Embedded PI Control With CANopen

8/13/2019 Embedded PI Control With CANopen

1/29

2013 B O E 1

:

33 & /

2013, M L A

@.

R B

1. 22. 33. 54. 85. 156. 177. 218. 33 259. 2610. / 2711. 29

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[P .]


2/29

2013 B O E 2

1.

T A N

M PIC33F ,

CAN / CAN . T

PI . T

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3/29

2013 B O E 3

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4/29

2013 B O E 4

, 64

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2.1

F 2.1 OSI

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P D L

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CAN

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ECAT.

CAN P D L

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, , CAN A, CA,

DS301 . T

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CAN

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, , E + TCP/IP ,

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, CAN/CAN

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CAN .

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CAN . I

,

.


5/29

2013 B O E 5

CAN . A

. O

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H

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.

3.

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CAN . I

(, API)

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),

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CAN

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T 04

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OD

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CAN .

T A , , . A DC

A ,

CAN .

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0, .0.


6/29

2013 B O E 6

T 24 OD

224

> 16 ,

. F ,

,

A . M,

. E NID. I

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A

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0080

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1000

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DS301)

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6000

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3.1

I S D CAN

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T I = 1 B, 2 8

, 2 16 , . U

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, .I C CAN

.


7/29

2013 B O E 7

(

)

1000 0 U32

(7)

D

1001 0 U8

(5)

E

1017 0 U16

(6)

H

1018 I

0 U8

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= 4,

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2 U32

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P

3 U32

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S

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CAN ,

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CAN

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.

3.1


8/29

2013 B O E 8

F 3.1

O D. T OD

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OD

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.

N ,

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T CAN O D, S D

O (SDO) P D O (PDO),

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CAN

, CAN

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. G ,

SDO PDO,

PDO.


9/29

2013 B O E 9

N,

PDO SDO,

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.

S, ,

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16, LSB, MSB.

U SDO,

OD 5. B

,

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,

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ID (.., ). A

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CAN :

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,

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.

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,

CAN.

F , CA

, .

T SDO :

1. A 4 2. A 4 3. A >4 4. A >4

T

COBID. CAN

B ( ),

,

. I


10/29

2013 B O E 10

NID

COBID.

1. A SDO . T 1.

600 + NID

1 40

2 O I, LSB

3 O I, MSB

4 S

5 00

6 00

7 00

8 00

T NID

. T 2.

580 + NID

1 42, 4F, 4B, 43

2 O I, LSB

3 O I, MSB

4 S

5 D, LSB

6

7

8

T B 1 T 3.1.

A O D

2111, S I (SZI),

. T

. T SZI,

. CAN, ,

. I,

.

T

,

.

2. A SDO . T 1.

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4 S

5 00

6 00

7 00

8 00

T SDO. W?

B

. O .

T NID

. T 2.

580 + NID

1 40, 41

2 O I, LSB

3 O I, MSB

4 S

5 00,

,

.

6

7

8

T .

T 2.

600 + NID

1 60

2 00, 7

3


11/29

2013 B O E 11

4

5

6 7

8

T :

580 + NID

1 S T 4.1

2 D, LSB

3

4 5

6

7

8

T SDO B 1 :

1

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SDO. D

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4 .

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4 . B 5

8

.

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40.

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4 .

A

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4F U

1 . W

B 5.

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0, 42.

4B U

2 . W

B 5

(LSB) 6 (MSB). O

SZI

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43 U

4 . W

B 5 8, LSB . O

SZI 0,

42.

2 60,

70

U . S

60.

E

,

60 & 70. I ,

80.

0 R . W

60

. I

70 B 1, 0

B, .

1 R . W

60

.10 R . W

70

. I

60 B 1, 00


12/29

2013 B O E 12

B,

.

11 R . W 70

.

3, 5,

7, 9,

B, D

S 1

. U 3 B

, 5 B

, . V SZI

0,

1.

13,

15,

17,

19,

1B,

1D

S 11

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, 15 B

, . V SZI

0,

1.

4.1 1

3. A SDO . T 1.

600 + NID

1 22, 2F, 2B, 23

2 O I, LSB

3 O I, MSB

4 S

5 D, LSB

6

7

8

T NID

. T 2.

580 + NID

1 42, 4F, 4B, 43

2 O I, LSB

3 O I, MSB

4 S

5 D, LSB

6

7

8

4. A SDO . T 1.

600 + NID

1 20, T 4.2

2 O I, LSB

3 O I, MSB

4 S

5 00,

,

.

6

7

8

T NID

. T 1.

580 + NID

1 60

2 O I, LSB

3 O I, MSB

4 S

5 00

6

7

8


13/29

2013 B O E 13

T . T

2.

600 + NID

1 0, 1, 10, 11

2 D, LSB

3

4

5

6

7

8

T :

580 + NID

1 20, 30

2 NA

3

4

5

6

7

8

T SDO B 1 :

1

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.

N 60,

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60.

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60. V

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22.

23 U

4 ,

B 58, LSB .

N

60. V

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22.

D

60 R . 60

.

A

20 (

20

30


14/29

2013 B O E 14

) 30.

00 U

60 30 B 1

.

1 U

60 30 B 1

.

10 U

20 B 1

.

11 U

20 B 1

.

3, 5,

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SZI

0, 1.

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17,

19,

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U 13

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4.2 1

W SDO

A T

:

580 + NID

1 80

2 O I, LSB

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4 S

5 C T 4.3, LSB

6

7

8

T 4 A :

0503

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T

0504

0000

SDO

0504

0001

C

0504

0002

I , ,

DS301

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0003

I ,

, DS301

0504

0004

CRC , , DS

301

0504

0005

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0601

0000

U

0601

0001

A

0601

0002

A


15/29

2013 B O E 15

0602

0000

O O

D

06040041

O PDO

0604

0042

T

PDO

0604

0043

G

0604

0047

G

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0000

A

0607

0010

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0607

0012

D ,

0607

0013

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0011

S

0609

0030

V

( )

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0031

V

0609 V

0032

0609

0036

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0800

0000

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0800

0020

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0800

0021

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0800

0022

D

0800

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OD

4.3

T , (

) SDO. H

, ,

. T

. A

.

5.

U PDO ,

0 8 ,

. T

SDO. C . PDO

, SDO,

.

I ,

,

. I ,

PDO, . T

PDO: TPDO

. RPDO


16/29

2013 B O E 16

. I , RPDO

.

T PDO1

PDO2 (

).

H TPDO CA. I

.

1A00

0 U8 =4,

1 U32 = 6000 01 08

(I 6000,

SI 1, 8 )

2 U32 = 6000 02 08

(I 6000,

SI 2, 8 )

3 U32 = 6401 01 10

(I 6401,

SI 1, 16 )

4 U32 = 6401 02 10

(I 6401,

SI 2, 16 )

6000

,

0 U8 =2,

1 U8 I 8

,

D1

2 U8 I 8

,

D2

6401

,

0 U8 =2,

1 U16 I 16

,

A1

2 U16 I 16

,

A2

T TPDO , CAN

6 , 2

. R, 8

PDO. A RPDO ,

.

280 + NID ()

1 D1

2 D2

3 A1, LSB

4 A1, MSB

5 A2, LSB

6 A2, MSB

7 U

8 U

A TPDO

50 , ,

. T

RPDO

. A, TPDO RPDO ,

. T

.


17/29

2013 B O E 17

T PDO:

E . A (, )

. I

TPDO. G TPDO

, .., ,

.

T . T TPDO

.

I P. CAN . T

. CA

,

CAN

.

S. T .

I

, PDO .

F 5.1 RPDO

. T (

) 4 .

5.1


18/29

2013 B O E 18

6.

CAN N

M (NMT) . T

; . T NMT

,

. I

.

W NMT,

. O

. I ,

TPDO,

. T

.

I CAN COBID

:

NMT 0 N ,

S 080 S ,

E 0810FF

T 100 B

PDO 181

57F

SDO 581

67F

NMT

701

77F

B 701

77F

6.3

E

N M

NMT . NMT

. CA DS301

C S M.

S NMT .

F 6.1 C S

M . A

CAN

.


19/29

2013 B O E 19

6.1

A NMT COBID 000, RTR = 0.T B 1 2 :

1

2

S

01 N

ID

S

N ID

O.

E

PDO.

S

02 N

ID

S

N ID

S .

D

NMT.N G

/ L G

.

P

80 N

ID

S

P

. I

NMT SDO

.

R 81 N

ID

R ,

.

N

B

U

P

I

P

T

O

S

R

R

01

80

02

81

0102

80

A

A

82

A

A


20/29

2013 B O E 20

R

82 N

ID

R

. N

B U.

6.4

A ,

N M.

N G

NMT M . T

. T

. N,

,

. T

NMT M

. I N G

NMT M

. T

G T (OD 100C). R

G

T.

()

S 04 / 84

O 05 / 85

PO 7F / FF

6.5

T NMT N G CODID

= 700 + NID, RTR = 1. N

. T COB

ID = 700 + NID,

6.3.

A N G L G.H NMT

. T OD

L T F (100D). L

G T (

100C) L T F. I

N G

.

A N G

. A

. T

. T

OD 1017. I 0,

. T

OD 1016. I

0, .

T (

1016) :

3124 2316 150

A 00 P

NID

H

A (NID = 0)

COBID = 700, RTR = 0, B 1 = 00. I , COBID

700 + NID.


21/29

2013 B O E 21

N BU , NMT ,

. T

:

COBID = 700 + NID, RTR = 0, B 1 = 00

SYNC

. T

COBID = 80, RTR = 0, 0 .

O SYNC,

.

E

SYNC. T

. I .

T :

COBID = 80 + NID, RTR = 0,

+ E C B

T

. T :

100

1 T , , LSB

2

3

4

5 C 1 J 1984, LSB 6

7 U

8 U

T . I

, ,

,

.

7.

F ,

CAN .

W . T

120 . D

.

M 1M/. C 40 .T

.

C . I , .


22/29

2013 B O E 22

T NR Z.T

NRZ. T

< 120 (@ 1M/).

I CAN 2.0B. W , 29

B ,

11 (SID) . W

1 M/. CAN 2.0B

ISO 11898.

T CAN . W

.

S D F. T

S 11 (SID) .

E D F. T S 18

( EID) .

R F. A ,

. R .

T CAN . O

,

. T

. R, CAN ,

() . T

.

E F. T . I :

.

O F. T .

. T (0) . T

.

. T

. A

.

T I S. T

, D

R F. T CAN

.

T S D F

:

,

SOF, S

F

1

M ID,

COBID

SID

11 A

,

RTR,

R

T

R

1 D

0

IDE,

I

E

1 D

0

S

F

C


23/29

2013 B O E 23

R

(M

RB0)

1 D

0

DLC, D

L

C.

I

.

4 0 8

D 0 64,

DLC

D

CRC, CR

C

15 CRC

CRC

D

1 R 1

ACK S 1 T

R 1

D

0

ACK

ACK

D

1 R 1

EOF, E

F

7 R 1

IFS,

I

S

3 R

1. N

,

CAN.

7.6

S

. T A , ,

.

T E D F

:

,

SOF, S

F

1

M ID,

COBID

SID

11 A

,

SRR,

S

R

R

1 D

0

IDE,

I

E

1 R

E

F

EID,

E

I

18

RTR,

R

T

R

1 D

0

C

R

(MRB1)

1 D

0

R

(M

RB0)

1 D

0

DLC, D

L

4 0 8


24/29

2013 B O E 24

C.

I

.

D 0 64,

DLC

D

CRC, C

R

C

15 CRC

CRC

D

1 R 1

ACK S 1 T

R 1

D

0

ACK

ACK

D

1 R 1

EOF, E

F

7 R 1

IFS,

I

S

3 R

1. N

,

CAN.

7.7

A R F

S E F. H,

RTR 1 DLC 0. S

D

0.

A E F

. T 6

E F , E

D, 8 1. T

E F :

. A. 6 0. T E E F. T

6 12 0

.

. P. 6 1. T . I

.

A ,

, . I

(

ID)

. I

. T

.

&

W ,

. I , , ,

, , .,

. I,

. J , A D

.


25/29

2013 B O E 25

8.1

8. 33

T CAN

M PIC33F,

ECAN . B , M E CAN ,

. F 8.1

M ECAN. S

:

A CAN 2.0B . I S

1

M/.

A .

U 8 . E

.

U 32 . E .

U 16 (SID EID) .

3 . DN . T

.

T PIC33F

CAN . B

ECAN

( 11

). T :

I M. T . E

.

C

. CAN .

D M. T . ECAN WAKIF

. P

.


26/29

2013 B O E 26

N O M. O CAN.

L O M. T CAN ,

CAN .

L A M M. H . T

,

,

CPU.

L M. H CAN CAN .

T P E CAN

2.0B. T A F

DMA M B. U

C1RXD , DMA

,

DMA . W

, TX DMA

DMA ,

C1TXD . I M B ,

07

. M 831

.

.

T

4 S RPDO

. I RPDO

. E

. T

. T

,

12 ADC

PIC33F.

W

,

, (

) . E ,

. T

PIC33F PLL,

40 MPS.

F CAN DMA

DMA . T

. CAN

, ADC R

(RTC) . T

,

. T RTC

ISR . I

.

T P + I

, ,

. A

. PI

,

. T

M .

I

CAN . I


27/29

2013 B O E 27

,

, . I ,

CAN . I

. T ,

.

S

CAN ? T . W

,

. A

CAN .

10. /

ARQ A R R COB C O. T

CAN . E CAN

1011

= 2048 COB,

8 . E COB

ID. T

COB MAC .

COBID C O I. T

A M C CA. AMC

COBID 11 CAN

. CA COBID

, , RPDOM1

TPDOX1 X. A COBID

,

PDO . F

AMC . CRC C R C. CSDO C SDO. DLC D L C. I CAN

DLC

. T 4

0 8 . T

B

.

ECAN M ECAN .

EDS E D S. A

D P. T

O D

. T

EDS

M . XML.

EID E I, 18, 29

.

LLC L L C. A D L L CAN

MAC .

MAC M A C. A D L L CAN

.


28/29

2013 B O E 28

NMT N M. O

CAN . T NMT ,, CAN .

NID. I CAN ID, 1 127.

NID = 0 .

OD O D. PDO P D O. R COB. A COB

.

RPDO R PDO. SDO S D O. SID S I, 11 . SSDO S SDO. SYNC S O. SZI A O D

2111, S I

.

TPDO T PDO.

M L A EE

. H B O

E 20

.

10.

..

A, , ,

& , .

L, PA, USA. S 1992.

I .


29/29

11.

A M C, C,CA,

.

301,

, 4.02, F 2002.

C C, , 5, O 2008.

F, R M, M T, 925: 18

, 2004.

M T, 33 , 2009.

M T, 33 , 21, ,

2007.

P, O, , ,

C H M, 2008.

Embedded PI Control With CANopen

Documents

Transcript of Embedded PI Control With CANopen