25 results about "CANopen" patented technology

According to the CANopen-based remote I / O node dynamic topology identification and adaptive configuration method, key configuration data of equipment is stored in Flash, and power-on automatic loading is supported. A bus is scanned in real time through an RS485 interface, the number, types and topological positions of local newly-added I / O cards are automatically recognized, an object dictionary and a PDO mapping table are dynamically updated based on a recognition result, and hot plugging, dynamic adding and online expansion of the I / O cards are achieved. The object dictionary is provided with 0 * 2000 as an equipment state area and 0 * 2001-0 * 2010 as 16 independent I / O card configuration areas, and a master station can remotely modify and dynamically add parameters of I / O cards through an SDO interface to realize online parameter configuration and hierarchical management; the system expands multiple groups of PDO and combines with a master station synchronization signal, and can adapt to the data flow change after the I / O card is dynamically added. Automatic configuration, SDO online maintenance, dynamic identification and hot plug expansion are supported, the I / O card can be dynamically added without interrupting system operation, and topology expansibility, dynamics and real-time performance of the remote I / O node are improved.

The present invention discloses a method and device for judging the azimuth angle of a wind turbine based on the current signal of a pitch motor. The device includes an ARM chip circuit board, a Canopen communication interface of the ARM chip circuit board, and a 24V DC power supply terminal of the ARM chip circuit board; the ARM chip circuit board is connected to the pitch drivers of three blades through the Canopen communication interface of the ARM chip circuit board and the CAN bus respectively; the 24V DC power supply terminal of the ARM chip circuit board is connected to the 24V DC power supply of the pitch driver through a 3-core cable with a cross-sectional area of 0.5mm<supgt;2< / supgt>; the Canopen communication interface of the ARM chip circuit board is integrated on the ARM chip circuit board; the 24V DC power supply terminal of the ARM chip circuit board is integrated on the ARM chip circuit board. The method is to monitor the real-time values of the currents of the pitch motors of three blades, and integrate a new wind turbine azimuth angle recognition algorithm into the main control PLC of the wind turbine generator set, which is a very simple and efficient innovation.

This invention provides an edge computing-based fault prediction and health management system for wellhead equipment, relating to the field of wellhead equipment monitoring technology. It includes an edge node layer, a cloud management layer, and a cross-site federated collaboration layer. The edge node layer is deployed at the wellhead site for on-site preprocessing, fault prediction, and health assessment of wellhead sensor data. The cloud management layer is deployed at the oilfield monitoring center. This invention utilizes a lightweight edge-end fusion preprocessing architecture with a built-in multi-protocol adaptation stack, enabling plug-and-play adaptation to mainstream oilfield industrial protocols such as Modbus, CANopen, LoRaWAN, and HART. This solves the compatibility issues of sensors from different manufacturers, eliminating the need to modify existing sensors and reducing deployment costs. An improved translation-invariant wavelet denoising algorithm is optimized for low-computing-power edge scenarios, effectively eliminating noise interference caused by wellhead operating condition fluctuations at the edge.

This invention discloses a method for recovering from heartbeat errors based on CANOPEN. The steps are as follows: S1: Implement the master_heartbeatError function for handling heartbeat errors, and assign its pointer to the heartbeatError pointer under the object dictionary pointer OD; S2: In the master_heartbeatError function, use the rt_thread_create function to create a heartbeat error handling task. After successful task creation, use the rt_thread_startup function to start the task; S3: Use the getNodeState function to obtain the current node state, with the node value nodeId as the parameter. Determine the obtained value and perform different processing based on different return states. This invention, by determining the node state in the standard CANOPEN protocol stack callback function and performing node operations based on the current node state, completes the node re-entry operation without manual intervention.

The invention discloses a method for updating a vehicle-mounted master control instrument program through a CANopen protocol, and relates to the technical field of vehicle-mounted master control instrument program upgrade.The method comprises the following steps that firstly, after an on-site maintainer obtains an upgrading file, the upgrading file is loaded through upgrading software of a computer end; and 2, checking whether the format of the upgrading file is correct or not through the upgrading software, if the format of the upgrading file is not correct, carrying out subsequent steps, carrying out re-detection, and displaying the program version information after the format is correct. According to the method, the design cost of local upgrading is further reduced, the upgrading mode is optimized, a universal CAN bus network on a vehicle is adopted, an upgrading interface does not need to be independently designed, efficient issuing of the instrument program is achieved by using a block transmission mode in a CANopen communication protocol, and local instrument program upgrading is completed.

The invention provides a communication system control method, system and device and a storage medium, and the method comprises the steps: enabling a slave station device to access a CAN communication link of a master station device according to the obtained device information of the CANopen slave station device and the device information of the master station device; generating a configuration data configuration interface according to the equipment information of the slave station equipment, and in response to an operation triggered by a user through the interface, generating a PDO and / or SDO configuration data item of the slave station equipment; the configuration data item and the equipment information of the master station equipment are sent to the controller, so that the controller determines the mapping relation between the user address space and the CANopen address space of the slave station equipment according to the configuration data item and the equipment information of the master station equipment, and the mapping relation and the configuration data item are sent to the master station equipment by the controller. The method and the device are used when the master station device and the slave station device perform data interaction, so that visual PDO and SDO configuration is realized, and the user experience is improved.

The invention discloses a CANopen communication rapid reconstruction method, and relates to the technical field of network communication, and the method comprises the steps: monitoring the communication quality of a slave station in real time through a master station based on a pre-judgment index, judging the offline state of the slave station, and scheduling the master station to execute pre-recovery parallelization operation when the slave station is judged to be in the offline state; the master station issues verification parameters to the slave station which is judged to be in the offline state, judges whether the slave station is connected for the first time or not, and executes corresponding slave station offline recovery operation based on a judgment result; based on a priority grading mechanism, the slave stations are subjected to priority division, and when multiple slave stations are offline at the same time, the resource load of the master station is dynamically dispatched, so that the bus conflict phenomenon is avoided; and when the communication of the slave station is recovered, the master station is utilized to execute re-verification. According to the method, a scheduling strategy is designed for a multi-slave-station scene, the problems of resource competition and congestion are solved through priority grading, round-robin and bus peak shifting mechanisms, and it is ensured that high-priority slave stations are preferentially recovered.

The embodiment of the invention provides an offshore wind power master control system and an offshore wind power master control system setting method. The method comprises the following steps: cancelling an SEESF underlying architecture of the PLC, and compiling by adopting an ST language; the yaw frequency converter and the CANopen network are disconnected, and the yaw frequency converter is electrically connected with the PLC through the RS485 interface; and the vibration acceleration sensor is disconnected from the CANopen network, and the acceleration sensor is electrically connected with the PLC in an analog quantity transmission mode. According to the technical scheme of the invention, the compiling language of the PLC bottom layer architecture is replaced by the ST language occupying less resources, and the communication mode of each device originally using the CANopen protocol is adjusted, so that the problems of weak CPU performance and insufficient CANopen network quantity in the PLC of the current offshore wind power main control system are avoided on the premise of not influencing each function of the main control system, and the reliability and stability are ensured.

The present invention relates to a CANopen protocol-based drive and acquisition data interaction method, device, and medium. The method is used for data interaction between a logic processing unit and an I / O execution unit. The interaction method uses the CAN bus as the communication medium, adopts a master-slave mode, uses the logic processing unit as the master node, and the I / O execution unit as the slave node. The CANopen communication protocol is used, synchronization messages and timestamp messages are used to unify the time base and perform time correction, and PDO messages are used to transmit collected data and drive command messages. Compared with existing technologies, the present invention has the advantages of low cost, high efficiency, high availability, and high reliability.

The invention discloses a high-security software input and output configuration method based on a functional module, belongs to the technical field of aviation airborne equipment communication software configuration, aims at solving the problems of code redundancy, low development efficiency and poor compatibility and expandability, and comprises the following steps: S1, integrating equipment communication parameters through a three-level hierarchical configuration file; s2, constructing an indexed data dictionary based on the unified configuration file; s3, realizing dynamic construction and analysis of communication data by using the index; the configuration file replaces more than 70% of communication code writing work, the period for adapting to new equipment is shortened to the day level from the week level, duplicate codes are reduced, the number of code lines is reduced, the maintenance labor cost is reduced, when a new protocol (such as CANopen) is expanded through the configuration file, bottom layer codes do not need to be modified, compatibility is improved, and the method is suitable for popularization and application. And communication parameters are visually presented through a configuration file, and the communication fault troubleshooting time is shortened from an hour level to a minute level in combination with an index tracking function of a data dictionary.

This disclosure provides a CANopen master station fault diagnosis method and system based on a real-time operating system, applicable to a master station and slave station node system based on CANopen connection. The method includes the following steps: configuring a timed inspection task and a real-time push task; wherein the priority of the timed inspection task is lower than the priority of the real-time push task; in response to the wake-up of the timed inspection task, periodically collecting non-urgent diagnostic data and encapsulating it into a first diagnostic data frame; receiving a fault callback function from the CANopen protocol stack through a semaphore / notification mechanism to wake up the real-time push task and encapsulate a second diagnostic data frame; and sending the first diagnostic data frame and / or the second diagnostic data frame to a host computer. The fault diagnosis method and system of this disclosure significantly improve the fault response speed and recovery efficiency of the CANopen master station, enhance system reliability and maintainability, and are suitable for fields with stringent real-time requirements such as industrial automation and automotive electronics.

The invention discloses a vehicle control unit debugging method based on CAN communication, and the method comprises the following steps: S1, carrying out license detection based on a preset encryption algorithm, and carrying out the initialization of a CAN channel after the license detection passes; s2, frame data containing equipment node numbers are sent to all node addresses to scan CAN bus equipment nodes in a polling mode, if a response is received, the node addresses are locked, equipment information is obtained and stored in an equipment list, and if the response is not received, the nodes are switched according to the address sequence and scanning is repeated; s3, selecting a target node from the equipment list, loading an EDS configuration file and analyzing the EDS configuration file to generate an operable parameter list; s4, executing at least one of the following operations based on the parameter list: querying or modifying vehicle control unit (VCU) parameters; transmitting the firmware upgrade package to the target node in blocks, and verifying the check code; and regularly reading selected parameters, and carrying out real-time visual monitoring. The debugging efficiency of the vehicle control unit is improved, and meanwhile, all CANopen protocol VCU devices are compatible.

The invention relates to the technical field of protocol stack transplantation, and discloses a CANopen protocol stack transplantation method and device, equipment and a medium. The method comprises the following steps: acquiring target configuration information and target task information of a to-be-migrated motor driver; determining a target driving template based on the hardware configuration information of the main control chip; based on the target configuration information and the target task information, configuring a target driving template to obtain a configured driving template adaptive to the target configuration information; and transplanting the configuration driving template to a main control chip of the motor driver to be migrated. According to the embodiment of the invention, the transplantation efficiency of the CANopen protocol stack can be improved.

The invention belongs to the technical field of ship control systems, and particularly relates to a distributed control system for ship equipment based on a CANopen bus. Comprising an execution layer and a control layer. The execution layer is composed of a communication unit and a task management unit; the control layer is composed of an electronic control unit arranged on the equipment side and a data management unit arranged on the control side; the communication unit is configured at the side of the main equipment and each equipment to realize CANopen bus message receiving and transmitting, the task management unit creates and manages corresponding tasks of the equipment, and the data management unit creates and maintains necessary database resources of each equipment. According to the invention, efficient acquisition, accurate processing and real-time transmission of digital signals and analog signals can be realized, stable and reliable operation can be realized, and a data basis is provided for ship equipment management and optimization control.

The present invention relates to the field of data communication technologies, and particularly to a device, a system, and a method for firmware upgrade applicable to multiple CANopen networks, including: a control chip, which is provided with a CAN input interface and at least two CAN output interfaces, and the control chip is provided with a bootloader program and an application program, and the bootloader program is provided with an SDO gateway program; the bootloader program is used for firmware flashing of the control chip memory, and the SDO gateway program is used for forwarding firmware upgrade data packets to different CANopen networks. Since the device is provided with an SDO gateway program and at least two CAN output interfaces, the two CAN output interfaces can be respectively connected to two CANopen networks, and the SDO gateway program can realize the forwarding of firmware upgrade data packets between the two CANopen networks. Therefore, the present invention can upgrade the firmware in different CANopen networks.

The present invention provides a method for implementing a dual CANopen motion control PLC. By using a CPU module with two CAN interfaces on the main body, it can run two CANopen master stations and support motion control of two CANopen master stations. At the bottom layer of the CPU module, a 1ms time-base thread, a CANopen master station thread, and a motion control thread are established, with the highest priority for the time-base thread and the lowest priority for the motion control thread. Users can flexibly and independently map the servo axis Mc_Axis[] interface to the %MW shared area without caring about which CANopen interface the servo axis is connected to, and all axis numbers are continuous and unified, facilitating user programming.

The utility model relates to the technical field of industrial automation field data acquisition, in particular to a multichannel full-isolation digital transmitter based on a CANOpen protocol. Comprising an isolation power supply module, the input end of which is connected with a 24V DC power supply, and a switching power supply chip integrated with PWM / PFM dual-mode control drives a high-frequency transformer to generate three paths of isolation output power supplies which respectively supply power to a sensor signal conditioning circuit, an MCU control module, a peripheral circuit of the MCU control module and a CAN interface circuit. According to the utility model, by integrating the PWM / PFM dual-mode controlled switching power supply chip and the high-frequency transformer, three paths of isolated output power supplies are generated and respectively supply power to the sensor signal conditioning circuit, the MCU control module, the peripheral circuit of the MCU control module and the CAN interface circuit, so that the anti-interference performance of the system is effectively improved.

This invention relates to a reliable CANOpen communication software architecture design method based on an embedded controller, solving the technical problems of high ROM consumption of the controller MCU, high requirements for protocol stack porting, and high user expertise in existing technologies. Based on the CANOpen master station command retransmission mechanism and the slave station node heartbeat mechanism, this invention enables the master station to promptly detect slave station disconnections and proactively issue alarms, achieving reliable CANOpen communication in motion control. It also determines the communication status based on data feedback from the slave station, thereby judging the validity of the CANOpen master station command transmission. This invention can effectively improve the stability of CANOpen communication and serves as a reference for the rapid implementation of basic CANOpen master station software architecture design in industrial control or automation industries.

The invention provides a variable pitch system of a generator set, a method and equipment for increasing response time and a medium. The technical problem that in the prior art, when the response time of a variable pitch system is increased, a mechanical load and a reduction gearbox are greatly impacted is solved. The variable pitch system of the wind generating set comprises a main controller used for issuing a position step response instruction; the variable-pitch controller is in communication connection with the main controller through a CANopen bus, and the variable-pitch controller is used for obtaining the position step response instruction and the position information of the blades of the current wind generating set and obtaining a control instruction according to the position step response instruction and the position information; the driver is in communication connection with the variable pitch controller through a CAN bus, and the driver is used for feeding back the current position information, receiving the control instruction and driving the motor to operate based on the control instruction; a dual-thread communication mode exists among the main controller, the variable pitch controller and the driver; the first thread is used for running the target code; wherein the priority of the first thread is higher than that of the second thread.

1. The name of this design product: Master Station Controller (CANopen). 2. Purpose of this design product: to manage and control the parameter configuration, function settings and control instructions of each slave device. 3. The key point of the design of this product lies in its shape. 4. The picture or photo that best illustrates the design points: three-dimensional picture.

The invention relates to the technical field of industrial control, provides a CANopen gateway and slave station configuration method and equipment, and aims to solve the problems of tedious operation, high overhead operation risk and high hardware cost in the prior art. The configuration parameters are received through TwinCAT3 software, an expected CRC value is calculated, and the current CRC value is inquired and compared; if not, the configuration parameters are subpackaged and transmitted; after transmission is completed, the gateway merges the data and issues the data to the slave station, a confirmation mark is fed back after parameter updating is completed, and finally the state of the master station is switched to complete configuration; according to the invention, an independent configuration link of a PC end upper computer is omitted, and the operation is simplified; the risk of multiple high-altitude network cable plugging in a wind power field is avoided, and the high-altitude operation frequency is obviously reduced; an EtherCAT communication interface is reused to transmit configuration data, the requirement for independent configuration of a network port of a CANopen gateway is cancelled, and the hardware cost is reduced; the method is especially suitable for remote equipment configuration and maintenance scenes of a wind power plant.

The invention relates to a micro-manipulator motion control system, and belongs to the technical field of program control. The motion control system comprises a PLC (Programmable Logic Controller), a CANopen module, an electric joint driver, a hydraulic joint driver, a communication line, an electric joint, a hydraulic joint and a man-machine display interface, wherein the functional modules are independent and cooperatively linked; and the PLC as a master station and slave station driver communicates by adopting a CANopen protocol, and accesses the object dictionary in a PDO mode, so that motion parameter control and working condition monitoring are realized. The method is simple in engineering implementation, short in development period, high in communication controllability, accurate in joint linkage and good in real-time performance, and solves the problems of difficulty in model selection, complexity in protocol adaptation and instruction deviation in the prior art.

This invention discloses a bidirectional heartbeat determination method based on CANOPEN, comprising the following steps: In the CANOPEN master station object dictionary, the 0x1017 index is configured with the value ProducerTim; a timer is created in the master station, and timing operations are performed in the timer callback function; a variable TimCnt is defined, and incremented by one each time in the timer callback function; when the value of TimCnt equals the value of ProducerTim, the CAN driver is called to send heartbeat data; for different slave nodes, the 0x1016 index is configured according to the CANOPEN CIA403 standard protocol; after successful slave configuration, the timer set in step S2 is started to periodically send heartbeat data. This invention, by configuring the heartbeat cycle in the CANOPEN master station and implementing SDO read / write operations, configures the heartbeat for different models of servo drivers and performs periodic heartbeat correction, thus achieving bidirectional heartbeat functionality and ensuring the reliability of servo motor operation.

The present invention relates to a remote AI monitoring and control unit designed for industrial automation. This unit integrates multiple communication protocols, advanced artificial intelligence (AI) capabilities, and enhanced security features to autonomously or semi-autonomously monitor and control industrial processes. The unit supports a wide range of communication protocols, including MQTT, USART, CAN bus, I2C, SPI, Modbus, Profibus, DeviceNet, EtherNet / IP, CANopen, PROFINET, BACnet, DNP3, and HART, ensuring seamless interoperability with various industrial devices. It features adaptive communication, predictive maintenance, anomaly detection, and edge AI processing. Enhanced security is achieved through blockchain integration, AI-based threat detection, and multi-layered encryption. The unit also incorporates energy-efficient operation with energy harvesting and AI-optimized power management. An augmented reality (AR) interface provides real-time data visualization and remote assistance. The modular and scalable design allows for easy customization and expansion, while a user-friendly software interface offers customizable dashboards and AI-driven insights.

The invention provides a communication system applied to an electrophysiology robot, relates to the technical field of robots, and solves the technical problem that a robot cannot well adapt to different scene requirements by using a unified network architecture. The system comprises an embedded Linux main board, a CANopen slave station and an EtherCAT slave station, wherein the embedded Linux main board is connected with the CANopen slave station; a CANopen master station and an EtherCAT master station are configured in the embedded Linux mainboard, and a communication interface of the embedded Linux mainboard comprises a first CANFD interface and a first gigabit network port; the CANopen master station is configured to communicate with the CANopen slave station through the first CANFD interface; and the EtherCAT master station is configured to communicate with the EtherCAT slave station through the first gigabit network port. The invention is applied to the electrophysiology robot.