Implementation method, system and medium of a motion control slave station integrating canopen protocol

Abstract

The invention discloses an implementation method, system and medium of a motion control slave station integrating the CANopen protocol. The method of the invention includes a timer for initializing the CiA301 protocol stack, communication peripherals and the CiA301 protocol stack; if a communication frame is detected, the The communication data frame is converted into the CiA301 protocol stack and returns the communication data as needed, and the CiA402 execution cycle is set. If the servo cycle execution condition is met every time the communication is interrupted, the corresponding motion control algorithm module is generated and integrated through the preset control algorithm model. into the execution cycle of CiA402. The invention provides a standardized design method of a motion control slave station integrating the CANopen standard protocol, which can be used to solve the standardization problems of standard CiA301 communication protocol integration, link layer and application layer protocol data conversion, CiA402 and motion control algorithm module design.

Description

technical field [0001] The invention relates to a motion control technology of a robot, in particular to an implementation method, system and medium of a motion control slave station integrating the CANopen protocol, which is applied to the bottom layer realization of the PLC motion control slave station conforming to the CANopen protocol. Background technique [0002] CANopen protocol is an application layer protocol widely used in industrial field control, often used in embedded systems, including communication sub-protocol and equipment sub-protocol. The CANopen protocol can be integrated on a variety of link layer buses, and has functions such as process data and service data transmission, equipment status monitoring, and error detection for multiple nodes; the object dictionary is used to provide data exchange between the on-site control master station and the slave station. It is a fieldbus application layer protocol with reliable data transmission, high degree of stan...

AI Technical Summary

Problems solved by technology

In terms of portability, the program of the motion controller has been solidified during design and cannot be changed during use, making it even more difficult to achieve cross-platform portability; from the perspective of application fields, a motion controller suitable for a certain application may not be suitable for other applications. application, that is to say, a motion controller can only be applied to a single application scenario; therefore, in response to the requirements of motion controller standardization, reconfigurability, and bus control, the CiA301 communication protocol integration and CiA402 device sub-protocol integration of CANopen , model-based motion control algorithm design and other methods, and form a highly standardized bus-type motion control slave station design method, has become a key technical problem to be solved urgently

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