CN201335955Y - CAN bus intelligent electric device based on CANopen protocol - Google Patents
CAN bus intelligent electric device based on CANopen protocol Download PDFInfo
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- CN201335955Y CN201335955Y CNU2009201295298U CN200920129529U CN201335955Y CN 201335955 Y CN201335955 Y CN 201335955Y CN U2009201295298 U CNU2009201295298 U CN U2009201295298U CN 200920129529 U CN200920129529 U CN 200920129529U CN 201335955 Y CN201335955 Y CN 201335955Y
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Abstract
The utility model discloses a CAN bus intelligent electric device based on a CANopen protocol, which is used for controlling an electric actuating mechanism. The intelligent electric device comprises at least two converting units and a control unit, wherein, the converting units are connected in series and respectively used for receiving CAN bus data which is sent to the control unit and converting a logic level of the control unit into a difference level of a CAN bus; the control unit is connected with the converting units; and the operation of the electric actuating mechanism is controlled by the CAN bus data output through one converting unit. When one of the converting units does not operate, the CAN bus data output through another of the converting units is received in time under the control of the control unit, and the operation of the electric actuating mechanism is controlled by the CAN bus data, so that the stability and reliability of the intelligent electric device are improved.
Description
Technical field
The utility model relates to the intellectual technology field, particularly a kind of intelligent electric device based on the CAN bus.
Background technology
Electric operator claims electric actuator or electric device for valve again, is widely used in industrial pipeline valve and instrument industry.Intelligent electric actuating mechanism is to add Microcomputer Controling Technique on the basis of electric operator, thereby realizes the intellectuality of electric operator operation.
Electric operator in the process of implementation, its stability and reliability are important parameters very, existing electric operator all requires to have certain stability and reliability to implementation, especially in some industries, stable and reliability requirement to electric operator is very high, as automobile, Industry Control, Aero-Space etc.Therefore need further to improve the stability and the reliability of electric operator.
The utility model content
The technical matters that the utility model mainly solves provides a kind of intelligent electric device of the CAN bus based on the CANopen agreement, has advantages of higher stability and reliability.
In order to address the above problem, the utility model provides a kind of CAN bus intelligent electric device based on the CANopen agreement, be used to control electric operator, described electric device comprises: at least two converting units and a control module, wherein, at least two converting units and a control module, wherein, described at least two converting unit cascades, be respectively applied for and receive the CAN bus data, described bus data is sent to described control module, and with the described control module logic level transition differential level that is the CAN bus; Described control module is connected with described two converting units at least, according to the CAN bus data control electric operator work of wherein converting unit output.
Preferably, describedly also comprise anti-interference unit based on CAN bus intelligent electric device, an end of this anti-interference unit is connected with input end in described two converting units at least, and the other end is connected with the CAN bus, is used to absorb CAN bus undesired signal.
Preferably, described intelligent electric device also comprises relay and the actuating motor that is connected in series with this relay, and described relay also is connected with described control module, and wherein, described relay is controlled described actuating motor work according to the control of described control module.
Preferably, described anti-interference unit is a resistance, and this resistance is determined according to the characteristic impedance of transmission line.
Preferably, described two converting units are CTM1050, and described control module is single-chip microcomputer LPC2292.
Preferably, be connected with resistance between the CANH end of described two CTM1050 and the CANL end, be used to absorb CAN bus undesired signal, between the CANG of described two CTM1050 end and CAN bus, also be serially connected with another resistance and electric capacity in parallel, wherein, the output RXD of one CTM1050 is connected with the TD2 end with the RD2 of single-chip microcomputer LPC2292 respectively with output TXD, and the output RXD of another CTM1050 is connected with the TD1 end with the RD1 of single-chip microcomputer LPC2292 respectively with output TXD.
Preferably, being connected the CANH end of two CTM1050 and the resistance between the CANL end is 120 Ω.
The utility model is based on the CAN bus intelligent electric device of CANopen agreement, is the differential level of CAN bus by a converting unit in described at least two converting units with the logic level transition of described control module, and reception CAN bus data, with described CAN bus data sending controling unit, by the CAN bus data control electric operator work of control module according to wherein converting unit output.When a converting unit in described at least two converting units breaks down can not work the time, by described control module control, in time accept the CAN bus data of another converting unit output in described at least two converting units, according to this CAN bus data control electric operator work, thereby improve intelligent electric device stability and reliability.Simultaneously owing to be provided with the anti-interference unit that is used to absorb CAN bus undesired signal, thereby further improve the intelligent electric device stability at CAN bus network two-end-point.
Description of drawings
Fig. 1 is the CAN bus intelligent electric device first embodiment theory diagram of the utility model based on the CANopen agreement;
Fig. 2 is the CAN bus intelligent electric device first embodiment concrete theory diagram of the utility model based on the CANopen agreement;
Fig. 3 is the CAN bus intelligent electric device second embodiment theory diagram of the utility model based on the CANopen agreement;
Fig. 4 is the CAN bus intelligent electric device second embodiment concrete theory diagram of the utility model based on the CANopen agreement;
Fig. 5 is the CAN bus intelligent electric device three embodiment theory diagram of the utility model based on the CANopen agreement;
Fig. 6 is the CAN bus intelligent electric device three embodiment concrete theory diagram of the utility model based on the CANopen agreement;
Fig. 7 is the CAN bus intelligent electric device four embodiment physical circuit figure of the utility model based on the CANopen agreement.
Below in conjunction with embodiment, and with reference to accompanying drawing, realization, functional characteristics and the advantage of the utility model purpose is described further.
Embodiment
The utility model is based on the CAN bus intelligent electric device embodiment of CANopen agreement, is the differential level of CAN bus by a converting unit in described at least two converting units with the logic level transition of described control module, and reception CAN bus data, with described CAN bus data sending controling unit, by the CAN bus data control electric operator work of control module according to wherein converting unit output.When a converting unit in described at least two converting units breaks down can not work the time, by described control module control, in time accept the CAN bus data of another converting unit output in described at least two converting units, according to this CAN bus data control electric operator work, thereby improve intelligent electric device stability and reliability.
As depicted in figs. 1 and 2, the utility model is based on proposing first embodiment in the CAN of CANopen agreement bus intelligent electric device.
Described based on CAN bus intelligent electric device, be used to control the electric operator worker, comprise: converting unit 100 and control module 200, wherein, described converting unit 100 is used to receive the CAN bus data of CAN bus transfer, described CAN bus data is sent described control module 200, and be the differential level of CAN bus the logic level transition of described control module 200; Described control module 200 is connected with described converting unit 100, the CAN bus data of described converting unit 100 outputs is handled the work of output control signal control electric operator.Specifically, the CAN bus data of 200 pairs of inputs of described control module is handled, and the output control signal is by this control signal control electric operator work.
Described converting unit 100 comprises first converting unit 101 and second converting unit 102, the input end of described first converting unit 101 and second converting unit 102 is connected with the CAN bus, cascade between this first converting unit 101 and second converting unit 102, the output terminal of described first converting unit 101 and second converting unit 102 is connected with described control module 200 input ends.Described first converting unit 101 is used to receive the CAN bus data, and described CAN bus data is sent to described control module 200, and is the differential level of CAN bus with the logic level transition of described control module 200; Described second converting unit 102 is used to receive the CAN bus data, with described CAN bus data sending controling unit 200, and is the differential level of CAN bus with the logic level transition of described control module 200.
When described CAN bus intelligent electric device based on the CANopen agreement is worked, first converting unit 101 in the described converting unit 100 or second converting unit 102 receive the CAN bus data, described CAN bus data is sent to described control module 200, and be the differential level of CAN bus the logic level transition of described control module 200.Described control module 200 is according to the work of CAN bus data control electric operator.
When described first converting unit 101 or second converting unit 102 break down can not work the time, by of the CAN bus data control electric operator work of described control module 200, thereby improve intelligent electric device stability and reliability according to second converting unit 102 or 101 outputs of first converting unit.For example, describedly break down can not work the time when first converting unit 101, the CAN bus data of described control module 200 automatic receptions second converting unit 102 inputs, and according to this CAN bus data control electric operator work.
As shown in Figure 3 and Figure 4, the utility model proposes second embodiment based on the CAN bus intelligent electric device of CANopen agreement on the basis of the foregoing description.
Describedly also comprise anti-interference unit 300 based on CAN bus intelligent electric device, first converting unit 101 in one end of this anti-interference unit 300 and the described converting unit 100 and the input end of second converting unit 102 are connected, the other end is connected with the CAN bus, be used to absorb the CAN bus when transmission CAN bus data, the undesired signal that reflection produces prevents that this undesired signal is to first converting unit 101 in the converting unit 100 and the influence of second converting unit 102.
When the CAN bus data passes through the CAN bus transfer to transmission line, because the CAN bus data transmits in the mode of electric signal, therefore be easy to generate and reflect to form undesired signal, this undesired signal produces interference to first converting unit 101 in the converting unit 100 and second converting unit 102, and then influence the transmission of normal CAN bus data, the annexation and the course of work of other each unit are same as the previously described embodiments, repeat no more.
When the baud rate of transmitting the CAN bus data was high more, the interference of generation was also just big more.Because described anti-interference unit 300 can absorb undesired signal, thereby can further improve the intelligent electric device stability.
In the present embodiment, described anti-interference unit 300 can resistance, and the resistance of this resistance is determined according to the characteristic impedance of transmission line.
As shown in Figure 5, the utility model proposes the 3rd embodiment based on the CAN bus intelligent electric device of CANopen agreement on the basis of the foregoing description.
Describedly also comprise relay 400 and the actuating motor 500 that is connected in series with this relay 400 based on CAN bus intelligent electric device, described relay 400 also is connected with described control module 200, and this relay 400 is controlled described actuating motor 500 work according to the control signal of described control module 200 outputs; Described actuating motor 500 is controlled according to relay 400 and is carried out work.
First converting unit 101 in one end of described anti-interference unit 300 and the described converting unit 100 and the input end of second converting unit 102 are connected, the other end is connected with the CAN bus, be used to absorb the CAN bus when transmission CAN bus data, the undesired signal that reflection produces prevents that this undesired signal is to first converting unit 101 in the converting unit 100 and the influence of second converting unit 102.The annexation and the course of work of other each unit are same as the previously described embodiments, repeat no more.Because when first converting unit 101 or second converting unit 102 break down can not work the time, by of the CAN bus data control electric operator work of described control module 200, thereby improve intelligent electric device stability and reliability according to second converting unit 102 or 101 outputs of first converting unit.
Shown in Figure 6, described converting unit 200 is provided with the 3rd converting unit 103, and wherein, described the 3rd converting unit 103 is connected with described control module 200 with described interference units 300 respectively, with first converting unit 101, second converting unit, 102 cascades.Because when first converting unit 101 and second converting unit 102 break down can not work the time, by of the CAN bus data control electric operator work of described control module 200, thereby improve intelligent electric device stability and reliability according to 103 outputs of the 3rd converting unit.Can also establish the 4th converting unit, the 5th converting unit, the 6th converting unit etc. as required, described the 4th converting unit, the 5th converting unit, the 6th converting unit and first converting unit, 101 cascades, its course of work is same as the previously described embodiments to be repeated no more.
In the above-described embodiments, described anti-interference unit 300 can be made as a plurality of as required, each interference units 300 respectively with converting unit 100 in first converting unit 101, second converting unit 102, the 3rd converting unit 103 etc. be connected one by one, be used to absorb the CAN bus when transmission CAN bus data, the undesired signal that reflection produces prevents that this undesired signal is to converting unit 100.Its course of work is same as the previously described embodiments to be repeated no more.
As shown in Figure 7, the utility model is based on the CAN bus intelligent electric device physical circuit schematic diagram of CANopen agreement.
Described CAN bus intelligent electric device based on the CANopen agreement comprises: converting unit 100, control module 200 and anti-interference unit 300, wherein, the output terminal of described converting unit 100 is connected with anti-interference unit 300 with control module 200 respectively with input end.
Described converting unit 100 comprises first converting unit 101 and second converting unit 102, and described anti-interference unit 300 can be resistance R 1; Described control module 200 is 32 single-chip microcomputer LPC2292 of PHILIPS technical grade, this single-chip microcomputer LPC2292 meets CAN standard 2.0B, ISO11898-1, because this single-chip microcomputer LPC2292 has the examination wave filter, therefore can realize that by this examination wave filter FullCAN-style (full CAN mode of operation) this single-chip microcomputer of automatic reception LPC2292 detects communication packet, can realize hot backup redundancy.Described redundancy is meant when a controller or one road operation circuit break down, and need not outage or restarts system, controls another controller work automatically and sends warning message.Described single-chip microcomputer LPC2292 is provided with two CAN controllers, and this CAN controller is used to control host node and from data transmission between the node.Described first converting unit 101 and second converting unit 102 can be the CAN transceivers, be used for receiving transmission CAN bus data, this CAN bus data can be a communication packet, and is the differential level of CAN bus with the logic level transition of two CAN controllers in the control module 200.Wherein, described CAN transceiver can be selected the chip CTM1050 that band is isolated for use.
Because described chip CTM1050 inside is integrated with CAN isolation, CAN receiving device and CAN sending device.Described chip CTM1050 is the differential level of CAN bus with the logic level transition of CAN controller, and has isolation and ESD (ElectroStatic Discharge, the static discharge) protection of DC 2500V.
Specifically, described CAN bus intelligent electric device based on the CANopen agreement is located at the CAN bus network from node, be connected with resistance R 1 between the CANH end of the CTM1050 of described first converting unit 101 and the CANL end, be used to absorb CAN bus undesired signal, the resistance size of this resistance R 1 is determined according to the characteristic impedance of transmission line, with this characteristic impedance coupling.The output terminal RXD of the CTM1050 of described first converting unit 101 is connected with the TD2 end with the RD2 of single-chip microcomputer LPC2292 respectively with TXD.For example, when selecting twisted-pair feeder for use, when the characteristic impedance of this twisted-pair feeder was 120 Ω, the resistance of described resistance was 120 Ω.
Because the CANH of the CTM1050 of described second converting unit 102 end and CANL end terminate on the CAN bus identical data line with CANH end and the CANL of the CTM1050 of described first converting unit 101, so between the resistance R 1 reality CANH that also is connected the CTM1050 of second converting unit 102 holds and CANL holds.The output terminal RXD of the CTM1050 of described second converting unit 102 is connected with the TD1 end with the RD1 of single-chip microcomputer LPC2292 respectively with TXD.
Between the CANG end of the CTM1050 of the CANG of the CTM1050 of described first converting unit 101 end and described second converting unit 102 and CAN bus, also be serially connected with parallel resistor R2 and capacitor C.
Described CAN bus intelligent electric device based on the CANopen agreement according to the CANopen agreement be provided with the CANopen application layer, standard (CiA DS301) and universal I equipment code (CiA DS401) are described in communication.In CAN bus network based on the CANopen agreement, there is and only has a CANopen host node, the CANopen host node also has NMT Master function except that having CANopen from the node basic functions, promptly can the CAN bus network of setting up according to the CANopen agreement be managed.
Described intelligent electric device be located at based on the CAN bus network of CANopen agreement from node, should be from node realize that software of CANopen agreement comprise: basic function, error-detecting are handled and the node administration function, and expanded function.
Described basic function comprises the communication initialization and the hardware device initialization of node; Definition and access object dictionary (Object Dictionary), described object dictionary is a tables of data, and this tables of data comprises accessibility all data of network, and each CANopen has the object dictionary of oneself from node; Described object dictionary comprises the descriptor from relevant CANopen configuration of node and function to each CANopen, and this descriptor can both be read or write from node by other CANopen; PDO (Process Data Object, process data object) communication; SDO (Server Data Object, Service Data Object) communication; CANopen realizes by Heartbeat (heartbeat) mechanism from the protection of node; each CANopen sends a heartbeat from node; this heartbeat is made up of the CAN message of a byte; this CAN message comprises the state of node NMT, and the CANopen host node of described NMT is responsible for inquiring about all CANopen from the current NMT state of node.When a certain CANopen did not respond in a setting-up time from node, described CANopen host node judged that according to NMT this CANopen loses from node, and according to judging that saving fruit handles.
Described error-detecting is handled and the node administration function, when the CAN bus network based on the CANopen agreement makes a mistake or state when changing, detects the software of processing and node administration by call error and handles.
Described expanded function is used for when the hardware of system changes, the state and the correlation parameter of node reset, and the management object dictionary.
In the present embodiment, describedly mainly finish PDO communication, the control underlying device of real time data from node, auxiliary above function also needs object dictionary is set up and visited and to the initialization of this node self.
After the CAN bus network powers on, finish CAN communication initialization and node initializing successively, enter the pre-operation state automatically and send a boot-up message to host node.Wherein, when described pre-operation state (Pre-operational), CANopen node can participate in all communicating by letter of SDO, urgent message, timestamp, Heartbeat and Node Protection that relate to.Continue at the pre-operation state before receiving NMT startup message, when this state, CANopen can be configured and the parameter setting by SDO from node, can not send PDO always; Entering mode of operation (Operational) by the pre-operation state needs host node to send a NMT to start message and start remote node, just can normal communication under mode of operation, can carry out SDO and PDO communication;
Otherwise the CANopen host node sends another one NMT message makes node enter the pre-operation state; Receiving that NMT stops message, promptly stopping the instruction of receiving remote CANopen host node, CANopen enters halted state from node, thereby stops PDO and SDO communication; The CANopen host node can enter init state by any state, finishes the initialization and the communication initialization of CANopen host node.Initialization mainly is responsible for CANopen is carried out initialization from the CAN control unit interface of node.For example, CANopen is from node ID, baud rate, mask off code etc., and the communication correlation parameter in the CANopen agreement carries out initialization.
When the user selects two redundancy backups for use, all be in the Hot Spare state by two CAN controllers among the described single-chip microcomputer LPC2292.Two CAN controllers are all prepared reception information at any time after initialization, have only a CAN controller simultaneously in transmission information, promptly at one time on, have and only have among the described single-chip microcomputer LPC2292 one road CAN passage work, another road is in listening state.When single-chip microcomputer LPC2292 detects a CAN transceiver communication failure cisco unity malfunction is arranged, described single-chip microcomputer LPC2292 automatically switches to CAN communication work in the standby CAN passage of listening state, promptly start another CAN transceiver work, and send a failure alarm signal to the CANopen host node.
The above only is a preferred embodiment of the present utility model; be not so limit claim of the present utility model; every equivalent structure or equivalent flow process conversion that utilizes the utility model instructions and accompanying drawing content to be done; or directly or indirectly be used in other relevant technical fields, all in like manner be included in the scope of patent protection of the present utility model.
Claims (7)
1. CAN bus intelligent electric device based on the CANopen agreement, be used to control electric operator, it is characterized in that, described electric device comprises: at least two converting units and a control module, wherein, described at least two converting unit cascades are respectively applied for and receive the CAN bus data, described bus data is sent to described control module, and be the differential level of CAN bus the logic level transition of described control module; Described control module is connected with described two converting units at least, according to the CAN bus data control electric operator work of wherein converting unit output.
2. the CAN bus intelligent electric device based on the CANopen agreement according to claim 1, it is characterized in that: describedly also comprise anti-interference unit based on CAN bus intelligent electric device, one end of this anti-interference unit is connected with input end in described two converting units at least, the other end is connected with the CAN bus, is used to absorb CAN bus undesired signal.
3. the CAN bus intelligent electric device based on the CANopen agreement according to claim 1 and 2, it is characterized in that: described intelligent electric device also comprises relay and the actuating motor that is connected in series with this relay, described relay also is connected with described control module, wherein, described relay is controlled described actuating motor work according to the control of described control module.
4. the CAN bus intelligent electric device based on the CANopen agreement according to claim 2, it is characterized in that: described anti-interference unit is a resistance, this resistance is determined according to the characteristic impedance of transmission line.
5. the CAN bus intelligent electric device based on the CANopen agreement according to claim 4, it is characterized in that: described two converting units are CTM1050, described control module is single-chip microcomputer LPC2292.
6. the CAN bus intelligent electric device based on the CANopen agreement according to claim 5, it is characterized in that: be connected with resistance between the CANH end of described two CTM1050 and the CANL end, be used to absorb CAN bus undesired signal, between the CANG of described two CTM1050 end and CAN bus, also be serially connected with another resistance and electric capacity in parallel, wherein, the output RXD of one CTM1050 is connected with the TD2 end with the RD2 of single-chip microcomputer LPC2292 respectively with output TXD, and the output RXD of another CTM1050 is connected with the TD1 end with the RD1 of single-chip microcomputer LPC2292 respectively with output TXD.
7. the CAN bus intelligent electric device based on the CANopen agreement according to claim 6 is characterized in that: being connected the CANH end of two CTM1050 and the resistance between the CANL end is 120 Ω.
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| Application Number | Priority Date | Filing Date | Title |
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| CNU2009201295298U CN201335955Y (en) | 2009-01-16 | 2009-01-16 | CAN bus intelligent electric device based on CANopen protocol |
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| CNU2009201295298U CN201335955Y (en) | 2009-01-16 | 2009-01-16 | CAN bus intelligent electric device based on CANopen protocol |
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Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402200A (en) * | 2010-09-09 | 2012-04-04 | 成都远景数控设备实业有限公司 | Servo control system |
| CN103488593A (en) * | 2012-06-13 | 2014-01-01 | 上海联影医疗科技有限公司 | Data processing device and data processing system |
| CN103559066A (en) * | 2013-11-19 | 2014-02-05 | 上海创程车联网络科技有限公司 | CANOPEN-protocol-based embedded software upgrading method |
| CN104993583A (en) * | 2015-05-19 | 2015-10-21 | 航天科工深圳（集团）有限公司 | Communication method of power distribution automation equipment |
| CN105025074A (en) * | 2014-04-29 | 2015-11-04 | 福特全球技术公司 | Apparatus and method of error monitoring with a diagnostic module |
| CN108883910A (en) * | 2016-03-10 | 2018-11-23 | 因温特奥股份公司 | For manufacturing the device of the bearing structure for transport equipment for persons in a manner of robot assisted |
| CN109245979A (en) * | 2018-11-02 | 2019-01-18 | 合肥保得工业自动化有限公司 | A kind of CANopen master-salve station Control for Dependability method and its overall management device |
| CN109361586A (en) * | 2018-11-02 | 2019-02-19 | 合肥保得工业自动化有限公司 | A kind of the starting method and its overall management device of CANopen slave station |
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2009
- 2009-01-16 CN CNU2009201295298U patent/CN201335955Y/en not_active Expired - Fee Related
Cited By (15)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102402200A (en) * | 2010-09-09 | 2012-04-04 | 成都远景数控设备实业有限公司 | Servo control system |
| CN103488593A (en) * | 2012-06-13 | 2014-01-01 | 上海联影医疗科技有限公司 | Data processing device and data processing system |
| CN103488593B (en) * | 2012-06-13 | 2016-07-06 | 上海联影医疗科技有限公司 | A kind of data processing equipment and data handling system |
| CN103559066A (en) * | 2013-11-19 | 2014-02-05 | 上海创程车联网络科技有限公司 | CANOPEN-protocol-based embedded software upgrading method |
| CN105025074B (en) * | 2014-04-29 | 2019-08-27 | 福特全球技术公司 | The device and method of fault monitoring are carried out using diagnostic module |
| CN105025074A (en) * | 2014-04-29 | 2015-11-04 | 福特全球技术公司 | Apparatus and method of error monitoring with a diagnostic module |
| CN104993583B (en) * | 2015-05-19 | 2017-07-25 | 航天科工深圳（集团）有限公司 | The communication means of power distribution automation equipment |
| CN104993583A (en) * | 2015-05-19 | 2015-10-21 | 航天科工深圳（集团）有限公司 | Communication method of power distribution automation equipment |
| CN108883910A (en) * | 2016-03-10 | 2018-11-23 | 因温特奥股份公司 | For manufacturing the device of the bearing structure for transport equipment for persons in a manner of robot assisted |
| CN108883910B (en) * | 2016-03-10 | 2020-08-18 | 因温特奥股份公司 | Device for producing a support structure for a people mover |
| US11407051B2 (en) | 2016-03-10 | 2022-08-09 | Inventio Ag | Device for the robot-assisted manufacturing of a supporting structure for a passenger transport system |
| CN109245979A (en) * | 2018-11-02 | 2019-01-18 | 合肥保得工业自动化有限公司 | A kind of CANopen master-salve station Control for Dependability method and its overall management device |
| CN109361586A (en) * | 2018-11-02 | 2019-02-19 | 合肥保得工业自动化有限公司 | A kind of the starting method and its overall management device of CANopen slave station |
| CN109361586B (en) * | 2018-11-02 | 2021-03-23 | 合肥保得工业自动化有限公司 | CANopen slave station starting method and overall planning manager thereof |
| CN109245979B (en) * | 2018-11-02 | 2021-07-27 | 合肥保得工业自动化有限公司 | CANopen master-slave station reliability control method and overall management device thereof |
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Inventor after: Kuang Fuhua Inventor after: Zhu Dingcai Inventor after: Li Xuehai Inventor after: Xie Huixing Inventor after: Cheng Jun Inventor after: Rao Yixin Inventor before: Kuang Fuhua Inventor before: Song Dingcai Inventor before: Li Xuehai Inventor before: Xie Huixing Inventor before: Cheng Jun Inventor before: Rao Yixin |
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