本文对 CAN的高层协议CANopen进行了阐述,对 CANopen主从站节点的功能与设置进行了研究。结合实际的侦察臂多电机运动控制系统构建了CANopen主从站节点, 开发了基于STM32F407微控制器的 CAN 总线高层通信协议 CANopen,完成了系统软硬件设计,实现了基于 CANopen协议的多电机系统实时控制,该控制方式具有较强的在线可控性、可扩展性和通用性。
Abstract
This paper expounds the high-level protocol CANopen and studies the function and setting of CANopen master-slave node.Combined with the actual reconnaissance arm multi-motor motion control system,this paper constructs the CANopen master-slave node,develops the CAN bus high-level communication protocol CANopen based on STM32F407 microcontroller,completes the system software and hardware design,and realizes the real-time control of multi motor system based on CANopen protocol.This control mode has strong on-line controllability,scalability and universality.
关键词
CAN总线 /
CANopen协议 /
电机控制 /
STM32F407
Key words
CAN bus /
CANopen protocol /
motor control /
STM32F407
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参考文献
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[3] 徐征辉,刘凤秋,张梦博,等.基于STM32的CANopen协议的实现[J].电子设计工程,2016,24(8):113-116.
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