CN105930296B - Realize the system and method for Profibus-DP to CANopen conversion - Google Patents
Realize the system and method for Profibus-DP to CANopen conversion Download PDFInfo
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- CN105930296B CN105930296B CN201610250466.6A CN201610250466A CN105930296B CN 105930296 B CN105930296 B CN 105930296B CN 201610250466 A CN201610250466 A CN 201610250466A CN 105930296 B CN105930296 B CN 105930296B
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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
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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
- 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
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- 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
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- 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
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- Engineering & Computer Science (AREA)
- Theoretical Computer Science (AREA)
- Physics & Mathematics (AREA)
- General Engineering & Computer Science (AREA)
- General Physics & Mathematics (AREA)
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- Programmable Controllers (AREA)
Abstract
The present invention provides a kind of system and method for realizing Profibus-DP to CANopen conversion, the system comprises host computer, PLC and bridge equipments, and the PLC includes mapping configuration module, the bridge equipment includes communication configuration module, wherein: the host computer, for configuring PDO parameter for every CANopen slave；The mapping configuration module, for inputting the quantity of the PDO of every CANopen slave and being transmitted to bridge equipment；The communication configuration module, the quantity of the PDO for every CANopen slave of the basis from PLC, which calculates, to be generated CANopen main website communications parameter and configures communications parameter for every CANopen slave.The present invention is configured by PDO of the host computer to CANopen slave and calculates the communications parameter of CANopen main website automatically according to the PDO parameter configuration situation of CANopen slave by bridge equipment, the service efficiency for improving CAN network improves the ease for use of bridge equipment.
Description
Technical field
The present invention relates to fieldbus fields, turn more specifically to a kind of realization Profibus-DP to CANopen
The system and method changed.
Background technique
As the reliability and communication performance of CAN Bus open technology are gradually recognized, application is also increasingly wider
It is general.Relative to local bus profibus-OP, the cost of CANopen communication plan is lower, thus in some applications, out
The scheme using CANopen substitution Profibus-DP is showed.
In the scheme of current substitution Profibus-DP, do not change PLC, and directly connects a Profibus-DP
The slave website of Profibus-DP is substituted for CANopen slave website by the equipment for turning CANopen.
Current Profibus-DP turns CANopen equipment, usually consists of the following components: (1) configuration software；(2)
Configure equipment；(3) bridge equipment.Its operating process is: first the configuration information of CANopen slave being downloaded by configuring equipment
Onto bridge equipment, then after bridge equipment starting, the configuration information of CANopen slave is passed to each CANopen slave.
However, since CANopen changeover section has been made into the CANoepn main website an of standard, being configured soft in above scheme
Part also will do configuration according to the CANopen agreement of standard.This results in user must very familiar CANoepn agreement,
And configuration process is very cumbersome, such as needs to configure communication type including PDO, SDO time-out, synchronization, heart time, node
The information of guard time etc., and CANopen network load needs user to calculate.In addition, the PDO of CANopen slave maps
There is no corresponding relationship with the mapping address of PLC, need the relationship of the manually recorded mapping in configuration, and once malfunctions, PLC
It can not detect mistake.Once breaking down, the diagnosis message of PLC can not clearly describe errors present.
Summary of the invention
The technical problem to be solved in the present invention is that changeover section is matched when turning CANopen for above-mentioned Profibus-DP
The problem for setting trouble provides a kind of system and method for realizing Profibus-DP to CANopen conversion.
The technical solution that the present invention solves above-mentioned technical problem is to provide realization Profibus-DP to CANopen turns a kind of
The system changed, including host computer, PLC and bridge equipment, and the PLC includes mapping configuration module, the bridge equipment includes
Communicate configuration module, in which: the host computer configures PDO parameter for respectively every CANopen slave；The mapping is matched
Module is set, for inputting the quantity of the PDO of every CANopen slave and being transmitted to bridge equipment；The communication configuration module is used
Generation CANopen main website communications parameter is calculated in the quantity of the PDO of every CANopen slave of the basis from PLC and is each
CANopen slave configures communications parameter.
In the system of realization Profibus-DP to CANopen conversion of the present invention, the communication configuration module meter
Calculating the CANopen main website communications parameter generated includes PDO communication type, SDO time-out time, heart time.
In the system of realization Profibus-DP to CANopen conversion of the present invention, the bridge equipment further includes
Slave correction verification module, for being communicated respectively with each CANopen slave, and the number of the PDO in the CANopen slave from PLC
It measures and the practical inconsistent alarm of PDO quantity of corresponding CANopen slave.
In the system of realization Profibus-DP to CANopen conversion of the present invention, the bridge equipment further includes
Export module is mapped, for obtaining the control object of each CANopen slave correspondingly according to the I/O Address from PLC
Location simultaneously exports.
In the system of realization Profibus-DP to CANopen conversion of the present invention, the host computer passes through 485
Each PDO mapping parameters are sent to corresponding CANopen slave by bus；The mapping configuration module is transmitted to by configuration message
Bridge equipment.
The present invention also provides a kind of methods for realizing Profibus-DP to CANopen conversion, comprising the following steps:
It (a) is respectively that every CANopen slave configures PDO parameter by host computer；
(b) quantity of the PDO of every CANopen slave is transmitted to by bridge equipment by PLC；
(c) bridge equipment calculates according to the quantity of the PDO of every CANopen slave from PLC and generates CANopen
Main website communications parameter simultaneously configures communications parameter for every CANopen slave.
In the method for realization Profibus-DP to CANopen conversion of the present invention, described in the step (c)
It includes PDO communication type, SDO time-out time, heart time that bridge equipment, which calculates the CANopen main website communications parameter generated,.
In the method for realization Profibus-DP to CANopen conversion of the present invention, the step (c) is being every
Include: that the bridge equipment is communicated with each CANopen slave respectively before one CANopen slave configuration communications parameter, and
The practical inconsistent alarm of PDO quantity of the quantity of the PDO of CANopen slave from PLC and corresponding CANopen slave.
In the method for realization Profibus-DP to CANopen conversion of the present invention, wrapped after the step (c)
Include: the bridge equipment obtains the appropriate address of the control object of each CANopen slave according to the I/O Address from PLC
And it exports.
It is upper in the step (a) in the method for realization Profibus-DP to CANopen conversion of the present invention
Each PDO mapping parameters are sent to corresponding CANopen slave by 485 buses by machine；In the step (b), PLC, which passes through, to be configured
Message is transmitted to bridge equipment.
The present invention realize Profibus-DP to CANopen convert system and method, by host computer to CANopen from
The PDO of machine configure and is calculated CANopen master automatically according to the PDO parameter configuration situation of CANopen slave by bridge equipment
The communications parameter stood improves the service efficiency of CAN network, improves the ease for use of bridge equipment.
Detailed description of the invention
Fig. 1 is the schematic diagram for the system embodiment that the present invention realizes Profibus-DP to CANopen conversion.
Fig. 2 is the schematic diagram of bridge equipment and PLC in Fig. 1.
Fig. 3 is the PDO configuration schematic diagram of CANopen slave.
Fig. 4 is the flow diagram for the embodiment of the method that the present invention realizes Profibus-DP to CANopen conversion.
Specific embodiment
In order to make the objectives, technical solutions, and advantages of the present invention clearer, with reference to the accompanying drawings and embodiments, right
The present invention is further elaborated.It should be appreciated that the specific embodiments described herein are merely illustrative of the present invention, and
It is not used in the restriction present invention.
It as shown in Figure 1, 2, is the schematic diagram for the system embodiment that the present invention realizes Profibus-DP to CANopen conversion.
The system of realization Profibus-DP to CANopen conversion in the present embodiment includes host computer 10, PLC 40 and bridge equipment
30, wherein bridge equipment 30 is connect with every CANopen slave 20, and PLC 40 is connect with bridge equipment 30.Above-mentioned PLC 40 can
It is identical as the PLC device in Profibus-DP.
Above-mentioned host computer 40 includes human-computer interaction interface, can be used for configuring PDO parameter for every CANopen slave 20.
It is (such as first that host computer 10 is total by 485 that the PDO parameter of the configuration can be sent to corresponding CANopen slave 20 by 485 buses
Line is connect with CANopen slave 20, the PDO parameter of the CANopen slave 20 is then inputted by interface shown in Fig. 3, finally
PDO parameter is transmitted to CANopen slave 20 by 485 buses).Host computer 10 can successively from different CANopen slaves 20
Connection, and PDO parameter configuration is carried out to the CANopen slave 20 of the connection.
Above-mentioned PLC 40 includes mapping configuration module 41, and the mapping configuration module 41 is combinable to be run on PLC 40
Software realization.The mapping configuration module 41 is used to input the quantity of the PDO of every CANopen slave 20 and is transmitted to bridge equipment
30.Specifically, above-mentioned mapping configuration module 41 can be by way of configuration message by the number of the PDO of every CANopen slave 20
Amount is transmitted to bridge equipment 30.
Bridge equipment 30 includes communication configuration module 31, and the mapping configuration module 41 is combinable to be run on bridge equipment 30
Software realization.The communication configuration module 31 is used for the quantity of the PDO of every CANopen slave of the basis from PLC 40 (i.e.
The mapping situation of CANopen slave station) it calculates to generate CANopen main website communications parameter and configure for every CANopen slave 20 and lead to
Interrogate parameter.Specifically, bridge equipment 30 is calculated according to the baud rate of the mapping situation of CANopen slave and CAN network
CANopen main website communications parameter.
Particularly, above-mentioned main website communications parameter is specific can include: includes PDO communication type, SDO time-out time, heart time
Deng.
The system of above-mentioned realization Profibus-DP to CANopen conversion, due to most CANopen grid configuration by
Bridge equipment 30 is calculated automatically and is generated, and the PDO parameter configuration of CANopen slave 20 is then completed by host computer 10, without saving
In bridge equipment 30, so that the utilization rate of CAN network reaches highest.The converting system is greatly improved Profibus-DP and turns
The ease for use of CANopen bridge equipment, and performance is more superior.
In addition, being the accuracy of raising system, above-mentioned bridge equipment 30 may also include slave correction verification module.Slave verification
Module for being communicated respectively with each CANopen slave 20, and the quantity of the PDO of the CANopen slave from PLC with it is corresponding
The practical inconsistent alarm of PDO quantity of CANopen slave 20.By this way, it is ensured that bridge equipment 30 and CANopen from
The consistency of machine 20.
Above-mentioned bridge equipment 30 may also include mapping export module, for according to the I/O Address from PLC, (this to be defeated
Entering output address can be inputted by user) obtain each CANopen slave control object appropriate address and output, such as with table
Form output.By the table of output, user can be convenient the corresponding PLC of specific control object for finding out CANopen slave
I/O Address.
As shown in figure 4, the present invention also provides a kind of method for realizing Profibus-DP to CANopen conversion, this method packet
Include following steps:
Step S41: being that every CANopen slave configures PDO parameter by host computer.Specifically, host computer can lead to respectively
It crosses 485 buses and each PDO mapping parameters is sent to corresponding CANopen slave.
Step S42: by PLC by the quantity (i.e. the mapping situation of CANopen slave station) of the PDO of every CANopen slave
It is transmitted to bridge equipment.Specifically, PLC can be passed the quantity of the PDO of every CANopen slave 20 by way of configuration message
It is sent to bridge equipment.
Step S43: bridge equipment is calculated according to the quantity of the PDO of every CANopen slave from PLC and is generated
CANopen main website communications parameter simultaneously configures communications parameter for every CANopen slave.Wherein bridge equipment calculates generation
CANopen main website communications parameter includes PDO communication type, SDO time-out time, heart time etc..
The step for every CANopen slave configure communications parameter before include: bridge equipment respectively with it is each
The communication of CANopen slave, and in the practical PDO of the quantity of the PDO of the CANopen slave from PLC and corresponding CANopen slave
The inconsistent alarm of quantity.Pass through the step, it is ensured that the consistency of bridge equipment and CANopen slave.
For the convenience of the user understand CANopen slave specific control object, the above method may also include that bridge equipment according to
I/O Address from PLC obtains the appropriate address of the control object of each CANopen slave and output.
The foregoing is only a preferred embodiment of the present invention, but scope of protection of the present invention is not limited thereto,
In the technical scope disclosed by the present invention, any changes or substitutions that can be easily thought of by anyone skilled in the art,
It should be covered by the protection scope of the present invention.Therefore, protection scope of the present invention should be with scope of protection of the claims
Subject to.
Claims (10)
1. a kind of system for realizing Profibus-DP to CANopen conversion, it is characterised in that: including host computer, PLC and bridge
Equipment, and the PLC includes mapping configuration module, the bridge equipment includes communication configuration module, in which: the host computer,
For being respectively that every CANopen slave configures PDO parameter, the PDO parameter of configuration is sent to corresponding CANopen slave；It is described
Configuration module is mapped, for inputting the quantity of the PDO of every CANopen slave and being transmitted to bridge equipment；The communication configuration
Module, the quantity for the PDO according to every CANopen slave from PLC calculate generation CANopen main website communications parameter simultaneously
Communications parameter is configured for every CANopen slave.
2. the system according to claim 1 for realizing Profibus-DP to CANopen conversion, it is characterised in that: described logical
Interrogating configuration module and calculating the CANopen main website communications parameter generated includes PDO communication type, SDO time-out time, heart time.
3. the system according to claim 1 for realizing Profibus-DP to CANopen conversion, it is characterised in that: the net
Bridge device further includes slave correction verification module, for being communicated respectively with each CANopen slave, and the CANopen from PLC from
The practical inconsistent alarm of PDO quantity of the quantity of the PDO of machine and corresponding CANopen slave.
4. the system according to claim 1 for realizing Profibus-DP to CANopen conversion, it is characterised in that: the net
Bridge device further includes mapping export module, for obtaining the control of each CANopen slave according to the I/O Address from PLC
The appropriate address of object and output.
5. the system according to claim 1 for realizing Profibus-DP to CANopen conversion, it is characterised in that: on described
Each PDO mapping parameters are sent to corresponding CANopen slave by 485 buses by position machine；The mapping configuration module is by matching
It sets message and is transmitted to bridge equipment.
6. a kind of method for realizing Profibus-DP to CANopen conversion, it is characterised in that: the following steps are included:
It (a) is respectively that every CANopen slave configures PDO parameter by host computer, the PDO parameter of configuration is sent to correspondence
CANopen slave；
(b) quantity of the PDO of every CANopen slave is transmitted to by bridge equipment by PLC；
(c) bridge equipment calculates according to the quantity of the PDO of every CANopen slave from PLC and generates CANopen main website
Communications parameter simultaneously configures communications parameter for every CANopen slave.
7. the method according to claim 6 for realizing Profibus-DP to CANopen conversion, it is characterised in that: the step
Suddenly bridge equipment described in (c) calculate generate CANopen main website communications parameter include PDO communication type, SDO time-out time,
Heart time.
8. the method according to claim 6 for realizing Profibus-DP to CANopen conversion, it is characterised in that: the step
Suddenly (c) for every CANopen slave configure communications parameter before include: the bridge equipment respectively with each CANopen from
Machine communication, and it is different in the quantity of the PDO of the CANopen slave from PLC and the practical PDO quantity of corresponding CANopen slave
Cause alarm.
9. the method according to claim 6 for realizing Profibus-DP to CANopen conversion, it is characterised in that: the step
It suddenly include: the control pair that the bridge equipment obtains each CANopen slave according to the I/O Address from PLC after (c)
The appropriate address of elephant and output.
10. the method according to claim 6 for realizing Profibus-DP to CANopen conversion, it is characterised in that: described
In step (a), each PDO mapping parameters are sent to corresponding CANopen slave by 485 buses by host computer；The step (b)
In, PLC is transmitted to bridge equipment by configuration message.
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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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| Application Number | Priority Date | Filing Date | Title |
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| 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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| CN105930296A CN105930296A (en) | 2016-09-07 |
| CN105930296B true CN105930296B (en) | 2019-01-08 |
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Families Citing this family (2)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111526051B (en) * | 2020-04-17 | 2023-04-14 | 深圳市汇川技术股份有限公司 | System and method for realizing conversion from PROFINET to CANopen |
| 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 |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR101596078B1 (en) * | 2012-06-12 | 2016-02-26 | 엘에스산전 주식회사 | A method for configurating CANopen network, a method for operating a slave apparatus of CANopen network and an operating system of PLC apparatus using CANopen network |
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2016
- 2016-04-20 CN CN201610250466.6A patent/CN105930296B/en active Active
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
| 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 |
Non-Patent Citations (1)
| Title |
|---|
| PROFINET转CANOPEN网关;hkautomation;《百度文库》;20151209;第1-8页 |
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