Research Of Software Way For Canopen-protocol's Realization And Implantation In Servo System

In recent years, with the development of electronic and computer technology, servo system is improving its control accuracy, and developing to the direction of network control at the same time. Distributed servo system is a kind of common motion control system, which is widely used in assemble lines, numeric controlled machine tool, robots and so on.This thesis firstly introduces the overview of servo system development, and analyzes the realization of network-controlled distributed servo system. Then, CANopen protocol is adopted as network protocol, and software-implant way is taken to realize CANopen protocol onto an existing servo system. According to the program, the protocol is analyzed thoroughly, the main problems are figured out, and the module design is worked out based on the software and hardware platform. With the original platform, this thesis firstly uses eCAN module and CAN mailbox of TMS320F2812 DSP to realize CAN message sorting and handling. Both synchronous and asynchronous function are used to realize CANopen communication protocol; Secondly, with original system parameters, efficient data structure and algorithm are designed for dictionary, and standard CANopen Object Dictionary is built up under the premise of avoiding dictionary ambiguity; Finally, based on existing motion control module and CANopen Object Dictionary, CANopen DS 402 slaver protocol is realized onto the original servo. On the other hand, this thesis also realizes CANopen master protocol on PC machine with PCI-CAN card, which is programmed in Visual C++. At the end, this thesis takes an experiment, the result of which confirms the correctness of the CANopen device.