伺服驱动器CANopen接口设计

发布时间：2018-05-29 23:25

本文选题：伺服驱动器 + 分布式控制系统　；参考：《电机与控制应用》2014年05期

【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。
[Abstract]:With the rapid development of distributed control systems such as all kinds of automatic production lines, robots and other distributed control systems, servo drivers with keystroke setting and given position of digital pulse transmission can no longer meet the requirements of intelligent and networked servo drive system. Servo driver network interface came into being. The CANopen protocol and its driver and motion control sub-protocol DS402 are analyzed emphatically. The scheme of adding CANopen slave station function to the original driver and realizing CANopen protocol stack by software are proposed. The implementation process of hardware and software of CANopen interface is given. The experimental results show that the hardware and software design scheme of the CANopen interface is feasible for the driver to correctly execute the master station instruction and return the status information.
【作者单位】：上海交通大学电气工程系;
【分类号】：TP334.7

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