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Research of Software Way for Canopen-protocol’s Realization and Implantation in Servo System

Author: LiuSiJie
Tutor: LiYeSong
School: Huazhong University of Science and Technology
Course: Control Theory and Control Engineering
Keywords: Distributed servo system CANopen protocol Software implanted
CLC: TP273
Type: Master's thesis
Year: 2011
Downloads: 73
Quote: 1
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Abstract


In recent years, with the development of micro-electronics technology , computer technology , the servo system to improve control accuracy at the same time , but also to control the direction of the network development . The distributed servo system as a common motion control system , the actual industrial production line , CNC machine tools and robot products are widely applied . The paper first describes the overview of the development of distributed AC servo system , the implementation of the network control of AC servo system analysis . CAN bus application layer protocol CANopen network protocols , implementations of the software implanted join the CANopen protocol module in the framework of the real-time control system software . CANopen protocol for the the software implant program requirements , in-depth analysis of the main issues that need to be addressed to achieve the program parameters of the software structure and program flow control , based on the actual hardware and software platform , designed the protocol embedded software module. The original hardware platform , the first use of the the TMS320F2812 type DSP CAN bus module , the part of the mailbox management functions to achieve the CAN packet classification processing , and use of synchronous and asynchronous transceiver function to complete the implantation of the CANopen communication protocol stack ; then combined with the structure of the parameters of the original drive , using efficient data storage object dictionary structure and indexing algorithm , in the the avoid parameter ambiguity premise CANopen object dictionary ; Finally, the original drive control program , combined CANopen communication agreement and object Dictionary CANopen motion control sub- agreements DS 402. PC and PCI expansion card hardware platforms , programming to achieve a simple CANopen master functionality under Windows , from the experimental station . Experimental results show that the correct slave CANopen protocol .

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CLC: > Industrial Technology > Automation technology,computer technology > Automation technology and equipment > Automation systems > Automatic control,automatic control system
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