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1、CANOPEN简单实战操作方法好早就想准备做这篇文章了，那时，CANOpen也只是刚刚在国内推广，所以几乎没有项目用到。现在有了实际的项目，完全确认了以前移植和测试的代码，所以列举一些简单的操作图片，当然，列举的都是一些简单的基本的CANOpen通信操作，不包括其他CANOpen应用协议中的内容RJ45 网口568B标准网线接法00RJ45O：1-CAN_HRJ45C：2-CAN_L白橙:CAN.H橙:CAN_L1 SI ONofM* *t UwCM，22.,点击 online 在线选择 Select ConnectionConfigUSB-to-CAN V2Can网线连接方法1.打开anyb
2、us configuration manager软件，进入如下界面。点击OK。conpact 选择 Bit Bate 为 1 Mbit/sOnline | Tools Help布必三力。US8 to CAN Adapter (UCOM)m Select Connection炉 ConnectUpload ConfigurationDownload ConfigurationConftgOkAdopterUSB-to-CAN V2 compactUSB-to-CAN V2 compactBit RateSDO Timeout (ms)工 MbS , 5000L J L_， J3.点击Connec
3、t在线，会出现如下图变化，如果和导入的EDS文件相对应将会呈现绿色外框，如果有错则会显示红色边框。0nline Tools Help,勺 Select ConnectionConnectUpload ConfigurationDownload ConfigurationFile Edit Online Took Help:二口面jST7M 岛皂4 q saga oav vork PDO Mapping | Object Dictionary, Project CDS files，HMS Industrial Networks，No profile1 SI CANopen File: 1.32
4、Sw: 2.17 Schneider Electric，CANopen device profile for drives and motion controlLexium23A Fite: 1.05 Sw: 1,256 (SELXM23A_1O1O2O(1) Rapotitory EDS 1方，HMS Industrial Networks/ CANopen device profile for drives and motion controlAnybus-CC DP CANopen File: 1.03 Sw: 1.02，No profile1 SI CANopen Rie: 1.32
5、Sm 2.X7UntWed configurationGroup 14 .如果在线没有弹出Untitled configuration,点击如下图的放大镜Scan Network搜索网络节点Scan Network i5 .找到所需要的heg文件，将heg文件打开，点击下载（这一步也就是设置PDO瑜Mem= :rak Mifit.融Ji3 lb=f“加如A 1. tegentflGmm级篮”;e如这E jblfiUVt*二叫 : mKM，齐一QHR *IL_ 二5. 卜；奴”ffrlfniifinWMffAi EM田-nac 葩r l3/期 _gat碑相 I5jy：3HM R*3剑鼻 1 Id
6、SjMcr9UAUN/B皿 i-uufcrUAiQ吧皿 ,-卜壮*:hiffiMGrT .1Mapping)星堂，线蚣 ,，ro%w J _Q6 .如果下载完成会显示finished就说明下载hcg成功，如果失败则会显示erroroccurs7 .如果搜寻到的网络呈现绿色边框，但在下载hcg文件一直显示error occurs或者可以上载hcg文件，但是始终无法下载hcg文件，则需要点击Options-EDSSetting V configuration Download 选择 Manager 并对下面两个选项 S OnlineV-确定。J) 胆 EDS Repository,松 Set Ne
7、twork OperationalI，Set Network Pre-Operational3 Reset Network Scan Network圉 Online Object Access罩 CAN Line Listener国 Project SummaryOptions8 .点击tool-选择CAN Line Listertion可以监控CAN OPEN所报的警。a EDS Repository嗡 Set Network Operational, Set Network Pre-Operational Reset Network，Scan Network33 Online Object
8、 Access0 CAN Line Listener二 Project SummaryOptions.HoTgM nw 3CAN EOto0MO0M1N0V，Z24wW/MI*41 M WKMOOWOeC I9Ninww/nw*44MOw/toi*I41 UMNAOWMMc ,NMUOKtf/MM*4M)w/i0*cTN09/i5n3mB8”*45K/1C101411ICMO0MC TN1*0*ie4xo川MU.i41UMNAD* V 2 UMttUm *4KXW Kt WMv (imiOil .44MSbA)WO HMr * H eMvg C4W i 62 “( S3 tCk XOtMWO
9、* KM* (0 -*-4 JJUMI90 fcM4*w、田 i J vd UP011N， Rte* “0Ml s W tl Sh 2n9 .成功后选中节点，将右侧出现的Device Type属性设置为Manager,即作CANopen主站，其他配置与从站设置如下图。.Device SettingsADevice TypeManagerManager SettingsDownload NMT Startup ConfigDevice is NMT masterStart all remote nodes同Application will decide when to swit同Macfor c
10、hall nrt cfarf fh clawe01erordinate PLC sets the次 in OPERATIONAL mode.odes012)ter0Stop all remote nodesElDownload Concise DCF to the mana回.Network Boot TimeBoot Time (ms)0. HeartbeatProducer Interval (ms)1000Consuming Node ID/Time Out (ms)SYNC2 3000国SYNC ProducerDisabledCOB ID SYNC Messages0x80Cycle
11、 Period (g0Synchronous Window Length (p$)0PDO SettingsReceive PDO 1PDO CommunicationLock COB-IDOValidCOB-ID0x182Transmission TypeAsync. Device Profile (255) No. of SYNCsPDO Mapping/Device SattingsDevice TypeSlaveSlave Settings in Manager 1 - 1 SI CANopenDownload Slave Assignment回Node is NMT slave an
12、d available画Slave shall be booted by the NMT n必Slave is mandatory on the networkISlave shall not be reset in operationnCheck software version of slave回Restore slave to factory default05Download Concise DCF to the manaoaCheck device type identificationn0x0Check vendor identificationo0x0Check product code00x0Check revision numberEl0.00Check serial number
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