串口调试在CANopen运动控制协议中的应用技术研究

Application Research of Serial Port Debugging in CANopen Motion Control Protocol

针对以往CANopen设备在与电机调试过程中存在数据采集繁琐、调试方法复杂、损耗单片机寿命等问题,文中给出了一种利用串口来调试电机运行的方法。上位机通过编写的调试软件与STM32的串口进行通讯,可以实时获得CANopen程序的运行状态;可以通过修改电机运行相关的对象字典,从而改变CANopen程序和电机的运行状态。采用该方法不但可以在上位机中直接监控CANopen DS402通信协议运行状态,免去以往调试时不断修改程序进行下载的繁琐操作,而且无需专门配备CANopen主机帮助调试,既间接降低了调试成本,又极大缩短了调试系统的时间,提高了工作效率。

In view of the cumbersome data acquisition,complex debugging methods,and loss of life of the MCU in the past debugging process between the CANopen equipment and the motor,this paper presents a method to debug the motor operation by using the serial port. The host computer communicates with the serial port of STM32 through the debugging software to obtain the running status of the CANopen program in real time. The host computer can change the operating state of the CANopen program and the motor by modifying the object dictionary related to the motor operation. In this way,not only can the CANopen DS402 communication protocol run status be directly monitored in the host computer,which eliminates the cumbersome operation of constantly modifying the program for downloading during debugging,but also a CANopen host is not required to help debug,which indirectly reduces the debugging cost and greatly shortens the debugging system time and improves the work efficiency.