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CANopen優(yōu)點及參考例程

為什么選用CANopen？

可支持多軸 CANopen最多支持控制127個軸，且通訊速率可高達1Mbps。 CANopen總線對數(shù)據(jù)通信數(shù)據(jù)塊進行編碼的方式，可以多主方式（Multi-master）, 采用可靠的錯誤處理和檢錯機制，其協(xié)議包含了系統(tǒng)的，專業(yè)的工業(yè)用設(shè)備子協(xié)議，是專門為工業(yè)控制而發(fā)展的總線協(xié)議。符合工業(yè)控制所要求的高速，穩(wěn)定可靠，高實時性要求。 布線簡單 用傳統(tǒng)脈沖方向或模擬量來驅(qū)動一個直角坐標(biāo)機構(gòu)至少需要連接4根線或者更多，CANopen方案布線簡單，所有軸并聯(lián)接入CAN_H和CAN_L信號即可。減少布線，更少出錯，減少布線成本，人工成本，后期電纜老化或故障的維護成本，以及由于復(fù)雜的線路故障帶來的不可估量的損失。如下一些參考例程，供參考

位置表模式（Profile Position Mode）

**** 電機使能 – CiA 402協(xié)議下 **** $0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on $0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on $0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled **** 設(shè)置到位置表模式 **** $0603 $8 $2F $60 $60 $00 $01 $00 $00 $00 ‘Set to Profile Position Mode **** 設(shè)置運動參數(shù) **** $0603 $8 $23 $81 $60 $00 $F0 $00 $00 $00 ‘Set Profile Velocity to 1 rps $0603 $8 $23 $83 $60 $00 $58 $02 $00 $00 ‘Set Acceleration to 100 rps/s $0603 $8 $23 $84 $60 $00 $58 $02 $00 $00 ‘Set Deceleration to 100 rps/s 點對點絕對運動 $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps $0603 $8 $2B $40 $60 $00 $1F $00 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Clear New Set Point Bit 點對點相對運動 $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps $0603 $8 $2B $40 $60 $00 $5F $00 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $4F $00 $00 $00 ‘Clear New Set Point Bit 多點運動，點與點間有停止動作 $0603 $8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Profile Velocity to 5 rps $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps $0603 $8 $2B $40 $60 $00 $5F $00 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $4F $00 $00 $00 ‘Clear New Set Point Bit $0603 $8 $23 $81 $60 $00 $60 $09 $00 $00 ‘Set Profile Velocity to 10 rps $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 600000 steps $0603 $8 $2B $40 $60 $00 $5F $00 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $4F $00 $00 $00 ‘Clear New Set Point Bit 多點運動，持續(xù)動作 $0603 $8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Profile Velocity to 5 rps $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps $0603 $8 $2B $40 $60 $00 $5F $02 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $4F $02 $00 $00 ‘Clear New Set Point Bit $0603 $8 $23 $81 $60 $00 $60 $09 $00 $00 ‘Set Profile Velocity to 10 rps $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 600000 steps $0603 $8 $2B $40 $60 $00 $5F $02 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $4F $02 $00 $00 ‘Clear New Set Point Bit 多點運動，動作間有條件變化 $0603 $8 $23 $81 $60 $00 $B0 $04 $00 $00 ‘Set Profile Velocity to 5 rps $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 200000 steps $0603 $8 $2B $40 $60 $00 $7F $02 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $6F $02 $00 $00 ‘Clear New Set Point Bit $0603 $8 $23 $81 $60 $00 $60 $09 $00 $00 ‘Set Profile Velocity to 10 rps $0603 $8 $23 $7A $60 $00 $40 $0D $03 $00 ‘Set Target Position to 600000 steps $0603 $8 $2B $40 $60 $00 $7F $02 $00 $00 ‘Set New Set Point Bit to 1 $0603 $8 $2B $40 $60 $00 $6F $02 $00 $00 ‘Clear New Set Point Bit

速度表模式（Profile Velocity Mode）

**** 電機使能 – CiA 402協(xié)議下 **** $0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on $0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on $0603 $8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Operation Enabled; Motion Halted **** 設(shè)置到速度表模式 **** $0603 $8 $2F $60 $60 $00 $03 $00 $00 $00 ‘Set to Profile Velocity Mode **** 設(shè)置運動參數(shù) **** $0603 $8 $23 $FF $60 $00 $F0 $00 $00 $00 ‘Set Target Velocity to 1 rps $0603 $8 $23 $83 $60 $00 $58 $02 $00 $00 ‘Set Acceleration to 100 rps/s $0603 $8 $23 $84 $60 $00 $58 $02 $00 $00 ‘Set Deceleration to 100 rps/s **** 開始/停止動作 **** $0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Motion Starts $0603 $8 $23 $FF $60 $00 $60 $09 $00 $00 ‘Change Target Velocity to 10 rps $0603 $8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Motion Halts

回原點模式（Homing Mode）

**** 電機使能 – CiA 402協(xié)議下 **** $0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on $0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on $0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled **** 設(shè)置到回原點模式 **** $0603 $8 $2F $60 $60 $00 $06 $00 $00 $00 ‘Set to Homing Mode $0603 $8 $2F $98 $60 $00 $13 $00 $00 $00 ‘Set Homing Method to 19 **** 設(shè)置運動參數(shù) **** $0603 $8 $23 $9A $60 $00 $58 $02 $00 $00 ‘Set Homing Acceleration to 100rps/s $0603 $8 $23 $99 $60 $01 $F0 $00 $00 $00 ‘Set Homing Velocity (Search for Switch) to 1rps $0603 $8 $23 $99 $60 $02 $78 $00 $00 $00 ‘Set Index Velocity (Search for Index or Zero) to 0.5rps $0603 $8 $23 $7C $60 $00 $40 $9C $00 $00 ‘Set Homing Offset to 40000 Steps $0603 $8 $2F $01 $70 $00 $03 $00 $00 $00 ‘Set Homing Switch to Input 3 **** 開始/停止回原點 **** $0603 $8 $2B $40 $60 $00 $1F $00 $00 $00 ‘Homing Starts $0603 $8 $2B $40 $60 $00 $1F $01 $00 $00 ‘Homing Stops

通用Q程序（Normal Q Mode）

**** 電機使能 – CiA 402協(xié)議下 **** $0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on $0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on $0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled **** 設(shè)置到Q編程 **** $0603 $8 $2F $60 $60 $00 $FF $00 $00 $00 ‘Set to Normal Q Mode $0603 $8 $2F $07 $70 $00 $01 $00 $00 $00 ‘Set Q Segment Number to 1 **** 開始/停止 Q編程 **** $0603 $8 $2B $40 $60 $00 $1F $00 $00 $00 ‘Q Program Starts $0603 $8 $2B $40 $60 $00 $1F $01 $00 $00 ‘Q Program Halts

同步Q程序（Sync Q Mode）

**** 電機使能 – CiA 402協(xié)議下 **** $0603 $8 $2B $40 $60 $00 $06 $00 $00 $00 ‘Ready to Switch on $0603 $8 $2B $40 $60 $00 $07 $00 $00 $00 ‘Switched on $0603 $8 $2B $40 $60 $00 $0F $00 $00 $00 ‘Operation Enabled **** 設(shè)置到同步Q程序 **** $0603 $8 $2F $60 $60 $00 $FE $00 $00 $00 ‘Set to Sync Q Mode $0603 $8 $2F $07 $70 $00 $01 $00 $00 $00 ‘Set Q Segment Number to 1 $0603 $8 $23 $05 $10 $00 $80 $00 $00 $00 ‘Set Sync Pulse to 0x80 **** 開始/停止 Q編程 **** $80 $0 ‘Q Program Starts $0603 $8 $2B $40 $60 $00 $0F $01 $00 $00 ‘Q Program Halts

PDO映射（PDO Mapping）

**** 映射TPDO2 **** $0000 $2 $80 $03 ‘Return back to “PreOperation” Mode $0603 $8 $23 $01 $18 $01 $80 $02 $00 $80 ‘Turn off the TPDO2 $0603 $8 $2F $01 $1A $00 $00 $00 $00 $00 ‘Set Number of Mapped objects to zero $0603 $8 $23 $01 $1A $01 $10 $00 $41 $61 ‘Map object1(0x6041) to TPDO2 subindex1. $0603 $8 $23 $01 $1A $02 $20 $00 $0A $70 ‘Map object2(0x700A) to TPDO2 subindex2. $0603 $8 $2F $01 $1A $00 $02 $00 $00 $00 ‘Set Number of total Mapped objects to Two $0603 $8 $23 $01 $18 $01 $80 $02 $00 $00 ‘Turn on the TPDO2