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CiA 304 DS V1.0.1 CANopen framework safety-relevant communication(IGCO_304_v01000101)(英文原版协议).pdf

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    CiA Draft Standard 304 CANopen Framework for safety-relevant communication Version 1.0.1 01 January 2005 © CAN in Automation (CiA) e. V.
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA History Date 2001-01-01 2005-01-01 Version Changes 1.0 1.0.1 Release as Draft Standard Proposal Publication as Draft Standard • Editorial corrections • • Harmonization of terminology Inclusion of errata General information on licensing and patents CAN in AUTOMATION (CiA) calls attention to the possibility that some of the elements of this CiA specification may be subject of patent rights. CiA shall not be responsible for identifying any or all such patent rights. Because this specification is licensed free of charge, there is no warranty for this specifica- tion, to the extent permitted by applicable law. Except when otherwise stated in writing the copyright holder and/or other parties provide this specification “as is” without warranty of any kind, either expressed or implied, including, but not limited to, the implied warranties of mer- chantability and fitness for a particular purpose. The entire risk as to the correctness and completeness of the specification is with you. Should this specification prove failures, you assume the cost of all necessary servicing, repair or correction. © CiA 2008 All rights reserved. Unless otherwise specified, no part of this publication may be reproduced or util- ized in any form or by any means, electronic or mechanical, including photocopying and microfilm, without permission in writing from CiA at the address below. CAN in Automation e. V. Kontumazgarten 3 DE - 90429 Nuremberg, Germany Tel.: +49-911-928819-0 Fax: +49-911-928819-79 Url: www.can-cia.org Email: headquarters@can-cia.org 2 © CiA 2008 – All rights reserved
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA Contents 1 Scope ...................................................................................................................................................... 5 2 References ............................................................................................................................................. 6 2.1 Normative references ...................................................................................................................... 6 2.2 Informative references ..................................................................................................................... 6 3 Abbreviations and definitions ............................................................................................................ 7 3.1 Abbreviations.................................................................................................................................... 7 3.2 Definitions ......................................................................................................................................... 7 4 Operating principle............................................................................................................................... 8 4.1 Theory of safe operation.................................................................................................................. 8 4.2 Standard CANopen functions.......................................................................................................... 8 4.3 Safety-relevant communication....................................................................................................... 9 4.3.1 Introduction................................................................................................................................ 9 4.3.2 Timing requirements ................................................................................................................. 9 5 SRDO definition................................................................................................................................... 11 5.1 SRDO services............................................................................................................................... 11 5.1.1 General .................................................................................................................................... 11 5.1.2 Write SRDO............................................................................................................................. 11 5.1.3 Read SRDO............................................................................................................................. 11 5.2 SRDO protocol ............................................................................................................................... 11 5.2.1 Write SRDO protocol .............................................................................................................. 11 6 Global fail-safe command.................................................................................................................. 13 6.1 GFC usage ..................................................................................................................................... 13 6.2 GFC service.................................................................................................................................... 13 6.2.1 Write GFC................................................................................................................................ 13 6.3 GFC protocol .................................................................................................................................. 13 6.3.1 Write GFC................................................................................................................................ 13 7 Network initialisation and system boot-up..................................................................................... 14 7.1 Initialisation procedure for safety networks.................................................................................. 14 7.2 NMT states for safety devices....................................................................................................... 15 7.2.1 General .................................................................................................................................... 15 7.2.2 Pre-operational........................................................................................................................ 15 7.2.3 Operational .............................................................................................................................. 15 7.2.4 Stopped.................................................................................................................................... 15 7.2.5 Relation of NMT states and COBs......................................................................................... 15 8 Pre-defined connection set ............................................................................................................... 16 © CiA 2008 – All rights reserved 3
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA 9 Object dictionary................................................................................................................................. 17 9.1 Complex data type ......................................................................................................................... 17 9.1.1 SRDO communication parameter record .............................................................................. 17 9.2 Object dictionary specifications..................................................................................................... 17 9.2.1 Object 1300h: Global fail-safe command parameter............................................................. 17 9.2.2 Object 1301h to 1340h: SRDO communication parameter................................................... 17 9.2.3 Object 1381h to 13C0h: SRDO mapping parameter ............................................................. 21 9.2.4 Object 13FEh: Configuration valid.......................................................................................... 22 9.2.5 Object 13FFh: Safety configuration checksum...................................................................... 23 10 Annex A (informative) ...................................................................................................................... 25 10.1 Hardware architecture ................................................................................................................. 25 10.2 Configuration mechanism............................................................................................................ 25 10.3 Mathematical analysis of CANopen safety ................................................................................ 26 10.4 Limits and recommendations ...................................................................................................... 26 10.5 Rules of implementation.............................................................................................................. 26 11 Annex B (informative) ...................................................................................................................... 27 11.1 Overview on objects for safety communication ......................................................................... 27 4 © CiA 2008 – All rights reserved
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA 1 Scope The services and protocols defined in this document are intended to be an add-on to the CANopen application layer and communication profile. Safety-relevant communication is an additional property of such devices. The manufacturer and the system integrator shall take care, that the safety requirements are allocated to safe communication objects, that the hardware and software of the device support the safety function and that the device is operated within its safe limits. This specification describes only the data transport mechanism on a CANopen network, that allows the exchange of safety-relevant data. Due to CANopen compatibility communication is limited to 64 safe communication objects, so up to 64 suppliers of safety-relevant objects can operate in a CANopen network. The number of consumers of the safety-relevant objects is not defined (at least one receiver is necessary). © CiA 2008 – All rights reserved 5
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA 2 References 2.1 Normative references /CiA301/ /EN954-1/ CiA DS 301, CANopen application layer and communication profile EN 954-1, Safety related parts of control systems - Part 1: General principles of design IEC 61508, Functional safety of electrical/electronic/programmable electronic safety-related systems DIN V VDE 0801, Grundsätze für Rechner in Systemen mit Sicherheitsauf- gaben Informative references /IEC61508/ /DIN801/ 2.2 /CHAR/ /FAET/ Charzinsiki:1991, Bewertung der Fehlersicherungsverfahren Protokoll, Universität Stuttgart Grundsatz für die Prüfung und Zertifizierung von “Bussystemen für die Über- tragung sicherheitsrelevanter Nachrichten”, Fachausschuss Elektrotechnik, Köln, Ausgabe 05.02, GS-ET-26 im CAN- 6 © CiA 2008 – All rights reserved
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA 3 Abbreviations and definitions 3.1 Abbreviations AK BIA CAN CAN-ID COB COB-ID GFC NMT PLC RTR SCT SIL SRDO SRVT TÜV Anforderungsklassen - requirement classes Berufsgenossenschaftliches Institut für Arbeitssicherheit - Institute for occupa- tional safety of accident insurance institutions Controller area network CAN identifier Communication object COB identifier Global failsafe command Network management Programmable logic controller Remote transmission request Safeguard cycle time Safety integrity level Safety-relevant data object Safety-relevant object validation time Technischer Überwachungsverein - German association for technical inspection 3.2 Definitions The definitions given in /CiA301/ apply for this framework, too. Safety controller device that consumes safety-relevant data © CiA 2008 – All rights reserved 7
    DS 304 V1.0.1 CANopen framework for safety-relevant communication CiA 4 Operating principle 4.1 Theory of safe operation It is absolutely essential for a safe system, that there is a safe state. A reaction to an emergency command, an alarm or an error, the safe-state is entered. It is also important, that the functionality of the safeguard measures is regularly checked. A single defect in a safety-relevant communication shall not override the safety circuitry! If such an error oc- curs, it shall be detected within a short period of time in which a second error is unlikely to happen. All the systems, especially the safety-relevant circuitry shall have a high reliability in order to extend the time-span between the safety-tests and minimize the down-time of the whole system (e.g. if one of redundant components fails, the system shall be shut-off). So the need for safety decreases the avail- ability of a system. The idea of safety in CAN communication is not to ensure, that there are absolutely no errors and faults. This would be rather hard to proof - anyway. The goal is to detect all possible errors and react in a predictable (safe) way. In a safe CAN system there are sources of safe information (e.g. safety switches, light barriers, emer- gency stop buttons) and consumers of such information (e.g. relay, valve or drive controlling a possi- bly dangerous movement, safety PLC). As the "consumers" control the possible dangerous situation it is responsible for entering the safe-state after any safety-relevant interference. It also shall check the data integrity of the safety-relevant communication. As the sources (safety inputs) are the origin of safe communication objects (SRDOs), their number is limited to 64. The number of safety controllers is not limited in theory, as CAN allows many consumers to listen to the same SRDO(s), i.e. many actuator devices use the same information. As the safety controllers are responsible for the data integrity and actuality, every safety-relevant out- put device shall to survey all corresponding sources of safety-relevant data. 4.2 Standard CANopen functions It is intended, that the additional safe communication is not affecting the normal operation and serv- ices on a CANopen network. Safe communication is not related to a special class of devices, so no special device profile is required. Figure 1: Example of a CANopen network with safety-relevant devices 8 © CiA 2008 – All rights reserved PLCS1N1S2N2N3D1MEmergencyPush ButtonSLMDriveControllCANSafety PowerSwitchS3Sx Safety Node (S3: Saftey controller)Nx Normal NodeDx Drive Controll
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