| 夏勇, 叶晓东, 赵江海.基于CANopen协议的数字伺服控制[J].电气自动化,2014,36(1):57~59,81 |
| 基于CANopen协议的数字伺服控制 |
| Digital Servo Control Based on CANopen Protocol |
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| DOI： |
| 中文关键词: CAN总线 CANopen协议 伺服控制 服务数据 对象过程 数据对象 |
| 英文关键词:CANbus CANopen protocol servo control service data object process data object |
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| 中文摘要: |
| 结合实际运用对CAN总线应用层协议CANopen进行了介绍；对CANopen相关参数配置进行了分析；对CANopen主从站节点的功能与设置进行了研究。以数字伺服为从站，上位机和USBCAN卡为主站。通过调用USBCAN接口卡中的函数库，实现了上位机与数字伺服之间的通信，并在实际运用中实现了基于CANopen协议的数字伺服控制。结果表明CANopen很大地增强了CAN网络的可配置性，在运动控制上的可行性和较高的可靠性。 |
| 英文摘要: |
| The CANopen protocol, which is the application layer of CAN bus，is introduced with practical application, and the parameters configuring is discussed in the paper. Setting and functions of the CANopen master and slave nodes are studied．Take digital servo as slave, and take PC and USBCAN card as master. By calling the USBCAN interface function library, the communication between PC and digital servo was realized; the basic process of communication and the actual digital servo control for CANopen protocol are implemented in practice. The results show that the CANopen protocol strongly enhances the configuration of CAN bus, and it proves the feasibility and high reliability in motion control. |
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