CANOPEN-调试软件.ppt

CANOpenSetup,StepbyStepProcedurewithPCAN-USB,HardwareSetup(BlockDiagram),PowerSupply(1030V),Canopenproduct,ConnectorCable,OptionalTerminationResistor(fortransmissionabove50kBits/sec),PCANUSB,PC,USBConnection,D-Sub9Connector,HardwareSetup(Illustration),Canopenproduct,PCANUSB,PowerSource,1.ConnecttoCANHardware,Canopenproductisfactorysettoworkatabaudrate125kBits/sec.,2.Boot-upMessage,Theboot-upmessage700happearseverytimetheCanopenproductisrestarted(poweredup).701hindicatesthatNodenumber(NN)1hasbootedup.NN=701h700h=1h=1,Example2:Incaseboot-upmessageis720h.NodeNumber(NN)=(720h700h)=20h=32,3.a.ReadpositionValue,Object6010historeadthepositionvaluefromtheinclinometer.TransmitMessageID:601-MessagetoNN1Length:8bitwordData0:Read(40)/Write(22)Data1&2:ObjectinBigEndian(6010hmeans1060inbigEndian)Data3:Sub-Index(NA)Data4-7:Datatobewritten(NAinreadcommand)TheReceivedmessage581hreadsoutthedata,40ReadCommand,6010hobjectinBigEndian,3.b.ReadPositionValue(CyclicMode),TransmitfirstmessagetosetCycletimerto100msec(64h)usingtheobject2200h.TransmitsecondmessagetosetCanopenproducttooperationalmode.Triggerthemessagesbyselectingitonebyoneandpressingspacebar.Message281hreceived,readsoutthepositionvalue.,2200hobjectinbigEndian,22-WriteCommand,Thelengthismodifiedto2bitsforthismessage),4.PresetPositionValue,Presetisusedtoresetthepositionvalue.Triggerpositionobjectoncetoreadoutonlyonepositionvalue.(usespacebartotriggeronselectingthetransmitmessage)Object6012hcanbeusedinbothread/writemodetopresetthepositionvalue.Inthiscase,presetthevalueto0.,5.ProgrammableBaudRate(1),Object3001hisusedforbaudratesettings.Initially,readoutthecurrentbaudrate(00:20kBits/sec).Thebaudratetablecanbereferredbelow.,5.ProgrammableBaudRate(2),Tochangethebaudrate,programtheparticularbaudrateusingthewritecommand.Object2300hstoresthecurrentsettingsoftheCanopenproduct.TheData55AAAA55means“SAVE”thecurrentsettings.Message581htransmitsthenewbaudratesettingsrequesteduponresettingtheconnectionandrestartingCanopenproduct.,Setto50Kbits/sec,6.ChangeNodenumber(1),Toreadthecurrentnodenumberuseobject3000h.Inordertoavoidnodenumber0,allthenodesnumbersarepre-addedby1.Notethatthemessage581hshowsthenodenumberas00h.Therefore,NN=00+1h=01h=1,6.ChangeNodenumber(2),Writethenewdata(NN-1inhexadecimal)inBigendianformusing