基于CANopen的工业机器人控制系统设计.pdfVIP

2011 1 # 4 # CANopen 薛正卿, 王 坚, 郭崇滨, 赵 阳 (东华大学, 上海 201600) : 针对工业机器人的结构和控制性能的 求, 文章设计并实现了基于 CANopen 协议的机器人控制系统首先介绍了控制 器局域网络 ( CAN)的高层协议 CANopen, 以 PCC( Programm able Computer Controller)作为控制系统的核心, 用 CANopen来实现 PCC 和伺服驱动器之间的通信; 文章着重介绍了 CANopen的通信方式控制系统的整体结构以及软件系统的设计实现在实践应用中, 该技术具有广阔的推广应用前景 : CANopen; 工业机器人; 控制系统; 可编程计算机控制器 : TP242 : A : 1006- 2394( 2011) 01- 004 - 02 The Control System Design of IndustrialRobots Based on CANopen XUE Zheng-qing, WANG Jian, GUO Chong-bin, ZHAO Y ang ( DonghuaUn iversity, Shanghai 201600, Ch ina) Abstract: A mi ed at industrial robot structure and requ irements for control perform ance, the robot control system is designed based on CANopen. In th is system, PCC( Programmable Computer Controller) is taken as the core of the con- trol system, throughw hich the communication is realized betw een PCC and servo drivers. In this paper, it emphasizes on the commun ication mode of CANopen, the whole structure of the control system and realization of the softw are sys- tem. It illustrates a good prospect of app lication and extension. K ey words: CAN open; industrial robot; control system; PCC A reaN etwork, CAN) , , , CAN openOSI( , )CANopen , , CAN open, , CAN open( OD: Object D ictionary), ( Profibus, Interbus- , S) , 1. 1 CAN open CAN open 4, : SDO 3 ( 3 - DOF) ()PDO ()NMT ( , ) M 1, M2 1. 2 CAN