CANopen协议介绍

CANopen णᩲҟඑ⌕ᜐ⃻⌆ՈCAN-busʌሖणᩲ

ֲᔩ

1ǃҟඑ (1)

2ǃCAL णᩲ (2)

3ǃCANopen (3)

3ˊ1 ᇍᬥᄫ݌OD (3)

3ˊ2 CANopenỞᩳ (4)

3ˊ3 CANopen8ᅮНẢ᥹▊ (6)

3ˊ4 CANopenᷛ᪊৪ߚ‑ (8)

3ˊ5 CANopen boot-upẋ࣏ (8)

3ˊ6 CANopen⍜ᙃ᪱⊩ඊᅆ (9)

4ǃᘏ඗ (18)

5ǃ᪸ᯢ (19)

1ǃҟඑ

ҢOSIตච῵ൟՈᢖᑺᴹ׏ৠˈɴഎᘏඃตචϔჰাᅲɴњৰ1ሖ˄ĭˊሖ˅ǃৰ2ሖ˄᭄᥂⏂Ჳሖ˅ǃৰ7ሖ˄ᑨϬሖ˅DŽ಴ЎɴഎᘏඃỞᐌাࣙᣀϔϾต↉ˈ಴ℸϡ◄ᡅৰ3ሖ˄Ӵṗሖ˅੠ৰ4ሖ˄ตචሖ˅ˈгϡ◄ᡅৰ5ሖ˄Ӯ᪡ሖ˅ৰ6ሖ˄ᦣẴሖ˅Ո԰ϬDŽ

CAN˄Controller Area Network˅ɴഎᘏඃҙҙᅮНњৰ1ሖǃৰ2ሖ˄ᢅISO11898ᷛޚ˅˗ᅲ┉᪂ᩥЁˈẝϸሖᅠܼϵܰӊᅲɴˈ᪂ᩥҎਬ᮴◄ݡЎℸᓔথּ݇ḳӊ˄Software˅៪೎ӊ˄Firmware˅DŽẝϸሖᅠܼϵܰӊᅲɴˈ

ৠᯊˈCANাᅮНĭˊሖ੠᭄᥂⏂Ჳሖˈ≵᳝ᢈᅮᑨϬሖˈᴀᵯᑊϡᅠᭈˈ◄ᡅϔϾʌሖणᩲᴹᅮНCAN᡹᭛ЁՈ11/29ԡᷛ᪊৪ǃ8ᄫᅆ᭄᥂ՈՓϬDŽ໐Ϩˈ෎ѢCANᘏඃՈᎹϮႮࡼ࣪ᑨϬЁˈᱎᴹᱎ◄ᡅϔϾᓔᬒՈǃᷛޚ࣪Ոʌሖणᩲ˖ẝϾणᩲᬃᣕ৘࢑CANॖଚ᪂໛ՈѦϬᗻǃѦᤶᗻˈ࿁໳ᅲɴ೼CAN ตචЁᦤկᷛޚՈǃඣϔՈிඣỞᩳ῵ᓣˈᦤկ᪂໛ࡳ࿁ᦣẴᮍᓣˈᠻᜐตච੥ˊࡳ࿁DŽz ᑨϬሖ˄Application layer˅˖ЎตචЁ↣ϔϾ᳝ᬜ᪂໛῁࿁໳ᦤկϔඈ᳝ϬՈ᳡ࡵϢणᩲDŽ

z ỞᩳᦣẴ˄Communication profile˅˖ᦤկ‑า᪂໛ǃỞᩳ᭄᥂Ո৿НˈᅮН᭄᥂ỞᩳᮍᓣDŽz ᪂໛ᦣẴ˄Device proflile˅˖Ў᪂໛˄ି˅๲ࡴ৪ড়ᢈᇇՈᜐЎDŽ

ϟ☦Ոতᅆᇚҟඑ෎ѢCANՈʌሖणᩲ˖CALणᩲ੠෎ѢCALणᩲᠽሩՈCANopenणᩲDŽCANopen णᩲᰃCAN-in-Automation(CiA)ᅮНՈᷛޚПϔˈᑊϨ೼থᏗৢϡЙህቻᕫњᑓ⊯ՈᡓᩨDŽᇸ݊ᰃ೼⃻⌆ˈCANopenणᩲᝯᩨЎᰃ೼෎ѢCANՈᎹϮிඣЁऴ:ᇐഄԡՈᷛޚDŽ໻໮᭄ₑᡅՈ᪂໛ିൟˈ՟བ᭄ᄫ੠῵ᢳՈṗܹṗߎ῵ഫǃȥࡼ᪂໛ǃ᪡԰᪂໛ǃ᥻ࠊ఼ǃৃේ࣏᥻ࠊ఼៪ේۅ఼ˈ῁೼ࢴЎĀ᪂໛ᦣẴāՈणᩲЁẟᜐᦣẴ˗Ā᪂໛ᦣẴāᅮНњϡৠିൟՈᷛޚ᪂໛ঞּ݊ᑨՈࡳ࿁DŽձ☤CANopenणᩲՈᬃᣕˈৃҹᇍϡৠॖଚՈ᪂໛Ởẋᘏඃẟᜐ‑าDŽ

೼OSI῵ൟЁˈCANᷛޚǃCANopenणᩲПⒸՈ݇ிབϟ೒᠔߾˖

C iA DS P-401C iA DS P-404 CiA DSP-xxx

Application

C hip

Data Link

Physical Layer

೒1.1 CANǃCANopenᷛޚ೼OSIตච῵ൟЁՈԡาḚ೒

2ǃCAL णᩲ

CAL˄CAN Application Layer˅णᩲᰃֲࠡ෎ѢCANՈʌሖỞᩳणᩲЁՈϔ࢑ˈ᳔ᮽϵPhilipsएћ᪂໛ᾬ⒬ࠊᅮDŽɴ೼CALϵưএՈCANϬ᠋੠ࠊỤଚ▊ಶCiA˄CAN in Automation˅णӮᯣᯧ੥ˊǃথሩ੠᥼ᑓDŽ

CALᦤկњ4࢑ᑨϬሖ᳡ࡵࡳ࿁˖

z CMS (CAN-based Message Specification)

CMSᦤկњϔϾᓔᬒՈǃ☦৥ᇍᬥՈɳ๗ˈϬѢᅲɴϬ᠋ՈᑨϬDŽCMSᦤկ෎ѢবₓǃџӊǃඳିൟՈᇍᬥˈҹ᪂ᩥ੠ᢈᅮϔϾ᪂໛˄ᅆ⚍˅Ոࡳ࿁བԩᝯ᪃⒲˄՟བˈབԩϞṁϟṁ᱉ẋ8ᄫᅆՈϔඈ᭄᥂˄ඳ˅ˈᑊϨ᳝ඌℶӴṗՈࡳ࿁˅DŽ

CMSҢMMS (Manufacturing Message Specification)ණᡓ໐ᴹDŽMMSᰃOSIЎᎹϮ᪂໛ՈẠ࣏᥻ࠊ੠֕᥻໐ࠊᅮՈᑨϬሖᢈᇇDŽ

z NMT (Network ManagemenT)

ᦤկตච੥ˊ˄བ߱ྟ࣪ǃਃࡼ੠ذℶᅆ⚍ˈպ⌟༅ᬜᅆ⚍˅᳡ࡵDŽẝ࢑᳡ࡵᰃ₋ϬЏҢỞᩳ῵ᓣ˄᠔ҹা᳝ϔϾNMTЏᅆ⚍˅ᴹᅲɴՈDŽ

z DBT (DistriBuTor)

ᦤկࡼᗕߚ‑CAN ID˄ℷᓣৡࢴЎCOB-IDˈCommunication Object Identifier˅᳡ࡵDŽẝ࢑᳡ࡵᰃ₋ϬЏҢỞᩳ῵ᓣ˄᠔ҹা᳝ϔϾDBTЏᅆ⚍˅ᴹᅲɴՈDŽ

z LMT (Layer ManagemenT)

LMTᦤկׂᬍሖখ᭄Ո᳡ࡵ˖ϔϾᅆ⚍˄LMT Master˅ৃҹ᪂า঺໪ϔϾᅆ⚍˄LMT Slave˅Ոᶤሖখ᭄˄བᬍবϔϾᅆ⚍ՈNMTഄഔˈ៪ᬍবCAN᥹ষՈԡᅮᯊ੠⊶Ľɋ˅DŽ

CMSЎᅗՈ⍜ᙃᅮНњ8ϾӬܜ൫ˈ↣ϾӬܜ൫ᢹ᳝220ϾCOB-IDˈᇇೈҢ1ࠄ1760DŽ࠽ԭՈᷛᖫ˄0ˈ1761-2031˅ֱНඝNMTˈDBT੠LMTˈᢅᜬ2-1DŽ

ᜬ2-1 ᯴ᇘࠄCAL᳡ࡵ੠ᇍᬥՈCOB-ID(11ԡCANᷛ᪊৪)

COB-ID ᳡ࡵ៪ᇍᬥ

0 NMT ਃࡼ/ذℶ᳡ࡵ

1 - 220 CMSᇍᬥ Ӭܜ൫0

221 - 440 CMSᇍᬥ Ӭܜ൫1

441 - 660 CMSᇍᬥ Ӭܜ൫2

661 - 880 CMSᇍᬥ Ӭܜ൫3

881 - 1100 CMSᇍᬥ Ӭܜ൫4

1101 - 1320 CMSᇍᬥ Ӭܜ൫5

1321 - 1540 CMSᇍᬥ Ӭܜ൫6

1541 - 1760 CMSᇍᬥ Ӭܜ൫7

1761 - 2015 NMT ᅆ⚍ֱᡸ

2016 - 2031 NMTˈLMTˈDBT᳡ࡵ

⊼ᛣẝᰃCAN2.0Aᷛޚˈ11ԡIDᇇೈ[0ˈ2047]ˈϵѢग़৆ॳ಴└ࠊ೼[0ˈ2031]DŽབᵰՓϬCAN2.0B ᷛޚˈ29ԡIDᑊϡᬍবẝϾᦣẴ˗ᜬЁՈ11ԡ᯴ᇘࠄ29ԡCOB-IDЁՈ᳔ʌ11ԡˈҹႷѢᜬЁՈCOB-ID ᇇೈবᕫ๲໻᩼໮DŽ