摘要
本文研究了伺服系统总线接口设计的实现方法,主要设计了高效可靠的基于DeviceNet协议的CAN总线接口。参考标准的通讯协议规范,研究了DeviceNet协议的基本原理和设计方法,分析探讨DeviceNet分段报文的概念以及软件实现。结合伺服系统本身,开发了该总线接口的硬件和软件实现方案,采用了单片机+DSP双CPU结构,DSP完成实时性要求高的伺服控制任务,单片机完成实时性要求比较低的系统管理任务,从而保证了系统设计具有很好的通用性和实用性。
The technology of Bus interface in servo driving system is studied detail in the thesis. The high-efficient CAN interface based on DeviceNet Protocol is designed. According to standard communications protocol specifications, the basic principle and design scheme are investigated. The concept and software design of fragment message are discussed mainly. Combining with the requirement and characteristics of general servo system, the hardware and software interface design scheme based on this CAN Bus are developed. A double CPU structure of SCM＋DSP is adopted in this fieldbus interface. DSP completes high real-time servo control,and SCM completes low real-time management task,which guarantees this system esign has good currencility and practicability.
