More Related Content
What's hot (20)
Similar to Canopen (20)
More from §±§å§á§Ö§ß§Ñ §¡§Ý§Ö§Ü§ã§Ñ§ß§Õ§â (20)
Canopen
- 1. §±§¬?§³-CANopen -§â§à§Ù§â.: §±§å§á§Ö§ß§Ñ - 1 §±§à§ã§ä§â§à§Ö§ß§Ú§Ö §â§Ñ§ã§á§â§Ö§Õ§Ö§Ý§Ö§ß§ß§í§ç §ã§Ú§ã§ä§Ö§Þ §Ñ§Ó§ä§à§Þ§Ñ§ä§Ú§Ù§Ñ§è§Ú§Ú §ß§Ñ §Ò§Ñ§Ù§Ö Modicon M340/TSX Premium CanOpen se_training@ukr.net (§å§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó) §¡§Ó§ä§à§â: §¡§Ý§Ö§Ü§ã§Ñ§ß§Õ§â §±§å§á§Ö§ß§Ñ www.asu.in.ua
- 2. CAN §Ú CANOpen. §°§Ò§ë§Ö§Ö §á§â§Ö§Õ§ã§ä§Ñ§Ó§Ý§Ö§ß§Ú§Ö. CANopen ¨C §ã§Ö§ä§Ö§Ó§Ñ§ñ §ã§Ú§ã§ä§Ö§Þ§Ñ, §Ò§Ñ§Ù§Ú§â§å§ð§ë§Ñ§ñ§ã§ñ §ß§Ñ CAN (1995) CAN (Controller Area Network) ¨C §á§â§à§ä§à§Ü§à§Ý, §à§á§Ú§ã§Ñ§ß §ß§Ñ §Ü§Ñ§ß§Ñ§Ý§î§ß§à§Þ §Ú §é§Ñ§ã§ä§Ú§é§ß§à §æ§Ú§Ù§Ú§é§Ö§ã§Ü§à§Þ §å§â§à§Ó§ß§Ö (§Ó§à§Ù§ß§Ú§Ü §Ó80-§ç, §á§à§ä§à§Þ §ã§ä§Ñ§ß§Õ§Ñ§â§ä§í BOSH CAN 2.0 A/B §Ú ISO 11898-1) CAN §á§â§à§ä§à§Ü§à§Ý - §à§á§Ú§ã§í§Ó§Ñ§Ö§ä §ä§à§Ý§î§Ü§à §é§Ñ§ã§ä§î §æ§Ú§Ù§Ú§é§Ö§ã§Ü§à§Ô§à §å§â§à§Ó§ß§ñ (§ß§Ñ§Ý§Ú§é§Ú§Ö §Õ§à§Þ§Ú§ß§Ñ§ä§ß§à§Ô§à §Ú §â§Ö§è§Ö§ã§ã§Ú§Ó§ß§à§Ô§à §Ò§Ú§ä§à§Ó, §ã§Ü§à§â§à§ã§ä§Ú, §ã§Ú§ß§ç§â§à§ß§Ú§Ù§Ñ§è§Ú§ñ); - §à§ä§Ý§Ú§é§ß§Ñ§ñ §à§Ò§â§Ñ§Ò§à§ä§Ü§Ñ §à§ê§Ú§Ò§à§Ü, §ß§Ñ§Õ§Ö§Ø§ß§à§ã§ä§î - §à§Õ§Ú§ß §Ü§Ñ§Õ§â - §Õ§à 8 §Ò§Ñ§Û§ä §Õ§Ñ§ß§ß§í§ç - §ñ§Ó§Ý§ñ§Ö§ä§ã§ñ §Ò§Ñ§Ù§à§Ó§í§Þ §Õ§Ý§ñ §ã§Ö§ä§Ö§Û CANopen, DeviceNet, SDS, CAN Kingdom, SeleCAN, SAE J1939 §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 2
- 3. §¬§Ñ§ß§Ñ§Ý§î§ß§í§Û §å§â§à§Ó§Ö§ß§î CAN. §¶§à§â§Þ§Ú§â§à§Ó§Ñ§ß§Ú§Ö §Ü§Ñ§Õ§â§Ñ (BOSH CAN 2.0A/B, ISO 11898-1) - §å§â§à§Ó§ß§Ú §Ò§Ú§ä§à§Ó: §Õ§à§Þ§Ú§ß§Ñ§ß§ä§ß§í§Û §Ú §â§Ö§è§Ö§ã§ã§Ú§Ó§ß§í§Û, §Õ§à§Þ§Ú§ß§Ñ§ß§ä§ß§í§Û §á§Ö§â§Ö§Ü§â§í§Ó§Ñ§Ö§ä §â§Ö§è§Ö§ã§ã§Ú§Ó§ß§í§Û; - §Ú§ã§á§à§Ý§î§Ù§å§Ö§ä§ã§ñ §æ§à§â§Þ§Ñ§ä §Ü§Ñ§Õ§â§Ñ §ã 11-§Ò§Ú§ä§ß§í§Þ §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§Ü§Ñ§ä§à§â§à§Þ (29-§Ò§Ú§ä§ß§í§Û §Õ§Ý§ñ BOSH CAN 2.0 B); - §á§à§Ý§Ö §Ñ§â§Ò§Ú§ä§â§Ñ§Ø§Ñ §Õ§Ý§ñ §â§Ö§ê§Ö§ß§Ú§ñ §Ü§à§Ý§Ý§Ú§Ù§Ú§Û §Ú §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§Ü§Ñ§è§Ú§Ú; - §á§à§Ý§Ö §Õ§Ñ§ß§ß§í§ç §à§ä 0 §Õ§à 8 §Ò§Ñ§Û§ä; - §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§Ü§Ñ§ä§à§â §Ü§Ñ§Ø§Õ§à§Ô§à §ä§Ú§á§Ñ §ã§à§à§Ò§ë§Ö§ß§Ú§Û §å§ß§Ú§Ü§Ñ§Ý§î§ß§í§Û; §â§Ö§Ø§Ú§Þ §ê§Ú§â§à§Ü§à§Ó§Ö§ë§Ñ§ß§Ú§ñ, Producer/Consumer: §Ý§ð§Ò§à§Û §å§Ù§Ö§Ý §à§ä§á§â§Ñ§Ó§Ý§ñ§Ö§ä §Ü§Ñ§Õ§â, §æ§Ú§Ý§î§ä§â§í §ß§Ñ§ã§ä§â§à§Ö§ß§í §ß§Ñ §ß§å§Ø§ß§í§Ö §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§Ü§Ñ§ä§à§â§í §Ü§Ñ§Õ§â§à§Ó §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 3
- 4. §¬§Ñ§ß§Ñ§Ý§î§ß§í§Û §å§â§à§Ó§Ö§ß§î. §®§Ö§ä§à§Õ §Õ§à§ã§ä§å§á§Ñ (BOSH CAN 2.0A/B, ISO 11898-1) §¬§à§Þ§Þ§å§ß§Ú§Ü§Ñ§è§Ú§à§ß§ß§í§Û §°§Ò§ì§Ö§Ü§ä (§ã§à§à§Ò§ë§Ö§ß§Ú§Ö) §ã §ß§Ñ§Ú§Þ§Ö§ß§î§ê§Ú§Þ COB-ID §Ú§Þ§Ö§Ö§ä §ß§Ñ§Ú§Ó§í§ã§ê§Ú§Û §á§â§Ú§à§â§Ú§ä§Ö§ä §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 4
- 5. §¶§Ú§Ù§Ú§é§Ö§ã§Ü§Ú§Û §å§â§à§Ó§Ö§ß§î (ISO 11898-2) §á§â§Ú 1 §®§Ò?§ä/§ã Ld<0.3 §Þ §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 5 - §ã§Ú§Þ§Þ§Ö§ä§â§Ú§é§Ö§ã§Ü§Ñ§ñ(§Õ§Ú§æ§æ§Ö§â§Ö§ß§è§Ú§Ñ§Ý§î§ß§Ñ§ñ) §á§Ö§â§Ö§Õ§Ñ§é§Ñ §á§à §ß§Ñ§á§â§ñ§Ø§Ö§ß§Ú§ð CAN_H §Þ§Ö§Ø§Õ§å CAN_L, §Ó§Ú§ä§Ñ§ñ §á§Ñ§â§Ñ 120 §°§Þ; - §Ó§à§Ù§Þ§à§Ø§ß§à§ã§ä§î §á§à§Õ§Ñ§é§Ú §á§Ú§ä§Ñ§ß§Ú§ñ §à§ä§Õ§Ö§Ý§î§ß§à§Û §Ó§Ú§ä§à§Û §á§Ñ§â§à§Û CAN_V+ GND; - §ä§à§á§à§Ý§à§Ô§Ú§ñ ¨C §ê§Ú§ß§Ñ, §ã §Ü§à§â§à§ä§Ü§Ú§Þ§Ú §à§ä§Ó§Ö§ä§Ó§Ý§Ö§ß§Ú§ñ§Þ§Ú; - §Õ§Ý§Ú§ß§Ñ §Ý§Ú§ß§Ú§Ú §Õ§à 1000 §Þ; - §ã§Ü§à§â§à§ã§ä§î §Ó§í§Ò§Ú§â§Ñ§Ö§ä§ã§ñ §à§ä 10 §Ü§Ò§Ú§ä/§ã §Õ§à 1 §®§Ò§Ú§ä/§ã, §á§à§Õ§Õ§Ö§â§Ø§Ü§Ñ §å§ã§ä§â§à§Û§ã§ä§Ó§à§Þ 20 §¬§Ò§Ú§ä/§ã - §à§Ò§ñ§Ù§Ñ§ä§Ö§Ý§î§ß§Ñ§ñ; - §Õ§Ó§Ñ §ä§Ö§â§Þ§Ú§ß§Ñ§Ý§î§ß§í§ç §â§Ö§Ù§Ú§ã§ä§à§â§Ñ 120 §°§Þ (108-132) §Ó §Ü§à§ß§è§Ñ§ç §Ý§Ú§ß§Ú§Ú; - §å§â§à§Ó§ß§Ú §Õ§Ý§ñ §Õ§à§Þ§Ú§ß§Ñ§ß§ä§ß§à§Ô§à §Ú §â§Ö§è§Ö§ã§ã§Ú§Ó§ß§à§Ô§à §Ò§Ú§ä§Ñ; - §Þ§Ñ§Ü§ã§Ú§Þ§å§Þ 64 §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ §ß§Ñ §ã§Ö§Ô§Þ§Ö§ß§ä
- 6. CANOpen. §°§Ò§ë§Ö§Ö §á§â§Ö§Õ§ã§ä§Ñ§Ó§Ý§Ö§ß§Ú§Ö. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 6 - §â§Ñ§Ù§â§Ñ§Ò§à§ä§Ñ§ß §Ú §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§Ö§ä§ã§ñ CiA (CAN in Automation http://www.can-cia.de) - §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§Ö§ä §á§Ö§â§Ö§Õ§Ñ§é§å §Õ§Ñ§ß§ß§í§ç §Ü§â§Ú§ä§Ú§é§ß§í§ç §Ó§à §Ó§â§Ö§Þ§Ö§ß§Ú (§Õ§à 8 §Ò§Ñ§Û§ä §Ù§Ñ §ã§à§à§Ò§ë§Ö§ß§Ú§Ö) - §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§Ö§ä §á§â§ñ§Þ§à§Û §Õ§à§ã§ä§å§á §Ü §á§Ñ§â§Ñ§Þ§Ö§ä§â§Ñ§Þ §á§â§Ú§Ò§à§â§à§Ó (>8 §Ò§Ñ§Û§ä, §ß§Ö§ã§Ü§à§Ý§î§Ü§à §ã§à§à§Ò§ë) - §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ §Þ§à§Ô§å§ä §à§Ò§Þ§Ö§ß§Ú§Ó§Ñ§ä§î§ã§ñ §Þ§Ö§Ø§Õ§å §ã§à§Ò§à§Û §ß§Ñ§á§â§ñ§Þ§å§ð (Multimaster) - §ß§Ñ§Ý§Ú§é§Ú§Ö §ã§Ö§â§Ó§Ú§ã§à§Ó §ã§Ö§ä§Ö§Ó§à§Ô§à §Þ§Ö§ß§Ö§Õ§Ø§Ö§â§Ñ (NMT-Master): §Ü§à§ß§æ§Ú§Ô§å§â§Ú§â§à§Ó§Ñ§ß§Ú§Ö, §Õ§Ú§Ñ§Ô§ß§à§ã§ä§Ú§Ü§Ñ §Ú §å§á§â§Ñ§Ó§Ý§Ö§ß§Ú§Ö §à§ê§Ú§Ò§Ü§Ñ§Þ§Ú - §â§Ñ§Ù§ß§í§Ö §ä§Ú§á§í §ã§Ó§ñ§Ù§Ú: - §è§Ú§Ü§Ý§Ú§é§Ö§ã§Ü§Ñ§ñ (§é§Ö§â§Ö§Ù §à§á§â§Ö§Õ§Ö§Ý§Ö§ß§ß§í§Ö §Ü§Ó§Ñ§ß§ä§í §Ó§â§Ö§Þ§Ö§ß§Ú); - §Ñ§è§Ú§Ü§Ý§Ú§é§Ö§ã§Ü§Ñ§ñ §ã§Ú§ß§ç§â§à§ß§ß§Ñ§ñ §Ú §Ñ§ã§Ú§ß§ç§â§à§ß§ß§Ñ§ñ §ã§Ó§ñ§Ù§î (§à§á§â§Ö§Õ§Ö§Ý§ñ§Ö§ä§ã§ñ §ã§à§Ò§í§ä§Ú§ñ§Þ§Ú) - §Þ§Ö§ç§Ñ§ß§Ú§Ù§Þ §á§â§Ú§à§â§Ú§ä§Ö§ä§à§Ó ¨C §â§Ö§Ñ§Ý§î§ß§à§Ö §Ó§â§Ö§Þ§ñ; - §Õ§Ý§ñ §â§Ñ§ã§á§â§Ö§Õ§Ö§Ý§Ö§ß§ß§í§ç §ã§Ú§ã§ä§Ö§Þ §Ü§Ñ§Ü §å§ã§ä§â§à§Û§ã§ä§Ó I/O §ä§Ñ§Ü §Ú §±§§¬, HMI;
- 7. ISO 11898-1 ISO 11898-1,2 CiA DRP 303 §¡§â§ç§Ú§ä§Ö§Ü§ä§å§â§Ñ §å§ã§ä§â§à§Û§ã§ä§Ó CANOpen §Ó §Ü§à§ß§ä§Ö§Ü§ã§ä§Ö OSI §Þ§à§Õ§Ö§Ý§Ú CAN ¡Ù CANopen !!! CiA DSP-401 I/O §®§à§Õ§å§Ý? CiA DSP-402 §±§â§Ú§Ó§à§Õ§Ú CiA DSP-406 §¦§ß§Ü§à§Õ§Ö§â§Ú CiA DSP-403 HMI CiA DSP-405 PLC §á§â§à§æ?§Ý? §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 7 BOSH CAN 2.0 A/B (Robert BOSH) ¨C 2 §å§â§à§Ó§ß§ñ OSI (§Ü§Ñ§ß§Ñ§Ý§î§ß§í§Û + §é§Ñ§ã§ä§î §æ§Ú§Ù§Ú§é§Ö§ã§Ü§à§Ô§à) CANopen (CiA - CAN in Automation)¨C 3 §å§â§à§Ó§ß§ñ + §ã§Ý§à§Ó§Ñ§â§î §à§Ò§ì§Ö§Ü§ä§à§Ó+§á§â§à§æ§Ú§Ý§Ú §å§ã§ä§â§à§Û§ã§ä§Ó ISO 11898-1= BOSH CAN 2.0 A ISO 11898-2 ¨C (§á§â§Ú§Ö§Þ§Ö§á§Ö§â§Ñ§Õ§Ñ§ä§é§Ú§Ü§Ú, §ã§Ü§à§â§à§ã§ä§î, §á§Ñ§â§Ñ§Þ§Ö§ä§â§í §Ý§Ú§ß§Ú§Û §ã§Ó§ñ§Ù§Ú) CiA DRP 303 ¨C §ã§ä§Ñ§ß§Õ§Ñ§â§ä §ß§Ñ §ã§à§Ö§Õ§Ú§ß§Ú§ä§Ö§Ý§Ú CiA DSP-40X ¨C §á§â§à§æ§Ú§Ý§Ú §å§ã§ä§â§à§Û§ã§ä§Ó
- 8. §°§Ò§Þ§Ö§ß §Õ§Ñ§ß§í§Þ§Ú §á§à CANOpen §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 8 §ã§Ý§à§Ó§Ñ§â§î §à§Ò§ì§Ö§Ü§ä§à§Ó §Ü§à§Þ§Þ§å§ß§Ú§Ü§Ñ§è§Ú§à§ß§ß§í§Ö §à§Ò§ì§Ö§Ü§ä§í §Ú §à§Ò§ì§Ö§Ü§ä§í §á§â§Ú§Ý§à§Ø§Ö§ß§Ú§ñ (§á§à Inex+SubIndex) §Ü§à§Þ§Þ§å§ß§Ú§Ü§Ñ§è§Ú§à§ß§ß§í§Ö §à§Ò§ì§Ö§Ü§ä§í (§á§à COB-ID) §Ò§Ú§ä§í §Õ§à§Þ§Ú§ß§Ñ§ß§ä§ß§í§Ö/§â§Ö§è§Ö§ã§ã§Ú§Ó§ß§í§Ö §Ü§Ñ§Ø§Õ§à§Ö §å§ã§ä§â§à§Û§ã§ä§Ó§à §ã§à§Õ§Ö§â§Ø§Ú§ä §ã§Ý§à§Ó§Ñ§â§î §à§Ò§ì§Ö§Ü§ä§à§Ó §Ü§Ñ§Ø§Õ§í§Û §à§Ò§ì§Ö§Ü§ä §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§è§Ú§â§å§Ö§ä§ã§ñ Index+Subindex, §á§â§Ú§Ü§Ý§Ñ§Õ§ß§à§Û §å§â§à§Ó§Ö§ß§î §à§Ò§Ö§ã§á§Ö§é§Ú§Ó§Ñ§Ö§ä §á§Ö§â§Ö§Õ§Ñ§é§å §Ú §á§â§Ú§Ö§Þ §à§Ò§ì§Ö§Ü§ä§à§Ó §Ý§ð§Ò§Ñ§ñ §ã§Ó§ñ§Ù§î §á§â§à§ç§à§Õ§Ú§ä §á§à§ã§â§Ö§Õ§ã§ä§Ó§à§Þ §á§Ö§â§Ö§Õ§Ñ§é§Ú CAN §ã§à§à§Ò§ë§Ö§ß§Ú§Û ¨C §Ü§à§Þ§Þ§å§ß§Ú§Ü§Ñ§è§Ú§à§ß§ß§í§Þ§Ú §à§Ò§ì§Ö§Ü§ä§Ñ§Þ§Ú §Ü§Ñ§Ø§Õ§à§Ö CAN §ã§à§à§Ò§ë§Ö§ß§Ú§Ö ¨C §Ú§Þ§Ö§Ö§ä §å§ß§Ú§Ü§Ñ§Ý§î§ß§í§Û §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§Ü§Ñ§ä§à§â COB-ID
- 9. §°§Ò§Þ§Ö§ß §Õ§Ñ§ß§í§Þ§Ú §á§à CANOpen §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 9
- 10. §²§Ñ§Ù§ì§Ö§Þ§í (CiA DRP-303) §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 10
- 11. §¶§Ú§Ù§Ú§é§Ö§ã§Ü§Ú§Û §Ú §Ü§Ñ§ß§Ñ§Ý§î§ß§í§Û §å§â§à§Ó§ß§Ú. Summary §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 11 1. CANOpen ¨C CAN + §Ü§à§Þ§Þ§å§ß§Ú§Ü§Ñ§è§Ú§à§ß§ß§í§Û §á§â§à§æ§Ú§Ý§î + §á§â§à§æ§Ú§Ý§Ú §å§ã§ä§â§à§Û§ã§ä§Ó 6. §¬§Ñ§Ø§Õ§à§Ö §å§ã§ä§â§à§Û§ã§ä§Ó§à §ß§Ñ §ê§Ú§ß§Ö §ã§à§Õ§Ö§â§Ø§Ú§ä §ã§Ý§à§Ó§Ñ§â§î §à§Ò§ì§Ö§Ü§ä§à§Ó 8. §³§Ó§ñ§Ù§î ¨C §à§Ò§Þ§Ö§ß §à§Ò§ì§Ö§Ü§ä§Ñ§Þ§Ú §Õ§Ó§å§ç §Ú§Ý§Ú §ß§Ö§ã§Ü§à§Ý§î§Ü§Ú§ç §å§ã§ä§â§à§Û§ã§ä§Ó 9. §§ð§Ò§Ñ§ñ §ã§Ó§ñ§Ù§î §â§Ö§Ñ§Ý§Ú§Ù§å§Ö§ä§ã§ñ §é§Ö§â§Ö§Ù CAN-§ã§à§à§Ò§ë§Ö§ß§Ú§Ö, §Ü§à§ä§à§â§à§Ö §Ú§Þ§Ö§Ö§ä COB-ID 7. §°§Ò§ì§Ö§Ü§ä§í §Ó §ã§Ý§à§Ó§Ñ§â§Ö §Ú§Þ§Ö§ð§ä §å§ß§Ú§Ü§Ñ§Ý§î§ß§í§Û Index+SubIndex 5. §ª§ã§á§à§Ý§î§Ù§å§Ö§ä§ã§ñ §Þ§ß§à§Ø§Ö§ã§ä§Ó§Ö§ß§ß§í§Û §Þ§Ö§ä§à§Õ §Õ§à§ã§ä§å§á§Ñ §ã §ß§Ö§â§Ñ§Ù§â§å§ê§Ñ§ð§ë§Ú§Þ §â§Ö§ê§Ö§ß§Ú§Ö§Þ §Ü§à§Ý§Ý§Ú§Ù§Ú§Û 2. §´§à§á§à§Ý§à§Ô§Ú§ñ - §ê§Ú§ß§Ñ. §³§Ó§ñ§Ù§î - §Ó§Ú§ä§Ñ§ñ §á§Ñ§â§Ñ §Õ§à 1 §Ü§Þ, 2 §ä§Ö§â§Þ§Ú§ß§Ñ§ä§à§â§Ñ 120 §°§Þ, §ã§Ü§à§â§à§ã§ä§î §Õ§à 1 §®§Ò§Ú§ä/§ã, §Ó§à§Ù§Þ§à§Ø§ß§à§ã§ä§î §á§à§Õ§Ó§à§Õ§Ñ §á§Ú§ä§Ñ§ß§Ú§ñ §Ü §Õ§Ñ§ä§é§Ú§Ü§Ñ§Þ 3. §¥§Ó§Ñ §å§â§à§Ó§ß§ñ §Ò§Ú§ä§à§Ó ¨C "§Õ§à§Þ§Ú§ß§Ñ§ß§ä§ß§í§Û" (§Ý§à§Ô."0"), §â§Ö§è§Ö§ã§ã§Ú§Ó§ß§í§Û (§Ý§à§Ô."1") 4. §¬§Ñ§Õ§â - CAN Frame §ã 11 §Ò§Ú§ä§ß§í§Þ §Ú§Õ§Ö§ß§ä§Ú§æ§Ú§Ü§Ñ§ä§à§â§à§Þ §Ó §á§à§Ý§Ö §Ñ§â§Ò§Ú§ä§â§Ñ§Ø§Ñ
- 12. Communication Objects §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 12 §à§Ò§ì§Ö§Ü§ä§í §Õ§Ñ§ß§ß§í§ç §á§â§à§è§Ö§ã§ã§Ñ §à§Ò§ì§Ö§Ü§ä§í §ã§Ö§â§Ó§Ú§ã§ß§í§ç §Õ§Ñ§ß§ß§í§ç §Ñ§Õ§Þ§Ú§ß§Ú§ã§ä§â§Ñ§ä§Ú§Ó§ß§í§Ö §ã§à§à§Ò§ë§Ö§ß§Ú§ñ §ã§Ö§ä§Ú §à§Ò§ì§Ö§Ü§ä§í §å§á§â§Ñ§Ó§Ý§Ö§ß§Ú§ñ §ã§Ö§ä§î§ð §à§Ò§ì§Ö§Ü§ä §ã§Ú§ß§ç§â§à§ß§Ú§Ù§Ñ§è§Ú§Ú §à§Ò§ì§Ö§Ü§ä §ê§ä§Ñ§Þ§á§Ñ §Ó§â§Ö§Þ§Ö§ß§Ú §à§Ò§ì§Ö§Ü§ä §Ñ§Ó§Ñ§â§Ú§Ú §ã§á§Ö§è§Ú§Ñ§Ý§î§ß§í§Ö §æ§å§ß§Ü§è§Ú§à§ß§Ñ§Ý§î§ß§í§Ö §à§Ò§ì§Ö§Ü§ä§í §à§Ò§ì§Ö§Ü§ä§í §Ú§ß§Ú§è§Ú§Ñ§Ý§Ú§Ù§Ñ§è§Ú§Ú §ã§Ö§ä§Ú §à§Ò§ì§Ö§Ü§ä§í §Ü§à§ß§ä§â§à§Ý§ñ §à§ê§Ú§Ò§à§Ü §à§Ò§ì§Ö§Ü§ä§í PDO (R_PDO §Ú T_PDO) - §Õ§Ý§ñ §Õ§Ñ§ß§ß§í§ç §â§Ö§Ñ§Ý§î§ß§à§Ô§à §Ó§â§Ö§Þ§Ö§ß§Ú SDO (Client-SDO §Ú Server-SDO) - §Õ§Ý§ñ §Õ§à§ã§ä§å§á§Ñ §Ü §Õ§Ñ§ß§ß§í§Þ §ã§Ý§à§Ó§Ñ§â§ñ §à§Ò§ì§Ö§Ü§ä§à§Ó §á§à Index+Subindex
- 13. PDO §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 13 §®§à§Õ§Ö§Ý§î §à§Ò§Þ§Ö§ß§Ñ Producer/Consumer (§±§â§à§Ú§Ù§Ó§à§Õ§Ú§ä§Ö§Ý§î/§±§à§ä§â§Ö§Ò§Ú§ä§Ö§Ý§î), §ß§Ö §ä§â§Ö§Ò§å§Ö§ä §ä§Ö§Ý§Ö§Ô§â§Ñ§Þ§Þ§í §á§à§Õ§ä§Ó§Ö§â§Ø§Õ§Ö§ß§Ú§ñ §Õ§à§ã§ä§Ñ§Ó§Ü§Ú §¬§à§Ý§Ú§é§Ö§ã§ä§Ó§à PDO §Ó §³§Ý§à§Ó§Ñ§â§Ö §°§Ò§ì§Ö§Ü§ä§à§Ó §Ù§Ñ§Ó§Ú§ã§Ú§ä §à§ä §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ, §ß§Ñ§é§Ñ§Ý§î§ß§í§Û Index R_PDO - 1600h, T_PDO ¨C 1A00h §¥§Ñ§ß§ß§í§Ö §Ú§Ù T_PDO (Transmit-PDO) §á§Ö§â§Ö§Õ§Ñ§ð§ä§ã§ñ §Ó§ã§Ö§Þ §å§Ù§Ý§Ñ§Þ §Ú §Ù§Ñ§á§Ú§ã§í§Ó§Ñ§ð§ä§ã§ñ §Ó §ã§Ó§ñ§Ù§Ñ§ß§ß§í§Ö R_PDO (Receive-PDO) §£ §à§Õ§ß§à§Û §ã§Ö§ä§Ú §Õ§à 512 T_PDO §Ú §Õ§à 512 R_PDO §¬§Ñ§Ø§Õ§í§Û PDO §ã§à§Õ§Ö§â§Ø§Ú§ä §Õ§Ñ§ß§ß§í§Ö §á§â§à§è§Ö§ã§ã§Ñ (§Õ§à 8 §Ò§Ñ§Û§ä), §ß§Ñ§á§à§Ý§ß§Ö§ß§Ú§Ö §Ü§à§ä§à§â§í§Þ§Ú §à§á§â§Ö§Õ§Ö§Ý§ñ§Ö§ä§ã§ñ §à§ä§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Ö§Þ PDO (§ã§Þ. PDO Mapping) §³§Ó§ñ§Ù§î(Link) PDO §Ü§à§ß§æ§Ú§Ô§å§â§å§Ö§ä§ã§ñ (§ã§Þ. NMT), §ã§Ó§ñ§Ù§Ñ§ß§ß§í§Ö T_PDO (Transmit-PDO) §Ú R_PDO (Receive-PDO) §Ú§Þ§Ö§ð§ä §ä§à§ä §Ø§Ö COB-ID
- 14. PDO-Mapping §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 14 §¥§Ñ§ß§ß§í§Ö §Ú§Ù §ã§Ý§à§Ó§Ñ§â§ñ §à§Ò§ì§Ö§Ü§ä§à§Ó §à§ä§à§Ò§â§Ñ§Ø§Ñ§ð§ä§ã§ñ §ß§Ñ PDO: - §Õ§Ñ§ß§ß§í§Ö §Ú§Ù §ã§Ý§à§Ó§Ñ§â§ñ §à§Ò§ì§Ö§Ü§ä§à§Ó §Ù§Ñ§á§Ú§ã§í§Ó§Ñ§ð§ä§ã§ñ §Ó T_PDO; - §Õ§Ñ§ß§ß§í§Ö §Ú§Ù R_PDO §Ù§Ñ§á§Ú§ã§í§Ó§Ñ§ð§ä§ã§ñ §Ó §ã§Ý§à§Ó§Ñ§â§î §à§Ò§ì§Ö§Ü§ä§à§Ó §±§à §å§Þ§à§Ý§é§Ñ§ß§Ú§ð §à§ä§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Ö §á§â§à§Ó§à§Õ§Ú§ä§ã§ñ §ã§à§Ô§Ý§Ñ§ã§ß§à §á§â§à§æ§Ú§Ý§ð §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ (§ã§Þ. §±§â§à§æ§Ú§Ý§Ú) §°§á§è§Ú§à§ß§Ñ§Ý§î§ß§à §å§ã§ä§â§à§Û§ã§ä§Ó§à §Þ§à§Ø§Ö§ä §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§ä§î §Ü§à§ß§æ§Ú§Ô§å§â§Ú§â§å§Ö§Þ§à§Ö §à§ä§à§Ò§â§Ñ§Ø§Ö§ß§Ú§Ö (Variable Mapping)
- 15. Network Management (NMT). §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 15 §¡§Õ§Þ§Ú§ß§Ú§ã§ä§â§Ú§â§à§Ó§Ñ§ß§Ú§Ö §ã§Ö§ä§Ú §Ó§Ü§Ý§ð§é§Ñ§Ö§ä §Ô§â§å§á§á§å §ã§Ö§â§Ó§Ú§ã§à§Ó: - Module Control Services ¨C §Ú§ß§Ú§è§Ú§Ñ§Ý§Ú§Ù§Ñ§è§Ú§ñ §å§Ù§Ý§à§Ó NMT-Slave - Error Control Services ¨C §ß§Ñ§Ò§Ý§ð§Õ§Ö§ß§Ú§Ö §Ù§Ñ §ã§à§ã§ä§à§ñ§ß§Ú§Ö§Þ §ã§Ö§ä§Ú §Ú §å§Ù§Ý§à§Ó §Ó §ß§Ö§Û - Configuration Control Services ¨C §Ù§Ñ§Ô§â§å§Ù§Ü§Ñ/§Ó§í§Ô§â§å§Ù§Ü§Ñ §Ü§à§ß§æ§Ú§Ô§å§â. §Õ§Ñ§ß§ß§í§ç §å§Ù§Ý§à§Ó §¡§Õ§Þ§Ú§ß§Ú§ã§ä§â§Ú§â§à§Ó§Ñ§ß§Ú§Ö §ã§Ö§ä§Ú §á§â§Ö§Õ§ß§Ñ§Ù§ß§Ñ§é§Ö§ß§à §Õ§Ý§ñ §å§á§â§Ñ§Ó§Ý§Ö§ß§Ú§ñ §Ú §Õ§Ú§Ñ§Ô§ß§à§ã§ä§Ú§â§à§Ó§Ñ§ß§Ú§ñ §â§Ñ§Ò§à§ä§í CANOpen §°§Õ§Ú§ß §å§Ù§Ö§Ý §ã §æ§å§ß§Ü§è§Ú§ñ§Þ§Ú §Ñ§Õ§Þ§Ú§ß§Ú§ã§ä§â§Ú§â§à§Ó§Ñ§ß§Ú§ñ - NMT-Master, §à§ã§ä§Ñ§Ý§î§ß§í§Ö §å§Ù§Ý§í - NMT-Slave (§Õ§à 128) §¬§Ñ§Ø§Õ§í§Û NMT-Slave §Ú§Þ§Ö§Ö§ä §ã§Ó§à§Û §å§ß§Ú§Ü§Ñ§Ý§î§ß§í§Û NODE-ID (§à§ä 1 §Õ§à 127)
- 16. NMT Slave State Diagram. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 16 1.§±§à§ã§Ý§Ö §Ó§Ü§Ý§ð§é§Ö§ß§Ú§ñ §á§Ú§ä§Ñ§ß§Ú§ñ §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ: 1.Initialization, 2.Pre-Operational §â§Ö§Ø§Ú§Þ: PDO-§ß§Ö§Õ§à§ã§ä§å§á§ß§í, SDO-§Õ§à§ã§ä§å§á§ß§í, NMT-Master §Þ§à§Ø§Ö§ä §á§â§à§Ú§Ù§Ó§à§Õ§Ú§ä§î §Ü§à§ß§æ§Ú§Ô§å§â§Ú§â§à§Ó§Ñ§ß§Ú§Ö 2. NMT-Master §Þ§à§Ø§Ö§ä §á§Ö§â§Ö§Ó§Ö§ã§ä§Ú §à§Õ§ß§à §Ú§Ý§Ú §Ó§ã§Ö §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ §Ó: 1.§â§Ö§Ø§Ú§Þ Operational, PDO §Ú SDO §Õ§à§ã§ä§å§á§ß§í 2.Stop ¨C PDO §Ú SDO §ß§Ö§Õ§à§ã§ä§å§á§ß§í, §á§à§Ó§Ö§Õ§Ö§ß§Ú§Ö §à§á§â§Ö§Õ§Ö§Ý. §á§â§à§æ§Ú§Ý§Ö§Þ 3.Initialization §Ú§Ý§Ú Pre-Operational
- 17. Predefined NMT. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 17 §³§ç§Ö§Þ§Ñ §â§Ñ§ã§á§â§Ö§Õ§Ö§Ý§Ö§ß§Ú§Û COB-ID §Ó §ã§Ö§ä§Ú §á§à §å§Þ§à§Ý§é§Ñ§ß§Ú§ð, §ß§Ñ§Ù§ß§Ñ§é§Ñ§Ö§ä§ã§ñ §å§ã§ä§â§à§Û§ã§ä§Ó§å §á§à§ã§Ý§Ö §Ú§ß§Ú§è§Ú§Ñ§Ý§Ú§Ù§Ñ§è§Ú§Ú §Ó §ã§à§ã§ä§à§ñ§ß§Ú§Ú Pre-Operational §±§â§Ö§Õ§à§á§â§Ö§Õ§Ö§Ý§Ö§ß§ß§í§Ö PDO-§ã§Ó§ñ§Ù§Ú
- 18. §±§â§à§æ§Ú§Ý§Ú §å§ã§ä§â§à§Û§ã§ä§Ó CANOpen. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 18 Device Profile §à§á§â§Ö§Õ§Ö§Ý§ñ§Ö§ä §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§Ö§Þ§í§Ö §à§Ò§ì§Ö§Ü§ä§í §á§â§Ú§Ý§à§Ø§Ö§ß§Ú§ñ, §Õ§à§á§à§Ý§ß§Ú§ä§Ö§Ý§î§ß§í§Ö §Ü§à§Õ§í §à§ê§Ú§Ò§à§Ü §Ú PDO-Mapping §á§à §å§Þ§à§Ý§é§Ñ§ß§Ú§ð(6000h-9FFFh) Interface Profile §à§á§â§Ö§Õ§Ö§Ý§ñ§Ö§ä §Ú§ß§ä§Ö§â§æ§Ö§Û§ã §Õ§à§ã§ä§å§á§Ñ §Ü §à§Ò§ì§Ö§Ü§ä§Ñ§Þ §á§â§Ú§Ý§à§Ø§Ö§ß§Ú§ñ, §ä§Ú§á§Ñ§Þ §Õ§Ñ§ß§ß§í§ç §Ú PDO-Mapping. §²§Ñ§Ù§â§Ñ§Ò§à§ä§Ñ§ß §Õ§Ý§ñ §á§â§à§Ô§â§Ñ§Þ§Þ§Ú§â§å§Ö§Þ§í§ç §Ü§à§ß§ä§â§à§Ý§Ö§â§à§Ó IEC-61131 Application Profile ¨C §à§á§Ú§ã§í§Ó§Ñ§Ö§ä §ã§á§Ö§è§Ú§æ§Ú§é§Ö§ã§Ü§Ú§Ö §ç§Ñ§â§Ñ§Ü§ä§Ö§â§Ú§ã§ä§Ú§Ü§Ú §Ü§à §Ó§ã§Ö§Þ §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ§Þ §à§á§â§Ö§Õ§Ö§Ý. §ã§æ§Ö§â§í §á§â§Ú§Þ§Ö§ß§Ö§ß§Ú§ñ
- 19. §¶§å§ß§Ü§è§Ú§à§ß§Ú§â§à§Ó§Ñ§ß§Ú§Ö PDO §³§Ó§ñ§Ù§î PDO §Ó§à§Ù§Þ§à§Ø§ß§Ñ §ß§Ö§á§à§ã§â§Ö§Õ§ã§ä§Ó§Ö§ß§ß§à §Þ§Ö§Ø§Õ§å §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ§Þ§Ú §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 19
- 20. §³§á§à§ã§à§Ò§í §á§Ö§â§Ö§Õ§Ñ§é§Ú PDO §´§â§Ú §ã§á§à§ã§à§Ò§Ñ §Ú§ß§Ú§è§Ú§Ñ§è§Ú§Ú §á§Ö§â§Ö§Õ§Ñ§é§Ú PDO: 1. §±§à §Ó§à§Ù§ß§Ú§Ü§ß§à§Ó§Ö§ß§Ú§ð §ã§à§Ò§í§ä§Ú§ñ §Ú§Ý§Ú §ä§Ñ§Û§Þ§Ö§â§Ñ §ß§Ñ §Ú§ã§ä§à§é§ß§Ú§Ü§Ö. 2. §¡§ã§Ú§ß§ç§â§à§ß§ß§à §á§à§ã§Ý§Ö §á§Ö§â§Ö§Õ§Ñ§é§Ú §Ù§Ñ§á§â§à§ã§Ñ Remote Frame §à§ä §Ý§ð§Ò§à§Ô§à §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ. 3. §³§Ú§ß§ç§â§à§ß§ß§à §Ó §ä§Ö§é§Ö§ß§Ú§Ú §Ó§â§Ö§Þ§Ö§ß§ß§à§Ô§à §Ú§ß§ä§Ö§â§Ó§Ñ§Ý§Ñ §á§à§ã§Ý§Ö §à§Ò§ì§Ö§Ü§ä§Ñ SYNC. §³§Ú§ß§ç§â§à§ß§ß§Ñ§ñ §á§Ö§â§Ö§Õ§Ñ§é§Ñ PDO §á§â§à§Ú§ã§ç§à§Õ§Ú§ä §ä§à§Ý§î§Ü§à §Ó §ä§Ö§é§Ö§ß§Ú§Ú §Ó§â§Ö§Þ§Ö§ß§ß§à§Ô§à §Ú§ß§ä§Ö§â§Ó§Ñ§Ý§Ñ (§à§Ü§ß§Ñ), §á§à§ã§Ý§Ö §á§Ö§â§Ö§Õ§Ñ§é§Ú §ã§á§Ö§è§Ú§Ñ§Ý§î§ß§à§Ô§à §à§Ò§ì§Ö§Ü§ä§Ñ SYNC §¡§ã§Ú§ß§ç§â§à§ß§ß§Ñ§ñ §á§Ö§â§Ö§Õ§Ñ§é§Ñ PDO §á§â§à§Ú§ã§ç§à§Õ§Ú§ä §Ñ§ã§Ú§ß§ç§â§à§ß§ß§à §Ó §Ý§ð§Ò§à§Û §Þ§à§Þ§Ö§ß§ä §Ó§â§Ö§Þ§Ö§ß§Ú, §ß§à §Ú§Þ§Ö§ð§ä §Þ§Ö§ß§î§ê§Ú§Û §á§â§Ú§à§â§Ú§ä§Ö§ä §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 20
- 21. §³§Ú§ß§ç§â§à§ß§ß§í§Ö PDO §¥§Ó§Ñ §â§Ö§Ø§Ú§Þ§Ñ §á§Ö§â§Ö§Õ§Ñ§é§Ú §ã§Ú§ß§ç§â§à§ß§ß§í§ç PDO: -§è§Ú§Ü§Ý§Ú§é§Ö§ã§Ü§Ú§Û; -§Ñ§è§Ú§Ü§Ý§Ú§é§Ö§ã§Ü§Ú§Û; §¸§Ú§Ü§Ý§Ú§é§Ö§ã§Ü§Ñ§ñ §á§Ö§â§Ö§Õ§Ñ§é§Ñ §á§â§à§Ú§ã§ç§à§Õ§Ú§ä §á§Ö§â§Ú§à§Õ§Ú§é§Ö§ã§Ü§Ú §é§Ö§â§Ö§Ù §Ú§ß§ä§Ö§â§Ó§Ñ§Ý§í §Ó§â§Ö§Þ§Ö§ß§Ú. §¯§à§Þ§Ö§â §ä§Ú§á§Ñ §á§Ö§â§Ö§Õ§Ñ§é§Ú (transmission type 1-240) §å§Ü§Ñ§Ù§í§Ó§Ñ§Ö§ä §Ü§à§Ý§Ú§é§Ö§ã§ä§Ó§à §á§Ö§â§Ö§Õ§Ñ§ß§ß§í§ç §à§Ò§ì§Ö§Ü§ä§à§Ó SYNC §Þ§Ö§Ø§Õ§å PDO. §¡§è§Ú§Ü§Ý§Ú§é§Ö§ã§Ü§Ñ§ñ §á§Ö§â§Ö§Õ§Ñ§é§Ñ §á§â§à§Ú§ã§ç§à§Õ§Ú§ä §á§â§Ú §Ó§à§Ù§ß§Ú§Ü§ß§à§Ó§Ö§ß§Ú§Ú §ã§à§Ò§í§ä§Ú§ñ §ß§Ñ §Ú§ã§ä§à§é§ß§Ú§Ü§Ö (§á§â§à§Ú§Ù§Ó§à§Õ§Ú§ä§Ö§Ý§Ö) PDO, §ß§à §á§â§Ú§Ó§ñ§Ù§í§Ó§Ñ§Ö§ä§ã§ñ §Ü §à§Ü§ß§å §à§Ò§ì§Ö§Ü§ä§Ñ SYNC. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 21
- 22. §£§â§Ö§Þ§ñ §ã§Õ§Ö§â§Ø§Ú§Ó§Ñ§ß§Ú§ñ Inhibit Time Inhibit Time ¨C §Þ§Ú§ß§Ú§Þ§Ñ§Ý§î§ß§Ñ§ñ §á§Ñ§å§Ù§Ñ §Þ§Ö§Ø§Õ§å §á§Ö§â§Ö§Õ§Ñ§é§Ñ§Þ§Ú §à§Õ§ß§à§Ô§à §Ú §ä§à§Ô§à §Ø§Ö PDO. §¯§å§Ø§ß§à §Õ§Ý§ñ §Ó§à§Ù§Þ§à§Ø§ß§à§ã§ä§Ú §à§Ò§Þ§Ö§ß§Ñ §ã§à§à§Ò§ë§Ö§ß§Ú§ñ§Þ§Ú (PDO §Ú SDO) §ã §Ò§à§Ý§Ö§Ö §ß§Ú§Ù§Ü§Ú§Þ §á§â§Ú§à§â§Ú§ä§Ö§ä§à§Þ. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 22
- 23. §ä§Ú§á §å§Ü§Ñ§Ù§í§Ó§Ñ§Ö§ä §Ü§à§Ý§Ú§é§Ö§ã§ä§Ó§à SYNC §à§Ò§ì§Ö§Ü§ä§à§Ó §Þ§Ö§Ø§Õ§å §Õ§Ó§å§Þ§ñ PDO §á§Ö§â§Ö§Õ§Ñ§é§Ñ§Þ§Ú §Õ§Ñ§ß§ß§í§Ö §à§Ò§ß§à§Ó§Ý§ñ§ð§ä§ã§ñ (§ß§à §ß§Ö §á§Ö§â§Ö§Õ§Ñ§ð§ä§ã§ñ) §ß§Ö§Þ§Ö§Õ§Ý§Ö§ß§ß§à §á§à§ã§Ý§Ö §á§à§Ý§å§é§Ö§ß§Ú§ñ SYNC §Õ§Ñ§ß§ß§í§Ö §à§Ò§ß§à§Ó§Ý§ñ§ð§ä§ã§ñ §á§à§ã§Ý§Ö §á§à§Ý§å§é§Ö§ß§Ú§ñ RTR §ã§à§Ò§í§ä§Ú§Ö §ã§á§Ö§è§Ú§æ§Ú§é§ß§à§Ö §Õ§Ý§ñ §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ §ã§à§Ò§í§ä§Ú§Ö §à§á§â§Ö§Õ§Ö§Ý§Ö§ß§à §á§â§à§æ§Ú§Ý§Ö§Þ §å§ã§ä§â§à§Û§ã§ä§Ó§Ñ §¯§Ñ§ã§ä§â§à§Û§Ü§Ñ PDO §´§Ú§á §á§Ö§â§Ö§Õ§Ñ§é§Ú §à§á§â§Ö§Õ§Ö§Ý§ñ§Ö§ä§ã§ñ §Ó §ã§Ý§à§Ó§Ñ§â§Ö §à§Ò§ì§Ö§Ü§ä§à§Ó §ß§Ñ§é§Ú§ß§Ñ§ñ §ã Index 1400h §Õ§Ý§ñ 1-§Ô§à R_PDO §Ú 1800h §Õ§Ý§ñ 1-§Ô§à T_PDO §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 23
- 24. §¯§Ñ§ã§ä§â§à§Û§Ü§Ñ PDO §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 24
- 25. §°§Ò§ì§Ö§Ü§ä SYNC §¥§à§ã§ä§å§á§Ö§ß §Ó §ã§Ý§à§Ó§Ñ§â§Ö §à§Ò§ì§Ö§Ü§ä§à§Ó §á§à Index 1005h COB-ID §á§à §å§Þ§à§Ý§é§Ñ§ß§Ú§ð = 128 synchronous window length (1007h) §Ú communication cycle period (1006h) §Ó§í§ã§ä§Ñ§Ó§Ý§ñ§ð§ä§ã§ñ §Õ§Ý§ñ §Ó§ã§Ö§ç §á§à§ä§â§Ö§Ò§Ú§ä§Ö§Ý§Ö§Û §à§Ò§ì§Ö§Ü§ä§Ñ SYNC synchronous window length ¨C §Ó§â§Ö§Þ§Ö§ß§ß§à§Û §Ú§ß§ä§Ö§â§Ó§Ñ§Ý §Ó §ä§Ö§é§Ö§ß§Ú§Ú §Ü§à§ä§à§â§à§Ô§à §á§Ö§â§Ö§Õ§Ñ§ð§ä§ã§ñ §ã§Ú§ß§ç§â§à§ß§ß§í§Ö PDO (§Þ§Ü§ã) communication cycle period ¨C §Ó§â§Ö§Þ§ñ §Þ§Ö§Ø§Õ§å §á§Ö§â§Ö§Õ§Ñ§é§Ö§Û §à§Ò§ì§Ö§Ü§ä§Ñ SYNC (§Þ§Ü§ã) §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 25
- 26. §°§Ò§ì§Ö§Ü§ä Time Stamp §¥§à§ã§ä§å§á§Ö§ß §Ó §ã§Ý§à§Ó§Ñ§â§Ö §à§Ò§ì§Ö§Ü§ä§à§Ó §á§à Index 1013h §´§à§é§ß§à§Ö §Ó§â§Ö§Þ§ñ ¨C §Ü§à§Ý§Ú§é§Ö§ã§ä§Ó§à §Õ§ß§Ö§Û §á§à§ã§Ý§Ö §ñ§ß§Ó§Ñ§â§ñ 1984 + §Þ§Ú§Ý§Ý§Ú§ã§Ö§Ü§å§ß§Õ§í §á§à§ã§Ý§Ö §á§à§Ý§å§ß§à§é§Ú §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 26
- 27. Emergency (§³§Ú§Ô§ß§Ñ§Ý §à§ê§Ú§Ò§Ü§Ú) §³§à§à§Ò§ë§Ö§ß§Ú§ñ Emergency §á§à§ã§í§Ý§Ñ§ð§ä§ã§ñ §å§ã§ä§â§à§Û§ã§ä§Ó§à§Þ §á§â§Ú §Ó§à§Ù§ß§Ú§Ü§ß§à§Ó§Ö§ß§Ú§Ú §Ó §ß§Ö§Þ §à§ê§Ú§Ò§Ü§Ú §±§â§Ú §á§à§Ó§ä§à§â§ß§à§Þ §Ó§à§Ù§ß§Ú§Ü§ß§à§Ó§Ö§ß§Ú§Ú §ä§à§Û §Ø§Ö §à§ê§Ú§Ò§Ü§Ú ¨C §Ù§Ñ§ß§à§Ó§à §ß§Ö §á§à§ã§í§Ý§Ñ§Ö§ä§ã§ñ §³§Ö§â§Ó§Ú§ã Emergency §à§á§è§Ú§à§ß§Ñ§Ý§î§ß§í§Û §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 27
- 28. NODE & LIFE GUARD Node Guard ¨C §á§â§à§è§Ö§ã§ã §â§Ö§Ô§å§Ý§ñ§â§ß§à§Ô§à §á§à§Ý§Ú§ß§Ô§Ñ NMT Master'§à§Þ §å§ã§ä§â§à§Û§ã§ä§Ó §ß§Ñ §Ü§à§ß§ä§â§à§Ý§î §Ú§ç §ã§à§ã§ä§à§ñ§ß§Ú§ñ Life Guard ¨C §á§â§à§è§Ö§ã§ã §ã§Ý§Ö§Ø§Ö§ß§Ú§ñ NMT Slav'§Ñ §Ù§Ñ §à§á§â§à§ã§à§Þ §Ö§Ô§à §ã§à§ã§ä§à§ñ§ß§Ú§ñ, Life Time Guard Time ¨C §Ó§â§Ö§Þ§ñ §Ó §Þ§ã §Þ§Ö§Ø§Õ§å §à§á§â§à§ã§Ñ§Þ§Ú Guard Life Time ¨C §Õ§à§á§å§ã§ä§Ú§Þ§à§Ö §Ó§â§Ö§Þ§ñ §à§Ø§Ú§Õ§Ñ§ß§Ú§ñ §à§á§â§à§ã§Ñ Guard, §á§à§ã§Ý§Ö §é§Ö§Ô§à §å§ã§ä§â§à§Û§ã§ä§Ó§à-§ã§Ý§Ö§Û§Ó §á§Ö§â§Ö§ç§à§Õ§Ú§ä §Ó §â§Ö§Ø§Ú§Þ §à§ê§Ú§Ò§Ü§Ú Life Time §Ù§Ñ§Õ§Ñ§ð§ä §é§Ö§â§Ö§Ù Life Time Factor Life Time = LifeTimeFactor * GuardTime §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 28
- 29. HEARTBEAT §á§â§à§ä§à§Ü§à§Ý (§à§á§è§Ú§à§ß§Ñ§Ý§î§ß§í§Û) Heartbeat Producer ¨C §ã§Ú§Ô§ß§Ñ§Ý§Ú§Ù§Ú§â§å§Ö§ä §à §ã§Ó§à§Ö§Û §â§Ñ§Ò§à§ä§à§ã§á§à§ã§à§Ò§ß§à§ã§ä§Ú §é§Ö§â§Ö§Ù Heartbeat Producer Time Heartbeat Consumers ¨C §à§ä§ã§Ý§Ö§Ø§Ú§Ó§Ñ§ð§ä §ã§à§à§Ò§ë§Ö§ß§Ú§ñ Heartbeat §Ú§ß§ä§Ö§â§Ö§ã§å§ð§ë§Ú§ç §å§ã§ä§â§à§Û§ã§ä§Ó, §á§â§Ú §Ú§ç §à§ä§ã§å§ä§ã§ä§Ó§Ú§Ú §Ó §ä§Ö§é§Ö§ß§Ú§Ú Heartbeat Consumer Time §Ô§Ö§ß§Ö§â§Ú§â§å§Ö§ä§ã§ñ §à§ê§Ú§Ò§Ü§Ñ §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 29
- 30. §³§ä§â§å§Ü§ä§å§â§Ñ §ã§Ý§à§Ó§Ñ§â§ñ §à§Ò§ì§Ö§Ü§ä§à§Ó. §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 30
- 31. SDO (Service Data Object) SDO ¨C §á§â§Ö§Õ§ß§Ñ§Ù§ß§Ñ§é§Ö§ß §Õ§Ý§ñ §Õ§à§ã§ä§å§á§Ñ §Ü §Õ§Ñ§ß§ß§í§Þ §Ú§Ù §ã§Ý§à§Ó§Ñ§â§ñ §à§Ò§ì§Ö§Ü§ä§à§Ó §á§à Index §Ú SubIndex §·§Ñ§â§Ñ§Ü§ä§Ö§â§Ú§ã§ä§Ú§Ü§Ú: -§ä§Ú§á §Ü§Ý§Ú§Ö§ß§ä-§ã§Ö§â§Ó§Ö§â (§ã§Ö§â§Ó§Ö§â ¨C §Ó§Ý§Ñ§Õ§Ö§Ý§Ö§è §à§Ò§ì§Ö§Ü§ä§à§Ó §Õ§à§ã§ä§å§á§Ñ SDO); -§ã§Ö§â§Ó§Ú§ã §ã §ã§à§Ö§Õ§Ú§ß§Ö§ß§Ú§Ö§Þ (§ä§à§é§Ü§Ñ-§ä§à§é§Ü§Ñ) §Ú §á§à§Õ§ä§Ó§Ö§â§Ø§Õ§Ö§ß§Ú§Ö§Þ; -§Õ§Ó§Ñ COB-ID §ß§Ñ §ã§à§Ö§Õ§Ú§ß§Ö§ß§Ú§Ö ¨C §Ü§Ý§Ú§Ö§ß§ä§ã§Ü§Ú§Û §Ú §ã§Ö§â§Ó§Ö§â§ß§í§Û; -§ß§Ñ§Ý§Ú§é§Ú§Ö §à§Õ§ß§à§Ô§à §ã§Ö§â§Ó§Ö§â§ß§à§Ô§à SDO ¨C §à§Ò§ñ§Ù§Ñ§ä§Ö§Ý§î§ß§à, §Þ§à§Ø§Ö§ä §Ò§í§ä§î §Ò§à§Ý§î§ê§Ö -§Ó §à§Õ§ß§à§Û §ã§Ö§ä§Ú CANOpen §Õ§à 256 SDO §Ü§Ñ§ß§Ñ§Ý§à§Ó, §á§à §Õ§Ó§Ñ COB-ID §ß§Ñ §Ü§Ñ§ß§Ñ§Ý §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 31
- 32. §¶§å§ß§Ü§è§Ú§à§ß§Ú§â§à§Ó§Ñ§ß§Ú§Ö SDO §Õ§Ñ§ß§ß§í§Ö > 4 §Ò§Ñ§Û§ä §Õ§Ö§Ý§ñ§ä§ã§ñ §ß§Ñ §ã§Ö§Ô§Þ§Ö§ß§ä§í §á§à 7 §Ò§Ñ§Û§ä §Ú§ß§Ú§è§Ú§Ú§â§à§Ó§Ñ§ß§Ú§Ö SDO §Ù§Ñ§Ô§â§å§Ù§Ü§Ú/§Ó§í§Ô§â§å§Ù§Ü§Ú §á§à§Õ§ä§Ó§Ö§â§Ø§Õ§Ö§ß§Ú§Ö §Ú§ß§Ú§è§Ú§Ú§â§à§Ó§Ñ§ß§Ú§ñ §Ù§Ñ§Ô§â§å§Ù§Ü§Ñ/§Ó§í§Ô§â§å§Ù§Ü§Ñ 1-§Ô§à §ã§Ö§Ô§Þ§Ö§ß§ä§Ñ SDO §á§à§Õ§ä§Ó§Ö§â§Ø§Õ§Ö§ß§Ú§Ö §Ù/§Ó 1-§Ô§à §ã§Ö§Ô§Þ§Ö§ß§ä§Ñ SDO §á§à§Õ§ä§Ó§Ö§â§Ø§Õ§Ö§ß§Ú§Ö §Ù/§Ó n-§Ô§à §ã§Ö§Ô§Þ§Ö§ß§ä§Ñ SDO §Ù§Ñ§Ô§â§å§Ù§Ü§Ñ/§Ó§í§Ô§â§å§Ù§Ü§Ñ n-§Ô§à §ã§Ö§Ô§Þ§Ö§ß§ä§Ñ SDO §á§Ö§â§Ö§Õ§Ñ§é§Ñ §Ü§Ñ§Ø§Õ§à§Ô§à §ã§Ö§Ô§Þ§Ö§ß§ä§Ñ §á§à§Õ§ä§Ó§Ö§â§Ø§Õ§Ñ§Ö§ä§ã§ñ §ã§Ö§â§Ó§Ö§â§à§Þ §Ü§à§Ý§Ú§é§Ö§ã§ä§Ó§à §ã§Ö§Ô§Þ§Ö§ß§ä§à§Ó §ß§Ö §à§Ô§â§Ñ§ß§Ú§é§Ö§ß§à §à§á§è§Ú§à§ß§Ñ§Ý§î§ß§à §Þ§à§Ø§Ö§ä §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§ä§î§ã§ñ §Ò§Ý§à§é§ß§Ñ§ñ §á§Ö§â§Ö§Õ§Ñ§é§Ñ (§Ò§Ý§à§Ü§Ú §á§à 127 §ã§Ö§Ô§Þ§Ö§ß§ä§à§Ó) §à§á§è§Ú§à§ß§Ñ§Ý§î§ß§à §Þ§à§Ø§Ö§ä §á§à§Õ§Õ§Ö§â§Ø§Ú§Ó§Ñ§ä§î§ã§ñ §Ò§Ý§à§é§ß§Ñ§ñ §á§Ö§â§Ö§Õ§Ñ§é§Ñ (§Ò§Ý§à§Ü§Ú §á§à 127 §ã§Ö§Ô§Þ§Ö§ß§ä§à§Ó) §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 32
- 33. §¥§à§ã§ä§å§á §Ü §ã§Ý§à§Ó§Ñ§â§ð §à§Ò§ì§Ö§Ü§ä§à§Ó §±§â§Ö§Õ§à§á§â§Ö§Õ§Ö§Ý§Ö§ß§ß§Ñ§ñ §ã§ç§Ö§Þ§Ñ §ß§Ñ§Ù§ß§Ñ§é§Ö§ß§Ú§Û COB-ID SDO §à§á§â§Ö§Õ§Ö§Ý§ñ§Ö§ä§ã§ñ §á§à §å§Þ§à§Ý§é§Ñ§ß§Ú§ð §Õ§Ý§ñ §å§ã§ä§â§à§Û§ã§ä§Ó §á§à §ä§à§Û §Ø§Ö §ã§ç§Ö§Þ§Ö, §é§ä§à §Ú PDO §±§Ñ§â§Ñ§Þ§Ö§ä§â§í SDO §Þ§à§Ø§ß§à §ß§Ñ§ã§ä§â§Ñ§Ú§Ó§Ñ§ä§î, §á§Ö§â§Ó§í§Û Server_SDO §Ú§Þ§Ö§Ö§ä Index=1200h, Client_SDO Index=1280h §µ§é§Ö§Ò§ß§í§Û §è§Ö§ß§ä§â §®§à§Õ§Ú§Ü§à§ß-§¬§Ú§Ö§Ó NET CanOpen 33