engleski

CANopen implementation in the Zagreb tramcar

The paper deals with the several topics related to the development and production of the ultra low-floor tramcar, type TMK2200, for the city of Zagreb. During the development many electronic control units have been specified, designed and integrated into the vehicle. The communication between these control units is mostly based on CANopen. The reasons for selecting CANbus and CAN open application layer are discussed. Furthermore, several proprietary hardware and software solution have been developed for this project. These solution, among other, include redundant main vehicle control unit. The concept of this unit is presented, along with some details that increase vehicle reliability and availability. Finally, some experience facts and possible future improvements are also pointed out.

CANopen; Zagreb tramcar; implementation

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