Holger Zeltwanger CAN CAN. protocol and its impacts on CANopen. CiA

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Augusta Robbins
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1 Holger Zeltwanger CAN FD protocol and its impacts on CANopen

2 CAN with flexible data-rate In-bit-time detection Free transmission In-bit-time detection Arbitration phase Data transmission phase ACK phase 50 kbit/s to 1 Mbit/s up to 15 Mbit/s (1) 50 kbit/s to 1 Mbit/s (1) using generic ISO compliant transceiver chips Improvements: Higher throughput Payload increase (up to 64 byte)

3 OSI reference model Application, device or interface profile(s) All People Seem To Need Data Processing 7: Application layer 6: Presentation layer 5: Session layer 4: Transport layer 3: Network layer 2: Data link layer 1: Physical layer

4 HLPs are like languages

CAN-based HLPs!!1991: CAN Kingdom!!1992: CAN Application Layer (CAL)!!1994: Smart Distributed System (SDS)!!1994: IEC 62026-3 (DeviceNet)!!1994: SAE J1939 series!

5 CAN-based HLPs!!1991: CAN Kingdom!!1992: CAN Application Layer (CAL)!!1994: Smart Distributed System (SDS)!!1994: IEC (DeviceNet)!!1994: SAE J1939 series!!1995: EN (CANopen)!!1999: ISO series!!2000: IEC (NMEA 2000)!!2002: ISO (ISOBUS)!!2004: ISO 14229/15765 (Diagnostic)!!2007: Arinc 825

6 Common HLP concepts More complex communication services: Confirmed peer-to-peer communication Segmented data transfer (transport protocols) other services such as synchronized communication Pre-defined CAN-IDs (plug-and-play) Network and node (device) configuration Network and node (device) error handling Network boot-up procedure Definition of data-content (profiles)

7 Standardized HLP benefits Interoperability between ECUs/devices (Partly) interchangeability of ECUs/devices Off-the-shelf plug-and-play capability Off-the-shelf protocol stack Off-the-shelf configuration and analysis tools Independent conformance testing and certification

8 Standardized HLP restrictions Configuration or design tools required Additional hardware resources for configuration Restrictions regarding: CAN-ID assignment and usage Number of nodes in one single network segment Kind and function of communication services

9 General HLP design rules! No double-use of CAN-IDs! (Correct use of CAN remote frames)! Detecting of missing nodes or messages! Average bus-load control mechanism! No transmission of relative data

Additional HLP functionality! Overcoming the CAN-ID limitation! Transport protocol for longer data! Automatic distribution of priorities! Network/node management!

10 Additional HLP functionality! Overcoming the CAN-ID limitation! Transport protocol for longer data! Automatic distribution of priorities! Network/node management! Configuration of the bit-timing via the network! Assignment of node-names via the network! Message confirmation! Program download via the network! Configuration of message scheduling! etc.

11 History of CANopen X ESPRIT project ASPIC (CAL-based communication profile) CAL-based communication profile version 1.0 CAL-based communication profile version 1.1 CiA 301 CANopen application layer version 2.0 CiA 301 CANopen application layer version 3.0 CiA 301 CANopen application layer version 4.0 CiA 301 CANopen application layer version 4.2 CiA 301 CANopen application layer version 5.0

CANopen specifications CiA301 CiA302 CiA303 CiA304 CiA305 CiA306 CiA307 CiA308

CiA410 CiA412 CiA413 CiA414 CiA415 CiA416 CiA417 CiA418 CiA419 CiA420 CiA421

CiA433 CiA434 CiA435 CiA436 CiA438 CiA439 CiA440 CiA441 CiA442 CiA443 CiA444

12 CANopen 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 2012: DIN A4 pages

13 Communication protocols! Network management! NMT Message protocol! Boot-up/Heartbeat protocol! Error control! Heartbeat protocol!! Service Data Object (SDO)! Standard SDO protocols! SDO block protocols!! Process Data Object (PDO)! Special COBs! Synchronization (SYNC) protocol! Time Stamp (TIME) protocol! Emergency (EMCY) protocol

14 NMT protocol NMT master NMT slaves(s) request DLC = 2 CS Node-ID indication(s) CAN-ID = 000 h Command specifier (CS) values: 1 = Enter NMT operational (Start remote node) 2 = Enter NMT stopped (Stop remote node) 128 = Enter NMT pre-operational 129 = 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 1 to 127 = Command is only valid for CANopen device with that node-id

15 Boot-up protocol NMT slave NMT master request DLC = 1 0 CAN-ID = 700 h + node-id indication

16 Heartbeat protocol Heartbeat producer Heartbeat consumer(s) request Heartbeat producer time (1017 h ) in ms request DLC = 1 Node state CAN-ID = 700 h + node-id Node state Heartbeat consumer time (1016 h ) in ms indication(s) indication(s) Heartbeat event Node state values: 4 = Stopped 5 = Operational 127 = Pre-operational indication

17 Normal SDO protocol Client initiate SDO download Server CS MUX (Length) initiate SDO download response CS MUX Not used download SDO segment 1 CS DATA download segment 1 response CS Not used download segment 2 to n-1 CS DATA download segment 2 to n-1 response CS Not used download segment n CS DATA download segment n response CS Not used

18 PDO protocol Producer Asynchronous or synchronous PDO Application object(s) CAN-ID = pre-defined or user-specific Consumer(s) indication(s) Index Sub Object contents 1600 request h 01 h h 08 h 1600 h 02 h h 08 h 1600 h 03 h h 08 h 1600 h 1600 h 3F h h 08 h 40 h h 08 h

19 Emergency protocol Emergency producer Emergency consumer(s) request 2 byte 1 byte 5 to 61 byte EEC ER SEF Default CAN-ID = 080 h + Node-ID DLC = 8 EEC = Emergency Error Code ER = Error Register (1001 h ) SEF = (Profile or device)-specific Error Field indication(s) EMCY producer COB-ID (1014 h ) EMCY Inhibit time (1015 h ) EMCY consumer COB-IDs (1028 h ) 01 h Consumer time h Consumer time F h Consumer time 127

20 CANopen application domains Transportation: Passenger cars, trucks and buses, e-vehicles, trains, ships and vessels, helicopters and aircrafts Manufacturing: Robot and embedded machine control Healthcare: Medical devices and laboratory automation Construction: Lift and door control; commercial vehicles Agriculture and forestry: Harvesting machines, cow-sheds Retail and finance: Vending machines Science: Telescopes, high-energy physics Entertainment: Studio equipment, moving cameras, gambling Communication: Embedded control in satellites Domestic appliances: Coffee machine, service robots

21 Embedded networks The end user is not the system designer Software updates are made by trained technicians The network is highly optimized and vendor-specific System design is based on CANopen device profiles In some embedded system higher throughput is required In complex applications larger payloads are needed

22 Open network The end-user could be the system designer Automatic software downloads require more bandwidth The highly standardized network provides off-the-shelf plug-and-play capability System design based on CANopen application profiles Throughput is not an issue Higher payload is required

23 Truck body applications CAN-based J1939 or proprietary network CiA 422 J1939 ECU 1 J1939 ECU n CiA 413 Gateway Device 1 Device n Truck chassis CiA 422 CANopen application profile for refuse collecting vehicles

24 Container handling systems CANopen Crane control system CANopen Straddle carrier system CANopen Spreader control unit CiA CiA Spreader control unit I/O I/O

25 Special-purpose car CAN-based network for add-on modules CiA 447 Taximeter Printer Card reader CANopen User IF Scanner tool Diagnostic gateway Gateway to IVN Blue light etc. ECU GPS Speed sensor

Light electric vehicles CANopen EnergyBus controller (LSS master) 8 x instances 16 x instances 4 x instances 4 x instances CiA 454 8 x instances 10 x instances (1) 2 x instances (2) 1 x instances (3)

26 Light electric vehicles CANopen EnergyBus controller (LSS master) 8 x instances 16 x instances 4 x instances 4 x instances CiA x instances 10 x instances (1) 2 x instances (2) 1 x instances (3) Voltage converter Battery pack Motor control unit Load monitor HMI unit Sensor unit Gateway unit Security unit Active virtual devices Passive virtual devices (1) e.g.: 2 x accelerator 2 x torque 6 x biometric (3) e.g.: (2) e.g.: 1 x security lock 2 x Bluetooth devices 1 x key 1 x main switch HMI: human machine interface LSS: Layer setting services

27 CAN-FD impacts on CANopen! SDO services: New protocols with payloads up to 63 byte (accelerates software downloads)! SDO services: New protocols for down/up-loading structured data (avoids configuration inconsistencies)! PDO services: Improved mapping with up to 64 byte (in particular for more complex devices such as electrical drives)! EMCY services: Longer payload for diagnostic information (overcomes todays functional limitations)! NMT services: No change necessary! Heartbeat services: No change necessary! TIME service: No change necessary! SYNC service: No change necessary

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CiA mission statement The aim of the 1992 established non-profit organization is to promote s image and to provide a path for future developments of the technology. An important part of the organization