Research Of CANopen Slave Communication Card

CANopen is an application layer protocol of CAN-bus, which is an open, standardized protocol. CANopen devices play an increasingly role in industrial automation. CANopen protocol has become one of the most important standards in motion control. The thesis focused on how to design and implement CANopen communication protocol in the inverter control board (which is based on Renesas MCU RX62T).Firstly, the overview of field-bus technology is introduced in the dissertation, and the advantages of CANopen protocol by comparing several current popular field-bus protocols are also described. The CAN-bus protocol and CANopen protocol are studied in this thesis, especially the CANopen protocol. By analyzing the device model of the CANopen protocol, including communication objects, object dictionary and the application program. The software and hardware architecture, and also the implementation scheme about the CANopen communication of the inverter are introduced in the thesis.The CANopen protocol software include the underlying driver and the protocol stack. The CAN module of RX62T in the existing hardware platform is described in the underlying, including CAN module enabled, mailbox configuration, and the reception interrupt. The protocol stack describe the data structure and the access method of the OD, the design methods of the communication objects, etc.Lastly, the experiment was down to verify the CANopen communication function of the inverter by constructing a simple CANopen network. According to the requirement of the CANopen protocol, all of the communication objects were tested and the result showed that inverter’s CANopen function conformance to the requirement of the CANopen protocol.