IEC 61375-3-3:2012

IEC 61375-3-3 ®
Edition 1.0 2012-06
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
Electronic railway equipment – Train communication network (TCN) –
Part 3-3: CANopen Consist Network (CCN)

Matériel électronique ferroviaire – Réseau embarqué de train (TCN) –
Partie 3-3: Réseau de rame CANopen (CCN)

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IEC 61375-3-3 ®
Edition 1.0 2012-06
INTERNATIONAL
STANDARD
NORME
INTERNATIONALE
Electronic railway equipment – Train communication network (TCN) –

Part 3-3: CANopen Consist Network (CCN)

Matériel électronique ferroviaire – Réseau embarqué de train (TCN) –

Partie 3-3: Réseau de rame CANopen (CCN)

INTERNATIONAL
ELECTROTECHNICAL
COMMISSION
COMMISSION
ELECTROTECHNIQUE
PRICE CODE
INTERNATIONALE
CODE PRIX XE
ICS 45.060 ISBN 978-2-88912-072-7

– 2 – 61375-3-3  IEC:2012
CONTENTS
FOREWORD . 10
INTRODUCTION . 12
1 Scope . 13
2 Normative references . 13
3 Terms, definitions and abbreviations . 14
3.1 Terms and definitions . 14
3.2 Abbreviations . 15
3.3 Conventions . 15
4 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
5 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
6 Data Link layer . 19
6.1 Content . 19
6.2 CANopen data link layer . 20
7 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 1000 : Device type . 24
h
7.6.3 Object 1001 : Error register . 24
h
7.6.4 Object 1014 : COB-ID emergency object . 24
h
7.6.5 Object 1017 : Heartbeat producer . 24
h
7.6.6 Object 1018 : Identity object. 24
h
7.6.7 Object 1029 : Error behavior . 24
h
7.6.8 Object 67FF : Device type . 25
h
7.6.9 Service data objects (SDOs) . 25
7.6.10 Process data objects (PDOs) . 25
8 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

61375-3-3  IEC:2012 – 3 –
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
9 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 1020 : Verify configuration . 47
h
9.8.2 Object 102A : NMT inhibit time . 48
h
9.8.3 Object 1F20 : Store DCF . 49
h
9.8.4 Object 1F22 : Concise DCF . 50
h
9.8.5 Object 1F26 : Expected configuration date . 52
h
9.8.6 Object 1F27 : Expected configuration time . 53
h
9.8.7 Object 1F80 : NMT startup . 54
h
9.8.8 Object 1F81 : NMT slave assignment . 56
h
9.8.9 Object 1F82 : Request NMT . 58
h
9.8.10 Object 1F83 : Request node guarding . 61
h
9.8.11 Object 1F84 : Device type identification . 63
h
9.8.12 Object 1F85 : Vendor identification . 64
h
9.8.13 Object 1F86 : Product code . 65
h
9.8.14 Object 1F87 : Revision number . 66
h
9.8.15 Object 1F88 : Serial number . 67
h
9.8.16 Object 1F89 : Boot time . 68
h
9.8.17 Object 1F8A : Restore configuration. 69
h
9.8.18 Object 1F91 : Self starting nodes timing parameters . 70
h
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

– 4 – 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 1F78 : CANopen message data reception . 106
h
13 Conformance testing . 107
Bibliography . 108

Figure 1 – Logical network architecture of the consist network . 16
Figure 2 – Network topology of CANopen-based consist network . 16
Figure 3 – 9-pin D-sub connector . 18
Figure 4 – 5-pin micro style connector . 18
Figure 5 – Field device model . 20
Figure 6 – Minimum field device . 21
Figure 7 – CANopen device structure . 22

61375-3-3  IEC:2012 – 5 –
Figure 8 – Structure of the device type object . 24
Figure 9 – Object structure . 26
Figure 10 – Object structure . 27
Figure 11 – Object structure . 28
Figure 12 – NMT startup, part 1 . 32
Figure 13 – NMT startup, part 2 . 34
Figure 14 – NMT startup simple . 35
Figure 15 – Start process boot NMT slave . 36
Figure 16 – Boot NMT slave, part 1 . 37
Figure 17 – Boot NMT slave, part 2 . 39
Figure 18 – Boot NMT slave, part 3 . 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 1 – Pinning for 9-pin D-sub connector . 18
Table 2 – Pinning for 5-pin micro style connector . 19
Table 3 – Bit timing . 19
Table 4 – CANopen object dictionary structure . 23
Table 5 – Value definition . 26
Table 6 – Object description . 26
Table 7 – Entry description . 27
Table 8 – Value definition . 27
Table 9 – Object description . 27
Table 10 – Entry description . 28
Table 11 – Value definition . 29
Table 12 – Object description . 29

– 6 – 61375-3-3  IEC:2012
Table 13 – Entry description . 29
Table 14 – Error status . 44
Table 15 – Object description . 48
Table 16 – Entry description . 48
Table 17 – Object description . 49
Table 18 – Entry description . 49
Table 19 – Object description . 49
Table 20 – Entry description . 50
Table 21 – Object description . 51
Table 22 – Entry description . 52
Table 23 – Object description . 52
Table 24 – Entry description . 53
Table 25 – Object description . 53
Table 26 – Entry description . 54
Table 27 – Value NMT master (bit: 0) . 55
Table 28 – Value Start all nodes (bit: 1) . 55
Table 29 – Value NMT master start (bit: 2). 55
Table 30 – Value Start node (bit: 3) . 55
Table 31 – Reset all nodes (bit: 4) . 55
Table 32 – Flying master (bit: 5) . 55
Table 33 – Stop all nodes (bit: 6) . 55
Table 34 – Exceptions for NMT start-up capable devices . 56
Table 35 – Object description . 56
Table 36 – Entry description . 56
Table 37 – NMT slave (bit: 0) . 57
Table 38 – NMT boot slave (bit: 2) . 57
Table 39 – Mandatory (bit: 3) . 57
Table 40 – Reset communication (bit: 4) . 57
Table 41 – Software version (bit: 5) . 57
Table 42 – Software update (bit: 6) . 57
Table 43 – Restore (bit: 7) . 58
Table 44 – Object description . 58
Table 45 – Entry description . 58
Table 46 – Value definition . 60
Table 47 – Object description . 60
Table 48 – Entry description . 61
Table 49 – Value definition . 62
Table 50 – Object description . 62
Table 51 – Entry description . 63
Table 52 – Object description . 64
Table 53 – Entry description . 64
Table 54 – Object description . 65
Table 55 – Entry description . 65

61375-3-3  IEC:2012 – 7 –
Table 56 – Object description . 66
Table 57 – Entry description . 66
Table 58 – Object description . 67
Table 59 – Entry description . 67
Table 60 – Object description . 68
Table 61 – Entry description . 68
Table 62 – Object description . 69
Table 63 – Entry description . 69
Table 64 – Object description . 69
Table 65 – Entry description . 70
Table 66 – Object description . 70
Table 67 – Entry description . 71
Table 68 – Upload SDO service . 74
Table 69 – Download SDO parameters . 75
Table 70 – Configure SDO timeout parameters . 75
Table 71 – Configure RPDO service parameters . 76
Table 72 – Configure TPDO service parameters . 77
Table 73 – Read PDO data service parameters . 77
Table 74 – Write PDO data service parameters. 78
Table 75 – RPDO received service parameters . 78
Table 76 – Start node service parameters . 78
Table 77 – Stop node service parameters . 79
Table 78 – Set node to pre-operational service parameters . 79
Table 79 – Reset node service parameters . 79
Table 80 – Reset communication service parameters. 80
Table 81 – Enable node guarding service parameters . 80
Table 82 – Disable node guarding service parameters . 80
Table 83 – Start heartbeat consumer service parameters . 81
Table 84 – Disable heartbeat consumer service parameters . 81
Table 85 – Error control event received parameters . 81
Table 86 – Read device error service parameters . 82
Table 87 – Emergency event received service parameters . 82
Table 88 – Initialize gateway service parameters . 82
Table 89 – Store configuration service parameters . 83
Table 90 – Restore configuration service parameters . 83
Table 91 – Set heartbeat producer service parameters . 83
Table 92 – Set node-ID service parameters . 84
Table 93 – Start emergency consumer service parameters . 84
Table 94 – Stop emergency consumer service parameters. 84
Table 95 – Set default network service parameters . 85
Table 96 – Start default node-ID service parameters . 85
Table 97 – Get version service parameters . 85
Table 98 – Syntax and CANopen data types . 86

– 8 – 61375-3-3  IEC:2012
Table 99 – Command notation in BNF . 87
Table 100 – Response notation. 88
Table 101 – Internal error code (InEC) . 88
Table 102 – Notation for event triggered messages . 88
Table 103 – Syntax for upload SDO command . 89
Table 104 – Examples for upload SDO command . 89
Table 105 – Syntax for Download SDO command . 89
Table 106 – Examples for download SDO command . 89
Table 107 – Syntax for configure SDO timeout command . 89
Table 108 – Syntax for configure RPDO command . 90
Table 109 – Examples for configure RPDO command . 90
Table 110 – Syntax for configure TPDO command . 90
Table 111 – Examples for configue TPDO command . 90
Table 112 – Syntax for read PDO data command . 91
Table 113 – Response syntax for read PDO data command . 91
Table 114 – Syntax for write PDO data command . 91
Table 115 – Syntax for RPDO receive command . 91
Table 116 – Examples RPDO received command . 91
Table 117 – Syntax for start node command . 91
Table 118 – Syntax for stop node command . 92
Table 119 – Syntax set node to pre-operational command . 92
Table 120 – Syntax reset node command . 92
Table 121 – Syntax reset communication command . 92
Table 122 – Syntax enable node guarding command . 92
Table 123 – Syntax disable node guarding command . 93
Table 124 – Syntax start heartbeat consumer command . 93
Table 125 – Syntax disable heartbeat consumer command . 93
Table 126 – Syntax for error control event received command . 93
Table 127 – Syntax for read device error command . 94
Table 128 – Syntax for emergency event received command . 94
Table 129 – Syntax for initialize gateway command . 94
Table 130 – Bit rate indices . 94
Table 131 – Syntax for store configuration command . 95
Table 132 – Storage specifier . 95
Table 133 – Syntax restore configuration command . 95
Table 134 – Syntax set heartbeat producer command . 95
Table 135 – Syntax set node-ID command . 95
Table 136 – Syntax set default network command. 96
Table 137 – Syntax set default node-ID command . 96
Table 138 – Syntax for get version command . 96
Table 139 – Response syntax for get version command . 96
Table 140 – Example for get version response . 97
Table 141 – Management message structure . 99

61375-3-3  IEC:2012 – 9 –
Table 142 – CANopen specific SIF_codes . 100
Table 143 – Notation for a call CANopen management message . 100
Table 144 – Notation for a reply CANopen management message . 100
Table 145 – TNM CANopen services command codes (reservation required) . 101
Table 146 – TNM CANopen services command codes (reservation not required) . 101
Table 147 – Value definition for Call_Write_CANopen_Command . 102
Table 148 – Value definition Reply_Write_CANopen_Command . 102
Table 149 – Value definition for Call_Read_CANopen_Command (without reservation) . 103
Table 150 – Value definition for Reply_Read_CANopen_Command (without
reservation) . 103
Table 151 – Object description . 106
Table 152 – Entry description . 106

– 10 – 61375-3-3  IEC:2012
INTERNATIONAL ELECTROTECHNICAL COMMISSION
____________
ELECTRONIC RAILWAY EQUIPMENT –
TRAIN COMMUNICATION NETWORK (TCN) –

Part 3-3: CANo
...