摘要
CANopen是一种基于CAN总线的应用层协议，采用了面向对象的设计思想，具有很好的模块化特性和很高的适应性。本文主要设计了一种基于CANopen协议的传感器数据采集模块，该模块作为CANopen从站与机器人主站实现数据通信。本设计采用飞思卡尔单片机MC9S12XS128作为主控芯片，通过A／D口采集传感器数据，在单片机上移植CANopen开源协议栈，给出了CanFestival在单片机上的实现。经过测试，表明该模块能够与机器人通过CAN总线正确通信，完成数据采集功能。
As an application layer protocol of CAN-bus, CANopen adopts object-oriented design ideas, has good modularity and high adaptability. In this paper, a data acquisition module for sensors based on CANopen protocol is designed.This module is used as a CANopen slave node to communicate with the master node of robot. The Freescale MCU MC9S12XS128 is used as the main control chip, and the sensor data is acquired and convened by A/D module of the MCU, the CANopen protocol stack--CanFestival is lrans- planted on the MCU. By going through the test, it indicates that the module can correctly communicate with the robot through the CAN-bus and achieve the data acquisition function.
出处
《自动化信息》
2013年第1期28-30,27,共4页
Automation Information
