基于CANopen协议的数字伺服电机通信主站研究

Study on the Communication Master of Digital Servomotor Based on CANopen Protocol

在数控系统中利用CANopen总线协议实现对数字伺服驱动器的上位控制,硬件环境为FPGA、MCP2510、MCP2551和IDM640-8EIA数字伺服驱动器。主从站之间的数据发送与接收主要以过程数据对象(PDO)和服务数据对象(SDO)的方式进行,并采用VHDL语言编程,在FPGA中实现CANopen主站的应用层功能。实验表明,CANopen通信能成功实现,数字伺服驱动器能够按照来自上位机的指令驱动伺服电机。

With the CANopen protocol, the upper control of digital servo was realized in the CNC system based on the FPGA,MCP2510,MCP2551 and IDM640-8EIA digital servo drive hardware. The data sending and receiving between master and slave were carried out with the PDO （ process data objects） and SDO （ service data objects） mode. During the compiling process, VHDL was the main program language , the application function of CANopen master stage can be realized in FPGA. The results show that the digital servo can drive the servo motor in agreement with the requirements from the upper control instructions and realize the CANopen communicates successfully.