与ServoC的CANopen通信

1、1. 接线图ServoC(CANopenX5)Male SUB-D 9 CAN300 PROFemale SUB-D 9 CAN_L22CAN_GND33CAN_H77DC24 -6DC24 +9备注：在ServoC侧，在2与7之间连接一个120欧的电阻。2. ServoC驱动器设置a. 控制模式在下图中将模式设置为CAN_Bus。b. Bus systems设置在下图中设置Address CANopen，Baud rate。其余是默认设置。c. CAN参数设置在Parameter editor中选择CAN选项。将参数No.657 No.658 No.665 No.666 No.667 No.

2、668 No.669 No.670设为23。选中No.584双击，如下图所示。设置驱动器反馈的相关参数。选中No.585双击，如下图所示。设置驱动器接收的相关参数。在以上两图当中，发现ServoC分别共有36个Index，分为4GruopIndex说明Index说明0Gruop1成员个数18Gruop3成员个数1Gruop1 No.119Gruop3 No.12Gruop1 No.220Gruop3 No.23Gruop1 No.321Gruop3 No.34Gruop1 No.422Gruop3 No.45Gruop1 No.523Gruop3 No.56Gruop1 No.624Gruop

3、3 No.67Gruop1 No.725Gruop3 No.78Gruop1 No.826Gruop3 No.89Gruop2成员个数27Gruop4成员个数10Gruop2 No.128Gruop4 No.111Gruop2 No.229Gruop4 No.212Gruop2 No.330Gruop4 No.313Gruop2 No.431Gruop4 No.414Gruop2 No.532Gruop4 No.515Gruop2 No.633Gruop4 No.616Gruop2 No.734Gruop4 No.717Gruop2 No.835Gruop4 No.8所填的数据均为16进制。数

4、据结构说明如下：(H) ：参数地址。若为CANopen参数，则直接用其参数号。若为ServoC内部参数，2+参数号(H)；如内部H数据区为21CC(H)。：索引。若中参数号无索引，则填00(H)。ServoC内部H数据区索引01(H)对应H00。 ：数据长度。10(H)表示WORD。20(H)表示DWORD。示例：No.584 驱动器反馈Index说明Index说明000000003H (Gruop1 3个成员)1800000000H160410010H 驱动器状态字1900000000H2223F0010H 驱动器扩展状态字2000000000H360640020H 实际位置21000000

5、00H400000000H2200000000H500000000H2300000000H600000000H2400000000H700000000H2500000000H800000000H2600000000H900000000H2700000000H1000000000H2800000000H1100000000H2900000000H1200000000H3000000000H1300000000H3100000000H1400000000H3200000000H1500000000H3300000000H1600000000H3400000000H1700000000H350000

6、0000HNo.585 驱动器接收Index说明Index说明000000003H (Gruop1 3个成员)1800000001H (Gruop3 1个成员)160400010H 驱动器控制字1921CC0320H 驱动器H022223E0010H 驱动器扩展控制字2000000000H321CC0120H驱动器H002100000000H400000000H2200000000H500000000H2300000000H600000000H2400000000H700000000H2500000000H800000000H2600000000H900000002H (Gruop2 2个成员)2700000000H1021CC0220H 驱动器H012800000000H1122D00020H 驱动器No.720点速2900000000H1200000000H3000000000H1300000000H3100000000H1400000000H3200000000H1500000000H3300000000H1600000000H3400000000H1700000000H3500000000H6041H,223FH,6064H反馈说明如下：604