CiA® 413: CANopen device profile for truck gateways

This set of profiles specifies CANopen gateways to CAN-based in-vehicle networks (IVNs) using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (Isobus), NMEA 2000, or RV-CAN network systems. The purpose of CiA 413 gateways is to connect CANopen networks to IVNs of trucks, buses, trailers and other vehicles including off-highway and off-road vehicles. Standardized interfaces allow easy connection of CANopen devices, trailers, and superstructures from diverse manufacturers.

Part 1 specifies the physical layer including connectors, and some general communication parameters (see also CiA 301). Parts 2 and 3 define the application objects for braking and running gear equipment (part 2) and other equipment (part 3). These objects are equivalent to signals and parameters in ISO 11992-2 respectively ISO 11992-3. Such approach allows a direct forwarding of messages received from the IVN and a direct forwarding of CANopen application objects to the IVN. Part 5 defines such application objects for superstructures.

Part 6 defines the interface profile for J1939-to-CANopen gateways. The gateway is usable in static systems, where ECU (electronic control unit) address changes do not apply. This part specifies objects describing the J1939 functions (parameter groups: 8-byte CAN messages mapping one or multiple process data), so that they can be used in the CANopen superstructure network. The object value definitions are given in J1939-71 specified by SAE (Society of Automotive Engineers). The usage of the network variables is defined as well. Using other protocols based on J1939, such as ISO 11783 or NMEA 2000 will require some extensions that may be subject to later versions.

Part 8 specifies a generic I/O functionality that enables usage of the truck’s HMI (human-machine interface) device. This truck gateway functionality enables the superstructure manufacturer to use the IVN-connected display, buzzer and buttons in a generic way. The gateway is a J1939-compliant ECU from the view of the J1939-based IVN. The required standard behavior is given by the SAE J1939 specifications.

The gateway has to implement the self-starting capability (see CiA 302-2) entering automatically the NMT operational state after power-on or reset. In the NMT operational state, the gateway can forward messages from the J1939-based IVNs to other connected CANopen devices and can also pass certain function requests to the IVNs. It can also provide sync, time-stamp, emergency and heartbeat functionality. The object 1000h indicates the implemented gateway functions e.g. brake and running gear or other equipment, diagnostic function, special superstructure or J1939 function. One CANopen logical device may support all defined functions. The device can also support specific functionality indicating if the gateway produces or consumes data, provides a wireless external communication system, and whether the software up-/download via a temporarily external interface (e.g. PC or hand-held tool) is possible.

Title Details
Status
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Published
Action
CiA 301 version 4.2.0CANopen application layer and communication profile
DescriptionThis specification specifies the CANopen application layer. This includes the data types, encoding rules and object dictionary objects as well as the CANopen communication services and protocols. In addition, this specification specifies the CANopen network management services and protocols. This specification specifies the CANopen communication profile, e.g. the physical layer, the predefined communication object identifier connection set, and the content of the Emergency, Timestamp, and Sync communication objects.
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public3.4 MiB2011-02-21Login
CiA 302-3 version 4.1.0CANopen additional application layer functions – Part 3: Configuration and program download
DescriptionThis document defines objects and file formats for the configuration manager and for program download and control.
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DSP331 KiB2010-04-08Login
CiA 413-1 version 3.0.0CANopen device profile for truck gateways – Part 1: General definitions
DescriptionThis set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, NMEA2000 networks, or RV-CAN network systems. The CANopen device profile for truck gateways consists of several parts: Part 1 describes general definitions. Part 2 defines the application objects for braking and running gear. Part 3 defines the application objects for equipment other than brakes and running gear. Part 5 defines the application objects for superstructures. Part 6 defines the interface profile for J1939-to-CANopen gateways. Part 8 defines the framework for HMI control. This part specifies the physical layer including connectors, and some general communication parameters. There are no PDOs pre-defined.
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DSP138 KiB2011-11-24Login
CiA 413-2 version 3.0.0CANopen device profile for truck gateways – Part 2: Brake and running gear devices
DescriptionThis set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, or NMEA2000 networks, or RV-CAN network systems. The CANopen device profile for truck gateways consists of several parts: Part 1 describes general definitions. Part 2 defines the application objects for braking and running gear. Part 3 defines the application objects for equipment other than brakes and running gear. Part 5 defines the application objects for superstructures. Part 6 defines the interface profile for J1939-to-CANopen gateways. Part 8 defines the framework for HMI control. This part specifies the application objects for brake and running gear equipment. These objects are equivalent to signals and parameters in /ISO11992-2/. This allows a directly forwarding of messages received from the in-vehicle network and a directly forwarding of CANopen application objects to the in-vehicle network.
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DSP857 KiB2011-11-24Login
CiA 413-3 version 3.0.0CANopen device profile for truck gateways – Part 3: Other than brake and running gear devices
DescriptionThis set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, or NMEA2000 networks, or RV-CAN network systems. The CANopen device profile for truck gateways consists of several parts: Part 1 describes general definitions. Part 2 defines the application objects for braking and running gear. Part 3 defines the application objects for equipment other than brakes and running gear. Part 5 defines the application objects for superstructures. Part 6 defines the interface profile for J1939-to-CANopen gateways. Part 8 defines the framework for HMI control. This part specifies the application objects for other than brake and running gear equipment. These objects are equivalent to signals and parameters in /ISO11992-3/. This allows a directly forwarding of messages received from the in-vehicle network and a directly forwarding of CANopen application objects to the in-vehicle network.
Keywordsn/a
DSP1.2 MiB2011-11-24Login
CiA 413-5 version 1.0.0CANopen device profile for truck gateways – Part 5: Application objects for superstructure
DescriptionPart 5 of CANopen device profile for truck gateways defines the application objects for superstructure. The normative references, definitions, acronyms, and abbreviations given in part 1 applies to this part, too.
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DSP272 KiB2003-12-31Login
CiA 413-6 version 1.0.0CANopen device profile for truck gateways – Part 6: Framework for J1939-based networks
DescriptionPart 6 of the CANopen device profile for truck gateways defines a framework for J1939-based networks. The normative references, definitions, acronyms, and abbreviations given in part 1 applies to this part, too. The object value definitions shall be as given in SAE J1939-71. The gateway is usable in static systems, where ECU address changes do not apply. Using other protocols based on J1939, such as ISO 11783 or NMEA 2000 will require some extensions, that may be subject to later versions.
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DSP105 KiB2003-12-31Login
CiA 413-8 version 1.0.0CANopen device profile for truck gateways – Part 8: Framework for HMI control
DescriptionThis set of profile specifications describes CANopen gateways to CAN-based in-vehicle networks using the SAE J1939-71 application profile, ISO 11992-2, -3, and -4 truck/trailer networks or other J1939-based networks, e.g. ISO 11783-based (ISOBUS) networks, NMEA2000 networks, or RV-CAN network systems. This part of the set of profile specification specifies a generic I/O functionality that enables usage of the truck HMI device.
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DSP167 KiB2011-11-24Login