BS EN 61375-3-3:2012 BSI Standards Publication Electronic railway equipment — Train communication network (TCN) Part 3-3: CANopen Consist Network (CCN) BS EN 61375-3-3:2012 BRITISH STANDARD National foreword This British Standard is the UK implementation of EN 61375-3-3:2012 It is identical to IEC 61375-3-3:2012 The UK participation in its preparation was entrusted by Technical Committee GEL/9, Railway Electrotechnical Applications, to Panel GEL/9/-/4, Railway applications - Train communication network and multimedia systems A list of organizations represented on this committee can be obtained on request to its secretary This publication does not purport to include all the necessary provisions of a contract Users are responsible for its correct application © The British Standards Institution 2012 Published by BSI Standards Limited 2012 ISBN 978 580 68231 ICS 45.060 Compliance with a British Standard cannot confer immunity from legal obligations This British Standard was published under the authority of the Standards Policy and Strategy Committee on 31 August 2012 Amendments issued since publication Amd No Date Text affected EUROPEAN STANDARD BS EN 61375-3-3:2012 NORME EUROPÉENNE EUROPÄISCHE NORM EN 61375-3-3 ICS 45.060 August 2012 English version Electronic railway equipment - Train communication network (TCN) - Part 3-3: CANopen Consist Network (CCN) (IEC 61375-3-3:2012) Matériel électronique ferroviaire - Elektronische Betriebsmittel für Bahnen - Réseau embarqué de train (TCN) - Zug-Kommunikations-Netzwerk (TCN) - Partie 3-3: Réseau de rame CANopen Teil 3-3: CCN-CANopen Consist Network (CCN) Bus (CEI 61375-3-3:2012) (IEC 61375-3-3:2012) This European Standard was approved by CENELEC on 2012-07-26 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 lists and bibliographical references concerning such national standards may be obtained on application to the CEN-CENELEC Management Centre or to any CENELEC member This European Standard exists in three official versions (English, French, German) A version in any other language made by translation under the responsibility of a CENELEC member into its own language and notified to the CEN-CENELEC Management Centre has the same status as the official versions CENELEC members are the national electrotechnical committees of Austria, Belgium, Bulgaria, Croatia, Cyprus, the Czech Republic, Denmark, Estonia, Finland, Former Yugoslav Republic of Macedonia, France, Germany, Greece, Hungary, Iceland, Ireland, Italy, Latvia, Lithuania, Luxembourg, Malta, the Netherlands, Norway, Poland, Portugal, Romania, Slovakia, Slovenia, Spain, Sweden, Switzerland, Turkey and the United Kingdom CENELEC European Committee for Electrotechnical Standardization Comité Européen de Normalisation Electrotechnique Europäisches Komitee für Elektrotechnische Normung Management Centre: Avenue Marnix 17, B - 1000 Brussels © 2012 CENELEC - All rights of exploitation in any form and by any means reserved worldwide for CENELEC members Ref No EN 61375-3-3:2012 E BS EN 61375-3-3:2012 EN 61375-3-3:2012 Foreword The text of document 9/1646/FDIS, future edition of IEC 61375-3-3, prepared by IEC/TC "Electrical equipment and systems for railways" was submitted to the IEC-CENELEC parallel vote and approved by CENELEC as EN 61375-3-3:2012 The following dates are fixed: (dop) 2013-04-26 (dow) 2015-07-26 • latest date by which the document has to be implemented at national level by publication of an identical national standard or by endorsement • latest date by which the national standards conflicting with the document have to be withdrawn Attention is drawn to the possibility that some of the elements of this document may be the subject of patent rights CENELEC [and/or CEN] shall not be held responsible for identifying any or all such patent rights This document has been prepared under a mandate given to CENELEC by the European Commission and the European Free Trade Association, and supports essential requirements of EU Directive(s) For the relationship with EU Directive(s) see informative Annex ZZ, which is an integral part of this document Endorsement notice The text of the International Standard IEC 61375-3-3:2012 was approved by CENELEC as a European Standard without any modification BS EN 61375-3-3:2012 EN 61375-3-3:2012 Annex ZA (normative) Normative references to international publications with their corresponding European publications The following documents, in whole or in part, are normatively referenced in this document and are indispensable for its application For dated references, only the edition cited applies For undated references, the latest edition of the referenced document (including any amendments) applies NOTE When an international publication has been modified by common modifications, indicated by (mod), the relevant EN/HD applies Publication Year Title EN/HD Year - - EN 50325-4 2002 Industrial communications subsystem based IEC 61131 Series on ISO 11898 (CAN) for controller-device EN 61131 Series IEC 61375-1 - interfaces - EN 61375-1 - Part 4: CANopen IEC 61375-2-1 - EN 61375-2-1 - Programmable controllers IEC 61375-2-2 - EN 61375-2-2 - Electronic railway equipment - Train ISO/IEC 646 1991 communication network (TCN) - - - ISO/IEC 9899 1999 Part 1: General architecture - - ISO 11898-1 2003 - - Electronic railway equipment - Train ISO 11898-2 2003 communication network (TCN) - - - Part 2-1: Wire Train Bus (WTB) Electronic railway equipment - Train communication network (TCN) - Part 2-2: Wire Train Bus conformance testing Information technology - ISO 7-bit coded character set for information interchange Programming languages - C Road vehicles - Controller area network (CAN) - Part 1: Data link layer and physical signalling Road vehicles - Controller area network (CAN) - Part 2: High-speed medium access unit BS EN 61375-3-3:2012 EN 61375-3-3:2012 Annex ZZ (informative) Coverage of Essential Requirements of EU Directives This European Standard has been prepared under a mandate given to CENELEC by the European Commission and the European Free Trade Association and within its scope the standard covers all relevant essential requirements as given in Annex III of the EU Directive 2008/57/EC Compliance with this standard provides one means of conformity with the specified essential requirements of the Directive concerned WARNING: Other requirements and other EU Directives may be applicable to the products falling within the scope of this standard BS EN 61375-3-3:2012 61375-3-3 IEC:2012 CONTENTS INTRODUCTION 12 Scope 13 Normative references 13 Terms, definitions and abbreviations 14 3.1 Terms and definitions 14 3.2 Abbreviations 15 3.3 Conventions 15 Architecture 15 4.1 Content 15 4.2 Logical CANopen-based consist network 15 4.3 Network topology 16 4.4 Addressing 16 4.5 Data classes 17 Physical layer 17 5.1 Content 17 5.2 Cabling 17 5.3 Connector 17 5.4 Physical medium attachment 19 5.5 Physical signaling 19 Data Link layer 19 6.1 Content 19 6.2 CANopen data link layer 20 CANopen application layer 20 7.1 Content 20 7.2 Reference model 20 7.3 Field device model 20 7.4 CANopen communication objects 22 7.5 CANopen object dictionary 22 7.6 Predefined CANopen communication objects .24 7.6.1 Content 24 7.6.2 Object 1000h: Device type 24 7.6.3 Object 1001h: Error register 24 7.6.4 Object 1014h: COB-ID emergency object 24 7.6.5 Object 1017h: Heartbeat producer 24 7.6.6 Object 1018h: Identity object 24 7.6.7 Object 1029h: Error behavior 24 7.6.8 Object 67FFh: Device type 25 7.6.9 Service data objects (SDOs) 25 7.6.10 Process data objects (PDOs) 25 Application data 25 8.1 Content 25 8.2 CANopen application data representation 25 8.3 Recommended representation principle of application data .25 8.3.1 Content 25 BS EN 61375-3-3:2012 61375-3-3 IEC:2012 8.3.2 Application data for door control 25 8.3.3 Consumed door control application objects 26 8.3.4 Produced door control application objects .27 CANopen network management 29 9.1 Content 29 9.2 CANopen NMT slave functionality 30 9.3 CANopen manager functionality 30 9.3.1 General 30 9.3.2 Object dictionary usage 31 9.3.3 Redundant networks 31 9.4 CANopen NMT start-up 32 9.4.1 NMT startup 32 9.4.2 NMT startup simple 35 9.4.3 Start process boot NMT slave 36 9.5 Boot NMT slave 37 9.5.1 Check configuration 42 9.5.2 Check NMT state 43 9.5.3 NMT flying master start up 43 9.5.4 Error status 44 9.6 Error control 45 9.6.1 Start error control 45 9.6.2 Error handler 46 9.6.3 Bootup handler 47 9.7 Additional NMT master services and protocols 47 9.8 Object dictionary entries 47 9.8.1 Object 1020h: Verify configuration 47 9.8.2 Object 102Ah: NMT inhibit time 48 9.8.3 Object 1F20h: Store DCF 49 9.8.4 Object 1F22h: Concise DCF 50 9.8.5 Object 1F26h: Expected configuration date 52 9.8.6 Object 1F27h: Expected configuration time 53 9.8.7 Object 1F80h: NMT startup 54 9.8.8 Object 1F81h: NMT slave assignment .56 9.8.9 Object 1F82h: Request NMT 58 9.8.10 Object 1F83h: Request node guarding 61 9.8.11 Object 1F84h: Device type identification 63 9.8.12 Object 1F85h: Vendor identification 64 9.8.13 Object 1F86h: Product code 65 9.8.14 Object 1F87h: Revision number .66 9.8.15 Object 1F88h: Serial number 67 9.8.16 Object 1F89h: Boot time 68 9.8.17 Object 1F8Ah: Restore configuration .69 9.8.18 Object 1F91h: Self starting nodes timing parameters 70 10 Gateway functions 71 10.1 Content 71 10.2 Gateway architecture 72 10.3 General principles and services 73 10.3.1 Content 73 10.3.2 Gateway class definitions 73 BS EN 61375-3-3:2012 61375-3-3 IEC:2012 10.3.3 Service primitives definitions 73 10.4 Network access service specification 73 10.4.1 SDO access services 73 10.4.2 PDO access services 75 10.4.3 CANopen NMT services 78 10.4.4 Device failure management services 81 10.4.5 CANopen interface configuration services .82 10.4.6 Gateway management services .84 10.4.7 Manufacturer-specific services 85 10.5 ASCII mapping of network access services 85 10.5.1 Content 85 10.5.2 Definitions .86 10.5.3 Network access command specification 89 11 Train network management 97 11.1 Content 97 11.2 Manager, Agents and interfaces (informative) 98 11.3 Management message protocol (informative) .98 11.4 Object interfaces (informative) 98 11.5 CANopen-specific management services 98 11.5.1 General 98 11.5.2 Agent interfaces on a Station connected to CANopen consist network 98 11.5.3 Management message structure for CANopen consist networks 99 11.5.4 Notation for the CANopen specific SIF_codes 99 11.5.5 Notation for a call CANopen management message 100 11.5.6 Notation for a reply CANopen management message 100 11.5.7 Notation for the TNM CANopen services command codes 100 11.6 TNM CANopen services 101 11.6.1 Content 101 11.6.2 Call_Write_CANopen_Command (with reservation) 101 11.6.3 Reply_Write_CANopen_Command (with reservation) 102 11.6.4 Call_Read_CANopen_Command (without reservation) 102 11.6.5 Reply_Read_CANopen_Command (without reservation) 103 12 CANopen management message data handling 103 12.1 General 103 12.2 Message data format 105 12.3 Requirements for message data communication within CANopen networks 105 12.4 Object 1F78h: CANopen message data reception 106 13 Conformance testing 107 Bibliography 108 Figure – Logical network architecture of the consist network 16 Figure – Network topology of CANopen-based consist network .16 Figure – 9-pin D-sub connector 18 Figure – 5-pin micro style connector 18 Figure – Field device model 20 Figure – Minimum field device 21 Figure – CANopen device structure 22 BS EN 61375-3-3:2012 61375-3-3 IEC:2012 Figure – Structure of the device type object 24 Figure – Object structure 26 Figure 10 – Object structure .27 Figure 11 – Object structure .28 Figure 12 – NMT startup, part 32 Figure 13 – NMT startup, part 34 Figure 14 – NMT startup simple 35 Figure 15 – Start process boot NMT slave 36 Figure 16 – Boot NMT slave, part 37 Figure 17 – Boot NMT slave, part 39 Figure 18 – Boot NMT slave, part 40 Figure 19 – Check configuration 42 Figure 20 – Check NMT state 43 Figure 21 – Start error control 45 Figure 22 – Error handler 46 Figure 23 – Bootup handler 47 Figure 24 – Data stream definition of concise DCF 51 Figure 25 – Object structure .54 Figure 26 – Bit structure of the configuration value 54 Figure 27 – Object structure of the value 56 Figure 28 – Bit structure of the configuration value 57 Figure 29 – Gateway between Train backbone and CANopen consist network .72 Figure 30 – Management messages (informative) .97 Figure 31 – Agent interface on a CANopen (gateway) station for message data 99 Figure 32 – Call_Write_CANopen_Command 102 Figure 33 – Reply_Write_CANopen_Command 102 Figure 34 – Call_Read_CANopen_Command (without reservation) 103 Figure 35 – Reply_Read_CANopen_command (without reservation) 103 Figure 36 – CANopen device capable to handle TNM management messages 104 Figure 37 – Message data format comparison 105 Table – Pinning for 9-pin D-sub connector 18 Table – Pinning for 5-pin micro style connector 19 Table – Bit timing 19 Table – CANopen object dictionary structure 23 Table – Value definition 26 Table – Object description .26 Table – Entry description 27 Table – Value definition 27 Table – Object description .27 Table 10 – Entry description .28 Table 11 – Value definition 29 Table 12 – Object description 29