Modern vehicles for public transport, manufactured by Vossloh Kiepe, formerly KIEPE Elektrik, have comprised CAN-based networks for control purposes since 1995. The CANopen protocol for can-based networks was introduced at Vossloh Kiepe six years ago. As a first step only the network-management and the process data objects were used. All vehicle control commands are transmitted via these objects. The master supervises the presence of all slaves by using the node-guarding mechanism. A special Process Data Object announces the state of the network. This interaction between master and slaves guarantees the detection of a faulty control unit within a time less than 1.5s. Important signals are additionally protected by a combination of time-outs, checksums and hard-wired signals, respectively. Service Data Objects have been impiemented in the most recent vehicles for diagnostic and maintenance purposes. Energy consumption and event records, for example, are transmitted via Service Data Objects within the vehicle.
CANopen vehicle control for streetcars and trolley-busses
CANopen- Fahrzeugsteuerung für Straßenbahnnen und Oberleitungsbusse
2003
6 Seiten, 4 Bilder, 3 Quellen
Conference paper
English
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