CiA

CANopen in trainsHolger Zeltwanger

61375-3-3

CiA

European standardizationUIC

Union Internationale

de Chamins de Fer

UNIFEEuropean Railway

Industries

Association

Railway actors European Union Standardisation

ERAEuropean Railway

Agency

IEC TC9International

Electrotechnical

Commission

CENELEC TC9XEuropean

Electrotechnical

Commission

STANDARDS

Parallel voting

Leaflets

UICTrain Bus Steering

Group

UNIFETCMS Topical

Group

TSI

Mission:

Definition of the interoperability constituents

Harmonisation

CER ET5Communication

between vehicles

UNIFEInteGRail

Project

CiA

Switch to CANopen!CANopen is the mainstream embedded network not only for industrial machine building but also in medical devices, off-road vehicles, etc.

In locomotive, power-car, tram, rail-car, train-set as well as cargo train applications, CANopen is used as class B, class A, and sub-class A network according to the IEC classification.

CiA

Multi-purpose vehicle

RAILTRACK

Train-bus

Vehicle HMI Driver terminalVehicle

controllerData

acquisitionunit

GSM

GPS

CANopen

Add-on machinery

HMI I/O controller

HVAC andlighting

Motion controller 1

Pneumaticunit

Hydrauliccontroller

Motioncontroller 2

CiA

CANopen devices for cranes

The crane mounted on rail vehicle by Kirow (Germany) is controlled by CANopen system

Rotary CANopen encoder

CANopen inclinometer

CiA

FEBIS1 research project

230 VDC

CANopen vehicle network

Sensors + Actuators

Sensors + Actuators

Transc.

NeuronNeuron

mCcommunication

CAN Gateway

Transc.

othersubsystem

end of trainconfig. C

Brakecontrol

AccuEnergy-

management

Brake-Pipe

Pneumatics

LON train network

CiA

Flirt train by Stadler

CPU 725-LCPU 727

CPU 725-LCPU 854

CPU 727-CT

CPU 854

CPU 727CPU 723

CPU 727-CT

CPU 723

Anti-slippingMotor control

CPU 723J1939

Train and vehicle networks are based on CANopen (EN 50325-4)

CiA

Monorail in Las Vegas

RS 232 RS 232

RS 232

Train Network

Car BCar A Car C1 Car C2

Bridge

APU

VOBC

HVACHVAC

DOORDOOR

EHU

PLC

Bridge Bridge Bridge

Roof

Under Car

Drivers Cab

APU

VOBC

HVACHVAC

DOORDOOR

EHU

PLC

APU

PLC

HVACHVAC

DOORDOOR

EHU

PLC

APU

PA

HVACHVAC

DOORDOOR

EHU

PLC

TPM

PLC PLC PLC

All networks are based on CANopen (EN 50325-4)

CiA

Zagreb tramcar

CiA

S-type railcar (RO)Train bus (CAN-based power-line transmission)

Gateway

CANopen NMT master

CANopen CANopen

GatewayCANopen/J1939

CANopen

Driver cab #2HMI

Driver cab #1HMI

Electrical cabinet

Speedometer Gear boxDiesel engine

ConverterRS-485/RS-232

RS-232

RS-485J1939 (CAN-based)

System designer: Tehmin-Brasov (RO)

CiA

LINT network architectureWTB (wired train bus)

Gateway Display(2)Drive(4)

Brake(2)

Inverter(3)

PLC CAN MVB

Door(8)

Trip odo-meter

Air-con-dition (5)

Diesel-Gen (2)

Passen-ger info

I/Os(14)

Brakelever (2)

MVB (multi vehicle bus)

CANopen (IEC CDV 61375-3-3)

Selectron

IFE Deuta Liebherr Tognum GSP Selectron Schaltbau

CiA

Dont miss the train!Members of the CAN in Automation (CiA) non-profit organization have developed jointly the CANopen application layer and communication profile. The internationally standardized application layer (EN 50325-4) provides basic communication services and protocols. Additional CiA specifications define safety-related communication as well as bus-line redundancy and Flying NMT master functionality.

CiA

CANopen history 1994: First multi-vendor show on CiA Hanover fair booth

1995: Commercial off-the-shelf CANopen protocol stacks

1995: Commercial off-the-shelf CANopen devices available

1995: First CANopen device profiles (CiA 401, etc.)

1996: Commercial off-the-shelf CANopen tools

1996: CANopen control systems in serial machines

1998: First CANopen application profile (CiA 407)

1998: CANopen (CiA 301) certification

2000: CANopen safety (CiA 304) specification

2006: CANopen application profile (CiA 421, etc.) for rail vehicles

2008: CANopen EDS in XML

CiA

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CiA 301 history

1993: ESPRIT project ASPIC (CAL-based communication profile)

November 1994: CAL-based communication profile version 1.0

January 1995: CAL-based communication profile version 1.1

September 1995: CANopen CiA 301 version 2.0 (DSP)

October 1996: CiA 301 version 3.0 (DS)

June 1999: CiA 301 version 4.0 (DS)

November 2007: CiA 301 version 4.2 (DSP)

1994 2009

CiA

CANopen data link layer

Compliant to ISO 11898-1 (CAN data link layer)

Producer Consumer(s)

request

indication(s)Data frame

SOF Arbitration F. Control F. Data F. CRC F. ACK EOF1 bit 12 (32) bit 6 Bit 0 to 64 bit 16 bit 2 bit 7 bit

confirmation(s)

response

Data frame

indication request(s)

Remote frame

7 bit2 bit16 bit0 to 64 bit6 Bit12 (32) bit1 bit

EOFACKCRC F.Data F.Control F.Arbitration F.SOF

7 bit2 bit16 bit6 Bit12 (32) bit1 bit

EOFACKCRC F.Control F.Arbitration F.SOF

CAN-ID: prioritized uniquemessage identification

CiA

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11-bit (2048 CAN-IDs) or optionally 29-bit message identifier

PDO/NMT/EMCY/SYNC/Heartbeat broadcast transmission

Up to 8 byte payload per PDO (no protocol overhead)

Hamming distance of 6 (detects 5 randomly distributed errors)

Globalization of local failures

Automatic retransmission of faulty messages

Error counters for received and transmitted messages

Very low probability of non-detected faulty messages

Fault confinement (inclusive bus-off)

Hint: Dont use remote frames

Remark: Dont transmit relative data

CANopen data link layer

CiA

Basic CANopen protocols

Network management NMT protocol (controls the NMT slave state machine transitions) Error control protocols (provides NMT slave state machine status)

Confirmed configuration/diagnostic Expedited SDO protocol (max. 4-byte configuration/diagnostic data) Normal SDO protocol (segmented transfer, each segment confirmed) SDO block protocol (segmented transfer, each block confirmed)

Unconfirmed process data and other information PDO protocol (no protocol overhead, up to 8-byte process data) EMCY protocol (pre-defined failure information) TIME protocol (standardized system time information) SYNC protocol (schedules process data capturing and actuation)

CiA

NMT master NMT slaves(s)

request

indication(s)

NMT protocol

DLC = 2

CS Node-IDCAN-ID = 000h

Command specifier (CS) values:1 = Enter NMT operational (Start remote node)2 = Enter NMT stopped (Stop remote node)

128 = Enter NMT pre-operational129 = Enter NMT initialization at Reset application sub state (Reset node)130 = Enter NMT initialization at Reset communication sub state (Reset communication)

Node-ID:0 = Command is valid for all CANopen devices?? (WO IN CiA 301??)

1 to 127 = Command is only valid for CANopen device with that node-ID

CiA

Heartbeat producer Heartbeat consumer(s)

Heartbeatproducertime (1017h)in ms

Heartbeatconsumer

time (1016h)in ms

request indication(s)Node state

Heartbeat protocol

indication(s)requestNode state

CAN-ID = 700h + node-ID

Heartbeatevent

indicationNode state values:4 = Stopped5 = Operational

127 = Pre-operational

DLC = 1

CiA

initiate SDO downloadClient Server

initiate SDO download response

Expedited SDO protocol

initiate SDO upload

initiate SDO upload response

CS = command specifierMUX = 16-bit index and 8-bit sub-index

DLC = 8CAN-ID client-to-server for Default-SDO = 600h + node-IDCAN-ID server-to-client for Default-SDO = 580h + node-ID

CS MUX DATA

CS MUX DATA

CS MUX Not used

CS MUX Not used

CiA

indication

CAN Remote Frame

Read PDO

request(s)

Application object(s)request

indication(s)

Consumer(s)

DLC = 1 to 8

Write PDOProducer

Application object(s)response confirmation(s)

DLC = 1 to 8

PDO protocol

CAN-ID = pre-defined or user-specific

CAN-ID = pre-defined or user-specific

CiA

1. Event (change of state) or event-timer driven

2. Remote requested

3. Synchronous transmission (cyclic)

4. Synchronous transmission (acyclic)

producer consumer(s)

PDO scheduling modes

Remote frame

Sync message Sync producer

Internalevent

PDO

PDO

PDO

Sync message Sync producerPDO

Internalevent

CiA

PDO configuration

CiA

PDO mapping

CiA

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Additional CANopen functions

CANopen manager NMT master (controls the NMT slave state machines) SDO manager (serves SDO requesting devices) Configuration manager (configures NMT slave devices) Flying NMT master (provides NMT master redundancy)

Programmable device Network variables (to be mapped in PDOs) IEC 61131 function blocks

Bus-line redundancy Switches from Default CAN to Redundant CAN and vice versa

Safety-related communication SRDO protocol (transmits process data conform to SIL3)

Layer setting services Node-ID or bit-timing configuration via the CANopen network Identifying not configured CANopen device

CANopen bridge/router (up to 127 networks) Remote SDO Remote Emergency System variables (to be mapped into PDOs)

CiA 302

CiA 304

CiA 305

CiA 309

CiA

CiA301 CiA302 CiA303 CiA304 CiA305 CiA306CiA307 CiA308 CiA309 CiA310 CiA311 CiA312CiA313 CiA401 CiA402 CiA404 CiA405 CiA406CiA408 CiA410 CiA412 CiA413 CiA414 CiA415CiA416 CiA417 CiA418 CiA419 CiA420 CiA421CiA422 CiA423 CiA424 CiA425 CiA426 CiA427CiA428 CiA429 CiA430 CiA431 CiA432 CiA433CiA434 CiA435 CiA436 CiA438 CiA439 CiA440 CiA441 CiA442 CiA443 CiA444 CiA445 CiA446CiA447 CiA448 CiA449 CiA450 CiA451 CiA452

CANopen specifications

1994: 60 pages 2009: more than 8000 pages

CiA

IEC 61375-3-3 outline Foreword Introduction 1 General

1.1 Scope1.2 References1.3 Terms and definitions1.4 Abbreviations1.5 Conventions

2 Architecture2.1 Content2.2 Logical CANopen-based consist

network2.3 Network topology2.4 Addressing2.5 Data classes

3 Physical layer3.1 Content3.2 Cabling3.3 Connector3.4 Physical medium attachment3.5 Physical signaling

4 Data link layer4.1 Content4.2 CANopen data link layer

5 CANopen application layer5.1 Content5.2 Reference model5.3 Field device model5.4 CANopen communication object5.5 CANopen object dictionary5.6 Pre-defined CANopen

communication objects

61375-3-3

CiA

IEC 61375-3-3 outline 6 Application data

6.1 Content6.2 CANopen application data

representation6.3 Recommended representation

principle 7 CANopen network management

7.1 Content7.2 CANopen NMT slave functionality7.3 CANopen manager functionality7.4 CANopen NMT start-up7.5 Boot NMT slave7.6 Error control7.7 Additional NMT master services

and protocols7.8 Object dictionary entries

8 Gateway functions8.1 Content8.2 Gateway architecture8.3 General principles and services8.4 Network access service

specification8.5 ASCII mapping of network

access services 9 Train network management

9.1 Content9.2 Manager, Agents and interfaces9.3 Management message protocol9.4 Object interfaces9.5 CANopen-specific management

services9.6 TNM CANopen services

61375-3-3

CiA

IEC 61375-3-3 outline 10 CANopen management message data handling

10.1 Content10.2 Message data format10.3 Requirements for message data communication within CANopen networks10.4 Object 1F78h: CANopen message data reception

11 Conformance testing

61375-3-3

CiA

Physical layerTopology according ISO 11898-2

CAN bus lines

120

120

CANopen device 1

CANopen device n

Opto coupler Opto coupler

Transceiver Transceiver

Controller Controller

CAN H

CAN L

CAN GND

Features:

Default bit rate: 125 kbit/s

Max. extension: 450 m1

Max stubs: 110 m1

Galvanic isolation!

Node-ID assignment: not defined

1 apply only for default data

61375-3-3

CiA

Low-layer requirementsPhysical layer:

Cabling: ISO 11898-2

Connector: 9-pin D-sub9or M12

Transceiver: ISO 11898-2 (high-speed)

Bit-timing: ISO 11898-1 and CiA 301

CiA 301 bit-timing table

Sample point as close as possible to 87,5% of the bit time.

Data link layer:

Compliant to ISO 11898-1

11-bit CAN-ID recommended

Bit rate Nominal bit time tb

Valid range for location of sample point

1 Mbit/s 1 s 75% to 90%

800 kbit/s 1,25 s 75% to 90%

500 kbit/s 2 s 85% to 90%

250 kbit/s 4 s 85% to 90%

125 kbit/s 8 s 85% to 90%

50 kbit/s 20 s 85% to 90%

20 kbit/s 50 s 85% to 90%

10 kbit/s 100 s 85% to 90%

61375-3-3

CiA

Its time for CiA 421!The CANopen application profile family for rail vehicle control systems simplifies system integration and maintenance.

Standardized profiles are the key for saving financial and human resources; they allow the design of interoperable and even (partly) interchangeable devices.

CiA

Passengerinfo

system(421-14)

Train vehicle control system

Running

(421-6)

Runninggear

(421-6)

Auxiliaryoperatingsystem(421-4)

Power(drive)system(421-5) (421-2)

Trainoperationsystem(421-2)

Ancillaryequipment

system(421-8)

Exteriorlightingsystem(421-10)

HVACsystem(421-13)

Interiorlightingsystem(421-11)

Doorcontrolsystem(421-12)

Cargosuper-

structuresystem(421-15)

Monitoringand safety

system(421-3)

Brakecontrolsystem(421-7)

Train-to-

(421-17)

Train-to-ground

communi-cation

(421-17)

Vehiclelinking

(421-16)

Virtual device architecture based on DIN 25002-2

CiA 421

Slip/slidecontrolsystem(421-18)

CiA

Analog value representation

Examples of analog value representation:

Pressure: 0,01 mbarTemperature: 0,01 CEngine speed: 0,01 rpm (rotation per minute)Power: 0,1 kWTorque: 1 Nm

All analog values are represented as data type INTEGER32.

All analog values of the same SI-unit are represented in the same resolution No special scaling is required

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CiA

Power (diesel) system

TractionController

423-2

Dieselenginecontrol

unit423-3

Dieselenginesafetyunit

423-5

Speedsensor

unit423-6

Starterunit

423-11

CiA 421

Gearcontrol

unit423-9

Clutchcontrol

unit423-8

HD (1)trans-

missioncontrol

unit423-4

Particlefilter

controllerunit

423-10

(1) hydro-dynamic

CiA 423

Dieselenginesignalunit

423-7

AC/DCdrive

controlunit

etc.

CiA Draft Standard Proposal 423

App lic a tion pro fi le for ra il ve hic le p ow er

d riv e sy s te ms

Part 6: Speed sensor unit

This DSP is for CiA me m bers only an d m ay be changed without notification.

Version: 1.0

18 August 2006

CAN in Automation (CiA) e. V.

CiA

Auxiliary operating system

Auxiliarypowersystem

Controller430-2

430-5

Powertrainc-fan

controlunit

430-5

Coolantexpansion

tankunit

430-4

430-3

Powertrain

coolingcontrol

unit430-3

CiA 421

Hydro-

430-7

Hydro-staticsignal

interfaceunit

430-7

Hydrauliccontrol

unit

Pneumaticcontrol

unit

Generatorcontrol

unit

Batterymodule

Batterycharger

unit430-8

CiA 418/419

Electricitytrainline

controlunit

Invertercontrol

unit

Enginepre-heating

unit430-6

CiA 430

CiA

Ancillary equipment system

Ancillaryoperating

systemcontroller

Wheelflank unit

431-4

Sandingunit

431-3

CiA 421

CiA 431

CiA

Door control system

Doorcontroller

Door unit01

right frontexterior

Door unit02

left frontexterior

Door unit06

left centerexterior

Door unit04

left backexterior

Door unit03

right backexterior

CiA 421-12

Door unit05

right centerexterior

Door unit08

backinterior

Door unit07

frontinterior

Door unit09

toiletinterior

Door unit10 to nn

(additionaldoors)

CiA 424-1..3

CiA

Interior lighting system

Interiorlighting

controller

Light unit01

Light unit02

Light unit07

Light unit06

Light unit05

CiA 421-11

Light unit03

Light unit08 to nn

Light unit04

CiA 433-1..3

CiA

Exterior lighting system

Exteriorlighting

controller

Light unit01

Light unit02

Light unit07

Light unit06

Light unit05

CiA 421-10

Light unit03

Light unit08 to nn

Light unit04

CiA 426-1..3