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CiA 808 AN V1.0 CANopen CiA 444 application note and implementation guideline(CRANE_808v01000001)(英文原版协议).pdf

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    CiA Application Note 808 CANopen CiA 444 application note and implementation guideline Version: 1.0 09 February 2007  CAN in Automation (CiA) e. V.
    CiA 444 application note and implementation guideline HISTORY Date 2007-02-09 Changes Publication as application note version 1.0 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
    CiA 444 application note and implementation guideline CONTENTS 1 Scope ............................................................................................................................... 4 2 Normative references........................................................................................................ 4 3 Definitions......................................................................................................................... 4 4 General introduction.......................................................................................................... 4 5 CAN connection between a new crane and a new spreader .............................................. 5 6 CAN or direct-wired connection between an old crane and a new spreader....................... 5 7 CAN or direct-wired connection between a new crane and an old spreader....................... 6 8 Direct-wired connection between an old crane and an old spreader .................................. 6 8.1 General ................................................................................................................... 6 8.2 Hardware compatibility ............................................................................................ 7 8.3 Manufacturer-specific transmission with a boosted CANopen network ..................... 7  CiA 2008 – All rights reserved 3
    CiA 444 application note and implementation guideline 1 Scope This application note describes the recommended practice and gives application hints for implementing the connection of crane and spreader. 2 Normative references /ISO11898-2/ ISO 11898-2: Road vehicles – Controller area network (CAN) – Part 2: High- speed medium access unit 3 Definitions new crane crane with a CANopen interface new spreader spreader with a CANopen interface old crane crane without a CANopen interface old spreader spreader without a CANopen interface The definitions given /ISO11898-2/ apply to this application note, too. 4 General introduction Goal of this application note is to explain the different ways to physically connect spreader (or other crane add-on devices) to a crane with or without CANopen interfaces. It is intended for system designers. Both, crane and spreader may be direct wired or equipped with a CANopen interface. In the normal application of a crane it is possible to have different spreaders attached to different cranes. The four possible configurations are: • CAN connection between a new crane and a new spreader • CAN or direct-wired connection between an old crane and a new spreader • CAN or direct-wired connection between a new crane and an old spreader • Direct-wired connection between an old crane and an old spreader 4  CiA 2008 – All rights reserved
    CiA 444 application note and implementation guideline 5 CAN connection between a new crane and a new spreader CAN connection between a new crane and a new spreader may be performed as shown in Figure 1. Figure 1 – CAN connection between a new crane and a new spreader 6 CAN or direct-wired connection between an old crane and a new spreader The CAN or direct-wired connection between an old crane and a new spreader may be retrofitted as shown in Figure 2. Figure 2 – CAN or direct-wired connection between an old crane and a new spreader  CiA 2008 – All rights reserved 5
    CiA 444 application note and implementation guideline 7 CAN or direct-wired connection between a new crane and an old spreader The CAN or direct-wired connection between a new crane and an old spreader may be retrofitted as shown in Figure 3. Figure 3 – CAN or direct-wired connection between a new crane and an old spreader 8 Direct-wired connection between an old crane and an old spreader 8.1 General Figure 4 shows the direct-wired connection between an old crane and an old spreader. Figure 4 – Direct-wired connection between an old crane and an old spreader 6  CiA 2008 – All rights reserved
    CiA 444 application note and implementation guideline 8.2 Hardware compatibility Table 1 shows the worst-case hardware configuration for connection between an old crane and an old spreader. Table 1 – Worst-case hardware configuration for connection between an old crane and an old spreader Hardware configuration CAN cable length between crane and spreader up to 200 m: - Unshielded multicore cable - High-energy transmission in same cable Up to two slip rings: Slip rings for CAN transmission not separated from energy transmission Up to four connectors 8.3 Manufacturer-specific transmission with a boosted CANopen network If the normal physical layer as defined in /ISO11898-2/ is not suitable for the electric environment of the crane/spreader application, a boosted physical layer may be used that is connected to the standard CAN via converters. Figure 5 shows the manufacturer-specific transmission with a boosted CAN physical layer. Figure 5 – Manufacturer-specific transmission with a boosted CANopen network  CiA 2008 – All rights reserved 7
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