CANopen??瓒?绾垮?????璐光????涔???瑙ｏ???璁??????寮?婧?杞?欢涓??荤嚎瓒??胯???

??canopen瓒?绾垮?????璐光??骞朵???ANopen????涓????哄????锛?涔?涓??戒??????涓??纭??瀛??ㄤ?涓???涓衡??CANopen瓒?绾库????瀹??瑰??璐硅蒋浠躲??瀹??村???芥??骇????绉般???ㄥ箍??棰???杈??ユ??璇??????????CANopen?????荤嚎瓒??库???????璧?????????璐圭????绛?涓???姒?蹇垫贩?ㄤ?涓?璧枫??

CANopen??韩???濂??轰?CAN?荤嚎??搴??ㄥ???淇″??璁??甯歌?浜?浼烘??椹卞?ㄥ?ㄣ???у?跺?ㄣ??浼????ㄥ??宸ヤ????ㄥ??璁惧?????姝ｉ??瑕??ユ?剧????瀹归??甯告??ANopen??璁??????寮?婧???璁?????璁惧???缃?伐?枫???荤嚎璋?璇?杞?欢锛??????藉?杩???SB-CAN?????ㄧ??搴??????涓????涓??缁?????瓒?绾垮?????璐圭??????

??瓒?绾库?????藉?搴???涓ょ?????

濡?????瓒?绾库??????涓?蒋浠舵??搴??ㄥ??绉?/h3>

????涓??芥????canopen瓒?绾垮?????璐光???存?ュ?浣?瀹??逛骇?????????版??璋???璐圭??锛????稿?寮???????绉般??杞?欢????绉般??????????浣?绯荤???CAN?ュ?ｇ被??浠ュ?????︽??纭?????CANopen??????????CAN宸ュ?封??????CAN?荤嚎?╂??????杞?欢锛????藉???芥?跺????濮?CAN甯э?骞朵??峰?瀵硅薄瀛??搞??SDO??PDO??NMT??蹇?璺崇???у???姐??

濡?????绱㈢???????????搴????杩?瑕?娉ㄦ?????洪??甯告病????缃?AN?跺???ㄣ??搴??ㄥ?椤婚??杩?USB-CAN??????CAN???朵?缃??虫?ュ?ュ????荤嚎锛????虹?杞?欢??璐瑰苟涓?浠ｈ〃?????ㄣ??椹卞?ㄣ????璁???????涓?????涔???璐广??娌℃??纭?欢杩??ユ?讹?瀹???搴??ㄤ??????界?ㄤ??ョ??绀轰??版????绂荤嚎??????

濡?????瓒?绾库??????CANopen?荤嚎?垮害瓒?杩?????/h3>

杩?灞?浜?CANopen甯?绾垮????淇＄ǔ瀹??ч???锛?涓????????璐圭????娌℃???崇郴???荤嚎??璁搁?垮害浼????版尝?圭????绾跨??绘???????规?伴?????????垮害???跺???ㄦ?ц?藉???板?哄共?板奖??????甯告尝?圭??瓒?楂?锛???璁哥??涓诲共绾块?垮害瓒????????嚎杩??裤?????ㄦ??褰㈠?绾挎??缂哄?涓ょ?缁?绔??甸?伙??藉???介????淇″?峰??灏?????璇?抚澧?澶??????规??绾裤??

CANopen缃?缁???甯歌?姹?CAN_H??CAN_L??瑙???杩??ワ?涓诲共绾夸袱绔??缃???????缁?绔??甸?伙?甯歌??间负120惟锛?骞惰????????逛娇?ㄧ?稿????娉㈢?圭????涓??藉???????寮?????璐瑰???拌〃???ゆ?????﹁?绾匡?搴?缁???璁惧???????绾跨?瑙??煎???板?烘?璇?缁???纭????

????璐光????甯稿??璐圭????????ㄥ??

??姝わ??????????〃绀鸿?????杞?欢?藉?琚??峰??锛?涓?绛?浜???互浠绘??澶??躲??淇??规???ㄤ???涓?椤圭???????璐光??涔????藉??????璐硅??ㄣ?????藉??????涓?汉????涓?浣跨?ㄣ????澶???宸ュ?风?ㄤ???浜ц?澶??讹?搴?浼????ョ??璁稿?????????????璇存????

?冲??璐规??缓CANopen娴?璇????锛???互杩??峰??

• ??纭??娴?璇???????濡????????涔???璁?????规????瑙?DS??浠躲??瀵硅薄瀛??搞??SDO璇诲????PDO??灏???NMT?舵????蹇?璺虫?哄?讹?濡???瑕?璋?璇???瀹?璁惧?锛?杩???瑕???????CAN?ュ?ｅ??璁惧???????
• ??澶??╃??杩??ャ??浣跨?ㄦ????CAN??USB?????ㄦ???朵??ュ?ｏ?灏?CAN_H??CAN_L???????版?纭???ャ???荤嚎涓ょ???缃??绔??甸?伙??垮????澶?涓????圭?存?ユ?ユ??涓????х????褰㈢?????
• ???╄蒋浠跺???Linux?????互浣跨??ocketCAN?????虹?CAN宸ュ?凤?Python椤圭????互??ython-can璁块??AN?ュ?ｏ?浣?瀹?涓昏?璐?璐?AN甯ф?跺??锛?涓?绛?浜?瀹??寸??CANopen涓荤?????瑕???璁????讹?????瀵?CANopenNode绛?寮?婧?瀹??帮?骞跺??纭??璁稿??????︽弧瓒抽」???姹???
• 瀵煎?ヨ?澶???杩般??浠?璁惧??堕?????峰??瀵瑰???EDS??璁惧???缃???浠讹??稿?????D??娉㈢?圭????瀵硅薄瀛??哥储寮???PDO???般??涓???璁惧???EDS涓??介????娣风?ㄣ??
• 浠??????浣?寮?濮?????纭?????硅?藉?杩??ラ???浣??舵??锛?璇诲??璁惧?绫诲??????璇??瀛??ㄦ??韬?唤淇℃?????瑙?瀵?蹇?璺冲??SDO??搴???涓?瑕??ㄤ?浜?瑙ｅ????????典??归?????ュ???帮?灏ゅ?舵???垫?烘?у?躲????浣???????澶?浣??稿?冲?璞°??
• ??椤规???ラ??淇″?甯搞??濡???娌℃????搴?锛?渚?娆℃??ヤ??点??CAN_H涓?CAN_L?ョ嚎??娉㈢?圭????????D??缁?绔??甸?汇??椹卞?ㄧ?搴???EDS??缃????涓?????璁ゅ?杞?欢??涓?????璐圭??????????????煎?????

杈ㄥ????璋???璐圭?????﹀????

??绱㈠?板??绉板???????????璐光????姘镐???璐光??????瀹???????????浠舵?讹?涓?瑕???????棰??????????ゆ????冲?????互涓???椤癸?

• 寮?????韬?唤???????褰???杞?欢???借??????︽?妤?锛????︽??纭????烘????CANopen锛???涓???????????濮?CAN??
• 瀹?瑁????ユ????﹁?戒?寮???????甯?淇℃???搴?锛?搴??ㄦ???︾储瑕?涓?CAN??淇℃???崇????璁??????俊??????纰???楂???????
• ???﹁?????????CAN?????ㄥ???枫??杩??ユ?瑰?????浣?绯荤???????娉㈢?圭?????淬??
• ??璋???璐瑰???芥???﹀????DO??PDO??NMT????璇????э?杩??????芥??寮????㈡???ョ??婕?绀烘?版????
• 璁稿??????﹀??璁稿?涔???淇??广??浜?娆″????????涓?浣跨?ㄣ??涓?杞藉??璐逛???????璐规??袱浠朵???

灏ゅ?朵?寤鸿?瀹?瑁??ュ??涓?????淇??圭?????磋В????宸ヤ???淇¤蒋浠舵???璁惧????板???板?虹?缁?锛??舵??绋?搴?????璇?┍?ㄦ??涓?瀹??村??璁????藉???藉??磋?澶?璇??ㄤ????版????叉??璋?璇?缁???澶辩????

????瀹???姹????版??绱㈡?村????惧?扮???

濡??????????涔?CANopen锛???互?寸???CANopen瀵硅薄瀛??搞??SDO涓?PDO??NMT?舵????EDS绀轰???寮?婧?CANopen??璁?????绛??蜂???瀹规?ユ?撅?濡??????????璇?璁惧?锛?搴???绱㈣?澶??????????枫??EDS??浠跺??瀵瑰???缃?伐?凤?濡?????瑕????鸿??ワ???搴????剁‘璁も??瀹???绯荤???USB-CAN??????CAN?????ㄣ??CANopen涓荤????解??杩???涓??′欢??

濡???浣?璇寸????瓒?绾库??瀹??????荤嚎?垮害???锛???绱㈡?瑰??搴??逛负??CANopen?荤嚎?垮害涓?娉㈢?圭??????CANopen缁?绔??甸?烩????CAN?荤嚎????嚎杩??挎???モ????杩??峰??扮??璧???浼?姣?瀵绘?句?涓???娉?纭????绉扮??????璐圭?????村??纭????讳??ヨ?锛?canopen瓒?绾垮?????璐?/strong>涓????涓???互?存?ヤ?杞芥???存?ュ??ㄧ????????绉帮???纭????瓒?绾库?????蜂????锛????规??蒋浠躲????璁???????╃??甯?绾块??????????锛????芥?惧?扮??姝ｅ???ㄤ???瑙?????璐硅?婧???