1、BRITISH STANDARD BS EN 50325-4:2002 Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces Part 4: CANopen The European Standard EN 50325-4:2002 has the status of a British Standard ICS 43.180 BS EN 50325-4:2002 This British Standard was published under the aut
2、hority of the Standards Policy and Strategy Committee on 3 February 2003 BSI 3 February 2003 ISBN 0 580 41175 3 National foreword This British Standard is the official English language version of EN 50325-4:2002. The UK participation in its preparation was entrusted to Technical Committee AMT/7, Ind
3、ustrial communications: Process measurement and control, including Fieldbus, which has the responsibility to: A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references The British Standards which implement international or European publicatio
4、ns referred to in this document may be found in the BSI Catalogue under the section entitled “International Standards Correspondence Index”, or by using the “Search” facility of the BSI Electronic Catalogue or of British Standards Online. This publication does not purport to include all the necessar
5、y provisions of a contract. Users are responsible for its correct application. Compliance with a British Standard does not of itself confer immunity from legal obligations. aid enquirers to understand the text; present to the responsible international/European committee any enquiries on the interpre
6、tation, or proposals for change, and keep the UK interests informed; monitor related international and European developments and promulgate them in the UK. Summary of pages This document comprises a front cover, an inside front cover, the EN title page, pages 2 to 115 and a back cover. The BSI copyr
7、ight date displayed in this document indicates when the document was last issued. Amendments issued since publication Amd. No. Date CommentsEUROPEAN STANDARD EN 50325-4 NORME EUROPENNE EUROPISCHE NORM December 2002 CENELEC European Committee for Electrotechnical Standardization Comit Europen de Norm
8、alisation Electrotechnique Europisches Komitee fr Elektrotechnische Normung Central 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. No. EN 50325-4:2002 E ICS 43.180 English version
9、Industrial communications subsystem based on ISO 11898 (CAN) for controller-device interfaces Part 4: CANopen Sous-systme de communications industriel bas sur lISO 11898 (CAN) pour les interfaces des dispositifs de commande Partie 4: CANopen Industrielles Kommunikationssubsystem basierend auf ISO 11
10、898 (CAN) Teil 4: CANopen This European Standard was approved by CENELEC on 2002-07-01. CENELEC members are bound to comply with the CEN/CENELEC Internal Regulations which stipulate the conditions for giving this European Standard the status of a national standard without any alteration. Up-to-date
11、lists and bibliographical references concerning such national standards may be obtained on application to the Central Secretariat or to any CENELEC member. This European Standard exists in one official version (English). A version in any other language made by translation under the responsibility of
12、 a CENELEC member into its own language and notified 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, France, Germany, Greece, Hungary, Iceland, Ireland, Italy,
13、 Luxembourg, Malta, Netherlands, Norway, Portugal, Slovakia, Spain, Sweden, Switzerland and United Kingdom. EN 50325-4:2002 - 2 - Foreword This European Standard was prepared by the Technical Committee CENELEC TC 65CX, Fieldbus. The text of the draft was submitted to the Unique Acceptance Procedure
14、and was approved by CENELEC as EN 50325-4 on 2002-07-01. The following dates were fixed: - latest date by which the EN has to be implemented at national level by publication of an identical national standard or by endorsement (dop) 2003-07-01 - latest date by which the national standards conflicting
15、 with the EN have to be withdrawn (dow) 2005-07-01 Annexes designated “normative“ are part of the body of the standard. Annexes designated “informative“ are given for information only. In this standard, annexes A and B are normative and annexes C, D and E are informative. This European standard is p
16、art of EN 50325 which consists of four parts: Part 1 General requirements Part 2 DeviceNet Part 3 Smart Distributed System (SDS) Part 4 CANopen The specifications for DeviceNet,SDS and CANopen are based on ISO 11898 Controller area network (CAN) for high-speed communication, a broadcast-oriented com
17、munications protocol. However, ISO 11898 specifies only part of a complete communication system, and additional specifications are needed for other layers to ensure precise data exchange functionality and support of inter-operating devices. General information on licensing and patents Attention is d
18、rawn to the possibility that some of the elements of the European Standard EN 50325-4 may be the subject of patent rights. CENELEC shall not be held responsible for identifying any or all such patent rights If during the application of those Standards Intellectual Property Rights may appear and will
19、 not be made available on reasonable and non discriminatory terms and conditions to anyone wishing to obtain such a license, applying the rules of CEN/CENELEC Memorandum 8, this fact shall be brought to the attention of CENELEC Central Secretariat for further action. - 3 - EN 50325-4:2002 Contents P
20、age Introduction 4 1 Scope. 4 2 Normative references 4 3 Definitions 4 4 Classifications 5 5 Characteristics. 12 6 Product information . 64 7 Normal service, transport and mounting conditions 64 8 Constructional and performance requirements . 65 9 Tests 67 Annex A (normative) Data types and encoding
21、 rules 68 Annex B (normative) Object dictionary 75 Annex C (informative) Implementation recommendations 115 Annex D (informative) Diagnostic information. 115 Annex E (informative) Bibliography . 115 EN 50325-4:2002 - 4 - Introduction CANopen is intended for use in, but is not limited to, industrial
22、automation applications. These applications may include devices such as generic digital and analogue input/output modules, motion controllers, human machine interfaces, sensors, closed-loop controllers, encoders, hydraulic valves, and programmable controllers. 1 Scope EN 50325-4 specifies the follow
23、ing particular requirements for CANopen: requirements for interfaces between programmable controllers and devices with input/output capabilities; normal service conditions for devices; constructional and performance requirements. 2 Normative references EN 50081-2 1993 Electromagnetic compatibility (
24、EMC) Generic emission standard - Part 2: Industrial environment EN 61000-6-2 1999 Electromagnetic compatibility (EMC) - Generic standards - Part 2: Immunity for industrial environments EN 55011 1998 Industrial, scientific and medical (ISM) radio-frequency equipment Radio disturbance characteristics
25、- Limits and methods of measurement (CISPR 11: 1997, mod.) EN 61000-4 Electromagnetic compatibility (EMC) Part 4: Testing and measurement techniques EN 61131-3 1993 Programmable controllers Part 3: Programming languages (IEC 61131-3:1993) ISO 11898 1993 Road vehicles - Interchange of digital informa
26、tion - Controller area network (CAN) for high-speed communication ISO 646 1991 Information technology - ISO 7-bit coded character set for information interchange ISO 7498-1 1994 Information technology - Open Systems Interconnection - Basic Reference Model: The Basic Model ISO 8859 1998 Information t
27、echnology - 8-bit single-byte coded graphic character sets 3 Definitions For 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 block 3.2 Node-ID number, uniquely assigned to an NMT (Ne
28、tworkManagemenT) slave; if 0, the NMT protocols address all NMT slaves - 5 - EN 50325-4:2002 4 Classifications 4.1 General Networks compliant to EN 50235-4 shall use the following reference model, device model, and communication model. 4.2 Reference model Figure 1 Comparison with OSI reference model
29、 The 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 the mechanisms for synchronisation between devices. The functionality the appl
30、ication layer offers to an application is logically divided over different service objects in the application layer. A service object offers a specific functionality and all the related services. These services are described in the Service Specification of that service object. Applications interact
31、by invoking services of a service object in the application layer. To realise these services, 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) Application Pr
32、esentation Session Transport Network Data link Physical (2) (2) (1) specified in this European Standard (2) specified in ISO 11898 LLC MAC PLS PMA MDI Application Process EN 50325-4:2002 - 6 - 4.2.2 Service primitives: Service primitives are the means by which the application and the application lay
33、er interact. There are four different primitives 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 detected by the application layer or indicate that a service is reque
34、sted, a response is issued by the application to the application layer to respond to a previous received indication, a confirmation is issued by the application layer to the application to report the result of a previously issued request. 4.2.3 Application layer service types Application X request L
35、ocal Service Application X indication Provider Initiated Service Application X indication Unconfirmed Service Application Y, Z, indication indication Application X indication Confirmed Service Application Y response confirmation requestFigure 2 - Service types A service type defines the primitives t
36、hat are exchanged between the application layer and the co- operating 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 local service object that executes the requested service wit
37、hout communicating with (a) peer service object(s). An unconfirmed service involves one or more peer service objects. The application issues a request to its local service object. This request is transferred to the peer service object(s). Each of them pass it to their application as an indication. T
38、he result is not confirmed back. A confirmed service may involve only one peer service object. The application issues a request to its local service object. This request is transferred to the peer service object that passes it to the other application as an indication. The other application issues a
39、 response that is transferred to the originating service object that passes it as a confirmation to the requesting application. A provider initiated service involves only the local service object. The service object (being the service provider) detects an event not solicited by a requested service.
40、This event is then indicated to the application. Unconfirmed and confirmed services are collectively called remote services. - 7 - EN 50325-4:2002 4.3 Device model 4.3.1 General A device is modelled as follows (see Figure 3): communication This function unit provides the communication objects and th
41、e appropriate functionality to transport data items via the underlying network structure; object dictionary The Object dictionary is a collection of all the data items which have an influence on the behaviour of the application objects, the communication objects and the state machine used on this de
42、vice; application The application comprises the functionality of the device with respect to the interaction with the process environment. Thus the Object dictionary serves as an interface between the communication and the application. The complete description of a devices application with respect to
43、 the data items in the Object dictionary is named device profile. Figure 3 - Device model 4.3.2 Object dictionary 4.3.2.1 General The most important part of a device profile is the Object dictionary description. The Object dictionary is essentially a grouping of objects accessible via the network in
44、 an ordered pre-defined fashion. Each object within the dictionary shall be addressed using a 16-bit index. The overall layout of the standard Object dictionary is shown in Table 1. This layout closely conforms to other industrial serial bus system concepts. Application Object dictionary Communicati
45、on State machine Comm. object Comm. object Comm. object Comm. object Application object Entry 1 Entry 2 Entry n : Application object Application object Application object Process Bus system EN 50325-4:2002 - 8 - Table 1 - Object dictionary structure Index (hex) Object 0000 Not used 0001-001F Static
46、data types 0020-003F Complex data types 0040-005F Manufacturer specific complex data types 0060-007F Device profile specific static data types 0080-009F Device profile specific complex data types 00A0-0FFF Reserved for further use 1000-1FFF Communication profile area 2000-5FFF Manufacturer specific
47、profile area 6000-9FFF Standardised device profile area A000-FFFF Reserved for further use The object dictionary may contain a maximum of 65536 entries which are addressed through a 16-bit index. The Static Data Types at indices 0001h through 001Fh shall contain type definitions for simple data type
48、s like boolean, integer, floating point, string, etc. These entries are included for reference only, they shall not be read or written. Complex Data Types at indices 0020h through 003Fh are pre-defined structures that are composed of simple data types and are common to all devices. Manufacturer Spec
49、ific Complex Data Types at indices 0040h through 005Fh are structures composed of standard data types but are specific to a particular device. Device profiles may define additional data types specific to their device type. The static data types defined by the relevant device profile are listed at indices 0060h - 007Fh, the complex ones at indices 0080h - 009Fh. A device may provide the structure of the supported complex data types (indices 0020h - 005Fh
