CAN全套协议之 DS303_2

CiA 303RecommendationPart 2: Representation of SI units and prefixVersion: 1.4.014. August 2006 CAN in Automation (CiA) e. V.HISTORYDate Changes2001-07-01 Publication of Version 1.0 as draft recommendation2004-12-30 Publication of Version 1.3 as draft recommendation- minor editorial changes2006-08-14 Publication of Version 1.4 as draft recommendation- minor editorial changes- completion of the list of SI unitsGeneral information on licensing and patentsCAN 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.TrademarksCANopen® and CiA® are registered community trademarks of CAN in Automation. The use is restricted for CiA members or owners of CANopen vendor ID. More detailed terms for the use are available from CiA.© CiA 2006All 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 3DE - 90429 Nuremberg, GermanyTel.: +49-911-928819-0Fax: +49-911-928819-79Url: Email: headquarters@CONTENTS1Scope (4)2References (4)2.1Normative references (4)2.2Informative references (4)3Abbreviations and definitions (4)3.1Abbreviations (4)3.2Definitions (4)4Physical units representation (4)4.1Code table for base SI units (4)4.2Code table for supplementary SI units (5)4.3Code table for derived SI units with special names (5)4.4Other units from ISO 1000 (6)4.5Code table for CANopen device, interface and application profile specificunits (7)5Prefix representation (7)5.1Code table for prefixes (7)6Implementation example (8)1 ScopeThis technical report recommends the representation of the international system of units and prefixes in CANopen device, 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/.2 References2.1 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 units2.2 Informative references3 Abbreviations and definitions3.1 AbbreviationsSI International system of units3.2 DefinitionsDefinitions 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 representation4.1 Code table for base SI unitsTable 1 shows the base SI units.Table 1 – Base SI unitsDescription Name of unit International symbol Notation index (hex) dimensionless none dimensionless 00 length metre m 01mass kilogram kg 02time second s 03 electric current ampere A 04 thermodyn. temperature kelvin K 05amount of substance mole mol 06luminous intensity candela cd 07reserved - 08 ... 0F4.2 Code table for supplementary SI unitsTable 2 shows the supplementary SI units.Table 2 – Supplementary SI unitsDescription of unit Name of unit International symbol Notation index (hex) plane angle radian rad 10solid angle steradin sr 11reserved - 12 ... 1F4.3 Code table for derived SI units with special namesTable 3 shows the derived SI units with special names.Table 3 – Derived SI units with special namesDescription Name of unit International symbol Notation index (hex) frequency hertz Hz 20 force newton N 21 pressure, stress pascal Pa 22energy, work, quantity ofjoule J 23 heatpower, radiant flux watt W 24coulomb C 25electric charge, quantity ofelectricityelectric potentialvolt V 26 difference, electromotiveforcecapacitance farad F 27 electric resistance ohm Ω28electric conductance siemens S 29 magnetic flux weber Wb 2A magnetic flux density tesla T 2B inductance henry H 2C celsius temperature degree celsius °C 2D luminous flux lumen lm 2Eilluminance lux lx 2Factivity (of a radionuclide) becquerel Bq 30gray Gy 31absorbed dose, specificenergy (imparted), kermadose equivalent sievert Sv 32catalytic activity katal kat 33reserved - 34 ... 3F4.4 Other units from ISO 1000Table 4 shows the other units provided by /ISO1000/.Table 4 – Other units from ISO 1000Description Name of unit International symbol Notation index (hex) angle grade g(s)* 40angle degree °(s) 41angle minute '(s) 42angle second ''(s) 43volume litre l† 44area are a 45area hectare ha 46time minute min 47time hour h 48time day d 49time year a 4Amass gram g 4Bmass tonne t 4Cpressure bar bar 4Epoise poise P 4Fstokes stokes St 50 electric charge electronvolt eV 51atomic mass unit atomic mass unit u 52astronomic unit astronomic unit AU 53 parsec parsec pc 54 acceleration meter per square second m/s255moment of force, torque newton metre Nm 56 square second square second s257 area square metre m258volume cubic metre m359 dynamic viscosity pascal second Pa⋅s 5A specific heat capacity,joule per kilogram kelvin J/(kg⋅K) 5B specific entropythermal conductivity watt per meter kelvin W/(m⋅K) 5Cjoule per mole kelvin J/(mol⋅K) 5Dmolar heat capacity, molarentropyradiance watt per square meterW/(m2⋅sr) 5Esteradiancatalytic (activity)katal per cubic meter kat/m35F concentrationreserved - 60 ... 9F† The symbol L may be used as an alternative to the symbol l. * (s) indicates that the symbol shall be used in the right superscript position (in the position of an exponent).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 unitsName of unit International symbol Notation index (hex)profile-specific - A0 ... FF5 Prefix representation5.1 Code table for prefixesTable 6 shows the prefixes for SI units.Table 6 – Prefixes for SI unitsPrefix Factor Symbol Notation index (hex)reserved - - 13 ... 7F exa 1018 E 12- 1017- 11- 1016- 10peta 1015P 0F- 1014- 0E- 1013- 0Dtera 1012T 0C- 1011- 0B- 1010- 0Agiga 109G 09- 108- 08- 107- 07 mega 106M 06 - 105- 05- 104- 04kilo 103k 03hecto 102h 02deca 101da 01- 100- 00deci 10-1 d FFcenti 10-2 c FEmilli 10-3m FD- 10-4- FC- 10-5- FB micro 10-6µFA - 10-7- F9- 10-8- F8nano 10-9n F7- 10-10- F6Prefix Factor Symbol Notation index (hex) - 10-11- F5pico 10-12p F4- 10-13- F3- 10-14- F2 femto 10-15 f F1- 10-16- F0- 10-17- EFatto 10-18 a EE reserved - - ED to 806 Implementation exampleThe 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 0Prefix SI numerator SI denominator Profile-specific MSB LSBFigure 1 – Value DefinitionIn Table 7 the recommended object description for an object is given.Table 7 – Object descriptionIndex <to be defined in device profile>Name <TO BE DEFINED IN DEVICE PROFILE>Object Code VARData Type Unsigned32Category <to be defined in device profile>In Table 8 the recommended entry description for an object is given.Table 8 – Entry descriptionSub-index 00hAccess rwPDO Mapping No or OptionalValue Range <to be defined in device profile>Default Value <to be defined in device profile>Figure 2 shows an example for a velocity sensor. The value is given in km/h.31 24 23 16 15 8 7 003h01h48h reserved (00h) MSB LSBFigure 2 – Example for a velocity sensor。