Automation GT200-MT-CO Modbus TCP Canopen Gateway
Buku Logwiritsa Ntchito
Zambiri Zofunika
Chenjezo
Deta ndi exampLes mu bukhuli sangathe kukopera popanda chilolezo. SST Automation ili ndi ufulu wokweza malonda popanda kudziwitsa ogwiritsa ntchito.
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Ufulu
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Zathaview
1.1 Ntchito Zogulitsa
Chipatacho chimathandizira kulumikiza zida za CANopen ku netiweki ya Modbus TCP, imatha kuzindikira kulumikizana kwa data pakati pa zida zingapo za CANopen ndi Makasitomala angapo a Modbus TCP.
1.2 Zogulitsa
- Imathandizira njira imodzi CAN 2.0A.
- CAN mawonekedwe: 3KV photoelectric kudzipatula.
- Imagwira ngati CAN Open Master, imathandizira 100 PDO ndi 100 SDO malamulo.
- Imathandizira mpaka makasitomala 8 a Modbus TCP.
- Imathandizira 2 njira, 10M/100M network port..
1.3 Mafotokozedwe Aukadaulo
[1] Mawonekedwe a Efaneti:
- Imathandiza 2 10M/100M (yokha-kukambirana) maukonde madoko ndi anamanga-lophimba.
- Imathandizira protocol ya Modbus TCP ndipo imagwira ntchito ngati seva ya Modbus TCP.
- Imathandizira kulumikiza makasitomala 8 a Modbus TCP.
- Imathandizira manambala ogwira ntchito: 03H, 04H, 06H, 10H.
- Adilesi yoyambira ya zolembera zolembera ndi 0 (kusungira chimango cha CAN cholandilidwa), ndipo imathandizira kachidindo ka 04H.
- Adilesi yoyambira yolembera zotulutsa ndi 0 (amasungira mafelemu a CAN omwe amafunika kutumizidwa), ndipo amathandizira ma code 03H, 06H ndi 16H.
- Imathandizira khodi ya ntchito 03 kapena 04 kuti muwerenge malo olowera / zotulutsa.
- Imathandizira kasinthidwe kokhazikika kwa adilesi ya IP ndi DHCP.
[2] Mlingo wolumikizana: CAN baud rate: 10kbit/s, 20kbit/s, 50kbit/s, 100kbit/s, 125kbit/s, 250kbit/s, 500kbit/s, 1Mbps.
[3] mawonekedwe a CAN amathandizira CAN2.0A protocol.
[4] DS-301 V4.02 ndi CiA Draft Recommendation 303 ikugwirizana. - Imathandizira 8 byte TPDO ndi RPDO.
- Imathandizira malamulo opitilira 100 a PDO ndi malamulo opitilira 100 a SDO.
- Imathandizira kutsitsa SDO mwachangu ndikukweza SDO mwachangu.
- COB-ID ya TPDO ndi RPDO ikhoza kukhazikitsidwa ndi wogwiritsa ntchito, kapena COBID yokhazikika ingagwiritsidwe ntchito.
- Imathandizira Clear Data Time pa ntchito ya TPDO.
- Imathandizira ntchito yomaliza ya SDO.
- Imathandizira kasamalidwe ka NMT.
- Imathandizira ntchito ya SYNC.
- Imathandizira ntchito ya moyo wa Guard (ma protocol oteteza moyo ndi kugunda kwa mtima).
- Imathandizira RPDO kutumiza ntchito.
- Imathandizira kuchedwa kwa CANopen master kuti ayambe ntchito.
- Imathandizira Control Status ntchito.
- NMT_RESET lamulo configurable ntchito.
[5] Kutentha kwa ntchito: -40 °F~140 °F(-20 °C mpaka 60 °C). Chinyezi Chachibale: 5% mpaka 95% (osasunthika).
[6] Mphamvu: 24VDC (11V~30V), 80mA (24VDC).
[7] Miyeso yakunja (W * H * D): 1.0 mu * 4.0 mu * 3.6 mu (25mm * 100mm * 90mm).
[8] Kuyika: 1.38 mu (35mm) DIN RAIL;
[9] Mulingo wachitetezo: IP20.
1.4 Zogwirizana nazo
Zogulitsa zogwirizana ndi izi:
- Chithunzi cha GT100-CO-RS
- Chithunzi cha GT200-CO-RS
- Chithunzi cha GT200-EI-CO
- Chithunzi cha GT200-PN-CO
- Chithunzi cha GT200-DP-CO
Kuti mudziwe zambiri zokhudzana ndi malonda, chonde pitani kwathu SST Automation webtsamba: www.sstautomation.com
1.5 Mbiri Yobwereza
| Kubwereza | Tsiku | Mutu | Kufotokozera |
| V3.0 | 02/27/2022 | ONSE | Kutulutsidwa Kwatsopano |
Zofotokozera za Hardware
Ndemanga: Chithunzichi ndi chongowonetsera chabe. Maonekedwe azinthu amadalira mankhwala enieni.
2.2 Zizindikiro za LED
| LED | Boma | Kufotokozera boma |
| Ine \ S | Green On | Kulumikizana kwa Modbus TCP kumakhazikitsidwa |
| Kuphethira Green | Kulumikizana kwa Modbus TCP sikunakhazikitsidwe | |
| Kuphethira Kofiyira | Nthawi yolumikizana ya Modbus TCP yatha | |
| Kuthwanima kwa Orange (Kuthwanima mosinthana ndi CNS) | Makhalidwe osintha | |
| Kuphethira kwa Orange | Yambani udindo | |
| (NS | Red On | BASI IYAMUKA |
| Red kuwala nthawi ndi nthawi | Chowerengera cholakwika cha wowongolera wa CAN chimafika kapena kupitilira mtengo wachitetezo (mafelemu olakwika ambiri) | |
| Green On | Node ili mu Run mode | |
| Kuphethira kwa Orange kamodzi ndikuzimitsa | Yambani udindo | |
| Kuphethira kwa Orange (Kuthwanima mosinthana ndi ENS) | Makhalidwe osintha | |
| Orange Pa | Utsogoleri wa NMT. Kudikirira BOOTP ya akapolo onse (omwe amagwiritsidwa ntchito NMT itayatsidwa) |
2.3 Kusintha Kusintha/Batani
Kusintha kwa DIP kumagwiritsidwa ntchito pokhazikitsa mawonekedwe a chipangizocho.
| Ntchito (Pang'ono 1) | Njira (Bit 2) | Kufotokozera |
| Zosungidwa | Nthawi zambiri | Kuthamanga, kumaletsa kuwerenga ndi kulemba deta yokonzekera |
| Kuzimitsa | On | Kukonzekera kokhazikika, ndi adilesi ya IP yokhazikika 192.168.0.10, imatha werengani ndikulemba zosintha |
| on | On | BootLoader mode, yokhala ndi adilesi ya IP yokhazikika 192.168.0.10 |
Ndemanga: Yambitsaninso GT200-MT-CO mutatha kukhazikitsanso kasinthidwe kuti kasinthidwe kagwire ntchito!
2.4 Chiyankhulo
2.4.1 Power Interface
| Pin | Ntchito |
| 1 | Malo opangira magetsi (24V DC-) |
| 2 | NC (Osalumikizidwa) |
| 3 | + 24V DC |
2.4.2 Ethernet Interface
Mawonekedwe a Ethernet amagwiritsa ntchito mawonekedwe a RJ45, amatsatira ndondomeko ya IEEE802.3u 100BASE-T, ndi 10/100M autonegotiation. Pinout yake (chizindikiro chokhazikika cha Ethernet) chimafotokozedwa pansipa:
| Pin | Kufotokozera kwa siginecha |
| 1 | TXD+, Tranceive Data+, Zotulutsa |
| 2 | TXD-, Tranceive Data-, Zotuluka |
| 3 | RXD+, Landirani Data+, Lowetsani |
| 6 | RXD-, Landirani Zambiri-, Zolowetsa |
| 4,5,7,8 | (osungika) |
2.4.3 CAN Port
3-pini cholumikizira:
Chipata chimagwiritsa ntchito cholumikizira cha pini zitatu chotseguka pambali pa CAN:
Chipata chimagwiritsa ntchito cholumikizira cha pini zitatu chotseguka pambali pa CAN:| Pin | Kulumikizana |
| 1 | KUCHITA-L |
| 2 | Chishango (chosasankha) |
| 3 | KUCHITA-H |
2.4.4 Kusintha kwa Resistor
CAN terminal ili ndi 120Ω terminal Resistor Switch ; Chophimbacho chikayatsidwa, kukana kwa terminal kumalumikizidwa; pamene chosinthira chazimitsidwa, kukana kwa terminal kumachotsedwa.
CAN terminal ili ndi 120Ω terminal Resistor Switch ; Chophimbacho chikayatsidwa, kukana kwa terminal kumalumikizidwa; pamene chosinthira chazimitsidwa, kukana kwa terminal kumachotsedwa.
2.5 Makulidwe a Makina
Kukula (m'lifupi * kutalika * kuya): 1.0 mu * 4.0 mu * 3.6 mu (25 mm * 100 mm * 90 mm)
2.6 Njira yoyika
Kugwiritsa ntchito 1.4 mu (35mm) DIN RAIL.
Kukula (m'lifupi * kutalika * kuya): 1.0 mu * 4.0 mu * 3.6 mu (25 mm * 100 mm * 90 mm)
2.6 Njira yoyikaKugwiritsa ntchito 1.4 mu (35mm) DIN RAIL.
Quick Start Guide
3.1 Kusintha kwa Gateway
- Onetsetsani kuti GT200-MT-CO ili m'njira yoyenera yomwe imalola kasinthidwe. Ndibwino kuti mukhazikitse njira yosinthira (kusintha masinthidwe Bit 1 OFF ndi Bit 2 ON) ndiye IP ya pakhomo idzakhazikitsidwa pa 192.168.0.10.
- Gwiritsani ntchito chingwe cha Efaneti kulumikiza GT200-MT-CO ku PC.
- Lumikizani zida za CAN polumikiza mapini 1 ndi 3 osachepera.
- Lumikizani magetsi, kenako mphamvu pa chipangizo.
- Yambitsani pulogalamu ya SST-MTC-CFG kuti muyambe kukonza.
- Mu pulogalamu yosinthira, ikani CAN baud rate, node ID, ndi adilesi ya IP. (Onani mitu 4.5 ndi 4.7.4 kuti mumve zambiri).
- Pambuyo pokonza chipata, ikani kusintha kwa DIP Bit 2 OFF. Yambitsaninso ndipo module idzalowa mu Run mode.
3.2 mapulogalamu kasinthidwe
Ogwiritsa ntchito amatha kulumikiza chipata cha PC kudzera pa doko la RJ-45. Ogwiritsa ntchito angagwiritse ntchito SST-MTC-CFG kuti amalize kukonza GT200-MT-CO mosavuta, kuphatikiza adilesi ya IP, kuchuluka kwa baud doko la CANopen ndi malamulo a CANopen.
Pali njira ziwiri zokhazikitsira adilesi ya IP: Pamanja Pamanja ndi DHCP. Kupereka Pamanja kumatanthawuza kuti wogwiritsa ntchito amayika IP pawokha pamasinthidwe. Wogwiritsa ntchito akasankha kugwiritsa ntchito DHCP, wogwiritsa ntchitoyo ayenera kugwiritsa ntchito rauta ya Efaneti (chipata, chipata, chosinthira) kuti agawire IP pakuyendetsa.
Ogwiritsa ntchito amatha kulumikiza chipata cha PC kudzera pa doko la RJ-45. Ogwiritsa ntchito angagwiritse ntchito SST-MTC-CFG kuti amalize kukonza GT200-MT-CO mosavuta, kuphatikiza adilesi ya IP, kuchuluka kwa baud doko la CANopen ndi malamulo a CANopen.
Pali njira ziwiri zokhazikitsira adilesi ya IP: Pamanja Pamanja ndi DHCP. Kupereka Pamanja kumatanthawuza kuti wogwiritsa ntchito amayika IP pawokha pamasinthidwe. Wogwiritsa ntchito akasankha kugwiritsa ntchito DHCP, wogwiritsa ntchitoyo ayenera kugwiritsa ntchito rauta ya Efaneti (chipata, chipata, chosinthira) kuti agawire IP pakuyendetsa.
3.3 THAWANI
3.3.1 Njira Yosinthira Data
Njira yolankhulirana pakati pa CAN yotseguka ndi Ethernet/IP ndi njira yofananira, monga zikuwonetsedwa pansipa:
"Deta 1" ikuwonetsa njira yosinthira deta kuchokera ku Modbus TCP kupita ku CAN; "Deta 2" ikuwonetsa njira yosinthira deta kuchokera ku CAN kupita ku Modbus TCP.
Kutulutsa kwa Modbus TCP I/O kumatha kunyamula 0 kupita ku data yambiri ya CAN frame. Chipata chikachilandira, chimatumiza chimango chotseguka cha CAN, kenako chimanyamula cholumikizira cha CANopen cholandilidwa muzolowera za I/O ndikuzitumiza ku Modbus TCP Clinet. TPDO ndi RPDO imagwiritsa ntchito makina opanga / ogula, ndipo nthawi zambiri amagwiritsidwa ntchito pamwambowu ndikufunika kwambiri pa liwiro; Kwezani SDO ndi Kutsitsa SDO imagwiritsa ntchito kasitomala / seva, mawonekedwewo amatha kutsimikizira chitetezo cha data, ndipo amagwiritsidwa ntchito nthawi zambiri ndi liwiro lotsika.
3.3.1 Njira Yosinthira Data
Njira yolankhulirana pakati pa CAN yotseguka ndi Ethernet/IP ndi njira yofananira, monga zikuwonetsedwa pansipa:
"Deta 1" ikuwonetsa njira yosinthira deta kuchokera ku Modbus TCP kupita ku CAN; "Deta 2" ikuwonetsa njira yosinthira deta kuchokera ku CAN kupita ku Modbus TCP.Kutulutsa kwa Modbus TCP I/O kumatha kunyamula 0 kupita ku data yambiri ya CAN frame. Chipata chikachilandira, chimatumiza chimango chotseguka cha CAN, kenako chimanyamula cholumikizira cha CANopen cholandilidwa muzolowera za I/O ndikuzitumiza ku Modbus TCP Clinet. TPDO ndi RPDO imagwiritsa ntchito makina opanga / ogula, ndipo nthawi zambiri amagwiritsidwa ntchito pamwambowu ndikufunika kwambiri pa liwiro; Kwezani SDO ndi Kutsitsa SDO imagwiritsa ntchito kasitomala / seva, mawonekedwewo amatha kutsimikizira chitetezo cha data, ndipo amagwiritsidwa ntchito nthawi zambiri ndi liwiro lotsika.
GT200-MT-CO imathandizira Clear Data Time ya TPDO: Malingana ngati GT200-MT-CO sichilandira TPDO kuchokera ku chipangizocho mkati mwa nthawi yoikidwiratu, GT200-MT-CO idzachotsa deta yomwe ili m'malo ofanana ndi kulowetsa kwa Modbus TCP posungira.
GT200-MT-CO imathandizira ntchito yosavuta ya NMT: Imathandizira kuyambitsa kosavuta kwa ntchito zonse za CAN kutsegula akapolo. GT200-MT-CO imathandizira Guard moyo ntchito ndi SYNC ntchito.
GT200-MT-CO imathandizira ntchito yosavuta ya NMT: Imathandizira kuyambitsa kosavuta kwa ntchito zonse za CAN kutsegula akapolo. GT200-MT-CO imathandizira Guard moyo ntchito ndi SYNC ntchito.
Malangizo a Mapulogalamu
Pulogalamu yosinthira ya SST-MTC-CFG imayenda papulatifomu ya Windows ndipo imagwiritsidwa ntchito kukonza GT200-MT-CO kudzera pa intaneti. Amagwiritsidwa ntchito kukonza magawo ndi malamulo a Modbus TCP ndi CANopen.
Dinani kawiri chizindikiro cha mapulogalamu pakompyuta mukatha kukhazikitsa kuti mulowe mawonekedwe osinthira:
4.1 Toolbar
Toolbar ikuwonetsedwa motere:
Dinani kawiri chizindikiro cha mapulogalamu pakompyuta mukatha kukhazikitsa kuti mulowe mawonekedwe osinthira:
4.1 ToolbarToolbar ikuwonetsedwa motere:
Ntchito ya Toolbar: Chatsopano, Sungani, Tsegulani, Onjezani Node, Chotsani Node, Onjezani Lamulo, Chotsani Lamulo, Kwezani, Tsitsani, AutoMap, Conflict ndi Export EXCEL. |
Chatsopano: Pangani pulojekiti yatsopano yosinthira |
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Sungani: Sungani masinthidwe apano |
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Tsegulani: Tsegulani polojekiti yokonzekera |
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Onjezani Node: Onjezani node ya CANopen |
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Chotsani Node: Chotsani node ya CANopen |
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Onjezani Lamulo: Onjezani lamulo la CANopen |
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Chotsani Lamulo: Chotsani lamulo la CANopen |
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Kwezani: Werengani zambiri za kasinthidwe kuchokera mu gawoli ndikuwonetsa mu pulogalamuyo |
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Koperani: Koperani kasinthidwe file ku chipata |
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AutoMap: Amagwiritsidwa ntchito kuwerengera zokha ma adilesi omwe ali ndi mapu popanda kusamvana ndi lamulo lililonse |
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Kutsutsana: Kuti muwone ngati pali zosemphana ndi malamulo osinthidwa mu buffer ya data ya gateway memory. |
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Tumizani kunja EXCEL: Tumizani masinthidwe apano ku hard disk yakomweko, yosungidwa ngati .xls file. |
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Debug: Zosungidwa |
4.2 Ntchito Yatsopano Yokonzekera
Zosintha zatsopano kuti mutsegule mawonekedwe:
Zindikirani: Ntchito yatsopanoyi imagwiritsidwa ntchito makamaka pakusintha kwapaintaneti, ndiko kuti, mutha kugwiritsa ntchito magawo oyambira kuti mutsegule mawonekedwe osinthika pomwe palibe zida.
Zosintha zatsopano kuti mutsegule mawonekedwe:
Zindikirani: Ntchito yatsopanoyi imagwiritsidwa ntchito makamaka pakusintha kwapaintaneti, ndiko kuti, mutha kugwiritsa ntchito magawo oyambira kuti mutsegule mawonekedwe osinthika pomwe palibe zida.
4.3 Tsegulani ndikusunga KusinthaSankhani "Open", mukhoza kutsegula ntchito kasinthidwe kuti mwasunga.
Sankhani "Sungani" kapena "Sungani monga", mukhoza kusunga pulojekiti yokonzekera ndi .chg monga kukulitsa kwake.
Dinani chizindikiro pa chida kuti musunge kasinthidwe ndi .xls monga kukulitsa kwake.
Zindikirani: Pambuyo posunga magawo ngati a file, data mu file zitha kusinthidwa ndi wogwiritsa ntchito, koma chonde tsimikizirani zolondola za zomwe zasinthidwa, apo ayi deta yolakwika idzasinthidwa molingana ndi mtengo wokhazikika.Chonde musasinthe mawu osakira a data, chonde osawonjezera mipata.
4.4 Kwezani ndikutsitsa
Sankhani "Kwezani", idzawerenga masanjidwe a chipata, ndipo mawonekedwe akuwonetsedwa pansipa:
Sankhani "Kwezani", idzawerenga masanjidwe a chipata, ndipo mawonekedwe akuwonetsedwa pansipa:
Sankhani chipangizocho, dinani Lowani.
Dinani Kwezani.
Sankhani "Kwezani", idzawerenga masinthidwe omwe akugwiritsidwa ntchito pachipata, ndipo mawonekedwe akuwonetsedwa pansipa:
Sankhani "Koperani", izo kukopera kasinthidwe kwa pachipata, ndi mawonekedwe akusonyeza monga pansipa:
Zindikirani: Adilesi ya IP imakhazikitsidwa pa 192.168.0.10 mu GT200-MT-CO configuration mode.4.5 Modbus TCP Configuration Parameters
Mawonekedwe a Modbus TCP akuwonetsedwa motere:
Pazigawo zomwe zili pamwambapa, zambiri zikuwonetsedwa motere:
Perekani IP Mode: Pamanja Pamanja ndi DHCP mwakufuna.
IP adilesi: IP adilesi ya GT200-MT-CO
Chigoba cha Subnet: Chigoba cha Subnet cha GT200-MT-CO
Chipata Chokhazikika: Adilesi yachipata GT200-MT-CO ili ku LAN
Yang'anani Chidziwitso cha Unit: Chongani Chizindikiritso cha Unit: Yatsegula kapena Yoyimitsa. Mukatsegula, mutha kukhazikitsa chipata ngati adilesi ya siteshoni ya Modbus TCP Server
ID ID: Chipata monga adilesi ya station ya Modbus TCP seva. ID ya Unit imayatsidwa pamene "Check Unit ID" yayatsidwa, mitundu: 1 mpaka 247, mtengo wokhazikika ndi 1.
Khodi Yogwira Ntchito Yowerengera Deta: 04/03 kachidindo kantchito imawerenga zomwe zalowetsedwa: Makasitomala a Modbus TCP amatha kusankha 04 kapena 03 code code, ndikuwerenga data ya chipangizo cha CANopen yomwe yasonkhanitsidwa pachipata.
Mawonekedwe a Modbus TCP akuwonetsedwa motere:
Pazigawo zomwe zili pamwambapa, zambiri zikuwonetsedwa motere:Perekani IP Mode: Pamanja Pamanja ndi DHCP mwakufuna.
IP adilesi: IP adilesi ya GT200-MT-CO
Chigoba cha Subnet: Chigoba cha Subnet cha GT200-MT-CO
Chipata Chokhazikika: Adilesi yachipata GT200-MT-CO ili ku LAN
Yang'anani Chidziwitso cha Unit: Chongani Chizindikiritso cha Unit: Yatsegula kapena Yoyimitsa. Mukatsegula, mutha kukhazikitsa chipata ngati adilesi ya siteshoni ya Modbus TCP Server
ID ID: Chipata monga adilesi ya station ya Modbus TCP seva. ID ya Unit imayatsidwa pamene "Check Unit ID" yayatsidwa, mitundu: 1 mpaka 247, mtengo wokhazikika ndi 1.
Khodi Yogwira Ntchito Yowerengera Deta: 04/03 kachidindo kantchito imawerenga zomwe zalowetsedwa: Makasitomala a Modbus TCP amatha kusankha 04 kapena 03 code code, ndikuwerenga data ya chipangizo cha CANopen yomwe yasonkhanitsidwa pachipata.
Adilesi Yoyambira Yowerengera Yokha: Chipata chimagwiritsidwa ntchito ngati seva ya Modbus TCP kuthandiza kasitomala kuti awerenge adilesi yoyambira yazolowera pogwiritsa ntchito khodi ya 04/03. Ndikofunikira kudzaza mtundu wa adilesi ya protocol apa, ndipo nambala ya decimal ikuwonetsedwa. mndandanda : 0 mpaka 65023. Adilesi Yoyambira Yowerengera Lembani Lembani: Chipata chimagwiritsidwa ntchito ngati seva ya Modbus TCP kuthandiza kasitomala kulemba adiresi yoyambira ya deta yolowera pogwiritsa ntchito code ya 06/16. Pogwiritsa ntchito 03/04 ntchito code kuti muwerenge adilesi yoyambira ya zomwe zatuluka. Ndikofunikira kudzaza mtundu wa adilesi ya protocol apa, ndipo nambala ya decimal ikuwonetsedwa. Mtundu: 0 mpaka 65023.
4.6 ANGAtsegule Zosintha Zosintha
Konzani magawo a netiweki a CANopen kuphatikiza CAN kutsegula Baud Rate, CAN kutsegula Node ID, SDO Response Timeout, Yambitsani NMT, Chotsani Nthawi ya Data ya TPDO, SYNC, Guard Life, The Cycle for RPDO Transmission, 5Delay to Start up, Control & Monitor Status, Output Kukonza Data, Mkombero wa Kutumiza kwa SDO, MT Side Kutumiza Lamulo la SDO, Kuyesa kwa SDO Lamulo kulephera ndi SDO Polling Kuchedwa Nthawi. Mawonekedwe a kasinthidwe a CANopen akuwonetsedwa pansipa:
4.6 ANGAtsegule Zosintha Zosintha
Konzani magawo a netiweki a CANopen kuphatikiza CAN kutsegula Baud Rate, CAN kutsegula Node ID, SDO Response Timeout, Yambitsani NMT, Chotsani Nthawi ya Data ya TPDO, SYNC, Guard Life, The Cycle for RPDO Transmission, 5Delay to Start up, Control & Monitor Status, Output Kukonza Data, Mkombero wa Kutumiza kwa SDO, MT Side Kutumiza Lamulo la SDO, Kuyesa kwa SDO Lamulo kulephera ndi SDO Polling Kuchedwa Nthawi. Mawonekedwe a kasinthidwe a CANopen akuwonetsedwa pansipa:
4.7 Chipangizo View Chiyankhulo4.7.1 Chipangizo View Chiyankhulo
4.7.2 Njira Yogwirira NtchitoImathandizira mitundu itatu ya machitidwe: sinthani menyu, sinthani zida, ndikusintha menyu ndikudina kumanja.
4.7.3 Mitundu ya Ntchito- Onjezani mfundo: Dinani kumanzere pa CANopen Networks kapena ma node omwe alipo, ndiyeno chitani ntchito yowonjezera node yatsopano. Kenako padzakhala node yatsopano yotchedwa "New node" pansi pa CANopen Network (Node yomwe yangowonjezedwa kumene ilibe adilesi. Magawo opanda ma adilesi ndi olakwika. Chonde lowetsani adilesi ya nodi. Adilesi ya nodi siyingabwerezedwe).
- Chotsani mfundo: Dinani kumanzere pa mfundo kuti zichotsedwe, ndiyeno kuchita ntchito deleting mfundo. Node ndi malamulo onse adzachotsedwa. Onjezani malamulo: Dinani kumanzere pa node, ndiyeno chitani ntchito yowonjezera lamulo kuti muwonjezere lamulo la node. Lamulo losankha bokosi la zokambirana lidzawonekera kwa ogwiritsa ntchito kuti asankhe. Zowonetsedwa pansipa:
Malamulo: Kwezani SDO-> Et In, Koperani SDO <- ENet Out, Transmit PDO-> ENet In, Landirani PDO <- ENet Out - Sankhani malamulo: Dinani kawiri lamulo.
- Chotsani lamulo: Dinani kumanzere lamulo ndipo mutha kulichotsa.
- Koperani mfundo: Dinani kumanzere pa mfundo yomwe ilipo, sankhani mfundoyi ndikuchita ntchito yokopera mfundo (kuphatikizapo malamulo onse pansi pa mfundo).
- Matani mfundo: Dinani kumanzere ndikusankha node iliyonse yomwe ilipo, chitani ntchito yoyika mfundo. Kenako pansi pa mtengo wa CANopen Network mutha kuwona node yatsopano (kuphatikizapo malamulo onse pansi pa node). Zosintha za node yatsopano ndizokhazikika, ziyenera kukonzedwanso.
4.7.4 CANopen Networks Configuration Interface
Zosintha zosinthika zikuwonetsedwa motere:
ANGAtsegule Baud Rate, ANGAtsegule Node ID, SDO Response Timeout, Yambitsani NMT, NMT_RESET, Chotsani Nthawi ya Data ya TPDO, SYNC, Guard Life, The Cycle for RPDO Transmission, Delay to Start up, Control & Monitor Status, Output Data Processing, Kuzungulira kwa Kutumiza kwa SDO, Kuyesa kulephera kwa lamulo la SDO ndi Nthawi Yochedwa Kuvota kwa SDO.
CAN kutsegula kasinthidwe mawonekedwe akuwonetsedwa pansipa:
Zosintha zosinthika zikuwonetsedwa motere:
ANGAtsegule Baud Rate, ANGAtsegule Node ID, SDO Response Timeout, Yambitsani NMT, NMT_RESET, Chotsani Nthawi ya Data ya TPDO, SYNC, Guard Life, The Cycle for RPDO Transmission, Delay to Start up, Control & Monitor Status, Output Data Processing, Kuzungulira kwa Kutumiza kwa SDO, Kuyesa kulephera kwa lamulo la SDO ndi Nthawi Yochedwa Kuvota kwa SDO.
CAN kutsegula kasinthidwe mawonekedwe akuwonetsedwa pansipa:
ANGAtsegule Mtengo wa Baud: 50K, 100K, 125K, 250K, 500K, 1M akhoza kusankhidwa; mtengo wokhazikika ndi 250KID ya Canoe Node: 1 mpaka 127, mtengo wokhazikika ndi 127
SDO Response Timeout: Zoyimira izi zakhazikitsidwa pa 10 milliseconds. Mtundu wa mtengo wa parameter ndi 1 mpaka 200. Mtengo wokhazikika ndi 200
Yambitsani NMT: Kaya muyambitse onse CAN kutsegula ma node pa netiweki kapena ayi, kusakhazikikako kumaletsedwa
Chotsani Nthawi ya Data ya TPDO: Mtengo wa TPDO watha
0: Osagwiritsa ntchito;
Mtengo wa Nonzero: Gwiritsani ntchito nthawi yomaliza ndipo mtengo wanthawi yomaliza ndi wosawerengeka wa ma milliseconds 10, mtunduwo ndi 0 mpaka 200, chosasinthika ndi 0.
0: Osagwiritsa ntchito;
Mtengo wa Nonzero: Gwiritsani ntchito nthawi yomaliza ndipo mtengo wanthawi yomaliza ndi wosawerengeka wa ma milliseconds 10, mtunduwo ndi 0 mpaka 200, chosasinthika ndi 0.
NMT_RESET: Kaya mutumize lamulo la NMT_RESET. Chinthuchi chikhoza kukonzedwa kokha pamene NMT yayatsidwa, chokhazikika ndi Disable.
SYNC: Kuzungulira kolumikizana
0: Osagwiritsa ntchito synchronizing cycle ntchito
Mtengo wa Nonzero: Gwiritsani ntchito ntchitoyi, ndipo kusinthasintha kolumikizana sikungaphatikizepo kuchuluka kwa ma milliseconds 1, kuchuluka kwake ndi 0 mpaka 6000, kusakhazikika ndi 0.
SYNC: Kuzungulira kolumikizana
0: Osagwiritsa ntchito synchronizing cycle ntchito
Mtengo wa Nonzero: Gwiritsani ntchito ntchitoyi, ndipo kusinthasintha kolumikizana sikungaphatikizepo kuchuluka kwa ma milliseconds 1, kuchuluka kwake ndi 0 mpaka 6000, kusakhazikika ndi 0.
Guard Life: Imagwiritsa ntchito Guard life pomwe mtengo wolowa si 0, kwina umagwiritsa ntchito kugunda kwamtima. Zosasintha ndi 0, zomwe zimagwiritsa ntchito protocol ya kugunda kwa mtima (kuyambira 0 mpaka 2000).
Kuzungulira kwa Kutumiza kwa RPDO: Kuzungulira kwa Kutumiza kwa RPDO kumatengera 1ms. Zero amatanthauza kugwiritsa ntchito njira yosinthira mtengo; osakhala ziro amatanthauza kutumiza RPDO yonse molingana ndi kuzungulira. Kutumiza kumafanana ndi mtengo wokhazikitsira, mtengo wokhazikika ndi 0. Mulingo: 0~60000. Zindikirani: Gawoli ndi kuchuluka kwa CAN baud ndizogwirizana ndi manambala amalamulo a RPDO. Ngati dongosolo likuyang'ana pazochitika zenizeni, tikulimbikitsidwa kuti muyike mtengo uwu ku 0, ndiko kuti, kusintha kwa mtengo wamtengo wapatali.
Kuchedwetsa kuyamba: Kuchedwetsa mtengo
0: Osagwiritsa ntchito;
Mtengo wa Nonzero: Gwiritsani ntchito ntchitoyi, ndipo mtengo wochedwa ndi wosawerengeka wophatikizika wa 1 milliseconds, mtunduwo ndi
0 mpaka 60000, kusakhulupirika ndi 0.
Control & Monitor Status: Ma byte awiri oyamba a buffer amagwiritsidwa ntchito ngati kapolo wa CANopen. Njira yoyamba yapawiriyi ndi adilesi ya CANopen salve, ndipo yachiwiri ndi lamulo lomwe limayang'anira kapolo wa CANopen (mwachitsanzo, lowetsani boma lisanayambe ntchito, lowetsani malo ogwirira ntchito, lowetsani malo oyimitsa, yambitsaninso node, yambitsaninso ntchito, yambitsaninso kulumikizana, etc.). Posankha "Yambitsani", SST-ETC-CFG idzachotsa ma byte awiri powerengera mapu adilesi yokha ndipo mabayiti awiriwa amasungidwa kutsogolo kwa buffer, kusakhulupirika ndi "Disable".
Kuzungulira kwa Kutumiza kwa RPDO: Kuzungulira kwa Kutumiza kwa RPDO kumatengera 1ms. Zero amatanthauza kugwiritsa ntchito njira yosinthira mtengo; osakhala ziro amatanthauza kutumiza RPDO yonse molingana ndi kuzungulira. Kutumiza kumafanana ndi mtengo wokhazikitsira, mtengo wokhazikika ndi 0. Mulingo: 0~60000. Zindikirani: Gawoli ndi kuchuluka kwa CAN baud ndizogwirizana ndi manambala amalamulo a RPDO. Ngati dongosolo likuyang'ana pazochitika zenizeni, tikulimbikitsidwa kuti muyike mtengo uwu ku 0, ndiko kuti, kusintha kwa mtengo wamtengo wapatali.
Kuchedwetsa kuyamba: Kuchedwetsa mtengo
0: Osagwiritsa ntchito;
Mtengo wa Nonzero: Gwiritsani ntchito ntchitoyi, ndipo mtengo wochedwa ndi wosawerengeka wophatikizika wa 1 milliseconds, mtunduwo ndi
0 mpaka 60000, kusakhulupirika ndi 0.
Control & Monitor Status: Ma byte awiri oyamba a buffer amagwiritsidwa ntchito ngati kapolo wa CANopen. Njira yoyamba yapawiriyi ndi adilesi ya CANopen salve, ndipo yachiwiri ndi lamulo lomwe limayang'anira kapolo wa CANopen (mwachitsanzo, lowetsani boma lisanayambe ntchito, lowetsani malo ogwirira ntchito, lowetsani malo oyimitsa, yambitsaninso node, yambitsaninso ntchito, yambitsaninso kulumikizana, etc.). Posankha "Yambitsani", SST-ETC-CFG idzachotsa ma byte awiri powerengera mapu adilesi yokha ndipo mabayiti awiriwa amasungidwa kutsogolo kwa buffer, kusakhulupirika ndi "Disable".
Kukonzekera kwa Data Yotuluka: Mbali ya TCP ikazimitsidwa, deta ya RPDO ya TCP yotulutsa buffer idzamveka kapena Gwirani;
Chotsani njira yoyika deta ku ziro;
Gwirani kumatanthauza kusunga deta yosasinthika TCP isanazimitsidwe.
Kuzungulira kwa Kutumiza kwa SDO:Kuzungulira kwa Kutumiza kwa SDO, kumatengera 1ms. Zero amatanthauza Tsitsani SDO imagwiritsa ntchito njira yosinthira mtengo, Kwezani SDO imagwiritsa ntchito mawonekedwe osasiya kuwerenga akapolo; osakhala ziro amatanthauza kutumiza SDO yonse molingana ndi kuzungulira. Kutumiza kumafanana ndi mtengo wokhazikitsira, mtengo wokhazikika ndi 0. Mulingo: 0 mpaka 60000.
Kuyesera kulephera kwa lamulo la SDO: Sitima ya CANopen Master imatumiza pempho la SDO, koma sililandira yankho kuchokera pa chipangizocho. Master station idzatumiza mobwerezabwereza pempho la SDO. Chiwerengero cha kubwereza ndi mtengo wokhazikitsidwa ndi parameter iyi, mtundu: 0 mpaka 5, kusakhulupirika: 0.
Nthawi Yochedwa Kuvota kwa SDO: Siteshoni ya CANopen Master imatumiza pempho la SDO ndikulandila yankho kuchokera pa chipangizocho. Master station iyenera kuchedwetsa kwakanthawi musanatumize pempho lotsatira la SDO. Nthawiyi ndi nthawi yochedwa Kuvota kwa SDO. Unit: ms, range : 0 mpaka 60000, kusakhulupirika: 0.
4.7.5 Kukonzekera kwa Command
Mu mawonekedwe a chipangizo, dinani kumanzere pa lamulo ndiyeno mawonekedwe a kasinthidwe akuwonetsedwa pansipa:
Chotsani njira yoyika deta ku ziro;
Gwirani kumatanthauza kusunga deta yosasinthika TCP isanazimitsidwe.
Kuzungulira kwa Kutumiza kwa SDO:Kuzungulira kwa Kutumiza kwa SDO, kumatengera 1ms. Zero amatanthauza Tsitsani SDO imagwiritsa ntchito njira yosinthira mtengo, Kwezani SDO imagwiritsa ntchito mawonekedwe osasiya kuwerenga akapolo; osakhala ziro amatanthauza kutumiza SDO yonse molingana ndi kuzungulira. Kutumiza kumafanana ndi mtengo wokhazikitsira, mtengo wokhazikika ndi 0. Mulingo: 0 mpaka 60000.
Kuyesera kulephera kwa lamulo la SDO: Sitima ya CANopen Master imatumiza pempho la SDO, koma sililandira yankho kuchokera pa chipangizocho. Master station idzatumiza mobwerezabwereza pempho la SDO. Chiwerengero cha kubwereza ndi mtengo wokhazikitsidwa ndi parameter iyi, mtundu: 0 mpaka 5, kusakhulupirika: 0.
Nthawi Yochedwa Kuvota kwa SDO: Siteshoni ya CANopen Master imatumiza pempho la SDO ndikulandila yankho kuchokera pa chipangizocho. Master station iyenera kuchedwetsa kwakanthawi musanatumize pempho lotsatira la SDO. Nthawiyi ndi nthawi yochedwa Kuvota kwa SDO. Unit: ms, range : 0 mpaka 60000, kusakhulupirika: 0.
4.7.5 Kukonzekera kwa Command
Mu mawonekedwe a chipangizo, dinani kumanzere pa lamulo ndiyeno mawonekedwe a kasinthidwe akuwonetsedwa pansipa:
- CANopen Chipangizo Adilesi : CANopen Chipangizo adilesi, osiyanasiyana 1 mpaka 127.
- COB-ID: ID ya CAN (decimal) ya CANopen PDO:
Mtengo wofikira wa lamulo la Transmit PDO: 384(0x180) + node ID kapena 640(0x280) + node ID kapena 896 (0x380) + node ID kapena 1152(0x480) + node ID.
Mtengo wokhazikika wa Landirani PDO: 512(0x200) + node ID kapena 768(0x300) + node ID kapena 1024 (0x400) + node ID kapena 1280 (0x500) + node ID.
Ngati ogwiritsa ntchito akufuna kudzaza mtengo, chonde lembani mtengo womwe umafunikira mwachindunji mukasankha Zokonda pabokosi lotsitsa - pansi. Mtundu ndi(1~127) & (257~1408) & (1664~1791) & (1920-2046). - Chiwerengero cha ma byte: Chiwerengero cha ma byte. Kutalika: 1-8.
- Adilesi yamapu: Adilesi yojambulira adilesi yamkati yachipata (decimal). Range: 0-1999. Adilesi yamapu imatha kudzazidwa pamanja kapena mwangozi ndi ntchito yopanga mapu.
- Kufotokozera: Ogwiritsa ntchito akhoza kulowa kufotokoza zofotokozera za zinthu zokonzekera polojekiti pano.Izi sizinatsitsidwe kwenikweni ku chipangizo cha pakhomo, chomwe chingathandize ogwiritsa ntchito kusiyanitsa ntchito zawo, monga "mkhalidwe" ndi zina. Ndipo sangathe kugwiritsidwa ntchito.
- Mtengo wa index: Mtengo wa index mu mtanthauzira mawu wa chipangizo (Hex, 0001H mpaka FFFFH).
- Mlozera waung'ono:Mlozera waung'ono mumtanthauzira mawu wa chipangizo (Hex, 00H mpaka FFH).
- Chiwerengero cha ma byte: Chiwerengero cha ma Byte: chiyenera kukhala 1 kapena 2 kapena 4.
- Adilesi yamapu: Adilesi yojambulira adilesi yamkati yachipata (decimal). Range: 0-1999. Adilesi yamapu imatha kudzazidwa pamanja kapena mwangozi ndi ntchito yopanga mapu.
Zindikirani: Malamulo apamwamba a PDO ≤ 100
Max SDO amalamula ≤ 100
Max SDO amalamula ≤ 100
4.7.6 Ndemanga Chiyankhulo
Mawonekedwe a ndemanga amawonetsa kufotokozera kwachinthu choyenera. Pamene chinthu chosinthira ndi "Index
value", mawonekedwe a ndemanga akuwonetsedwa pansipa:
Mawonekedwe a ndemanga amawonetsa kufotokozera kwachinthu choyenera. Pamene chinthu chosinthira ndi "Index
value", mawonekedwe a ndemanga akuwonetsedwa pansipa:
Zolemba / Zothandizira
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SST Automation GT200-MT-CO Modbus TCP Canopen Gateway [pdf] Buku Logwiritsa Ntchito GT200-MT-CO Modbus TCP Canopen Gateway, GT200-MT-CO, Modbus TCP Canopen Gateway, TCP Canopen Gateway, Gateway |