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CiA 303-2 DR V1.4 CANopen additional specification - Part 2 Representation of SI units and prefixe

CiA Draft Recommendation 303 CAN open

Additional specif ication

Part 2: Representation of SI units and prefix

Version: 1.4

14.08.2006 CAN in Automation (CiA) e. V.

HISTORY

Date Changes

2001-07-01 Publication of Version 1.0 as draft recommendation

2004-12-30 Publication of Version 1.3 as draft recommendation

- minor editorial changes

2006-08-14 Publication of Version 1.4 as draft recommendation

- minor editorial changes

- completion of the list of SI units

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 2006

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.

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CONTENTS

1Scope (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 specific

units (7)

5Prefix representation (7)

5.1Code table for prefixes (7)

6Implementation example (8)

1 Scope

This document 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 References

2.1 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 units

2.2 Informative references

3 Abbreviations and definitions

3.1 Abbreviations

SI International system of units

3.2 Definitions

Definitions 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 representation

4.1 Code table for base SI units

Table 1 shows the base SI units.

Table 1 – Base SI units

Description Name of unit International symbol Notation index (hex) dimensionless none dimensionless 00 length metre m 01

mass kilogram kg 02

time second s 03 electric current ampere A 04 thermodyn. temperature kelvin K 05

amount of substance mole mol 06

luminous intensity candela cd 07

reserved - 08 ... 0F

4.2 Code table for supplementary SI units

Table 2 shows the supplementary SI units.

Table 2 – Supplementary SI units

Description of unit Name of unit International symbol Notation index (hex) plane angle radian rad 10

solid angle steradin sr 11

reserved - 12 ... 1F

4.3 Code table for derived SI units with special names

Table 3 shows the derived SI units with special names.

Table 3 – Derived SI units with special names

Description Name of unit International symbol Notation index (hex) frequency hertz Hz 20 force newton N 21 pressure, stress pascal Pa 22

energy, work, quantity of

joule J 23 heat

power, radiant flux watt W 24

coulomb C 25

electric charge, quantity of

electricity

electric potential

volt V 26 difference, electromotive

force

capacitance farad F 27 electric resistance ohm ?28

electric 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 2E

illuminance lux lx 2F

activity (of a radionuclide) becquerel Bq 30

gray Gy 31

absorbed dose, specific

energy (imparted), kerma

dose equivalent sievert Sv 32

catalytic activity katal kat 33

reserved - 34 ... 3F

4.4 Other units from ISO 1000

Table 4 shows the other units provided by /ISO1000/.

Table 4 – Other units from ISO 1000

Description Name of unit International symbol Notation index (hex) angle grade g(s)* 40

angle degree °(s) 41

angle minute '(s) 42

angle second ''(s) 43

volume litre l? 44

area are a 45

area hectare ha 46

time minute min 47

time hour h 48

time day d 49

time year a 4A

mass gram g 4B

mass tonne t 4C

pressure bar bar 4E

poise poise P 4F

stokes stokes St 50 electric charge electronvolt eV 51

atomic mass unit atomic mass unit u 52

astronomic unit astronomic unit AU 53 parsec parsec pc 54 acceleration meter per square second m/s255

moment of force, torque newton metre Nm 56 square second square second s257 area square metre m258

volume cubic metre m359 dynamic viscosity pascal second Pa?s 5A specific heat capacity,

joule per kilogram kelvin J/(kg?K) 5B specific entropy

thermal conductivity watt per meter kelvin W/(m?K) 5C

joule per mole kelvin J/(mol?K) 5D

molar heat capacity, molar

entropy

radiance watt per square meter

W/(m2?sr) 5E

steradian

catalytic (activity)

katal per cubic meter kat/m35F concentration

reserved - 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 units

Name of unit International symbol Notation index (hex)

profile-specific - A0 ... FF

5 Prefix representation

5.1 Code table for prefixes

Table 6 shows the prefixes for SI units.

Table 6 – Prefixes for SI units

Prefix Factor Symbol Notation index (hex)

reserved - - 13 ... 7F exa 1018 E 12

- 1017- 11

- 1016- 10

peta 1015P 0F

- 1014- 0E

- 1013- 0D

tera 1012T 0C

- 1011- 0B

- 1010- 0A

giga 109G 09

- 108- 08

- 107- 07 mega 106M 06 - 105- 05

- 104- 04

kilo 103k 03

hecto 102h 02

deca 101da 01

- 100- 00

deci 10-1 d FF

centi 10-2 c FE

milli 10-3m FD

- 10-4- FC

- 10-5- FB micro 10-6μFA - 10-7- F9

- 10-8- F8

nano 10-9n F7

- 10-10- F6

Prefix Factor Symbol Notation index (hex) - 10-11- F5

pico 10-12p F4

- 10-13- F3

- 10-14- F2 femto 10-15 f F1

- 10-16- F0

- 10-17- EF

atto 10-18 a EE reserved - - ED to 80

6 Implementation example

The 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 0

Prefix SI numerator SI denominator Profile-specific MSB LSB

Figure 1 – Value Definition

In Table 7 the recommended object description for an object is given.

Table 7 – Object description

Index

Name

Object Code VAR

Data Type Unsigned32