系统总线基础.ppt

Systembus 系统总线基础 什么是系统总线? 系统总线是基于 CAN (Controller Area Network)总线的现场总线，有Lenze公司根据CAN总线进行定义. 应用场合 扩展控制器的功能，例如 : 系统总线技术规格 拓扑结构 有终端电阻线型  (电气传输) 传输类型 差分(类似于 RS485) 最大成员数 63 自备供电设备 分布式, 可通过总线电缆附加  总线访问类型 基于报文 报文发送周期 160μs （1Mbaud ，高优先级) 传输错误返回 返回报文 协议 CANopen (CAL-based communication profile DS301) 标准 ISO/DIS 11898, ISO/DIS 11519-1 波特率 / 最大电缆长度 数据传输原理 系统总线先传输高优先级的报文。 数据传输原理 系统总线是多主结构, 例如每个成员都能给其他成员发送报文. 数据传输原理 数据传输通道 系统总线有两个不同的数据传输通道: 参数通道 (SDO) 控制器的全部参数能由两个参数通道独立访问. 过程通道1 (CAN1) 此循环同步通道 (CAN1) 能用于高级控制系统的通信. 同步循环过程数据 在接到同步报文时，控制器发送报文到总线中. 过程数据通道 CAN2 和 CAN3 事件出发过程通道 (CAN2 and CAN3) 用于在控制器之间传递数据. 总线成员的寻址 A maximum of 63 participants can be connected to the system bus. Bus node address and identifier Each Lenze drive controller automatically calculates its identifiers for the 5 data transmission channels in accordance with the set bus node address. Calculation of identifiers by the drive controller Process data channel to the drive (CAN-IN1) 512 + bus node address Process data channel from the drive (CAN-OUT1) 384 + bus node address Process data channel to the drive (CAN-IN2) 640 + bus node address Process data channel from the drive (CAN-OUT2) 641 + bus node address Process data channel to the drive (CAN-IN3) 768 + bus node address Process data channel from the drive (CAN-OUT3) 769 + bus node address Parameter channel 1 to the drive 1536 + bus node address Parameter channel 1 from the drive 1408 + bus node address Parameter channel 2 to the drive 1600 + bus node address Parameter channel 2 from the drive 1472 + bus node address Identifiers of the event-controlled PDOs If the bus node addresses for the drive controllers are assigned in continuous ascending order... Communication phases of the system bus Each participant of the system bus passes through three different communication phases: Communication phases of the system bus InitialisationAfter switching on the bus participant, the system bus interface is initialised. In