CAN-texHonornn Ana TpaHcnoprHbix CHCcTeM Bosueconcrnit A.M. Kt OAO HATH», Mocs, Yenypnos A.C.,K.6-W.H, Ipx608 MB. «0m. 000 «Mapapon», Mocksa 9 mepra 2006 ropa cocronnoce 30: conaiue Mpaaureseeres Poccniicxot @exepaun, wa Kovapom paccmsrpy fanca monpoc 0 paasiriK orevec Nawnvocrpoenas. B coorserctenn c nporoKorom sacenanua Manucre: Poceniickoh Denenaunn (Munnpows repro Pocew) abmyctano Mpnxaa Ne 96 or 27 anpens 2006 rona 206 yrse- pacaenne Mlnaa Meponpaarai no passutwe orevecrsenworo cenvcKo- ROBRHCTREHHOTO MauMNOCIpOEHH Ha 2006-2008 roams Kpome npovero, fnak Meponpi oaroroaxy sMpoexta segomcreeHiom yenesot nporpassl no paapaGorke rycenhe- oro tpakropa knacca 5,0 rc. W3ep- arwi npeayomarpweaet noySopounoro wonbains 6 enacca Ha eprom 2006 2008 rr.+. Npennonars: ‘eren poamoncioern necrasies tpaxte pa se pyGen Menay ren wanecrno, 70 canvenonoanitereoiniie # npoMsiur ‘newuisie TpAKTOPHI Ha MHPOBOM HHHKE nN conpentenHn a80K- Tpowsiatn cpegctsamn H paswerBser= nol cerenoi crpyerypom Ha ocrose CAN-unne (pie. 1). Una CAN paspaGareisarace bnpsoi BOSCH naunesas c 1982 7, 4 8 1986 r. 6sira rposegena nepsan o6- ecraehian npeaenTauna 210% wnHD! 8 ferpoiire na Koncbepenyan coot: wecrsa wroxenepor atromobnrectpo- leans (SAE), Meco npesenraunh 6s fo iGpano He caysaano, @nnenio 8 canon c Tom, wre wins CAN oe dansko paapaGareisaracs ana npaNe Hekna 8 aatomoGunbtod aneKponH- ke ana nacrpoenns pacnpenexeninx cAcIeM KoHTPOAR M ynpaRNenMR KaK COchoRHOIMi arperaramn, TaKiMW KaK pponwets cidrane Gerona yeroiunaocrs abiawewin, Tak M acno- myanwanunia yerpelicraa, B 1989 rony dupmawn Intel Philips Goan ehinyuierat repanie Mik: pocxemar ¢ annapaTHo# peannsaunei korrpornepos CAN-uai, 2 6 Hea: ne 1990-x ronos nonkowirer no ene: rewan ynpaerenian SAE npwctynua k paspaSorke nprkaagnoro npodbans a ochowe noneaod mre CAN ana BHYTPEHHeK KOMMYHHKAYIOHHOR ceTH pyzeabx aaTomo6unek. Buin paspa- 6oraK FpHKnaaroH npoTOKON wnt! CANJ1939, Koropeli onpenenset o6- W nepaokavanuo Gain opnerTnposad na avaenbsibie rpy3oane aBromo6unn B 1998 roay SAE ony6nnKosan HeGop creuncbanaunl 11939, Ho- onbayeMinh Ank OSveRNHEHHA HOW:nes 2006 (3 EMM Yaon 4 40 werpon maxcnnaym, Yaen 2 JanMpovaHLit Ka6enL ~0-16 merpa MaKouMyM | Yaen 30 ECU — SnektpoHii KoHTponnep Tponnepon a rpyaonuKax » rpeline- pax. Pam nporoKonos, ockowanneix a 11939, Gaur yreeoxnen wexayxapon- Hof oprannsauver no crakaaptiaa uni ISO. K Mim onkocaTcR npAKnaL Ho CAN-npotwne ans rpyzonaKon rpolinepoe ISO 11992 m npmenaanon npothis ans conmexoxorsiicrseiix Braroneps ycunusy weKounep- ecko accouuayiae ronnaomarened luwin CAN «CAN in Automations Gun paapaboran nporoxon aepxxero yposna CANopen. Cenelicrao npodbi nei CANoper Gxin0 npearoneno 3 1994 roay, w anocrenctamn 6uin nps- ar mexayHapoaneiA cranaapt DIN EN £0325-4. Pewenne oxasanoce yaaunoin » nporokon CANopen Guts NpwnsT aK OCMOBHOH a0 BcypoeHelx cerex ynpannenua 4 KOHTpONS, HOC: TpoenHex Ha wie CAN @ TaKix 06: ‘acts spombusreniocrh, rae tpeby- e108 MnTeFpAKHS CAOXHUX HeRORKH: Tenbholx yorpocre W Aal¥MKoe, pa: paboratieix 4 MaroTannaaaemsix ashen nzonseonnTensmn. B Teve- we HecconeKx ner CANopen nony- ‘un, € nepayio ovepens 8 EBpone, wt poKoe pacrpocrpanene & xenesHO- ‘opomHoM 1panenopre, NyHHWsnaNb: Now rpascropre (awrosyes), tpamea, rponrenGyel w rerkoe mexpo), Mop” ‘ckoM Tpawenopre, Maumnocrpocin NpotoKon CANopen 6bin su6naH Kak ockoskolt aan nocrpoeta cncrem, & kotope tpebyercs wacura6upy, feMocrs, Momyne4ocTh azaNMoaante- HseMocre oTpesisnerx y3r08 M arpers- Tee ApH cnoanot cbynnunonanonac: ‘ra. K Taka exeremast orioenren cine xoaalicraennol sexe pasavenwie yBopouuuie combroomauiin, ene ‘rome weanecore oGopyaonainn ann Aopomsoti Texsuioe W sauunis, We nonpayembie ana crpoutenscrea AC- POKHOTO NoMoTKa, CHETeMBI KaReCKO- Fo o6onyaoBakwR Kn OKEDNGIX ma- lun, HaBecnoe o6opypoeanue naa MynnyinanaHion Y6opouHol TexHHKe. Menonesosanne rexionorin wine30a nossonwno oBveaninre cHcreMy yn. pasnenws ausensHoro ganrarenn nn ‘cero astomoGunbHoro wlaccr, noc: Tpoennyio Ha wie CAN c npoToKo- nom 11939, ¢ cucremol ynpasnenia ApyrHM yhkytonanoubim x Beromo- Farensom oGopyaosanien, TacKe Hcnomayiouy unity CAN, Ho € rpe- Toxonow CANopen. Takum o6pa3aM, texnonorin NpHwenenna — pacnpenenenmesx CHcTeM ynpasneHKA c Henonbacea. huem crarmaprHauposaHnorx whi, Taki Kak CAN, H npoTOKONO panero yposnn, Taknx Kak J1999 1 CANopen, tannercn wa coroqun cospewennni aoaxonom Ana nace Tpoenna cucrem ynpasnenua Tpa- NenoptHeie cpeacts H cucrem, 06- Aaga”ounx caolicrsann Moayne Nocth M mHorodynKuHonanenoc- te. PaveiTHe # npuMenenne aT0A Texnonoran # Pocenm np paspa- Ses ie: hep icenrieinen vai Thox cpeacts apanerca eann- ereennem Wancom Aan nuverpe Wun ® menaynapomrye Koonepa tio, Kak 8 o6nactn commecrnore npoektaponanua, Tax w @ o6nactH Deannaaunn u skennyarauny rpaw cnopriux cpeacrs, Cemeiicreo npoduned 41939 Ochosron goKyent, onncwea oui nprenaaroi nporoKon 11939, aknovaer 8 ce6a o6ulee onacanve cemericisa neodures, rabsmuy pac Rpeneneiwa aapecos, comepanmce ons annex spy'He HeobxonMMBe Aaa peanmaaynn cesnenus, NpodHns 31939/01 uenoasayercs 8 rpyaoe- ax ¥ asroSycax, a 11939 /02 npume- aeren a ccrpovrenbHol « cenbcxa- ‘@xamieckini yposenb 11939 momer Sure peannsonan neckonsinmn cno-Ne 52006 | EE] ——— ‘ACK | End of | Nore apSimpans TED" | nome | one 60 e |a s| | 8). aa e 5) (Le 5 gO eal + | i _ s110 zoe o-ce rn * Hite : 3) we) ss me Pose POU Aapac oe, eee wy en PDU- 6rox naveusx rpororona cobann # onpenensouas ero 20Ky- NeHtaqnR COCTOMT M3. cneRyOUnX pasmenos #11939 /11 - o6meH co cxopoctsio 250 KOnr /c, wna na oenose o¥ annposannott sro} napa; 1£11930,/12 ~ awrae uernenks com MecrHa akTHBHBINM TepMANaTO- + 11939/13 - conpaxenie c sMew hi mvarnocraveckm o6.0py40~ 9 11939/15 - ynpowentas peann- dayne: cxopacts o6mena 250 KGur/e w He axpannpoaa Han sH- an napa. Mporoxcn 11939/21 [KananbusiA ypasens) w 11939/31 (ceresor ypo- Bene AM rpyzosHkoR # asro6ycon) emnnoo6pasno ans facex 11939 commecraman nprnone- ie, AIR ONvCaAHR peURNNH HAR ‘nagHoro ypoBHA TaKMe weHlOMesyOr™ ca nopmaoxectaa craknapra: #11939/71-nprxnagron ypoene spaneroprioro epencraa; 211939/81 peanayorcs nporoKosu yapaane: #11939/73 - npmenagwoti yponeun. Ha pucynoce 2 npuaenena Tenono Peanvayoikan crat: Aapr @vauvecxoro ypoons J1998/11. run CAN tot On oGnapaer creqyouywmn ocKosrH nv xapaxrepHcranant + cpranuecnan cpeaa Ha oenone 9° pannpotanod cxpyvennoF nape! hou peauerapanu Ha o60%x KOH- ax: fe coephiATenH wa OCHOKE 3-x Kowracrneis He aKpaNnpo- fannsrx pasvemo. KoxraKrH co orsererayior curnanaw CAN_H, CAN_Lw skpans + dbuaniecknh ypasenb re ovKa20- yerorsnonit cermenre catH MOMeT 6bI"2 Ao 30 yancr B kavectae apumepa TaExe npHee- ew ccHopiiie xapaKreprernnn snveccoro ypoonx 11933 /12: + dnonseckas cpeaa ta ocmose expyvenofi ne 2kpanposanniod sievoepan nposoaes, 8 vaiscree ‘repuinnaropoe renoneayioren He 4x wonrantiem He 9kpannpo- innunn paavamon, Kenrakrst €o- oracretayor chrvana CAN_H, CAN_L, niranne # 304ns: orKaaoycToiunanl uanuecKnh yoouet: 8 cervenre cern moxer 6xre ime 30 ysnoe Ha preynwe 3 apuaenen gopmar Kappos kakansioro—-ypooha 31939/21. 31939 /21 ocnes row CAN wanpe KaKaneHoro ypouns © 29-6uraasim waekrabwKaropom. @opmat avero xagpa onpenenes craxgaprom ISO 11898-1. A nor pac Noeaenenne OTAeRDHOIK GrT HREHTA- usaropa w apapnna saronHenne no- 1 manbix OTHOCATER K BeReHIO COB ereenio crasjaara J1939/21. Mmex- No oH onpegenier ro, KaknW Opa 30m seqaeren Ypex6wTossik npHopH~ Tet consumers (P), es\G0p crpanwunt pannsix (DP), aapeca ncrowmnca ¥ nonysarens Kanpa # RpyrNe napa: heros CAN cooGuenna, Oro6pare- me gennnx e CAN xagps! aagzerce na eranaap. nocpeacr#om vonepoa rpyne naj merpot, xoropme coc’ sapesepanponamnaro Gira, Sura aie Gopa crpaviui, PF roma # napemer- pa pacunaennn cpynan PS- acero 18 bu, Va mena 8672 obuwsro nos. conepxumoro annie onpeneneni 13 sasncne or nonysarens » 38 pacumpenne nmenruduxaropos, a Tacxe Gonowan acts rpynn napamerpos, ¥e06xo. ANNIOX AMR CHCTEN TDY2OBIKOB 4 3B~ ro6ycoa,Npodune 1SO 11783 nun (SOBUS. Npoguas ISO 11783 ans censcKo- xo3siicTaeHHsIx H NECOBOAYECKHX Mi uns! ocHonax Ha crangapre 11938. ISOBUS onpenenser ceTm € nocneno- sarenowoh nepegaved aanmax ain cenan nm ynpasnennn via neco- cenucKonoaniicr@ennun TPSKTOpax, & lenme muntnpyemern, nonyMonmmpy embix aHGo caMoKoANaX opyannn ens noodwan - crarnaprnanposare. eroaw » tpopn hepeqesm qannen memaly AaTunKanen, npHBoRam, 9ne eras ynpagnenua, xpanunmuanie eachopmayu i auenneann (MoHTAPO- fainainn au60 annmicuiiMucR YacTbO ‘pavropa un opyaus). Peayapraron ROMKHO ctar> AOweMEHVE ypoBK fcrannapreaain 0 crenewn, noseo- amouieh KonTponnepan pasnnsnex noonseonareneh o6mennoaTECR HA~ hopmayner apyr ¢ apyrom. Tpotune iSO 11783 nossonser: * o6mesnaateca ctanaaptHa4po- anol % nponpHeTspHOR HH cpopmayren, Sopreiae aamenyrue Kon ‘rypai cerenoro ynpasnenua (raK ‘apozanne no 10 mc): ‘# oGecnewrre nponycxnyo cnocob- hocTe ngHOnHanTensio 5.6 KHA0- Gahr & cenynay (30% narpysxa) © nwkosnm tpacbrxom ao 16 Koa snonaepwnsars —narerTHocre vib! oF 0.5 Me B aasHeMMocrH lor npaopiteta coosuenni « Har pysen ge 30 yanoe 9 non corm 0 254 yanoa a ences: + o6ecreuaare paannunsie conve koxommictsoniie npunoxennn (npeunanonnce bepmepcKoe x0- aicreo); snognepansare arperars cino- esis, navena ynpasnenas. Aan ISO 11783 cywecrsyir 2 xa- vecrae crannapra 460 paspabaro~ raveres (sninenenn xypcnaom) cneay- route ockoskbie RoKyMenTa: *O6unh crangapr ann nepenann mo6unbieix gabneIx + Dyswvecknit yposens + Kananoneid ypowens + Ceresoi yposens * Yrpannenve cersio * Bupryarbiath repmantian ne5 2006 SEM * Yposens cooGuenmi ana opyawit * Cinosan nepenava = Kowrponnep Tpaxropa sKowrponnep aaganna werep- “pei yapapnapuiers Komnoorepa + OcvecrneiA crowape + Anarnocrnna + @aiin copper Bonpocsi peannaaunn crangaptos: Ha cerognaunes gene 9 Posen nonnocroin peanhsonaH ToneKO OAH he CAN nporoKonos sepiers ypos ho — erauaapr CANopen. K Hauany 2005 rona 000 «Mapachon> Gvina aanepweva pazpaborxa xomnynina- wromnoro npodbana CIA DS301 - 616~ nworexa CANopen. Ee npamenenne aaet RoamonHocTt 6ucTpo commzsare nporpammioe oBecnevenne CANopen cosnecrnusix yerpoicts. Hapagy c GuGnMorexo} paspaGoran Habop H4- crpyMentaneibix cpeqcts, noasona- JoUuyix NpoHssoqHTE TecTHpOFAHNe fornaany pasnnurer CANopen yc- Tpolicts. Anannsarop Tpadnna cere nore nporoxona aaer sosmennoers wurepnperporats ace CANopen coBsiTuR: Kak MpoTOKOrE, TAK H ce enue o6venrat. Cyewapnali w wire aKiManbii KOMdbHrypatops mpenCc- ‘anrmior wKpoKHe BOsMOMMOCTH AAR ornanth K HacrpoliKn —noGux CAnupen yurpuncie pasnmanaen pu wawoawrenek. OGwes epen pespa- Gorwn CANopen GuénworeKH cocra- anno KORO ABYX wenoHEXO-ReT, Ha Copa nzerpammnex —wicvpymen Tansnen cpencre - ROBAAKA opHiore ‘One, nanysewnnih npu cosnannn 6u6nuorexn CANopen, noasonseT vaneateca Fa cyuecrseHHoe coxpa- ere spemenn peanasaunn apyrex CAN nporoxonoe 4 npodbnei. Mox- HO OMMAATE NDHONKSMTETLHO ABYK parioe coKpalenne o6uiero speMe- hu paapa6orks Kak cooTaercTayiouAx 6xGnnorex, aK M HeOBKORMMDIC HH crpymentansnux epeacts. Taxne ‘uerK# ocHovaHy Ha soaMoxHocta MeHHbX aNropiTMos pelleni, a axe Ha onbiTe nepeoca CANopen npknoKenni a MrKPOKOHTPON- nepnvie —tinaroopme (Fujitsu MB30F497, Texas Instruments TMS320F28xX, ART). Peanwsaun paGouero nporcrina nporoKona, He- eBxonyMoro ANA paspaGoTK Ko- Heuseix waneani Mm ycrpoiicTa, OBuIWHe aanuNaer 4-5 venoueKo-me- Taknm oSpasom, sarparer ma pe annsawne erena CAN nporoxonoe ‘oxasuieaicrer sone ysrepenisinan Coben nan pearnrayns apotoKo- non a erairine e+ npioSperenun Ga6anorex y sapybexiux paspaber- po Ay, Aonyeeawulnit me6ue ypoesu recruposanna # cepraduxaunn. Mo- uno sroro, aoanepxxa paspaGoran= Wore aporpanMHoro obecrewenns race 6yser ocyuectaneTeca cHnamn Poceniickex dapm-paspabor4nKon. Cranomnten raioKe soanornvine o6y- enue 4 yHactHe 3 npoeKTax OTpac- neBMX HixeHEpOE, WTO NO3BONMT ChopmnposeTe BsicoKoKeannc>MUN- posanisie KomaMael creynanncros, koTophe cMoryr ccywectensre nop AepxKY nponwincenne CAN Texno- norm © pesnmnuix o1pacnax anonHe sieTHi nporpar npouriunannocru. Bosspauancs & yrouakyroh Teme ociaujenns censcxoxosslicrbenniys 4 APOMBIUIREHNDx Tpaxropos aneK~ Tponnumn cpeactsann (cH. pue 1), camraem, 470 HeotxomHHo HcnOADSO- bars ® paspaGorke rosore tpaKtopa even onbir cosganan snexxponnsix enciem srexrpornapa@nnecKors yn- pasnenin tpancsicenel tpaktopes a TAKE umopmawwonio-yapaans TunseKenow wenoaMenuk, nepaocre- wiererpauis TpakTopHoK HHbopMauy- onno-ynpaszsiouey crcvems (TpH- YC) Ha ocroxe mexayHapoanvix cra papron SAE 11939, ISO 11783 4 CAtiopen. Srony, Hecounenno, cnocoBcrayer cknaaueaiowarca 8 nacronuiee ope- a Koonepauns Mexay npHaHanHsin haysnust Yentpom TpaktopocrpoeHns Haywno-neenegowarenecknm pak Topan wnerutyrom OAO “HATH”, koropain 8 2005 rogy ormetan ceoe 80-nete, » 000 *MAPA@OHD - QHPMOA, HMeOWeH gecATHNeTHAA fonbir paapagoToK, akeApenws 4 O6y- ewn rexnonarin CAN,