基于CANopen协议的工业机器人用轴伺服驱动系统的控制实现  

Realization of Servo Drive Applied in the Industrial Robot System Based on CANopen Protocol

作　　者：常晓明[1] 段晋军[1] 孙斌[2] 刘卫玲[2] 

机构地区：[1]太原理工大学计算机科学与技术学院,山西太原030024 [2]太原理工大学物理与光电工程学院,山西太原030024

出　　处：《仪表技术》2013年第11期4-7,共4页Instrumentation Technology

基　　金：高等学校博士点专项科研基金联合资助类(20121402110017)

摘　　要：CANopen是一种开放的现场总线协议,已广泛应用于嵌入式工业控制网络中。文章以工业机器人用山洋R系列-CANopen单轴伺服驱动系统为对象,介绍了CANopen协议的通信机制,以标准定位模式为例,研究了实时伺服驱动和运动控制设备子协议DSP402的开发方法。CANopen is an open field bus protocol, which has applied in embedded networks for industrial automation in Europe. In this paper, the operation mechanism of CANopen fieldbus in servo system was introduced, taking Sanyo R Series single-axis servo drive system as the research object which is used in the Industrial Robots. By introducing Profile Position Mode, this paper studies the development of slave drive program of CANopen Device Profile DSP402 for real-time servo drive and motion control.

关 键 词：CANOPEN 工业机器人 伺服驱动系统 DSP402 

分 类 号：TP273.5[自动化与计算机技术—检测技术与自动化装置]