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Kultur Dokumente
N A C
Reiner Zitzmann
(CAN in Automation)
www.can-cia.org
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Dominant
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
HLP history
1991: 1992: 1994: 1994: 1994: 1995: 1997: 1999: 2001: 2002: 2006: CAN Kingdom
HLP = Higher-layer protocol
CAN Application Layer (CiA 20X series) Smart Distributed System (IEC 62026, EN 50325) DeviceNet (IEC 62026, EN 50325) Truck and bus (SAE J1939) CANopen (CiA 301, EN 50325) OSEK-COM/NM (ISO 17356 series) Truck/trailer (ISO 11992-1/-2/-3) Diagnostics on CAN (ISO 15765) ISOBUS (ISO 11783 series) Re-creation vehicle CAN (CiA 501/2)
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CAN standardization
Application Profile Device Profile Application Layer Data Link Layer Physical Layer DeviceNet device profiles CANppen application profiles CANopen device profiles SAE J1939 -based application profiles
SDS DeviceNet CANopen EN 50325-3 EN 50325-2 EN 50325-4 ISO 11898-1 CAN 2.0A (11-bit ID) ISO 11898-1 ISO 11898-1 (11-bit and (29-bit ID) 29-bit ID) ISO 11898-2
RS-485
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
I/O
CAN
Process IF
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CANopen features
Service Data Object (SDO) protocols Standard SDO protocols SDO block protocols Process Data Object (PDO) protocol Special object protocols: Synchronization (SYNC) protocol Time Stamp (TIME) protocol Emergency (EMCY) protocol Network Management protocols: NMT Message protocol Boot-Up protocol Error Control protocols - Heartbeat protocol - Node guarding protocol
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CANopen introduction - Basic protocols - Additional protocols - System design - Dev ice profiles - Application profiles
CiA
CAN
DeviceNet model
ISO layer-7 - Application ISO layer-2 - Data Link
{ {
{
Application layer Data link layer Physical signaling Transceiver Transmission media
}
}
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Application Object(s)
Parameter Identity
Assembly
Message Router
I/O Connection
Explicit msg
DeviceNet Object
DeviceNet
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
DeviceNet features
Physical Media Maximum Devices
64 Nodes per Network (Shielded Twisted Pair) Communications and Power Thick - Trunk wire Thin - Trunk or Drop
Network Power
24vDC power to devices Thick trunk rated to 8 amps Thin wire rated at 3 amps
ALLEN-BRADLEY
PanelView 550
< F1 F2 F3 F4 F5 < F6 F7 F8 F9 F1 0
<-----------------'
^ > v
Device Connections
T-Taps Zero-drop
Terminating Resistors
75 Resistors at both network trunkline ends
Messaging Services
Producer/Consumer High-speed I/O Programming Configuration Diagnostics
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Message services
Strobe Polling Change-of-State Cyclic
ALLEN-BRADLEY
PanelView 550
< F1 F2 F3 F4 F5 < F6 F7 F8 F9 F1 0
<-----------------'
^ > v
Point-to-Point
Multi-master
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
J1939/01 - Truck and Bus document defining application of J1939 to on-highway heavy duty vehicles. J1939/02 - Construction and agriculture-based and agriculture-equipment-based document.
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Control Field
DLC (4)
Data Field
CRC Field
IFS
SOF
RTR
IDE
11-bit Identifier
18-bit Identifier
0-8 Bytes
15-bit CRC
DEL
DEL
R1
R0
J1939/21
3
Priority (P)
1
Data Page (DP)
0 - 64
Data Field
Reserved (R)
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Transport protocol
A transport protocol is provided with the following features : Connection-oriented, point-to-point (RTS/CTS). Connectionless broadcast (BAM). 1785 bytes may be sent. Receiver controls flow of message: May temporarily stop by sending CTS with #packets = 0, continuing to send every 0,55 seconds. May close with End-of-Message ACK. Time will close connection if values exceed the following: 250 ms between packets. 1250 ms after CTS message sent. 1250 ms and no CTS or ACK sent after last packet. 550 ms no CTS after CTS(0) sent.
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Parameter specification
MESSAGE
3.3.35 AMBIENT CONDITIONS Transmission repetition rate: 1 sec Data length: 8 bytes PGN 00FEF5 h Byte: 1 2,3 4,5 6 7,8 Barometer pressure Cab interior temperature Ambient air temperature Air inlet temperature Road surface temperature PARAMETERS
3.2.5.43 Barometric pressure- Absolute air pressure of the atmosphere. Data Length: 1 byte Resolution: 0,5 kPa/bit gain, 0 kPa offset Data Range: 0 kPa to + 125 kPa (0 psi to + 18,1 psi) SPN: 108 Type: Measured 3.2.5.11 Cab interior temperature- Temperature of air inside the part of the vehicle encloses the driver and vehicle operating controls. Data Length: 2 bytes Resolution: 0,03125 C/bit gain, -273 C offset Data Range: -273 C to + 1735.0 C (-459,4 to 3155.0 F) SPN: 170 Type: Measured 3.2.5.12 Ambient air temperature- Temperature of air surrounding vehicle. Data Length: 2 bytes Resolution: 0,03125 C/bit gain, -273 C offset Data Range: -273 C to + 1735.0 C (-459,4 to 3155,0 F) SPN: 171 Type: Measured 4.2.5.13 Air inlet temperature- Temperature of air entering vehicle air induction system. Data Length: 1 bytes Resolution: 1 C/bit gain, -40 C offset Data Range: -40 C ti +210 C (-40 to 410 F) SPN: 172 Type: Measured CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
. e.g
AN
e op
Task Controller
VT Gateway
GPS Engine
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Synchronous triggering of message transmission Elapsing of local timer synchronized with global (system) time Receiving in broadcast a trigger message Advantages: High determinism capability, high composibility
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
TTCAN requirements
TTCAN = time-triggered communication on CAN (ISO 11898-4)
All messages are initiated by the progression of time Each message has a defined time slot No collision of messages No automatic re-transmission of faulty message Reception of each message is known in advance Simplifies emulation and debugging Time synchronisation Global time system Message scheduling has to be assigned before run time
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CAN Data Frame or CAN Remote Frame Exclusive or Arbitration or Free Window
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
Merged windows
Window 0 RefMsg RefMsg Window 1 Message A Message A Window 2 Arbitration Window 3 Arbitration Window4 Message B Arbitration Free Window Message C
Tx_Enable
Tx_Disable
Tx_Enable Arbitration
Tx_Disable
Arbitration Tx_Enable
Tx_Disable
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA
CAN
6
reserved
5 to 0
Optional Cycle_Count_Bits
CAN introduction - CAN protocols - CAN physical layer - CAN implementations - Higher-layer protocols - CAN applications
CiA