简明CANopen协议.docVIP

简明CANOpen协议 090120 I CANOpen的协议版本 常用标准分2种 DS301 communications profile The DS 301 communications profile forms the interface between device profiles and CAN bus. It was specified in 1995 under the name DS 301 and defines unified standards for common data exchange between different device types under CANopen. The communications profile objects in the device carry out the tasks of data and parameter exchange with other network devices and initialise, control and monitor the device in the network. DSP 402 device profile The DSP 402 device profile describes standardised objects for positioning, monitoring and settings of drives. The tasks of the objects are: ? Device control and status monitoring (Device Control) ? Standardised parameter setting ? Switching, verification and execution of operating modes II Object directory的概念 Device的所有信息都存在Object directory中，通过16bit Index 和 8bit subindex 寻址要访问的信息。 Object directory看起来像这样： Index 和 subindex 看起来像这样： Index相当于是个目录，subindex是内容 Directory中的几个重要的参数： PDO的参数（后文会解释何为PDO） 每一个PDO parameter的Subindex 01h 是PDO enable设置和PDO COB-ID修改。Subindex 02h 是Transmission Type。 Subindex 1 的格式： 比如R_PDO1的COB-ID默认为200h + node-Id ，可以对index 1400h subnidex1进行修改，使之变为其它值。 Subindex2即Transmission Type用来设置PDO是cyclic还是acyclic。 PDO发的是什么？即PDO在object directory中的指向 – PDO mapping 例如BK51x0的index1600默认值如下： 即默认R_PDO1 receive的是1st output block, 2nd output block… III communication objects The communications objects are standardised with the DS301 CANopen communications profile. The objects can be classified into four groups according to their tasks. 通讯的桢格式是这样的： 其中COB-ID是这样的 各种communication objects的COB-ID默认如下： Node address Every network device is configured before network operation. It is given a unique, 7-bit-long node address (node-Id) between 1 (01h) and 127(7Fh). The device address 0 is reserved for broadcast transmissions, which are used to send the messages to all devices simultaneously. 下面分别介绍4种communication object： SDO SDO用来访问和修改object directory中的参数。The data exchang