ÍâµØÊ±¼ä2025-10-19
СÎÊÌâ1CANopenÊÖÒÕÈ«¾°ÓëÓ¦ÓüÛÖµCANopenÊÇÒ»Ì×½¨ÉèÔÚCAN×ÜÏßÖ®ÉϵÄÓ¦ÓòãºÍͨѶ»úÖÆ±ê×¼£¬Î§Èƹ¤¾ß×ֵ䡢ͨѶ·þÎñ¡¢×°±¸×´Ì¬¹ÜÀíµÈÄ£¿é£¬Ìṩͳһ¡¢¿ÉÀ©Õ¹µÄ×°±¸»¥Áª¼Æ»®¡£ËüµÄ½¹µã¼ÛÖµÔÚÓÚʵÏÖ²î±ð³§ÉÌ×°±¸Ö®¼äµÄµÍ±¾Ç®»¥²Ù×÷¡¢¿ÉÔ¤¼ûµÄʵʱÐÔÒÔ¼°¼ò»¯µÄÉèÖÃÀú³Ì¡£
ͨ¹ý¹¤¾ß×Öµä½ç˵װ±¸µÄ²ÎÊý¡¢ÊäÈëÊä³ö¡¢Õï¶ÏÐÅÏ¢µÈ£¬¿ª·¢Õß¿ÉÒÔÔÚ²»ÒÀÀµÏêϸӲ¼þʵÏÖµÄÌõ¼þÏÂÍê³Éϵͳ¼¯³ÉÓë²ÎÊý»¯ÉèÖá£PDO£¨Àú³ÌÊý¾Ý¹¤¾ß£©Ìṩ¸ßЧµÄÖÜÆÚÐÔÊý¾Ý´«Ê䣬SDO£¨·þÎñÊý¾Ý¹¤¾ß£©ÔòÓÃÓÚ²ÎÊý»¯ºÍÉèÖã¬NMT£¨ÍøÂç¹ÜÀí£©ÊµÏÖ½ÚµãµÄ״̬¿ØÖÆ£¬SYNCÌṩȫ¾Öʱ¼äͬ²½£¬EMCYʵÏÖ¿ìËÙ¹ýʧת´ï£¬LSS£¨µÍËÙɥʧ·þÎñ£©Ö§³Ö¶¯Ì¬½Úµãʶ±ðÓë×°Åä¡£
ÕâÑùµÄ½á¹¹Ê¹µÃ´ÓÒÒ·½×°±¸µ½ÕûÏß¿ØÖƵĽÓÈ뱾ǮÏÔÖøÏ½µ£¬ÏµÍ³À©Õ¹¡¢Î¬»¤ÓëÉý¼¶Ò²Ô½·¢ÎÞа¡£¹ØÓÚ»úеÈË¡¢°ü×°Ïß¡¢º¸½ÓÓëͿװµÈ³¡¾°£¬CANopenÄܹ»ÔÚ²î±ð³§É̵Ä×°±¸Ö®¼ä½¨ÉèÎȹ̵ÄͨѶÇÅÁº£¬È·±£Êý¾ÝÒ»ÖÂÐԺͿØÖƼòÖ±¶¨ÐÔ¡£ÕýÒòÔÆÔÆ£¬Ô½À´Ô½¶àµÄ¹¤¿Ø¡¢ÄÜÔ´ºÍÒ½ÁÆ×°±¸ÖÆÔìÉ̽«CANopen×÷Ϊ½¹µã»¥Áª¼Æ»®£¬ÓëÏÖ³¡×ÜÏßµÄÀúÊ·ÂÄÀúÏàÍÅ½á£¬ÍÆ¶¯Êý×Ö»¯¹¤³§µÄÂ䵨¡£
СÎÊÌâ2¿ª·¢Êµ¼ùµÄõ辶ͼÔÚÏÖʵ¿ª·¢ÖУ¬µÚÒ»²½ÊÇÇåÎúµØ¾ÙÐÐÐèÇóÆÊÎöÓëOD£¨¹¤¾ß×ֵ䣩Éè¼Æ¡£Ã÷È·×°±¸ÀàÐÍ¡¢ÐèҪ̻¶µÄ²ÎÊý¡¢Õï¶ÏÐÅÏ¢ÒÔ¼°ÊµÊ±Êý¾ÝµÄ´«ÊäÁ£¶ÈÓëʱЧÐÔÒªÇó¡£µÚ¶þ²½ÊÇÑ¡ÐÍÓë¼Ü¹¹Éè¼Æ£ºÈ·¶¨CAN×ÜÏßËÙÂÊ¡¢½ÚµãIDÂþÑÜ¡¢Í¬²½ÖÜÆÚ¡¢PDOÓ³Éä¡¢SDOͨµÀÊýÄ¿£¬ÒÔ¼°ÊÇ·ñÐèÒªLSS¶¯Ì¬½Úµãʶ±ðµÈ¡£
µÚÈý²½ÊÇÕ»Óë¹Ì¼þʵÏÖ£ºÑ¡Ôñ³ÉÊìµÄCANopenÕ»£¨ÉÌÒµ»ò¿ªÔ´£©£¬ÔÚMCUÖÐʵÏÖSDO·þÎñÆ÷¡¢PDO·¢ËÍ/ÎüÊÕ¡¢NMT״̬»ú¡¢SYNC·Ö·¢µÈÂß¼£¬²¢Íê³ÉODµÄÐÎòÎļþת»»Îª¿ÉÓõĴúÂë×ÊÔ´¡£µÚËIJ½ÊǼ¯³ÉÓë²âÊÔ£º´î½¨·ÂÕæÇéÐξÙÐÐOD±ÈÕÕ²âÊÔ£¬Ê¹ÓÃʾ²¨Æ÷ºÍÂß¼ÆÊÎöÒǾÙÐÐÖ¡¼¶±ð×·×Ù£¬ÑéÖ¤PDOÓ³Éä¡¢PDOÊÂÎñ´¥·¢¡¢²ÎÊýдÈë¡¢×°±¸ÖØÆôºóµÄ»Ö¸´ÄÜÁ¦µÈ¡£
µÚÎå²½ÊÇÏÖ³¡µ÷ÊÔÓëÑéÖ¤£º¾ÙÐÐϵͳ¼¶µÄÕûÏß²âÊÔ£¬ÑéÖ¤¶à½ÚµãÐͬÊÂÇé¡¢Îó²îÈÝÈÌ¡¢¹ÊÕÏ×Ô»Ö¸´ÄÜÁ¦£¬ÒÔ¼°ÔÚ¼«¶Ë¹¤¿öϵÄÎȹÌÐÔ¡£Ò»Á¬µÄά»¤°üÀ¨OD°æ±¾¹ÜÀí¡¢¹Ì¼þÉý¼¶Õ½ÂÔ¡¢¹ýʧÕï¶ÏÄ£°åÓëÇå¾²Õ½ÂÔµÄÂäʵ¡£Í¨¹ýÕâÌõÇåÎúµÄõè¾¶£¬¿ª·¢ÍŶÓÄܹ»°ÑÖØ´óµÄCANopenϵͳ´ÓÐèÇóµ½Â䵨¸ßЧµØ¿ØÖÆÔÚÒ»¸ö¿ÉÔ¤¼ûµÄ¿ª·¢ÖÜÆÚÄÚ¡£
СÎÊÌâ3½¹µã¹¦Ð§Ïê½âÆðÔ´¶Ô³õ¼¶¿ª·¢ÕßÀ´Ëµ£¬ÕÆÎÕCANopenµÄ½¹µã¹¦Ð§ÊÇ¿ìËÙÂ䵨µÄÒªº¦¡£SDOÓÃÓÚ×°±¸²ÎÊýµÄ¶Áд£¬ODÖеŤ¾ß×Öµä¾öÒéÁ˲ÎÊýÖֱ𡢵¥Î»ºÍÊý¾ÝÀàÐÍ£¬¿ª·¢Õßͨ¹ýSDOʵÏÖ²ÎÊýµÄÉèÖÃÓëÕï¶Ï¶Áд¡£PDOÔòÊǸßÍÌÍÂÁ¿µÄÀú³ÌÊý¾Ý´«ÊäͨµÀ£¬Ó³Éä±í¾öÒéÄÄЩ²ÎÊýËæÊý¾ÝÖ¡´«Ê䣬ȷ±£Éú²úÏÖ³¡µÄʵʱ¿ØÖƲ»±»ÈßÓàÐÅÏ¢ÍÏÀÛ¡£
SYNCÌṩȫ¾Ö´¥·¢µã£¬×ÊÖúе÷¸÷½ÚµãµÄ²ÉÑùʱÐò£¬½µµÍÊý¾Ý´íÅĸÅÂÊ¡£NMTÈÏÕæ½Úµã״̬¹ÜÀí£¬È·±£Ð½ڵã½ÓÈë¡¢ÖØÆô¡¢¸´Î»Ê±µÄϵͳÎȹÌÐÔ¡£EMCYÐÂÎÅÓÃÓÚ¹ýʧ¿ìËÙת´ï£¬±ãÓÚÔËάְԱÔÚÒ쳣ʱ¿Ì¿ìËÙ¶¨Î»²¢ÏìÓ¦¡£LSSʹµÃ¶¯Ì¬½ÚµãID·ÖÅɺÍ×°±¸×°Åä¸üÎÞа£¬ÌØÊâÊʺϿìËÙ°²ÅŵÄÉú²úÏß¡£
ÒÔÉϹ¦Ð§ÔõÑù×éºÏ£¬½«¾öÒéϵͳµÄʵʱÐÔ¡¢Â³°ôÐÔÓëÀ©Õ¹ÐÔ¡£Ò»¸ö³ÉÊìµÄCANopenʵÏÖ£¬ÍùÍùÔÚODÉè¼Æ¡¢Ó³ÉäÕ½ÂÔ¡¢¹ýʧ´¦Öóͷ£ºÍÇå¾²ÐÔ·½ÃæµÖ´ïÒ»¸öƽºâµã£¬Ê¹µÃϵͳ²»µ«ÄÜÖª×ãÄ¿½ñÐèÇ󣬻¹ÄÜÔÚδÀ´µÄÀ©Õ¹Öмá³Ö¸ßЧµü´ú¡£
СÎÊÌâ1ÐÐÒµ½â¾ö¼Æ»®ÓëÂ䵨ÔÚ¹¤Òµ×Ô¶¯»¯ÁìÓò£¬CANopenͨ¹ý±ê×¼»¯¹¤¾ß×ÖµäºÍ¸ßЧµÄPDOͨѶ£¬Ö§³Ö´Óµ¥»ú¿ØÖƵ½ÂþÑÜʽ¿ØÖƵÄÈ«Á´Â·»¥Áª¡£¹ØÓÚÖÇÄÜÖÆÔì¡¢»úеÈË¡¢°ü×°¡¢Í¿×°µÈ³¡¾°£¬Ê¹ÓÃCANopen¿ÉÒÔʵÏÖ×°±¸Ö®¼äµÄ¿ìËÙ¶Ô½ÓºÍͳһÕï¶Ï£¬ÏÔÖøËõ¶ÌÕûÏßµ÷ÊÔʱ¼ä£¬½µµÍ¿ç³§É̼¯³ÉÄѶȡ£
ÔÚÄÜÔ´Ó뽻ͨÁìÓò£¬CANopenµÄÇéÐγ°ôÐÔºÍÈ·¶¨ÐÔÌØÕ÷£¬Ê¹µÃ¼à¿Ø×°±¸¡¢±äƵÆ÷¡¢´«¸ÐÆ÷ƽÊèÉ¢×°±¸Äܹ»¸ßЧÐͬÊÂÇ飬ÌáÉýϵͳµÄ¿É¿¿ÐÔÓëά»¤ÐÔ¡£Ò½ÁÆ×°±¸Í¬ÑùÄÜ´ÓCANopenµÄ¸ß¿É¿¿ÐԺͲÎÊý»¯¹ÜÀíÖлñÒæ£¬ÓÈÆäÊÇÔÚÐèÒª¶ą̀װ±¸²¢ÐÐÐ×÷µÄ³¡¾°¡£ÊµÑéÂ䵨ÍùÍùÐèÒªÒ»¸öÇåÎúµÄÉú̬ÍýÏ룺ÏȽç˵ͳһµÄODÄ£°åºÍ×°±¸ÀàÐÍ¿â£¬ËæºóÑ¡ÔñÇкÏÐèÇóµÄCANopenÕ»Ó빤¾ßÁ´£¬¾ÙÐвÎÊý»¯ÉèÖᢲâÊÔÓëÑéÊÕ£»×îºó̫ͨ¹ý½×¶ÎµÄÉÏÏߺÍά»¤ÍýÏ룬ȷ±£ÉÏÏߺóµÄ¿ÉÊÓ²ìÐÔ¡¢¿Éά»¤ÐԺͿÉÀ©Õ¹ÐÔ¡£
¿çÐÐÒµµÄ¹²ÐÔÔÚÓÚͨ¹ý±ê×¼»¯½Ó¿Ú½«²î±ð³§ÉÌ×°±¸´®ÁªÆðÀ´£¬Í¬Ê±Í¨¹ýÇå¾²Õ½ÂÔºÍÕï¶ÏϵͳʵÏÖÎȹÌÔËÐС£
СÎÊÌâ2ʵսҪµãÓëÐÔÄÜÓÅ»¯ÊµÕ½ÖУ¬ÍøÂçÍýÏëÊǵÚÒ»ÒªÎñ¡£ÐèÒªÔÚϵͳ¼¶²ãÃæÆÀ¹À×ÜÏ߸ºÔØ¡¢PDO·¢ËÍÖÜÆÚ¡¢OD¹¤¾ßÊýÄ¿ÒÔ¼°Í¬²½Á£¶È£¬×èÖ¹×ÜÏßÓµÈûÓëʱÐòÅÓÔÓ¡£ÊµÏÖÖÐÓ¦½«PDOÓ³Éä×îС»¯ÔÔòÂ䵽ʵ´¦£º½ö½«¸ßƵ¡¢¶Ô¿ØÖÆÖÁ¹ØÖ÷ÒªµÄ±äÁ¿·ÅÈëPDO£¬ÆäËû²ÎÊýͨ¹ýSDO¾ÙÐÐÉèÖûòÕï¶Ï»á¼û¡£
SDOͨµÀÊýĿҪÓë×°±¸ÄÜÁ¦ºÍµ÷ÊÔÐèÇóÏàÆ¥Å䣬×èֹ̫¹ýµÄ¿ªÏú¡£¹ýʧ´¦Öóͷ£·½Ã棬EMCYÓëNMTµÄÉè¼ÆÓ¦¾ß±¸¿ìËÙ¶¨Î»ºÍ×ÔÐÞ¸´ÄÜÁ¦£¬Òì³£´¥·¢ºóµÄÉϱ¨ºÍÓ°ÏóÓ¦¿É×·ËÝ¡£Ó²¼þ²ãÃæ£¬ÓÅÒìµÄCANÊÕÀÄõüÉè¼Æ¡¢²î·ÖÐźÅÍêÕûÐԺ͵çÔ´ÎȹÌÐÔÊÇÌõ¼þ£»ÔÚÈí¼þ²ãÃæ£¬Ó¦ÓòãµÄʱ¼ä´Á¡¢×¼È·µ÷ÀíºÍwatchdog»úÖÆ²»¿É»òȱ¡£
µ÷ÊÔ¹¤¾ßµÄʹÓÃÒ²ÊÇÌáÉýЧÂʵÄÒªº¦£ºÍ¨¹ýCANÆÊÎöÒǾÙÐÐÖ¡¼¶±ðÆÊÎö¡¢Í¨¹ýODÐÎòÎļþ¾ÙÐÐ×Ô¶¯»¯²âÊÔ¡¢Í¨¹ý·ÂÕæÇéÐÎÓëÕæÊµ×°±¸²¢ÐÐÑéÖ¤¡£Çå¾²ÐÔ²»¿ÉºöÊÓ£ºÒýÈë»á¼û¿ØÖÆ¡¢¹Ì¼þÊðÃûÓë¸üÐÂÁ÷³Ì¡¢ÍøÂç·Ö¶ÎºÍ¼à¿ØËß¾¯£¬ÒÔÓ¦¶ÔDZÔÚµÄÍøÂç¹¥»÷Σº¦¡£Í¨¹ýÒÔÉÏÒªµãµÄÖð²½Â䵨£¬¿ÉÒÔÔÚ°ü¹ÜϵͳÎȹÌÐÔµÄͬʱʵÏÖ¿ìËÙÀ©Õ¹Óëµü´ú¡£
СÎÊÌâ3δÀ´Ç÷ÊÆÓëÉú̬ÐͬCANopenµÄδÀ´Õý³¯×Ÿü¸ßµÄ×ÜÏßÎÞаÐÔÓë¸üϸÃܵÄÐÐÒµÐͬÉú³¤¡£CANFD´øÀ´µÄ¸ü¸ßÊý¾ÝÈÝÁ¿£¬Îª¸ßʱЧµÄÊý¾Ý´«ÊäÌṩÁË¿ÉÄÜÐÔ£»ÔÚ±ßÑØÅÌËãÓëÔÆ¶ËÐ×÷³¡¾°ÖУ¬CANopen¿ÉÒÔͨ¹ýÍø¹ØÊµÏÖ×°±¸¶ËµÄÍâµØ¿ØÖÆÓëÔÆ¶ËµÄÔ¶³Ì¼à¿ØµÄÐͬ£¬ÌáÉýÔËάЧÂÊ¡£
Çå¾²ÐÔ³ÉΪн¹µã£¬¶Ëµ½¶ËµÄÈÏÖ¤¡¢¹Ì¼þ¸üÐÂÇå¾²¡¢ÒÔ¼°¶ÔÕï¶ÏÊý¾ÝÒþ˽µÄÑÚ»¤¶¼ÐèÒªÔÚÉè¼ÆÖ®³õ¾Í˼Á¿¡£±ê×¼»¯µÄÔÙÉý¼¶Ò²ÔÚÍÆ½ø£º¶Ô×°±¸ÀàÐÍ¡¢¹¤¾ß×ÖµäµÄÀ©Õ¹¡¢Õï¶ÏÐÅÏ¢µÄ½á¹¹»¯£¬ÒÔ¼°¿çÓòÊý¾ÝµÄͳһ½Ó¿Ú½«Íƶ¯ÐÐÒµ¼äµÄ»¥²Ù×÷ÐÔ¸üÇ¿¡£Éú̬²ãÃæ£¬¿ªÔ´ÓëÉÌÓÃÕ»µÄÍŽὫ³ÉΪÖ÷Á÷Ç÷ÊÆ£¬ÆóÒµ¿Éƾ֤±¾Ç®¡¢Ö§³ÖÓë¶¨ÖÆ»¯ÐèÇóÔÚÁ½ÕßÖ®¼ä¾ÙÐÐȨºâ¡£
ÅàѵºÍÈÏ֤ϵͳµÄ½¨É裬Ҳ½«×ÊÖúÆóÒµ¿ìËÙÌáÉýÍŶӵÄCANopenÓ¦ÓÃÄÜÁ¦¡£Ëæ×Ź¤Òµ»¥ÁªÍø¡¢ÖÇÄÜÖÆÔìºÍÒ½ÁÆ×°±¸¶Ô¿É¿¿»¥ÁªµÄÒ»Á¬×·Çó£¬CANopen½«ÒÔ¸üÍêÉÆµÄ¹¤¾ßÁ´¡¢¸üÎÞаµÄÊÊÅ伯»®ºÍ¸üÇ¿µÄ¿çÐÐÒµÐͬÄÜÁ¦£¬¼ÌÐøÔÚ¶àÐÐÒµ³¡¾°ÖÐÊÎÑÝÒªº¦½ÇÉ«¡£ÈôÄܰÑÒÔÉÏÔÔò¹á´®ÔÚÐèÇóÆÊÎö¡¢ODMÉè¼Æ¡¢ÊµÏÖºÍÔËάµÄÿһ¸ö»·½Ú£¬CANopen²»µ«ÊÇÒ»ÖÖͨѶÐÒ飬¸ü³ÉΪʵÏÖÊý×Ö»¯¹¤³§ºÍÖÇÄÜ×°±¸Éú̬µÄÖ÷ÒªÖ§³Ö¡£
ÍøÖ·ÑÓ½¹É·Ý£¨300658£©2025ÄêÖб¨¼òÎö£ºÔöÊÕ²»ÔöÀû£¬Ó¦ÊÕÕË¿îÉÏÉý