 12 . 839.2.15.6 Receive PDO weighing unit
46、 12 839.2.15.7 Receive PDO bin classification unit 12 849.2.15.8 Receive PDO washing unit 12. 849.2.15.9 Receive PDO compaction unit 849.2.16 Lifter unit 13 85B55EB1B3E14C22109E918E8EA43EDB30F09CC9B7EF8DD9NormCD - Stand 2007-03-viii-9.2.16.1 Transmit PDO lifter unit 13 859.2.16.2 Transmit PDO lifter
47、 unit 13 position. 859.2.16.3 Receive PDO change container unit . 859.2.16.4 Receive PDO compound mode unit 13. 859.2.16.5 Receive PDO body controller lifter unit 13 and washing unit 13 . 869.2.16.6 Receive PDO weighing unit 13 869.2.16.7 Receive PDO bin classification unit 13 869.2.16.8 Receive PDO
48、 washing unit 13. 869.2.16.9 Receive PDO compaction unit 879.2.17 Lifter unit 14 879.2.17.1 Transmit PDO lifter unit 14 879.2.17.2 Transmit PDO lifter unit 14 position. 879.2.17.3 Receive PDO change container unit . 889.2.17.4 Receive PDO compound mode unit 14. 889.2.17.5 Receive PDO body controller
49、 lifter unit 14 and washing unit 14 . 889.2.17.6 Receive PDO weighing unit 14 889.2.17.7 Receive PDO bin classification unit 14 899.2.17.8 Receive PDO washing unit 14. 899.2.17.9 Receive PDO compaction unit 899.2.18 Lifter unit 15 909.2.18.1 Transmit PDO lifter unit 15 909.2.18.2 Transmit PDO lifter unit 15 position. 909.2.18.3 Receive PDO change container unit . 909.2.18.4 Receive PDO compound mode unit 15. 909.2.18.5 Receive PDO body controller lifter unit 15 and washing unit 15 . 919.2.18.6 Receive PDO weighing unit 15 919.2.18
