CiA 303-2 DR V1.4 CANopen additional specification – Part 2 Representation of SI unit and prefixes (IGCO_303

CiA Draft Recommendation 303 CANopen Additional specification Part 2: Representation of SI units and prefix Version: 1.4 14.08.2006  CAN in Automation (CiA) e. V.

Additional specification – Part 2: Representation of SI units and prefix HISTORY Changes Publication of Version 1.0 as draft recommendation Publication of Version 1.3 as draft recommendation - minor editorial changes Publication of Version 1.4 as draft recommendation - minor editorial changes - completion of the list of SI units Date 2001-07-01 2004-12-30 2006-08-14 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 specification, 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 merchantability 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 utilized 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

Additional specification – Part 2: Representation of SI units and prefix CONTENTS 1 Scope ............................................................................................................................... 4 2 References ....................................................................................................................... 4 2.1 Normative references .............................................................................................. 4 2.2 Informative references ............................................................................................. 4 3 Abbreviations and definitions ............................................................................................ 4 3.1 Abbreviations........................................................................................................... 4 3.2 Definitions ............................................................................................................... 4 4 Physical units representation ............................................................................................ 4 4.1 Code table for base SI units .................................................................................... 4 4.2 Code table for supplementary SI units ..................................................................... 5 4.3 Code table for derived SI units with special names .................................................. 5 4.4 Other units from ISO 1000 ....................................................................................... 6 4.5 Code table for CANopen device, interface and application profile specific units ........................................................................................................................ 7 5 Prefix representation......................................................................................................... 7 5.1 Code table for prefixes ............................................................................................ 7 Implementation example ................................................................................................... 8 6  CiA 2008 – All rights reserved 3

Additional specification – Part 2: Representation of SI units and prefix 1 Scope This document recommends the representation of the international system of units and prefixes interface and application profiles. The name "Système International d'unités" (International System of Units), with abbreviation SI, was adopted by the 11th conférence générale des poids et mesures in 1960, and is standardized in /SO1000/. in CANopen device, 2 References 2.1 Normative references /ISO2955/ ISO 2955:1983, Information processing - Representation of SI and other units in systems with limited character sets, 2nd edition /ISO1000/ ISO 1000:1983, SI units and recommendations for the use of their multiples and of certain other units 2.2 Informative references 3 Abbreviations and definitions 3.1 Abbreviations SI International system of units 3.2 Definitions Definitions given in /ISO1000/ and /ISO2955/ shall apply to this recommendation as well. Application objects representing physical values shall be described by using objects for prefix, numerator, and denominator. The detailed description is done in CANopen device profiles, interface profiles and application profiles. The values, which shall be used in these objects, are specified in the tables given in chapter 4 and 5. 4 Physical units representation 4.1 Code table for base SI units Table 1 shows the base SI units. Description dimensionless length mass time electric current thermodyn. temperature amount of substance luminous intensity 4 Table 1 – Base SI units Name of unit International symbol Notation index (hex) none metre kilogram second ampere kelvin mole candela reserved dimensionless m kg s A K mol cd - 00 01 02 03 04 05 06 07 08 ... 0F  CiA 2008 – All rights reserved

Additional specification – Part 2: Representation of SI units and prefix 4.2 Code table for supplementary SI units Table 2 shows the supplementary SI units. Table 2 – Supplementary SI units Description of unit Name of unit International symbol Notation index (hex) plane angle solid angle radian steradin reserved rad sr - 10 11 12 ... 1F 4.3 Code table for derived SI units with special names Table 3 shows the derived SI units with special names. Table 3 – Derived SI units with special names Name of unit International symbol Notation index (hex) Description frequency force pressure, stress energy, work, quantity of heat power, radiant flux electric charge, quantity of electricity electric potential difference, electromotive force capacitance electric resistance electric conductance magnetic flux magnetic flux density inductance hertz newton pascal joule watt coulomb volt farad ohm siemens weber tesla henry Hz N Pa J W C V F Ω S Wb T H °C lm lx Bq Gy Sv kat - 20 21 22 23 24 25 26 27 28 29 2A 2B 2C 2D 2E 2F 30 31 32 33 34 ... 3F celsius temperature degree celsius luminous flux illuminance activity (of a radionuclide) absorbed dose, specific energy (imparted), kerma dose equivalent catalytic activity lumen lux becquerel gray sievert katal reserved  CiA 2008 – All rights reserved 5

Additional specification – Part 2: Representation of SI units and prefix 4.4 Other units from ISO 1000 Table 4 shows the other units provided by /ISO1000/. Table 4 – Other units from ISO 1000 Description Name of unit International symbol Notation index (hex) angle angle angle angle volume area area time time time time mass mass pressure poise stokes grade degree minute second litre are hectare minute hour day year gram tonne bar poise stokes electric charge atomic mass unit astronomic unit parsec electronvolt atomic mass unit astronomic unit parsec acceleration meter per square second moment of force, torque square second area volume dynamic viscosity specific heat capacity, specific entropy newton metre square second square metre cubic metre pascal second joule per kilogram kelvin thermal conductivity watt per meter kelvin molar heat capacity, molar entropy joule per mole kelvin radiance catalytic (activity) concentration watt per square meter steradian katal per cubic meter reserved g(s)* °(s) '(s) ''(s) l† a ha min h d a g t bar P St eV u AU pc m/s2 Nm s2 m2 m3 Pa⋅s J/(kg⋅K) W/(m⋅K) J/(mol⋅K) W/(m2⋅sr) kat/m3 - 40 41 42 43 44 45 46 47 48 49 4A 4B 4C 4E 4F 50 51 52 53 54 55 56 57 58 59 5A 5B 5C 5D 5E 5F 60 ... 9F The symbol l. † * (s) indicates that the symbol shall be used in the right superscript position (in the position of an exponent). alternative L may to the symbol be used as an 6  CiA 2008 – All rights reserved

Additional specification – Part 2: Representation of SI units and prefix 4.5 Code table for CANopen device, interface and application profile specific units Table 5 shows the CANopen device, interface and application profile specific units. Table 5 – CANopen device, interface and application profile specific units Name of unit profile-specific International symbol Notation index (hex) - A0 ... FF 5 Prefix representation 5.1 Code table for prefixes Table 6 shows the prefixes for SI units. Prefix reserved exa - - peta - - tera - - giga - - mega - - kilo hecto deca - deci centi milli - - micro - - nano - Table 6 – Prefixes for SI units Factor Symbol Notation index (hex) - 1018 1017 1016 1015 1014 1013 1012 1011 1010 109 108 107 106 105 104 103 102 101 100 10-1 10-2 10-3 10-4 10-5 10-6 10-7 10-8 10-9 10-10 - E - - P - - T - - G - - M - - k h da - d c m - - µ - - n - 13 ... 7F 12 11 10 0F 0E 0D 0C 0B 0A 09 08 07 06 05 04 03 02 01 00 FF FE FD FC FB FA F9 F8 F7 F6  CiA 2008 – All rights reserved 7

Additional specification – Part 2: Representation of SI units and prefix Prefix - pico - - femto - - atto reserved Factor 10-11 10-12 10-13 10-14 10-15 10-16 10-17 10-18 - 6 Implementation example Symbol Notation index (hex) - p - - f - - a - F5 F4 F3 F2 F1 F0 EF EE ED to 80 The following object definition is a recommended practice to assign SI unit and prefix to an input/output object. In Figure 1 a recommended Value Definition for an object is given. 31 24 23 16 15 8 7 0 Prefix SI numerator SI denominator Profile-specific MSB LSB Figure 1 – Value Definition In Table 7 the recommended object description for an object is given. Index Name Object Code Data Type Category Table 7 – Object description VAR Unsigned32 In Table 8 the recommended entry description for an object is given. Table 8 – Entry description Sub-index Access PDO Mapping Value Range Default Value 00h rw No or Optional Figure 2 shows an example for a velocity sensor. The value is given in km/h. 31 MSB 03h 24 23 16 15 8 7 0 01h 48h Figure 2 – Example for a velocity sensor reserved (00h) LSB 8  CiA 2008 – All rights reserved

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CiA 303-2 DR V1.4 CANopen additional specification – Part 2 Representation of SI unit and prefixes (IGCO_303_2v01040001)(英文原版协议).pdf

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