CANopen协议剖析及其在伺服电机控制中的实现

作者：邓遵义，宁 t 日期：2007-08-31/span> 浏览：3912 查看PDF文档

                                                CANopen协议剖析及其在伺服电机控制中的实现*
                                                                          邓遵义，宁 t
                                           （河南工业大学 机器人研究所，河南 郑州 450007）

摘 要：对CAN总线的应用层CANopen协议进行介绍，着重分析了CANopen协议的对象字典、设备模型和通讯对象等重要概念。并以伺服电机的控制为例，阐述了CANopen协议的软件实现过程。研究结果表明,CANopen协议精练、透明，便于理解，降低了驱动程序的开发难度，具有广泛的应用前景。
关键词：CAN总线；CANopen协议；伺服控制

                               Analysis of CANopen and implementation in the control of servo motor
                                                      DENG Zunyi, NING Yi
(Research Institute of Robotics, Henan University of Technology, Zhengzhou 450007, China)

Abstract: The CANopen protocol which is the application layer of CAN bus was introduced,and the object dictionary,the device modle,the communication objects,and so on were mainly analyzed.Taking the control of actuating motor for example, the process of realization for CANopen protocol was illuminated. The results of the research show that, CANopen protocol is refining, transparence, and its easy to comprehension, reduces the difficulty of drive program development, illustrates a good prospect of application and extension.
Key words: CAN bus; CANopen protocol; servo control

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