1、DRAFT FOR DEVELOPMENT DD ENV 13149-5:2002 Public transport Road vehicle scheduling and control systems Part 5: CANopen cabling specifications ICS 35.240.60; 43.080.20; 45.060.01 DD ENV 13149-5:2002 This Draft for Development, having been prepared under the direction of the Electrotechnical Sector Po
2、licy and Strategy Committee, was published under the authority of the Standards Policy and Strategy Committee on 26 July 2002 BSI 26 July 2002 ISBN 0 580 40093 X National foreword This Draft for Development is the English language version of ENV 13149-5:2002. This publication is not to be regarded a
3、s a British Standard. It is being issued in the Draft for Development series of publications and is of a provisional nature because the technology of the subject matter is developing rapidly and is subject to rapid change. It should be applied on this provisional basis, so that information and exper
4、ience of its practical application may be obtained. Comments arising from the use of this Draft for Development are requested so that UK experience can be reported to the European organization responsible for its conversion into a European Standard. A review of this publication will be initiated 2 y
5、ears after its publication by the European organization so that a decision can be taken on its status at the end of its three-year life. The commencement of the review period will be notified by an announcement in Update Standards. According to the replies received by the end of the review period, t
6、he responsible BSI Committee will decide whether to support the conversion into a European Standard, to extend the life of the prestandard or to withdraw it. Comments should be sent in writing to the Secretary of BSI Technical Committee EPL/278, Road transport informatics, at 389 Chiswick High Road,
7、 London W4 4AL, giving the document reference and clause number and proposing, where possible, an appropriate revision of the text. A list of organizations represented on this committee can be obtained on request to its secretary. Cross-references The British Standards which implement international
8、or European publications 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. Summary of pages This document comprise
9、s a front cover, an inside front cover, the ENV title page, pages 2 to 16, an inside back cover and a back cover. The BSI copyright date displayed in this document indicates when the document was last issued. Amendments issued since publication Amd. No. Date CommentsEUROPEANPRESTANDARD PRNORMEEUROPE
10、NNE EUROPISCHEVORNORM ENV131495 May2002 ICS35.240.60;43.080.20;45.060.01 Englishversion PublictransportRoadvehicleschedulingandcontrolsystems Part5:CANopencablingspecifications ThisEuropeanPrestandard(ENV)wasapprovedbyCENon26March2002asaprospectivestandardforprovisionalapplication. Theperiodofvalidi
11、tyofthisENVislimitedinitiallytothreeyears.AftertwoyearsthemembersofCENwillberequestedto submittheir comments,particularlyonthequestionwhethertheENVcanbeconvertedintoaEuropeanStandard. CENmembersarerequiredtoannouncetheexistenceofthisENVinthesamewayasforanENandtomaketheENVavailablepromp tly atnationa
12、llevelinanappropriateform.Itispermissibletokeepconflictingnationalstandardsinforce(inparalleltothe ENV)untilthefinal decisionaboutthepossibleconversionoftheENVintoanENisreached. CENmembersarethenationalstandardsbodiesofAustria,Belgium,CzechRepublic,Denmark,Finland,France,Germany,Greece, Iceland,Irel
13、and,Italy,Luxembourg,Malta,Netherlands,Norway,Portugal,Spain,Sweden,SwitzerlandandUnitedKingdom. EUROPEANCOMMITTEEFORSTANDARDIZATION COMITEUROPENDENORMALISATION EUROPISCHESKOMITEEFRNORMUNG ManagementCentre:ruedeStassart,36B1050Brussels 2002CEN Allrightsofexploitationinanyformandbyanymeansreserved wo
14、rldwideforCENnationalMembers. Ref.No.ENV131495:2002EENV131495:2002(E) 2 Contents page Foreword .3 Introduction.4 1 Scope5 2 Normativereferences 5 3 Termsanddefinitions. 5 4 Requirements 6 4.1 Cabling6 4.2 DevicesandTconnectors 8 4.3 Connectors9 AnnexA(informative)Datatransmissiontrunkcableinstallati
15、onguidelinesusing minimumdeadendfeeders . 13 AnnexB(informative)Repeatercalculationexample. 14 Bibliography16ENV131495:2002(E) 3 Foreword Thisdocument(ENV131495:2002)hasbeenpreparedbyTechnicalCommitteeCEN/TC278“Road transportandtraffictelematics“,thesecretariatofwhichisheldbyNEN. TheannexesAandBarei
16、nformative. AccordingtotheCEN/CENELECInternalRegulations,thenationalstandardsorganizationsofthefollowing countriesareboundtoannouncethisEuropeanPrestandard:Austria,Belgium,CzechRepublic,Denmark, Finland,France,Germany,Greece,Iceland,Ireland,Italy,Luxembourg,Malta,Netherlands,Norway, Portugal,Spain,S
17、weden,SwitzerlandandtheUnitedKingdom.ENV131495:2002(E) 4 Introduction ThisEuropeanPrestandardispart5ofENV13149,whichgivesrulesforonboarddatatransmission systems. Thispart5togetherwithpart4andpart6describesacompletesolutionindependentfrompart1,part2and part3.ENV131495:2002(E) 5 1Scope ThisEuropeanPre
18、standardspecifiesthechoiceandthegeneralapplicationsrulesofanonboarddata transmissionbusbetweenthedifferentequipmentforserviceoperationsandmonitoringofthefleet.This appliestoequipmentinstalledonboardbuses,trolleybusesandtramwaysonlyaspartofabusfleet operation.Itexcludestramwayswhentheyareoperatedaspa
19、rtofatrain,subwayormetrooperation.This equipmentincludesoperationaidsystems,automaticpassengerinformationsystems,farecollection systems,etc. Theequipmentdirectlyrelatedtothesafetyrelatedfunctioningofthevehicle(propulsionmanagement,brake systems,dooropeningsystems,etc.)areexcludedfromthescopeofthepre
20、sentstandardandaredealtwith inotherstandardisationbodies. Forthedescribedapplicationtwobussystemsarestandardised.Part1topart3describetheWORLDFIP bussystemandpart4topart6describetheCANopenbussystem.Thereisnorankingbetweenthetwobus systems. ThisEuropeanPrestandardcoversthelinkbetweenequipmentinsideasi
21、nglevehicle.Althoughitcouldbe appliedtomultiplevehicles,thisapplicationisnotexplicitlycoveredbythisstandard. Part4ofthisEuropeanPrestandardspecifiestheCANopenbasednetwork.Thisspecificationdescribesthe generalarchitectureintermsofhierarchicallayersaccordingtotheISOreferencemodelforOpenSystems Interco
22、nnection(OSI)specifiedinISO7498. Part5ofthisEuropeanPrestandardspecifiesindetailtheconnectorsandtheconnectorpinassignmentand thecabling. Part6ofthisEuropeanPrestandardspecifiesindetailtheapplicationprofilesforthevirtualdevicesinpublic transport. 2 Normativereferences ThisEuropeanPrestandardincorpora
23、tesbydatedorundatedreferences,provisionsfromotherpublications. Thesenormativereferencesarecitedattheappropriateplaceinthetext,andthepublicationsarelisted hereafter.Fordatedreferences,subsequentamendmentstoorrevisionsofanyofthesepublicationsapplyto thisEuropeanPrestandardonlywhenincorporatedinitbyame
24、ndmentorrevision(includingamendments). EN503251 IndustrialcommunicationssubsystembasedonISO11898(CAN)forcontrollerdevice interfacesPart1:Generalrequirements. prEN503254 IndustrialcommunicationssubsystembasedonISO11898(CAN)forcontrollerdevice interfacesPart4:CANopen. 3 Termsanddefinitions Forthepurpo
25、sesofthisEuropeanPrestandard,inadditiontothetermsanddefinitionsgiveninthe referencedinternationalandEuropeanStandards,thefollowingapply: 3.1 CAN ControllerAreaNetwork.DatalinklayerprotocolforserialcommunicationasspecifiedinEN503251ENV131495:2002(E) 6 3.2 CiA CANinAutomationinternationalmanufacturera
26、nduserorganisation:nonprofitassociationforCAN 3.3 ECU ElectronicControlUnit 3.4 EMC ElectromagneticCompatibility 4Requirements Allspecificrequirementsfortheapplications,mentionedinthescopearedescribedinthefollowingchapters. ThegeneralrequirementsforthecablingandthephysicallayerarespecifiedinEN503251
27、. EN503251istheinternationalstandardforinvehiclehighspeedcommunicationusingtheControllerArea Network(CAN)busprotocol.Thescopeofthisstandardessentiallyistospecifythesocalleddatalinklayer andphysicallayerofthecommunicationlink.Thephysicallayerissubdividedintothreesublayers.These are: 1Physical Signall
28、ing 2 PhysicalMediumAttachment 3 MediumDependentInterface 4.1Cabling 4.1.1 Generalremarks Itisimportanttounderstandthatelectricalconnectionsontothebushavesomeimpactuponthenetwork performance,andthatthepracticeisdependantupontheprinciplesrelevanttotransmissionlinesratherthan simpleelectricalpowercirc
29、uits. 4.1.2 Cablecharacteristics at !“#$%& especiallyforvehicleswithelectricdrives,e.g.tramsandtrolleybuses.Itisalsorecommendedtoprovidean additionaltwistedpairinthecabletosupportECUswithgalvanicisolation.Thecableshallnotbeconnected intheformofaring.ENV131495:2002(E) 7 4.1.3 Connectionsbetweendevice
30、s ThetopologyoftheCANnetworkis“busshaped“ 1 ,i.e.incontrasttoastarshapedorringshapedwiringthe #$( 2 hastobeconnected betweenthesignalsCAN_HandCAN_L.Figure1showsasystemwithtypicalwiring. 4.1.4 Galvanicisolation Itisrecommendedthatisolationisappliedifthereareremarkablegroundpotentialdifferencesindiffe
31、rent partsofthevehicle,orthebuslengthexceeds200m.Agalvanicisolationishighlyrecommendedpracticefor vehicleswithelectricdrives,e.g.tramsandtrolleybuses. However,itshallbeensuredthatallbustranceiversstaywithintheircommonmodevoltagerangeatall times.ItisthereforerecommendedtouseonlyisolatedECUs(seeFigure
32、1),oronly nonisolatedones(see Figure2)throughoutthebussystem.Ifthebussystemconsistsofbothnonisolated,andisolatedECUs, theirgroundinghastobedesignedcarefullytopreventpossiblegroundingproblems.Oneapproachtoavoid groundloopsistosupplypowertononisolatedECUsviaDC/DCconverters. Itisalsorecommendedthatthep
33、owersupplyvoltagefortheisolatedtransceiveroftheECUisgenerated locallyinsidethedevicebye.g.aDC/DCconverter.Someisolateddevicesneedexternalsupplyvoltagefor theirtransceivers.TosupportbothkindsofisolatedECUsnowandinthefuture,itisrecommendedthatthe cablealsocontainsbothGNDandCAN_V+. V+andGNDcouldbeconne
34、ctedtothebusaboutinthemiddleofitslengthtominimiseproblemsrelatedto cableresistanceespeciallyiftherearemanyECUssuppliedbyV+,whichintroducesmorecurrenttothese lines. Figure1Typicalwiringofnonisolateddevicesusingashieldedcablewithonetwistedpair _ 1 Ifrepeatersareused,thenetworkmayappearless“busshaped”.
35、Inthiscasethecableterminatinganddeadendfeeder requirementsapplytoeachbussegmentconnectedtotherepeater. 2 Dependingonthebusconfiguration,deviationsfrom120 W maybepossible.Itis,however,necessarytocheckthe applicabilityofotherresistorvaluesineachcase.EN503254givesguidelinestothis. Remark:Themorenodesth
36、ereareinthebus,thehighertheterminationresistorvalueshouldbe.ENV131495:2002(E) 8 Figure2Wiringexampleofisolateddevicesusingashieldedcablewithtwotwistedpairs ThefollowingrulesshouldbefollowedwhendesigningaCANnetwork: 1 Thenetshallbeterminatedatbothendswitharesistor(betweenthesignalsCAN_LandCAN_H)as sp
37、ecifiedinEN503251.SeealsoguidelinesintheCiArecommendationDR3031(seeBibliography) 2 TheshieldCAN_SHLDshouldbeconnectedonlyatonepointtotheearthpotential(PE)unlessother practicehasbeenfoundtobemoreappropriate. 3 Theoverallallowedlengthofthetrunkcableisdependentofthebitrate.Seeguidelineson recommendedov
38、erallbuslenghtsinprEN503254. 4 Deadendfeedersshallbekeptshorterthan0,30mat1Mbit/s.Atlowerbitrates,EN503251allows longerdeadendfeeders,butnoexactratingisgiven.Forlowerthan1Mbit/sbitrates,theruleofthumb forthedeadendfeederlengthsgivenintheCiArecommendationDR3031(seeBibliography)canbe used.However,inca
39、seofusingdeadendfeederlengthsobtainedbyDR3031formulas,thenotegiven inEN503251aboutcheckingtheinfluenceofcableresonatorwavesshallbefollowed. 5 Ifunshieldedcablesareused,theallowablebitratemaybelimitedinordertomeettheEMC requirements.Especiallythelengthandthenumberofdeadendfeeders(unterminatedcables)s
40、hould bekepttoaminimum.Thiscouldbeaccomplishede.g.byusingrepeaters,seeannexB. 6 Asuitablecabletypeshouldbeused.Alwaysrememberthevoltagelossinthecable.Aguidelinefor selectingacableisgivenintheCiArecommendationDR3031(seeBibliography). 7 MakesurenottowireCANlinesdirectlynexttodisturbancesources.Ifthisc
41、annotbeavoided,itis recommendedtousedoubleshieldedcables. 4.2DevicesandTconnectors Eachdevice(ECU)shallhaveamalebuscableconnector.IftheECUsupportssegmentchainingofthe cable,thesecondconnectorshallbethesameconnectortype,butfemale.InthedevicesprovidingtwobusENV131495:2002(E) 9 cableconnections,andinth
42、eTconnectors,allthepins(includingthefreeones)shallbeinterconnected.The intentionisthatthereshallbenointerruptiononanybuscablewirestoenablepossiblefuturespecifications forthereservedpins.IfthedevicecontainsbothCAN_GNDandGNDpins,theyshallbeinterconnected withinthedevice. IftheECUisisolated,itisrecomme
43、ndedthatthepowersupplyfortheisolatedtransceiverisgenerated locallyinsidethedevicebye.g.aDC/DCconverterinsteadofutilisingCAN_V+.Itisrecommendedthat CAN_V+andGNDareprotectedagainstreversepolarity. 4.3Connectors Thefollowingconnectorsarepreferred.Whenoneofthefollowingconnectorsareusedinanapplication (bothindev
