If others can t, we CAN!

Transcription

1 CAN in Automation e. V. If others can t, we CAN! Holger Zeltwanger

2 CiA mission statement The aim of the 1992 established non-profit organization is to promote CAN s image and to provide a path for future developments of the CAN technology. An important part of the organization s effort is spend to develop and maintain the specifications as well as the support of all other internationally standardized CAN-based higher-layer protocols. Controller Area Network is an internationally standardized serial communication system (ISO series). is an internationally standardized application layer (EN ), the Safety protocol is standardized (EN ), too.

3 History of CAN ? First public announcement at SAE conference in Detroit (USA) First CAN controller chips available Bosch CAN 2.0 A/B specification ISO standard (high-speed transmission and data link layer) ISO (data link layer) ISO (high-speed physical layer) ISO (CAN conformance test) ISO (time-triggered CAN) ISO (fault-tolerant physical layer) ISO (low-power, high-speed physical layer) ISO (high-speed physical layer with partial wake-up)

4 Multiple chip sources CAN silicon is produced in high volumes (700+ million chips) for reasonable prices.

5 History of ESPRIT project ASPIC (CAL-based communication profile) CAL-based communication profile version 1.0 CAL-based communication profile version 1.1 CiA 301 application layer version 2.0 (DSP) CiA 301 application layer version 3.0 (DS) CiA 301 application layer version 4.0 (DS) CiA 301 application layer version 4.2 (DSP) DS(P) = draft standard (proposal)

6 specifications CiA301 CiA302 CiA303 CiA304 CiA305 CiA306 CiA307 CiA308 CiA309 CiA310 CiA311 CiA312 CiA313 CiA401 CiA402 CiA404 CiA405 CiA406 CiA408 CiA410 CiA412 CiA413 CiA414 CiA415 CiA416 CiA417 CiA418 CiA419 CiA420 CiA421 CiA422 CiA423 CiA424 CiA425 CiA426 CiA427 CiA428 CiA429 CiA430 CiA431 CiA432 CiA433 CiA434 CiA435 CiA436 CiA438 CiA439 CiA440 CiA441 CiA442 CiA443 CiA444 CiA445 CiA446 CiA447 CiA448 CiA449 CiA450 CiA451 CiA : 60 DIN A4 pages 2010: DIN A4 pages

7 Energy efficiency All profiles will include mechanisms to safe energy by means of standardized energy saving modes. The ISO compliant CAN high-speed transceiver chips will support partial switch-off and selective re-awake in order to save energy. CiA 458: device profile for energy consumption measuring

8 Additional functions CiA 302 CiA 304 CiA 305 CiA 309 CiA 3XX 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 function blocks RTC middle-ware 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 network Identifying not configured device bridge/router (up to 127 networks) Remote SDO Remote Emergency System variables (to be mapped into PDOs)

9 Router functional elements -to- router device Router functional elements Remote NMT request Remote error control Remote EMCY Remote SDO NMT OD 1 NMT OD 2 NMT OD 32 SDO EMCY SDO EMCY to SDO EMCY PDO Error control PDO Error control PDO Error control IF 1 (port 1) IF 2 (port 2) IF 32 (port 32) over CAN, Ethernet-based, or wireless networks

10 CiA implementation Vehicle controller Sandvik Tamrock network (CN) 1 manager (CM) 1 Sub-controller Sub-controller Sub-controller Sub-controller Sub-controller CM 2 CM 3 CM 4 CM 5 CM 6 CN 2 CN 3 CN 4 CN 5 CN 6 D 1 D n D 1 D n D 1 D n D 1 D n D 1 D n

11 ALLEN-BRADLEY F1 F6 F2 F7 F3 F8 F4 F9 F5 F < - < ' - ^ < > v PanelView 550 CAN Ethernet/ gateway net 1 Ethernet net n Ethernet/ gateway Ethernet net 1 net n

12 CiA 309 protocols CiA CiA CiA Function code MEI type 43 (2B h ) 13 (0D h ) Protocol option fields Address and data fields 1 to m byte n byte ASCII protocol [ [ n e t ] n o d e ] s t a r t 1 8 s t a r t Specification is in progress

13 CiA in subsea Top-level controller Ethernet-based network (SIIS level-3), e.g. ModbusTCP Ocean-ground Multiple redundant networks connecting sensors, meters, and valves Sensor... Meter manager... CiA 443 networks (SIIS level-2) Sensor... Meter

14 RTC mapping to CiA 3XX CiA 301 CiA 302 Robotic application program 1 RTC middleware protocol stack Robotic application program 2 RTC middleware protocol stack to network(s) Robotic application program n RTC middleware protocol stack servo 1 servo p sensor 1 sensor q I/O 1 I/O r CiA 402 CiA 402 CiA 406 CiA 404 CiA 401 CiA 401 RTC = Robotic Technology Component specification by

15 Conformance testing Electronic data sheet (EDS) Lower profile test (LPT) Upper profile test (UPT) I/O lines Device under test (DUT) Test request CAN messages Test response

16 plug-fests CAN lower layers: Coexisting (e.g. bit-timing, CAN-IDs) application layer: Interconnectivity (e.g. SDO, NMT, Heartbeat) profile: Interoperability (e.g. PDO, EMCY, SDO)

17 XML device description Kommunikation EtherCAT Kommunikation Ethernet Kommunikation Powerlink Device Kommunikation ModbusTCP Parameter <ISO15745Profile> <ProfileHeader> <ProfileTechnology> EtherCAT </ProfileTechnology> </ProfileHeader> <ProfileBody> ::: </ProfileBody> </ISO15745Profile> <ISO15745Profile> <ProfileHeader> <ProfileTechnology> Ethernet Powerlink </ProfileTechnology> </ProfileHeader> <ProfileBody> ::: </ProfileBody> </ISO15745Profile> :::::

18 EDS for device design CiA specifications in XML device design tool EDS in XML or ASCIII Read in Generates protocol stack and object dictionary device Object dictionary

19 Tool-chain support Standard network design process serves well also the application interface management Most of the required design, manufacturing and service tools are commercially available The missing conversion tools are simple and can efficiently integrated as an integral part of the tool-chain Standard network design process can be followed even if the application platforms are not fully compatible Heikki Saha, Sandvik Mining and Construction Oy