摘要
随着各类自动化生产线、机器人等分布式控制系统迅速发展,采用按键设置、数字脉冲发送位置给定的伺服驱动器已不能满足伺服驱动系统智能化、网络化的要求,伺服驱动器网络接口应运而生。重点分析了CANopen协议及其驱动与运动控制子协议DS402,提出了在原有驱动器基础上增加CANopen从站功能、软件实现CANopen协议栈的方案,给出了CANopen接口软硬件具体实现过程。试验结果证明驱动器能够正确执行主站指令并返回状态信息,CANopen接口的软硬件设计方案切实可行。
With the rapid development of various types of automated production lines, robots and other distributed control system, the servo drivers which receive position commands by means of buttons and digital pulses can not meet the intelligent and network trends, the network interface of the servo driver arises at the historic moment. CANopen protocol and its drive and motion control sub-protocol DS402 were analyzed. CANopen slave station and the software implementation of the CANopen protocol stack were proposed. The hardware and software implementation process of CANopen interface was also given. The experimental results show that the servo driver executes the commands perfectly and returns the status, and the hardware and software design of CANopen interface are feasible.
出处
《电机与控制应用》
北大核心
2014年第5期35-39,共5页
Electric machines & control application
