CN105930296A - System and method for realizing conversion from Profibus-DP to CANopen - Google Patents
System and method for realizing conversion from Profibus-DP to CANopen Download PDFInfo
- Publication number
- CN105930296A CN105930296A CN201610250466.6A CN201610250466A CN105930296A CN 105930296 A CN105930296 A CN 105930296A CN 201610250466 A CN201610250466 A CN 201610250466A CN 105930296 A CN105930296 A CN 105930296A
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- Prior art keywords
- canopen
- machine
- pdo
- plc
- conversion
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Classifications
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- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F13/00—Interconnection of, or transfer of information or other signals between, memories, input/output devices or central processing units
- G06F13/38—Information transfer, e.g. on bus
- G06F13/42—Bus transfer protocol, e.g. handshake; Synchronisation
- G06F13/4282—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus
- G06F13/4286—Bus transfer protocol, e.g. handshake; Synchronisation on a serial bus, e.g. I2C bus, SPI bus using a handshaking protocol, e.g. RS232C link
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/40—Bus networks
-
- H—ELECTRICITY
- H04—ELECTRIC COMMUNICATION TECHNIQUE
- H04L—TRANSMISSION OF DIGITAL INFORMATION, e.g. TELEGRAPHIC COMMUNICATION
- H04L12/00—Data switching networks
- H04L12/28—Data switching networks characterised by path configuration, e.g. LAN [Local Area Networks] or WAN [Wide Area Networks]
- H04L12/46—Interconnection of networks
Abstract
The invention provides a system and a method for realizing conversion from Profibus-DP to CANopen. The system comprises an upper computer, a PLC and a network bridge device, wherein the PLC comprises a mapping configuration module; the network bridge device comprises a communication configuration module; the upper computer is used for configuring a PDO parameter for each CANopen slave; the mapping configuration module is used for inputting a PDO quantity of each CANopen slave and transmitting the PDO quantity to the network bridge device; and the communication configuration module is used for making a calculation according to the PDO quantity of each CANopen slave from the PLC to generate a communication parameter of a CANopen master station and configuring a communication parameter for each CANopen slave. According to the system and method, The PDO of the CANopen slave is configured through the upper computer and the communication parameter of the CANopen master station is automatically calculated according to a PDO parameter configuration condition of the CANopen slave through the network bridge device, so that the use efficiency of a CAN network is improved and the usability of the network bridge device is enhanced.
Description
Technical field
The present invention relates to fieldbus field, arrive more particularly, it relates to one realizes Profibus-DP
The system and method for CANopen conversion.
Background technology
Along with reliability and the communication performance of CAN Bus open technology are gradually recognized, its application is also got over
Come the most extensive.Relative to local bus profibus-OP, the cost of CANopen communication plan is lower, by
This is in some application scenarios, occurs in that the scheme using CANopen to substitute Profibus-DP.
In the scheme of current replacement Profibus-DP, do not change PLC, and directly connect one
Profibus-DP turns the equipment of CANopen, and Profibus-DP replaced to CANopen from machine website
From machine website.
Current Profibus-DP turns CANopen equipment, generally consists of the following components: (1) configures
Software；(2) configuration equipment；(3) bridge equipment.Its operating process is: first CANopen joining from machine
Confidence ceases by configuring equipment, downloads on bridge equipment, after then bridge equipment starts, CANopen
Each CANopen is passed to from machine from the configuration information of machine.
But, in such scheme, owing to CANopen changeover section has made the CANoepn of a standard
Main website, configuration software also to do configuration according to the CANopen agreement of standard.This results in user must
The very familiar CANoepn agreement of palpus, and it is the most cumbersome to configure process, such as, need configuration to include PDO
Communication type, SDO time-out, synchronization, heart time, the information of Node Protection time etc., and
CANopen offered load needs user to calculate.Additionally, CANopen maps and PLC from the PDO of machine
Mapping address there is no a corresponding relation, need the relation of manually recorded mapping when configuration, and once make mistakes,
PLC also cannot detect mistake.Once breaking down, the diagnosis message of PLC cannot clearly describe error bit
Put.
Summary of the invention
The technical problem to be solved in the present invention is, switching when turning CANopen for above-mentioned Profibus-DP
Part configures troublesome problem, it is provided that a kind of system realizing Profibus-DP to CANopen conversion and side
Method.
The present invention solves the technical scheme of above-mentioned technical problem and is to provide one and realizes Profibus-DP and arrive
The system of CANopen conversion, including host computer, PLC and bridge equipment, and described PLC includes that mapping is joined
Putting module, described bridge equipment includes that communication configures module, wherein: described host computer, every for being respectively
One CANopen configures PDO parameter from machine；Described mapping configures module, is used for inputting each CANopen
From the quantity of the PDO of machine and be sent to bridge equipment；Described communication configuration module, for according to from PLC
Each CANopen calculate from the quantity of the PDO of machine and generate CANopen main website communications parameter and be each
CANopen configures communications parameter from machine.
In the system realizing Profibus-DP to CANopen conversion of the present invention, described communication configures
Module calculates the CANopen main website communications parameter generated and includes PDO communication type, SDO time-out time, the heart
The jumping time.
In the system realizing Profibus-DP to CANopen conversion of the present invention, described bridge equipment
Also include from machine correction verification module, for respectively with each CANopen from machine communication, and from PLC's
CANopen from the quantity of the PDO of machine with corresponding CANopen from the actual inconsistent Times of PDO quantity of machine
Alert.
In the system realizing Profibus-DP to CANopen conversion of the present invention, described bridge equipment
Also include mapping deriving module, for obtaining each CANopen from machine according to the I/O Address from PLC
The appropriate address of control object and export.
In the system realizing Profibus-DP to CANopen conversion of the present invention, described host computer leads to
Cross 485 buses and each PDO mapping parameters is sent to corresponding CANopen from machine；Described mapping configures module
It is sent to bridge equipment by configuration message.
The present invention also provides for a kind of method realizing Profibus-DP to CANopen conversion, including following step
Rapid:
A () is respectively each CANopen by host computer and configures PDO parameter from machine；
B each CANopen is sent to bridge equipment from the quantity of the PDO of machine by PLC by ()；
C () described bridge equipment calculates from the quantity of the PDO of machine according to each CANopen from PLC
Generate CANopen main website communications parameter and configure communications parameter for each CANopen from machine.
In the method realizing Profibus-DP to CANopen conversion of the present invention, described step (c)
Described in bridge equipment calculate generate CANopen main website communications parameter include PDO communication type, SDO
Time-out time, heart time.
In the method realizing Profibus-DP to CANopen conversion of the present invention, described step (c)
For each CANopen from machine configuration communications parameter before including: described bridge equipment respectively with each
CANopen from machine communication, and at the CANopen from PLC from the quantity of the PDO of machine with corresponding
CANopen is from the actual inconsistent alarm of PDO quantity of machine.
In the method realizing Profibus-DP to CANopen conversion of the present invention, described step (c)
Include afterwards: described bridge equipment obtains each CANopen from machine according to the I/O Address from PLC
The appropriate address of control object also exports.
In the method realizing Profibus-DP to CANopen conversion of the present invention, described step (a)
In, each PDO mapping parameters is sent to corresponding CANopen from machine by 485 buses by host computer；Described
In step (b), PLC is sent to bridge equipment by configuration message.
The present invention realizes the system and method for Profibus-DP to CANopen conversion, by host computer pair
CANopen carries out configuring and being joined from the PDO parameter of machine according to CANopen by bridge equipment from the PDO of machine
Situation of putting calculates the communications parameter of CANopen main website automatically, improves the service efficiency of CAN network, carries
The high ease for use of bridge equipment.
Accompanying drawing explanation
Fig. 1 is the schematic diagram that the present invention realizes the system embodiment of Profibus-DP to CANopen conversion.
Fig. 2 is bridge equipment and the schematic diagram of PLC in Fig. 1.
Fig. 3 is the CANopen PDO configuration schematic diagram from machine.
Fig. 4 is that the flow process of the embodiment of the method that the present invention realizes Profibus-DP to CANopen conversion is shown
It is intended to.
Detailed description of the invention
In order to make the purpose of the present invention, technical scheme and advantage clearer, below in conjunction with accompanying drawing and reality
Execute example, the present invention is further elaborated.Only should be appreciated that specific embodiment described herein
Only in order to explain the present invention, it is not intended to limit the present invention.
As shown in Figure 1, 2, be the present invention realize Profibus-DP to CANopen conversion system embodiment
Schematic diagram.In the present embodiment realize Profibus-DP to CANopen conversion system include host computer 10,
PLC 40 and bridge equipment 30, wherein bridge equipment 30 is connected from machine 20 with each CANopen, PLC 40
It is connected with bridge equipment 30.Above-mentioned PLC 40 can be identical with the PLC device in Profibus-DP.
Above-mentioned host computer 40 includes human-computer interaction interface, can be used for configuring from machine 20 for each CANopen
PDO parameter.The PDO parameter of this configuration can be sent to corresponding CANopen from machine 20 (example by 485 buses
As first host computer 10 being connected from machine 20 with CANopen by 485 buses, then by the interface shown in Fig. 3
Input this CANopen PDO parameter from machine 20, finally by 485 buses, PDO parameter is sent to
CANopen is from machine 20).Host computer 10 can connect from machine 20 from different CANopen successively, and to this even
The CANopen connect carries out PDO parameter configuration from machine 20.
Above-mentioned PLC 40 includes mapping configuration module 41, and this mapping configuration module 41 can be in conjunction with running on PLC
Software on 40 realizes.This mapping configuration module 41 is for inputting each CANopen number from the PDO of machine 20
Measure and be sent to bridge equipment 30.Specifically, above-mentioned mapping configuration module 41 can be by the form of configuration message
Each CANopen is sent to bridge equipment 30 from the quantity of the PDO of machine 20.
Bridge equipment 30 includes that communication configures module 31, and this mapping configuration module 41 can set in conjunction with running on bridge
Software on standby 30 realizes.This communication configuration module 31 is for according to each CANopen from PLC 40
Calculate generation CANopen main website from the quantity (i.e. the mapping situation of CANopen slave station) of the PDO of machine to lead to
News parameter also configures communications parameter for each CANopen from machine 20.Specifically, bridge equipment 30 basis
CANopen calculates CANopen main website communication ginseng from the mapping situation of machine and the baud rate of CAN network
Number.
Especially, above-mentioned main website communications parameter specifically comprise the steps that include PDO communication type, SDO time-out time,
Heart time etc..
The above-mentioned system realizing Profibus-DP to CANopen conversion, due to most CANopen net
Lattice configuration automatically calculated generation by bridge equipment 30, CANopen from the PDO parameter configuration of machine 20 then by upper
Position machine 10 completes, it is not necessary to be saved in bridge equipment 30 so that the utilization rate of CAN network reaches the highest.
This converting system is greatly improved Profibus-DP and turns the ease for use of CANopen bridge equipment, and performance is more
Superior.
Additionally, be the accuracy of raising system, above-mentioned bridge equipment 30 may also include from machine correction verification module.Should
From machine correction verification module for communicating from machine 20 with each CANopen respectively, and at the CANopen from PLC
From the quantity of the PDO of machine with corresponding CANopen from the actual inconsistent alarm of PDO quantity of machine 20.Pass through
Which, it is ensured that bridge equipment 30 and CANopen are from the concordance of machine 20.
Above-mentioned bridge equipment 30 may also include mapping and derives module, for according to the input and output ground from PLC
Location (this I/O Address can be inputted by user) obtains each CANopen from the control object of machine correspondingly
Location also exports, and exports the most in table form.By the form of output, user can conveniently find out
CANopen is from the I/O Address of PLC corresponding to the concrete control object of machine.
As shown in Figure 4, the present invention also provides for a kind of method realizing Profibus-DP to CANopen conversion,
The method comprises the following steps:
Step S41: being each CANopen by host computer configures PDO parameter from machine.Specifically, upper
Each PDO mapping parameters can be sent to corresponding CANopen from machine by 485 buses by machine respectively.
Step S42: by PLC by each CANopen from quantity (the i.e. CANopen slave station of the PDO of machine
Mapping situation) be sent to bridge equipment.Specifically, PLC can be by the form of configuration message by each
CANopen is sent to bridge equipment from the quantity of the PDO of machine 20.
Step S43: bridge equipment calculates from the quantity of the PDO of machine according to each CANopen from PLC
Generate CANopen main website communications parameter and configure communications parameter for each CANopen from machine.Wherein bridge
Equipment calculates the CANopen main website communications parameter generated and includes PDO communication type, SDO time-out time, the heart
The jumping time etc..
This step for each CANopen from machine configuration communications parameter before including: bridge equipment respectively with respectively
Individual CANopen from machine communication, and at the CANopen from PLC from the quantity of the PDO of machine with corresponding
CANopen is from the actual inconsistent alarm of PDO quantity of machine.By this step, it is ensured that bridge equipment with
CANopen is from the concordance of machine.
Understanding the CANopen concrete control object from machine for the convenience of the user, said method may also include that bridge
Equipment obtains each CANopen from the control object of machine correspondingly according to the I/O Address from PLC
Location also exports.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention not office
Being limited to this, any those familiar with the art, can be easily in the technical scope that the invention discloses
The change expected or replacement, all should contain within protection scope of the present invention.Therefore, the protection of the present invention
Scope should be as the criterion with scope of the claims.
Claims (10)
1. the system realizing Profibus-DP to CANopen conversion, it is characterised in that: include upper
Machine, PLC and bridge equipment, and described PLC include map configuration module, described bridge equipment includes communication
Configuration module, wherein: described host computer, configures PDO parameter for the most each CANopen from machine；
Described mapping configures module, is used for inputting the quantity of each CANopen PDO from machine and being sent to bridge setting
Standby；Described communication configuration module, is used for according to each CANopen from PLC from the quantity of the PDO of machine
Calculate and generate CANopen main website communications parameter and configure communications parameter for each CANopen from machine.
The system realizing Profibus-DP to CANopen conversion the most according to claim 1, its feature
It is: described communication configuration module calculates the CANopen main website communications parameter generated and includes PDO communication class
Type, SDO time-out time, heart time.
The system realizing Profibus-DP to CANopen conversion the most according to claim 1, its feature
Be: described bridge equipment also includes from machine correction verification module, for respectively with each CANopen from machine communication,
And at the CANopen from PLC from the quantity of the PDO of machine with corresponding CANopen from the actual PDO of machine
The inconsistent alarm of quantity.
The system realizing Profibus-DP to CANopen conversion the most according to claim 1, its feature
It is: described bridge equipment also includes mapping deriving module, for according to the I/O Address from PLC
Obtain the appropriate address of each CANopen control object from machine and export.
The system realizing Profibus-DP to CANopen conversion the most according to claim 1, its feature
It is: each PDO mapping parameters is sent to corresponding CANopen from machine by 485 buses by described host computer；
The described configuration module that maps is sent to bridge equipment by configuration message.
6. the method realizing Profibus-DP to CANopen conversion, it is characterised in that: include following
Step:
A () is respectively each CANopen by host computer and configures PDO parameter from machine；
B each CANopen is sent to bridge equipment from the quantity of the PDO of machine by PLC by ()；
C () described bridge equipment calculates from the quantity of the PDO of machine according to each CANopen from PLC
Generate CANopen main website communications parameter and configure communications parameter for each CANopen from machine.
The method realizing Profibus-DP to CANopen conversion the most according to claim 6, its feature
It is: bridge equipment described in described step (c) calculates the CANopen main website communications parameter generated and includes
PDO communication type, SDO time-out time, heart time.
The method realizing Profibus-DP to CANopen conversion the most according to claim 6, its feature
It is: described step (c) was including before machine configuration communications parameter for each CANopen: described net
Bridge device respectively with each CANopen from machine communication, and at the CANopen from PLC from the PDO's of machine
Quantity with corresponding CANopen from the actual inconsistent alarm of PDO quantity of machine.
The method realizing Profibus-DP to CANopen conversion the most according to claim 6, its feature
It is: include after described step (c): described bridge equipment is according to the I/O Address from PLC
Obtain the appropriate address of each CANopen control object from machine and export.
The method realizing Profibus-DP to CANopen conversion the most according to claim 6, it is special
Levying and be: in described step (a), it is right that each PDO mapping parameters is sent to by host computer by 485 buses
Answer CANopen from machine；In described step (b), PLC is sent to bridge equipment by configuration message.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610250466.6A CN105930296B (en) | 2016-04-20 | 2016-04-20 | Realize the system and method for Profibus-DP to CANopen conversion |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201610250466.6A CN105930296B (en) | 2016-04-20 | 2016-04-20 | Realize the system and method for Profibus-DP to CANopen conversion |
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| Publication Number | Publication Date |
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| CN105930296A true CN105930296A (en) | 2016-09-07 |
| CN105930296B CN105930296B (en) | 2019-01-08 |
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| CN201610250466.6A Active CN105930296B (en) | 2016-04-20 | 2016-04-20 | Realize the system and method for Profibus-DP to CANopen conversion |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111526051A (en) * | 2020-04-17 | 2020-08-11 | 深圳市汇川技术股份有限公司 | System and method for realizing conversion from PROFINET to CANopen |
| CN116980497A (en) * | 2023-09-20 | 2023-10-31 | 浙江中控研究院有限公司 | Configurable CANopen master station system based on BLVDS bus and implementation method |
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| CN202652245U (en) * | 2012-04-25 | 2013-01-02 | 南京浦镇海泰制动设备有限公司 | CANopen communication board |
| US20130332636A1 (en) * | 2012-06-12 | 2013-12-12 | Lsis Co., Ltd. | Method for configurating canopen network, method for operating slave device of canopen network and system for controlling plc device using canopen network |
| CN205545360U (en) * | 2016-03-25 | 2016-08-31 | 四川零点自动化系统有限公司 | CANopen changes profibus -DP's protocol converter |
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2016
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| CN202652245U (en) * | 2012-04-25 | 2013-01-02 | 南京浦镇海泰制动设备有限公司 | CANopen communication board |
| US20130332636A1 (en) * | 2012-06-12 | 2013-12-12 | Lsis Co., Ltd. | Method for configurating canopen network, method for operating slave device of canopen network and system for controlling plc device using canopen network |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111526051A (en) * | 2020-04-17 | 2020-08-11 | 深圳市汇川技术股份有限公司 | System and method for realizing conversion from PROFINET to CANopen |
| CN116980497A (en) * | 2023-09-20 | 2023-10-31 | 浙江中控研究院有限公司 | Configurable CANopen master station system based on BLVDS bus and implementation method |
| CN116980497B (en) * | 2023-09-20 | 2023-12-26 | 浙江中控研究院有限公司 | Configurable CANopen master station system based on BLVDS bus and implementation method |
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| CN105930296B (en) | 2019-01-08 |
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