canopen瓒?绾垮??璐瑰??????????涔?????锛?濡?浣?杈ㄥ????????﹀????

??canopen瓒?绾垮??璐瑰?????????涓?? CANopen 瑙???涓?父瑙????哄????锛?涔???娉????纭??????????璧?????杞?欢??涓?杞藉?ュ?ｃ???ヤ????ㄦ?ユ? CANopen 璧???锛???甯搁??瑕????哄??涓や釜?瑰??锛?涓?????瓒?绾库?????︽?? CAN ?荤嚎瓒?杩?寤鸿???淇¤?绂伙?浜???????璐瑰????????︽????璁??????璁惧???????绀轰?绋?搴???绗???瑰伐?枫??

?朵腑锛?CANopen ??缓绔?? CAN ?荤嚎涔?涓?????淇″??璁??绯伙???瓒?绾库???村?????甯?绾块?垮害???????垮害????淇¤?绂昏??烘?′欢???ｈ???杩帮???????????涓???父瑙??? CANopen ?????蹇碉????芥????ユ?剁????瀛???椤甸?㈡??棰?????????????瀹ｄ??ㄨ?????姝わ?涓?寤鸿??存?ユ???村?ヨ?褰?浣?杞?欢??绉般??瀹??圭?????锋????俊?ュ?ｃ??

????娓? CANopen 涓???瓒?绾库????????浠?涔?

CANopen 涓昏?瑙?瀹?璁惧?涔??村?浣?杩?琛?缃?缁?绠＄????瀵硅薄瀛??歌?????杩?绋??版???杈???璁惧???杩般??甯歌???瀹瑰??? NMT??PDO??SDO??蹇?璺虫?ユ??????? ID??EDS ??浠剁???杩?浜?灞?浜???淇¤???锛?涓??藉?????冲?涓?? CAN 绾垮??互?鸿?澶?杩???

绾跨?璺?绂诲?浜? CAN ?╃??灞???宸ョ?甯?绾块???锛?瀹??????ㄨ?绂讳????版尝?圭????绾跨??规?с???跺???ㄣ?????规?伴????缁?绔??归?????????垮害???板?哄共?扮???绱?褰卞?????稿???? CANopen 绋?搴?锛??㈡??涓???娉㈢?圭????绾跨?????????锛???淇＄ǔ瀹??у???藉??ㄤ?????

• 濡?????瓒?绾库????瓒?杩??荤嚎?垮害锛????瑰?妫??ユ尝?圭????绾跨??绘????缁?绔??甸?诲???????????
• 濡?????瓒?绾库????杞?欢??搴??ㄥ??绉帮?搴??稿?杞?欢??甯??????????????????纭?欢????浠剁???锛?涓??戒????抽????ゆ????
• 濡???????璐瑰??????????????锛?瑕??哄?????浠?缁?????????????绀轰?浠ｇ????姝ｅ??????????瀹?浠??????????村苟涓??稿????
• 濡?????????????〉??腑??浜у??璇?锛?缂哄?涓?涓????舵??娉?纭??瀹?瀵瑰?璁惧???棰?????????????朵???????绉般??

濡???浣??虫?惧??璐瑰????? CANopen 璧???

?村????????娉??????ц????ㄩ????????绱????涓???户缁?娇?ㄢ??canopen瓒?绾垮??璐瑰?????????杩?涓??翠覆涓???纭???璇?????瀛︽?????ラ??淇℃?讹???互浼???纭??浠ヤ???绫讳俊???

??璁??虹?璧???

???规?ョ??瀵硅薄瀛??搞??绱㈠???瀛?绱㈠???PDO ??灏???SDO 涓?浼?涓?涓?杞姐??NMT ?舵?????€?????逛??ゅ??蹇?璺虫?哄?躲??璧????冲?搴????????ㄧ?? CANopen 瑙??????达?涓??藉???ㄢ???煎? CANopen??浣?涓哄??存?????????

璁惧?璧???

璁惧???????甯镐???渚? EDS ??浠躲????? ID 璁剧疆?瑰???榛?璁ゆ尝?圭????PDO ???般????璇?????缁?绔??甸?昏?姹???EDS ??浠跺?涓?璁惧????峰???轰欢?????搴?锛?涓??芥???朵?璁惧??? EDS ??浠剁?存?ュ?????﹀?????藉?虹?板?璞′?瀛??ㄣ???版???垮害涓?涓??存????灏?澶辫触??

甯?绾夸?璋?璇?璧???

濡????虫敞??????瓒?绾库??锛?搴??ユ? CAN ?荤嚎?垮害??娉㈢?圭????????????澶у?????垮害??缁?绔??归????灞??芥?ュ?扮???瀹广??璧???涓??ュ???缁????鸿蒋浠剁??????存病??璇存?? CAN ?ュ?ｇ‖浠躲???跺???ㄥ??缃?缁????帮???甯镐?瓒充互瑙ｅ?冲?????瓒??跨嚎?????

?荤嚎??????瓒?绾库???讹?搴?璇ユ???锋????/h2>

涓?瑕????存?㈠??ㄦ????澶??峰??璁惧?????纭??缃?缁??虹????帮?????椤圭缉灏????淬??涓??㈢??椤哄????ㄤ?澶у?? CANopen ?板?鸿?璇?锛?

• ?稿?娉㈢?圭??锛????????瑰?椤讳娇?ㄤ??寸????淇￠??????娉㈢?圭??瓒?楂?锛???甯稿?绾跨??垮害???跺???甯?绾胯川??瓒?????锛?浣??蜂?涓???浠?浠ユ?跺???ㄣ??绾跨???缃?缁?璁捐?涓哄????
• 妫??ユ?荤嚎????锛?浼??????ㄤ富骞茬嚎??????????垮??澶ч?㈢Н??褰㈣??ャ????????夸?浜х????灏?锛?瀹规??瀵艰?存?ユ???跺????璇???
• 纭??缁?绔??归??锛??荤嚎涓ょ???甯稿??璁剧疆涓?涓?害 120 娆у???缁?绔??甸?汇?????垫??? CAN_H 涓? CAN_L 涔??寸???甸?绘?讹?瀹??寸?缁?甯稿???瀵??版?ヨ? 60 娆у???绛????硷?浣?娴?????瑕????ゅ?朵?璁惧???淇??ょ?佃矾??褰卞????
• ?ョ????璇??舵??锛??虫敞??璇?抚???????????硅?? error passive ?? bus-off ?????点??濡?????淇″???ㄧ?垫?哄???ㄣ??缁х?靛?ㄥ?ㄤ?????棰??ㄨ?琛??跺?甯革?杩?瑕?妫??ョ?电?骞叉?般??灞??藉???ュ?般??
• ??姝ョ缉??嚎璺??灏?缃?缁?????杈????娴?璇???濡?????嚎绋冲????跨嚎寮?甯革?????村???藉?哄?ㄧ嚎缂???娉㈢?圭????缁?绔??????????涓?? PDO ?? SDO ??缃???
• 蹇?瑕??堕???拌?璁＄?缁?锛????规???板?鸿?绂诲?????规?伴????????浣?娉㈢?圭????浼???绾跨?????灏????????浣跨?ㄧ??? CAN 缃?缁?瑕?姹???涓?户????绂昏?澶???????缃?缁?浜ゆ?㈡?轰??界?存?ユ?夸唬 CAN ?荤嚎涓?户?ㄣ??

甯歌??拌薄涓????ユ?瑰??

?拌薄	浼???妫??ュ??瀹?/th>	?ゆ???规?
???????归?芥??娉?????/td>	娉㈢?圭????CAN_H/CAN_L ?ョ嚎??渚??靛??缁?绔??甸??/td>	???垫???????涓????规?ュ?ワ?骞剁‘璁ゆ?荤嚎涓?娌℃????矾
??嚎姝ｅ父锛??跨嚎?跺????绾?/td>	绾块?裤??娉㈢?圭???????????电?骞叉??/td>	??浣???????缂╃??嚎缂???瀵规???璇????/td>
????涓?涓????规?ラ??	璇ヨ???圭????? ID??EDS???ユ??浠跺???跺????/td>	?存?㈢??ｆ???挎?㈠?????疯???硅?琛?浜ゅ??娴?璇?
璁惧??介??淇′??版???瀵?/td>	PDO ??灏????版???垮害??瀛???搴???瀵硅薄瀛???/td>	璇诲??瀵硅薄绱㈠?骞跺??ц?澶?????锛???涓???????杞?欢?剧ず??/td>

???扳????璐瑰????ュ?ｂ??????iOS ???????跺?浣??ゆ??/h2>

CANopen ??韩????淇″??璁??涓?瀛??ㄤ?涓??涓??? iOS ?????????烘??骞虫?垮??ㄨ?ュ０绉拌?藉?璋?璇? CANopen锛???甯歌???瑕?涓??ㄧ?? CAN 杞??ョ‖浠躲????绾跨??虫???朵??ュ?ｈ?澶???????搴??ㄥ??绉拌??娌℃??????纭?欢????????娉㈢?圭?????ユ??杩?婊ゆ?瑰????版????ㄨ????讹?涓?瀹???瀹?褰?浣?瀹??寸?? CANopen 宸ュ?枫??

??璋???2026v??涔?绫荤????????璇?锛?涔?涓??藉???????璧????????般??瀹??规??瀹??ㄧ?????ゆ???涓??????浠舵??宸ュ?锋???﹀?煎?浣跨????冲?搴??稿?浠ヤ?椤圭???

• ??甯?涓讳????︽??纭?????﹁?藉?搴??蜂???????寮????㈤??锛?
• ??浠跺??绉般??璁惧????枫??杞?欢???????存?版?堕?存???︾?镐?涓??达?
• ???﹁????????? CANopen ???姐??????纭?欢????浣?绯荤?锛?
• 瀹?瑁??????﹁?姹?涓?蹇?瑕???????锛????﹀??ㄥ己?惰烦杞?????澶?瀹?瑁???寮?甯镐?璐硅?姹?锛?
• 绀轰?浠ｇ????绗???瑰????﹀???????????达??藉?︾?ㄤ???涓?椤圭???
• 璧??????︽??渚????板?涔???????澶????规?锛???涓??????ㄢ????璐光??????????????扮????绛?瀹ｄ?璇???

?村??纭???妫?绱㈡?瑰?

濡???浣?????瀹????? CANopen ?荤嚎璺?绂昏??匡???互?寸???CANopen 绾跨??垮害涓?娉㈢?圭??????CAN ?荤嚎缁?绔??甸?烩????CANopen 瓒??跨嚎??淇℃????????CANopen ?????垮害??杩?绫绘??纭?????ユ?捐???锛?濡???浣?瑕??捐蒋浠讹???搴?琛ュ??璁惧????枫???佃???????虹郴缁???CAN ?ュ?ｅ???蜂互????瑕??????姐??

?ㄦ病??璁惧????枫??璧??????炬????濮?椤甸???涓????????典?锛???娉?纭????canopen瓒?绾垮??璐瑰?????????瀵瑰????涓??蜂?浜у?????ュ?ｃ????????瓒?绾库??纭??涓哄?绾块???锛?杩?????瀹?纭??涓鸿蒋浠跺??绉帮????稿???????????淇℃?????甯告??存?ヤ?杞戒?????浠舵?寸ǔ濡ャ??

?″?锛??卞????(Y64NLLv1ly6fAOapUCsJCY3gZGahim)