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CANopen杞绘澗鍏ラ棬涓�

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鐢ㄦ埛搴旂敤CANopen鏃讹紝闇�瑕佷紶閫掔殑閰嶇疆淇℃伅鍜屽簲鐢ㄤ俊鎭�閮芥槸鏀惧湪杩囩▼鏁版嵁瀵硅薄PDO锛圥rocess data object锛夊拰鏈嶅姟鏁版嵁瀵硅薄SDO (Service data object)閲岄潰銆傝繖浜涘�硅薄灏卞拰甯傚満涓婂崠姘存灉鐨勭�╃瓙锛屽ぇ灏忔槸涓�鏍风殑锛屽彧鏄�瑁呯殑涓滆タ锛堝簲鐢ㄦ暟鎹�锛変笉涓�鏍凤紝濡傚浘鎵�绀恒�傝繖灏辨槸CiA301鍗忚��鎵�瑙勫畾鐨勫熀纭�鍗忚��鈥斺�斺�滅�╃瓙鈥濓紝鑰孋iA4xx鐨勫瓙鍗忚��鎴栬�呯敤鎴疯嚜瀹氫箟鐨勫�硅薄灏辨槸鈥滅�╃瓙鈥濋噷闈㈢殑涓滆タ銆�

PDO鍜孲DO灏卞儚姘存灉绠╃瓙

PDO鍜孲DO鐨勯�氳��鍖哄埆鍦ㄤ簬锛孭DO灞炰簬杩囩▼鏁版嵁锛屽嵆鍗曞悜浼犺緭锛屾棤闇�鎺ユ敹鑺傜偣鍥炲簲CAN鎶ユ枃鏉ョ‘璁わ紝浠庨�氳��鏈�璇�涓婃潵璇存槸灞炰簬鈥滅敓浜ф秷璐光�濇ā鍨�

鐢熶骇娑堣垂妯″瀷

鑰孲DO灞炰簬鏈嶅姟鏁版嵁锛屾湁鎸囧畾琚�鎺ユ敹鑺傜偣鐨勫湴鍧�锛圢ode-ID锛夛紝骞朵笖闇�瑕佹寚瀹氱殑鎺ユ敹鑺傜偣鍥炲簲CAN鎶ユ枃鏉ョ‘璁ゅ凡缁忔帴鏀讹紝濡傛灉瓒呮椂娌℃湁纭�璁わ紝鍒欏彂閫佽妭鐐瑰皢浼氶噸鏂板彂閫佸師鎶ユ枃銆傝繖绉嶉�氳��鏂瑰紡灞炰簬甯歌�佺殑鈥滄湇鍔″櫒瀹㈡埛绔�鈥濈殑閫氫俊妯″瀷锛屽嵆鎴戜滑閫氬父鎵�璇寸殑杞�璇㈠紡銆傚�傚浘

鏈嶅姟鍣ㄥ�㈡埛绔�妯″瀷

瀵逛簬PDO鍜孲DO鐨勬姤鏂嘔D鍒嗛厤锛屼负浜嗗噺灏戠綉缁滅殑缁勬�佸伐浣滈噺锛孋ANopen棰勫畾涔変簡寮哄埗鎬х殑缂虹渷鏍囪瘑绗︼紙CAN-ID锛夊垎閰嶈〃锛岃�ュ垎閰嶈〃鏄�鍩轰簬11 浣岰AN-ID 鐨勬爣鍑嗗抚鏍煎紡銆傚皢鍏跺垝鍒嗕负4 浣嶇殑鍔熻兘鐮侊紙Function-ID锛夊拰7 浣嶇殑鑺傜偣鍙凤紙Node-ID锛夈�傚�傚浘鎵�绀�.

PDO鍜孲DO鐨勯�勫畾涔夎繛鎺�ID鍒嗛厤

鍦–ANopen閲屼篃閫氬父鎶奀AN-ID 绉颁负COB-ID锛堥�氫俊瀵硅薄缂栧彿锛夈�傛墍浠ユ垜浠�鍙�浠ュ垎娓呮�氫袱涓�鏄撲簬娣锋穯鐨勫悕绉帮細
COB-ID锛欳ommunication Object Identifier,鍗矯ANopen涓�鏌愮�嶉�氳��瀵瑰儚鐨勬姤鏂囧抚ID锛屽嵆CAN鎶ユ枃鐨�11浣岻D銆備唬琛ㄤ簡涓�绉嶉�氳��鍚�涔夈�傦伂
Node-ID锛氳妭鐐笽D鍙�,鍗矯ANopen缃戠粶涓�鐨勮妭鐐瑰湴鍧�锛孋ANopen瑙勫畾浜嗛�昏緫涓婃渶澶�128涓�鑺傜偣锛屾墍浠�Node-ID鏈�.涓�128锛�7浣�)銆�
COB-ID鍜孨ode-ID鏃犲繀鐒惰仈绯�,浣嗗湪杩囩▼鏁版暟鎹�瀵硅薄锛圥DO锛夊拰鏈嶅姟鏁版嵁瀵�.锛圫DO锛変腑,COB-ID涓�.鍚�.Node-ID銆�
鐢变簬闇�瑕佸尯鍒嗘瘡涓狢ANopen鑺傜偣鐨勮緭鍏ュ拰杈撳嚭锛屾墍浠�PDO鍒嗕负TPDO锛堝彂閫丳DO锛夊拰(鎺ユ敹RPDO)锛屽彂閫佸拰鎺ユ敹鏄�浠�CANopen浠庣珯鑺傜偣涓哄弬鑰冿紙濡傛灉CAN涓荤珯灏辩浉鍙嶏級銆俆PDO鍜孯PDO鍒嗗埆鏈�4涓�鏁版嵁瀵硅薄锛屾瘡绉嶆暟鎹�瀵硅薄灏辨槸1鏉�CAN鎶ユ枃灏佽�咃紝濡傝〃鎵�绀猴紝杩欎簺閮芥槸鏁版嵁鏀跺彂鐨勫�瑰櫒锛屽氨鍍忎笂鍥炬墍绀猴紝姘存灉绠╃瓙涓轰娇鐢ㄨ�呭噯澶囧ソ锛屽氨鐪嬩娇鐢ㄨ�呭湪閲岄潰鏀句粈涔堟按鏋滀簡銆�
鑰孲DO灏辩浉瀵规瘮杈冪畝鍗曞浐瀹氾紝鍙戣捣閫氳��鐨勨�滈棶鈥漇DO鐨凜AN甯�ID灏辨槸600h +node-ID锛岃繖閲岀殑Node-ID鏄�琚�闂�鐨勮妭鐐瑰湴鍧�锛岃�岃��闂�鐨勮妭鐐瑰簲鈥滅瓟鈥漇DO鐨凜AN甯�ID灏辨槸580h +node-ID銆備竴鑸�鍦–ANopen缃戠粶涓�锛屽彧鏈塏MT涓绘満鑳藉彂璧稴DO閫氳��锛岃繘琛岃妭鐐瑰弬鏁伴厤缃�鎴栬�呭叧閿�鎬у弬鏁扮殑浼犻�掋�傚綋鐒朵粠鑺傜偣涔熷彲浠ュ�瑰叾浠栦粠鑺傜偣鍙戣捣SDO閫氳��銆�
濡傝〃鎵�.銆備负CANopen棰勫畾涔夋姤鏂囩殑PDO鎶ユ枃鍜孲DO鎶ユ枃涓�鐨処D鍒嗙被銆備娇鐢ㄨ�呭姟蹇呯墷璁帮紒

PDO涓嶴DO鐨凜AN-ID瀹氫箟

2銆佸�硅薄瀛楀吀OD锛圤bject dictionary)
CANopen瀵硅薄瀛楀吀锛圤D: Object Dictionary锛夋槸CANopen鍗忚��鏈�涓烘牳蹇冪殑姒傚康銆傛墍璋撶殑瀵硅薄瀛楀吀灏辨槸涓�涓�鏈夊簭鐨勫�硅薄缁勶紝鎻忚堪浜嗗�瑰簲CANopen鑺傜偣鐨勬墍鏈夊弬鏁帮紝鍖呮嫭閫氳��鏁版嵁鐨勫瓨鏀句綅缃�涔熷垪鍏ュ叾绱㈠紩锛岃繖涓�琛ㄥ彉鎴愬彲浠ヤ紶閫掑舰寮忓氨鍙�鍋欵DS鏂囦欢锛堢數瀛愭暟鎹�鏂囨。Electronic Data Sheet锛夈�傚�硅薄瀛楀吀锛屽氨鍍忎綋妫�琛�锛屽叿澶囪繖涓�浜烘瘡涓�鍔熻兘鐨勫弬鏁帮紝渚夸簬鐢ㄤ汉鍗曚綅锛堜富绔欙級杩涜�屽悎鐞嗗垎閰嶅伐浣�

瀵硅薄瀛楀吀涓庝綋妫�琛�

姣忎釜瀵硅薄閲囩敤涓�涓�16浣嶇殑绱㈠紩鍊兼潵瀵诲潃锛岃繖涓�绱㈠紩鍊奸�氬父琚�绉颁负绱㈠紩锛屽叾鑼冨洿鍦�0x0000鍒�0xFFFF涔嬮棿銆備负浜嗛伩鍏嶆暟鎹�澶ч噺鏃舵棤绱㈠紩鍙�鍒嗛厤锛屾墍浠ュ湪鏌愪簺绱㈠紩涓嬩篃瀹氫箟浜嗕竴涓�8 浣嶇殑绱㈠紩鍊硷紝杩欎釜绱㈠紩鍊奸�氬父琚�绉颁负瀛愮储寮曪紝鍏惰寖鍥存槸0x00鍒�0xFF涔嬮棿銆�
姣忎釜绱㈠紩鍐呭叿浣撶殑鍙傛暟锛屾渶澶х敤32浣嶇殑鍙橀噺鏉ヨ〃绀猴紝鍗砋nsigned32锛屽洓涓�瀛楄妭銆�
姣忎釜CANopen璁惧�囬兘鏈変竴涓�瀵硅薄瀛楀吀锛屼娇鐢ㄧ數瀛愭暟鎹�鏂囨。锛圗DS鏂囦欢锛夋潵璁板綍杩欎簺鍙傛暟锛岃�屼笉闇�瑕佹妸杩欎簺鍙傛暟璁板綍鍦ㄧ焊涓娿�傚�逛簬CANopen缃戠粶涓�鐨勪富鑺傜偣鏉ヨ�达紝涓嶉渶瑕佸�笴ANopen浠庤妭鐐圭殑姣忎釜瀵硅薄瀛楀吀椤归兘璁块棶銆�
CANopen瀵硅薄瀛楀吀涓�鐨勯」鐢变竴绯诲垪瀛愬崗璁�鏉ユ弿杩般�傚瓙鍗忚��涓哄�硅薄瀛楀吀涓�鐨勬瘡涓�瀵硅薄閮芥弿杩颁簡瀹冪殑鍔熻兘銆佸悕瀛椼�佺储寮曘�佸瓙绱㈠紩銆佹暟鎹�绫诲瀷锛屼互鍙婅繖涓�瀵硅薄鏄�鍚﹀繀闇�銆佽�诲啓灞炴�х瓑绛夛紝杩欐牱鍙�淇濊瘉涓嶅悓鍘傚晢鐨勫悓绫诲瀷璁惧�囧吋瀹广��
CANopen鍗忚��鐨勬牳蹇冩弿杩板瓙鍗忚��鏄疍S301锛屽叾鍖呮嫭浜咰ANopen鍗忚��搴旂敤灞傚強閫氫俊缁撴瀯鎻忚堪锛屽叾瀹冪殑鍗忚��瀛愬崗璁�閮芥槸瀵笵S301 鍗忚��鎻忚堪鏂囨湰鐨勮ˉ鍏呬笌鎵╁睍銆傚湪涓嶅悓鐨勫簲鐢ㄨ�屼笟閮戒細璧疯崏涓�浠紺ANopen璁惧�囧瓙鍗忚��锛屽瓙鍗忚��缂栧彿涓�鑸�鏄疍S4xx銆�
2.1 瀵硅薄瀛楀吀姒傝堪
濡傝〃鎵�绀猴紝涓哄�硅薄瀛楀吀绱㈠紩鍖哄煙瀹氫箟锛屽叾涓�鏍囩豢鑹插簳绾圭殑閫氳��瀵硅薄瀛愬崗璁�鍖哄拰鍒堕�犲晢鐗瑰畾瀛愬崗璁�鍖烘槸鐢ㄦ埛闇�瑕佸叧娉ㄧ殑鍖哄煙銆�

瀵硅薄瀛楀吀姒傝堪

2.2 閫氳��瀵硅薄瀛愬崗璁�鍖猴紙Communicationprofile area锛�
閫氳��瀵硅薄瀛愬崗璁�鍖猴紙Communication profile area锛夊畾涔変簡鎵�鏈夊拰閫氫俊鏈夊叧鐨勫�硅薄鍙傛暟锛屽�傝〃鎵�绀猴紝鏍囩豢鑹插簳绾圭殑绱㈠紩鑼冨洿1000h to 1029h涓洪�氱敤閫氳��瀵硅薄锛屾墍鏈塁ANopen鑺傜偣閮藉繀椤诲叿澶囪繖浜涚储寮曪紝鍚﹀垯灏嗘棤娉曞姞鍏�CANopen缃戠粶銆傚叾浠栫储寮曟牴鎹�瀹為檯鎯呭喌杩涜�屽垎閰嶄笌瀹�

閫氳��瀵硅薄鍗忚��鍖�

2.3 閫氱敤閫氳��瀵硅薄锛圙eneral communicationobjects锛�
鐢变簬閫氱敤閫氳��瀵硅薄鍗佸垎閲嶈�侊紝NMT涓荤珯锛圕ANopen涓荤珯锛夊湪鍚�鍔ㄦ椂锛岄�氬父閮藉叏閮ㄦ垨鑰呴儴鍒嗚�诲彇鎵�鏈変粠绔欎腑閫氱敤閫氳��瀵硅薄涓�鐨勭储寮曪紝鎵�浠ユ墍鏈夌殑閫氱敤閫氳��瀵硅薄閮藉繀椤诲湪CANopen浠庣珯涓�瀹炵幇锛屼娇鐢ㄨ�呬篃蹇呴』鐔熺煡杩欎簺绱㈠紩鍦板潃涓庡叾鍚�涔夈�傚��

閫氱敤閫氳��瀵硅薄

2.4 鍒堕�犲晢鐗瑰畾瀛愬崗璁�锛圡anufacturer-specificProfile锛�
瀵硅薄瀛楀吀绱㈠紩2000h to 5FFFh涓哄埗閫犲晢鐗瑰畾瀛愬崗璁�锛岄�氬父鏄�瀛樻斁鎵�搴旂敤瀛愬崗璁�鐨勫簲鐢ㄦ暟鎹�銆傝�屼笂鏂囨墍鎻忚堪鐨勯�氳��瀵硅薄瀛愬崗璁�鍖猴紙Communication profile area锛夋槸瀛樻斁杩欎簺搴旂敤鏁版嵁鐨勯�氫俊鍙傛暟銆傛瘮濡傚箍宸炶嚧杩滅數瀛愮殑XGate-COP10浠庣珯妯″潡瑙勫畾浜嗭細
飦� RPDO鐨勯�氳��鍙傛暟瀛樻斁鍦�1400hto15FFh鏄犲皠鍙傛暟瀛樻斁鍦�1600hto17FFh鏁版嵁瀛樻斁涓�2000h涔嬪悗鍘傚晢鑷�瀹氫箟鍖猴紱
飦� TPDO鐨勯�氳��鍙傛暟瀛樻斁鍦�1800hto19FFh鏄犲皠鍙傛暟瀛樻斁鍦�1A00hto1BFFh鏁版嵁瀛樻斁涓�2000h涔嬪悗鍘傚晢鑷�瀹氫箟鍖恒��
鍏蜂綋璁茶В灏嗗湪鍚庨潰PDO锛堣繃绋嬫暟鎹�瀵硅薄锛夌珷鑺傝繘琛岃�︾粏鍙欒堪銆�
瀵逛簬鍦ㄨ�惧�囧瓙鍗忚��涓�鏈�瀹氫箟鐨勭壒娈婂姛鑳斤紝鍒堕�犲晢涔熷彲浠ュ湪姝ゅ尯鍩熸牴鎹�闇�姹傚畾涔夊�硅薄瀛楀吀瀵硅薄銆傚洜姝よ繖涓�鍖哄煙瀵逛簬涓嶅悓鐨勫巶鍟嗘潵璇达紝鐩稿悓鐨勫�硅薄瀛楀吀椤瑰叾瀹氫箟涓嶄竴瀹氱浉鍚屻��
2.5 鏍囧噯鍖栬�惧�囧瓙鍗忚��(Standardizedprofile area)
鏍囧噯鍖栬�惧�囧瓙鍗忚��锛屼负鍚勭�嶈�屼笟涓嶅悓绫诲瀷鐨勬爣鍑嗚�惧�囧畾涔夊�硅薄瀛楀吀涓�鐨勫�硅薄銆傜洰鍓嶅凡鏈夊崄鍑犵�嶄负涓嶅悓绫诲瀷鐨勮�惧�囧畾涔夌殑瀛愬崗璁�锛屼緥濡侱S401銆丏S402銆丏S406绛夛紝鍏剁储寮曞�艰寖鍥翠负0x6000锝�0x9FFF銆傚悓鏍凤紝杩欎釜鍖哄煙瀵逛簬涓嶅悓鐨勬爣鍑嗗寲璁惧�囧瓙鍗忚��鏉ヨ�达紝鐩稿悓鐨勫�硅薄瀛楀吀椤瑰叾瀹氫箟涓嶄竴瀹氱浉鍚屻�傝繖閮ㄥ垎鍦ㄦ湰鏂囦腑涓嶅仛鍙欒堪銆�