北京航空航天大学学报 ›› 2006, Vol. 32 ›› Issue (06): 729-733.

• 论文 • 上一篇    下一篇

基于双CAN总线的数字伺服通信协议

刘艳强, 郇极   

  1. 北京航空航天大学 机械工程及自动化学院, 北京 100083
  • 收稿日期:2005-06-14 出版日期:2006-06-30 发布日期:2010-09-20
  • 作者简介:刘艳强(1980-),男,山西吕梁人,博士生, liu 506@me.buaa.edu.cn.

Data communication protocol based on dual CAN bus for digital servo drive

Liu Yanqiang, Huan Ji   

  1. School of Mechanical Engineering and Automation, Beijing University of Aeronautics and Astronautics, Beijing 100083, China
  • Received:2005-06-14 Online:2006-06-30 Published:2010-09-20

摘要: 分析了目前国外先进数控系统现场总线的通信特性,提出和定义了一种基于双CAN(Controller Area Network)总线的数控系统位置控制通信协议——CANsmc(CAN for Synchronous Motion Control).CANsmc采用主从式的双通道网络,由一个主站和最多61个从站组成,实现了带有广播同步电报的轮询式通信.协议以通用的CAN总线芯片为硬件基础,利用CAN芯片通信报文的描述符定义出CANsmc的通信报头.CANsmc共定义了3种电报类型:主站同步电报MST,主站数据电报MDT和伺服电报DT.主站通过主通道向从站发送MST和MDT,从站在收到MDT后通过从通道向主站反馈DT.最后,建立了一个CANsmc实验验证系统,用软件的方式实现了CANsmc协议,主站基于PC机ISA总线,从站是一个位控卡,可以实现位置、速度、回参考点等多种控制.实验证明,CANsmc总线可以满足先进工业机器人和数控机床控制系统的应用要求.

Abstract: The communication performance of advanced field bus protocols used in NC systems was analysed, and a new data communication protocol was defined based on dual CAN(controller area network) for position control system in NC—CANsmc(CAN for synchronous motion control). CANsmc, defined as a master/slave topology, consisted of one master and at most 61 slaves with two communication channels. Its communication control was polling with synchronous telegram. The protocol was based on CAN chip, and CANsmc telegram head was defined with CAN telegram descriptor. Three types of telegram were transmited in CANsmc: MST(master synchronous telegram), MDT(master data telegram) and DT(drive telegram). Master transmited MST and MDT to slaves through the master channel, and slaves fed DT back to the master through the slave channel when they received their own MDT. Finally, a CANsmc prototype was built, and protocol was implemented by using software. The master was based on PC ISA interface and the slave was a position control unit with position control, speed control and zero return functions. The prototype system proves that CANsmc could meet the satisfiction of industrial robot and CNC machine control.

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