多電機伺服控制廣泛應用於各種電力傳動自動控制係統中，如配料、傳動等生產過程。伺服係統中電機控制性能和多電機間協調控制的好壞直接影響生產過程的質量，如何管理、方便應用、實時控制是多電機伺服係統生產領域亟待解決的問題。因此，本文提出一種基於CAN總線技術的多軸運動控制數字交流伺服係統。
現場總線技術解決了傳統總線插板I/O模塊多，幹擾嚴重、係統軟件編寫復雜、係統硬件兼容性差等問題。大大減輕了現場信號連接的繁瑣與費用，提高了信號傳輸的精度與靈活性，給安裝、調試和維護帶來諸多方便，為現場用戶帶來巨大的經濟效益，代表著自動化領域發展的一個重要方向.
CAN總線技術
隨著工業現場控制和自動化技術的不斷進步，傳統的通信模式已不能滿足現代工程需要。CAN（Controller Area Network）總線是80年代初德國Bosch公司為解決現代汽車中眾多控制與測試儀器間數據交換而開發的一種串行數據通信協議，是一種性能先進、價格低廉、保密性好的現場總線（Field Bus）技術，能夠有效支持分布式控制或實時控制串行通信網絡[2>。CAN總線中各節點都有權利向其它節點發送信息。通信介質可以是雙絞線、同軸電纜或光纖，主要技術特點有:
1,是一種多主總線
網絡上任一個節點均可在任意時刻主動向網絡上其它節點發送信息，多主站依據優先機制進行總線訪問;
2,非破壞性基於優先權總線仲裁技術
採用非破壞性基於優先權總線仲裁技術結構，大大節省總線衝突仲裁時間，在重負荷下表現出良好性能;
3,具有多種傳送數據功能
具有點對點，一點對多點（成組）及全局廣播傳送數據功能;
4,節點數目多
直接通訊距離遠可達10km（傳輸速率為5kbps），高通訊速率可達1Mbps（傳輸距離為40m）;
5,可靠性高
數據鏈路層採用短幀結構，實時性高，糾錯效果好，每幀信息都有CRC校驗及其它校驗措施，數據出錯率低，可靠性高;
6,故障自動判別
發送期間若丟失仲裁或因出錯而遭破壞的幀可自動重發，暫時錯誤和性故障節點判別及故障節點自動脫離CAN總線。
CAN總線係統由CAN網絡節點、轉發器節點和上位機構成。總線技術遵循現場總線協議，將分布在不同位置，用途各異的測量儀表、控制設備互聯成網，並可接入Intranet和Internet網絡。現場總線技術的關鍵標志是它能支持雙向多變量、總線式全數字通訊。傳統4∼20mA模擬直流回路只能在一根兩芯電纜中單向傳輸一個參數，隨著係統結構的日益復雜和信息量的增加，4∼20mA電流環傳輸成為制約信息傳輸的瓶頸，所以現場總線替代4∼20mA模擬信號標準已成為控制係統發展的必然趨勢。
基於CAN總線技術的多機伺服係統
CAN總線控制網絡結構
基於CAN總線技術的多電機伺服控制係統網絡結構如圖1所示，係統由上位機、CAN總線、現場伺服單元節點組成。數控係統上位機通過CAN總線控制網絡節點任一伺服單元，數字伺服與數控係統之間數據傳輸可分為實時性數據信息和非實時性數據信息兩類。實時性數據指參與控制器實時位置、速度、轉矩等控制指令和反饋信息，傳輸速度要求較高。非實時性數據主要是指控制器參數設置、功能設定、診斷功能、伺服狀態與報警等信息，傳輸速度相對較低。
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Siemens Simatic s7 SITOP Power 40 6ep1437-2ba10
Siemens Sinumerik NCU software 6fc5250-3ax10-6ah0 SW software version: V 03.06.0...
Siemens Sinumerik NCU software 6fc5250-3ax10-6ah0 SW software version: V 03.06.1...
Fanuc a16b-1211-0130/05b Board a16b-1211-0130
Fanuc a16b-1211-0140/05c Board a16b12110140
Siemens Simatic s5 Interface 6es5300-5lb11
Siemens Phoenix Interbus IBS s7 400 DSC/I-T 2719962 without flap!
Indramat Axle Module tss4/052 25a 4v
Indramat Axle Module tss4/047 18a 2,5v
Gardner Denver SERVO CONTROL BLS-H
Siemens sidac T Control Transformer 4am5541-8ac40-0c
UES Power Supply dsv10-b DSV 10-b
Foot Mains Filter 3f480-010.230 3 x 10 A
Siemens Simatic s5 Programming Adapter 6es7798-0ca00-0xa0 NEW!
Siemens Micromaster Brake Resistor 6se6400-4bd12-0ba0 6se6 400-4bd12-0ba0
Phoenix CONTACT A/Output Module IB STME 24 Dio 8/8/3-2a Ord. no: 2752945
OMRON Temperature Controller k3nx-vd1a-b2
Phoenix Contact Quint Power Supply-ps/1ac/24dc/5 2866750
Siemens Sinamics Brake Resistor 6sl3201-0be12-0aa0
Siemens Simatic s5 Module 6es5465-3aa12
Siemens Simatic s5 6es5 521-8ma21 Serial Interface
Baum徂ller Mains Filter Filter BFN 3-1-56 FU
MITSUBISHI Schaffner ffr-bs-00250-30a-sf100 Mains Filter
Siemens Simatic s7 SITOP Power Supply 6ep1931-2ec01
Siemens Simatic s5 Digital Input 6es5422-8ma11 6es5 422-8ma11 E-Stand: 01 NEW!
Pilz SAFETY RELAY PNOZ s11 C 24vdc 8 N/O 1 N/C product number: 751111
IFM Safety Monitor Safety Mon ossd 1r sc4 AC 003s
Siemens TELEPERM M anschalt Assembly 6ds1312-8ab
Siemens anschalt Assembly 6ds1308-8ab
Oriental Motor 5 phase power supply udk5114nw2
Phoenix CONTACT QUINT-ps-100-240ac/24dc/10 - 2938604
SMC Filter Regulator Unit with Soft Start Valve SMC eav3000-f03-5yo-q
Norgren Piston Rods Loose Cylinder m/46050/34
Siemens 3 phase power supply 4av3100-2eb00-0a
Siemens Simatic s7 6es7321-7bh01-0ab0 6es7 321-7bh01-0ab0
MW SNT mw-sp500-48 Switching Power Supply, closed, 48v/10a/500w
Num relayage 24s 263900002a 92002200501 24s
Siemens Simatic s7 SITOP Power 40 Power Supply 6ep1437-3ba00 6ep1 437-3ba00
Leuze Reflex Light Barrier unpolarisiert RKR 55/6.42-s8 NEW!
Norgren 5/2 way safety valves XSZ 10v 2492951
Siemens Simatic s7 SITOP Power Supply 6ep1931-2ec31
Siemens Simatic s5 Memory Card 6es5374-1kh21 E-Stand: 02 NEW!!!
Siemens Sinumerik Interface 6fx1132-0ba01
Siemens Sinumerik Servo Interface 6fx1121-4ba01
Siemens Simatic s5 Interface Module 6es5752-0aa43 6es5 752-0aa43 NEW!!!
Siemens Simatic s7 Digital Output 6es7422-1bh10-0aa0 E-Stand: 1
Siemens Simatic s7 Digital Output 6es7422-1bl00-0aa0 E-Stand: 2
KEYENCE Headunit instrumentation amplifier lv-51mp
Pilz PNOZ mo1p 4 way configurable control systems Expansion Module 773500
Norgren Maintenance Unit Olympian Plus c64s-dk1064
Festo valve Island cpv-10-vi cpv10-ge-mp-4 161414 1613 69 161415
Festo Compact Cylinder ADVU - 100-50-pa 156583
Festo valve Island cpv-10-vi cpv10-ge-asi-8e8a-z m8 187714 1614 15
MITSUBISHI n0-FUSE BREAKER nf50-cw 50a ln327n129-1
MITSUBISHI MELSEC-Q Input Module qx42
Schaffner Line Filter fn3256h-64-34
Platt House Transformer Transformer D 3ui 90b/1
Siemens Simatic s5 Moby M et anschalt Module 6aw5455-0ae.
Siemens Simatic s5 Interface 6es5512-5bc12 6es5 512-5bc12 NEW!
Siemens Simatic s7 Analog Input 6es7331-7tb00-0ab0 6es7 331-7tb00-0ab0
Phoenix Contact Quint Power Supply-ps-100-240ac/24dc/2.5 - 2938578
Siemens Simatic s5 Socket Cable 6es5721-0bc50
Arcotronics f.ll.d3.016a.an.r5 three phase filter
Oriental MOTOR SPEED CONTROLLER msp-2w
Lenze 3 Phase Mains Filter ezn3a1500h003
Siemens Sinumerik CN software 6fc5250-4bx10-3ah0
DGD Gardner Denver Bus Module BSR 400 1.0 F S 112111 NEW!
Siemens Simatic Interface Module 6es7963-3aa00-0aa0 6es7 963-3aa00-0aa0 NEW!
MITSUBISHI MELSEC-Q Input Module qx80 QX 80
Phoenix Contact Quint Power Supply-ps/3ac/24dc/20 2866792
Rittal SK Filter Fan TopTherm 230 m3/h, 24 V SK 3241.124
Phoenix Contact Surge Arrester Val-MS 230/3+1 FM 2838199
Festo Input Module cp-e16-m12x2-5pol 175561
Leuze Sensor srk-96m/p-1210-t2-47
Danfoss Operator Panel lcp2 175n1131
Siemens Simatic s5 Memory Card 6es5374-1kh21 E-Stand 01 NEW!
Siemens Simatic s7 Digital Output 6es7422-1bl00-0aa0 E-Stand: 1
KEBA anschaltbox ketop Hand Control Device JB 001 jb001 NEW!
Allen-Bradley Power Switch 100a Disconnect Switch NEW!
Schaffner Network Module fn351-64-34
Gardner Denver Servo Control bls1-2 960601
Siemens Simatic IE FC rj45 6gk1901-1bb10-2ab0 10 Piece
Philips KS 4580 Fluid-microprocessor controller
Endress + Hauser resistance thermometers tr15-a1b2c2a0h3000 tr15
Sew Eurodrive Mains Filter NF 150-503
OMRON Omron Output Module c200h-oc225
Durag switchgear D-UG 660
Baum徂ller Mains Filter BFN 3-1-30-001
Phoenix Contact Surge Protection Device mt-4pe-230ac - 2762100
Phoenix Contact Quint Power Supply-ps/1ac/24dc/10 2866763
MITSUBISHI Power Supply Module fx2n-2da
MITSUBISHI Power Supply Module fx2n-4ad
Leybold Vacuum Valve 160 94
Industrial Video Camera Vitronic GigE 93554
Jumo temp. Controller 703032/40-001-001-06-101 22/015, 050,061
Siemens Simatic s7 Analog Input 6es7331-7kf00-0ab0 6es7 331-7kf00-0ab0
Siemens Simatic s7 SITOP Power 30 Power Supply 6ep1 437-2ba00 6ep1437-2ba00
Siemens Simatic Optical rulad modules 6gk1502-3ca10 6gk1 502-3ca10
Siemens Contactor 3rt1035-1bb40 5kw NEW!
Festo Vacuum Suction Nozzle VADMI - 95-ls-p 171057
Dold Voltage Relay mk9054/011
Siemens Cable with Connector 800 4g1,5+1p1,5 1000v 570108.0001.20
IER trubomat 619f Haze-Meter
Beckhoff buskoppler encoders bk1120 BK 1120
Bihl + Wiedemann AS-interface/Profibus DP bw1249 Ident. NR. 11223
Festo valve Island cpv14-ge-mp-6
Siemens Simatic s5 Power Supply Assembly 6es5762-2cs11
Siemens Simatic s7 Terminal Block 6es7193-0ca30-0xa0
Festo Electrical-Interface cpv14-ge-fb-8
Schmersal Locking Pliers sz200 for azm200
Siemens Contactor 3rt1036-1ab00 NEW!
Endress + Hauser Head Temperature Transmitter tmt181-a31ba
Phoenix Interbus psm-eg-rs232/rs422-p/4 K No: 2761266
Phoenix Contact Interface Converter psm-eg-rs232/tty-p/2k 2761253
Siemens Cable Connection Cable 20m
Phoenix Contact Power Supply Mini-ps-100-240ac/24dc/2 - 2938730
Festo PNEUMATIC CYLINDER dnc-80-320-ppv-a
Festo PNEUMATIC CYLINDER dnc-63-140-ppv-a
Festo PNEUMATIC CYLINDER dnc-80-40-ppv-a
Siemens Contactor 3rt1036-1ad04 NEW!
Siemens Simatic s5 comperator 6es5 461 8ma11 6es5461-8ma11
Endress + Hauser PC Connection Cable Setup tmt180a/181a-vk
Siemens Contactor 3rt1036-1ad00 NEW!
Phoenix Contact fibre-optic connectors psm-eg-rs422/fo-gst 2799898
VIPA SM 322-1bl00 do 32 x DC 24v
Siemens Simatic s7 Electronics Module 6es7134-4fb52-0ab0 6es7 134-4fb52-0ab0
Siemens Micromaster Operator Panel 6se6400-0bp00-0aa0 NEW!
Siemens Sinumerik NCU Box 6fc5247-0aa00-0aa2
VISOLUX LS 500-da-ibs/f2 data light barrier Light Curtain
Siemens Simatic s7 Central Assembly CPU 6es7313-1ad03-0ab0 6es7 313-1ad03-0ab0
KUHNKE A/Output Module 657.452.09
Mushroom Emergency Stop switchgear PNOZ s3 C 24vdc 2 N/O 751103
KUHNKE A/Output Module 657.451.03
Pilz SAFETY RELAY 3no/1nc 24v 0.075a 751102
Siemens Moby-I anschalt Module 6gt2002-0ba00
Metrohm 628-10
Siemens Simatic s5 Digital Output 6es5454-4ua12 6es5 454-4ua12
Siemens Simatic s7 Electronics Block 6es7133-1bl01-0xb0 6es7 133-1bl01-0xb0
Siemens Simatic s5 Communication Processor 6es5524-3ua13 + 6es5373-0aa41
MITSUBISHI Schaffner ffr-e540-27a-sf1 Mains Filter
Schaffer Warner Electric DRSC 3200-10-bl DRSC 3200-10-bl
Siemens Simatic s5 Power Supply 6es5951-7nd51 6es5 951-7nd51
Siemens Throttle 3 Ph. 4ep3200-8us00
Kulicke and Soffa Servo Amplifier sma5005
Siemens Sinumerik Electronic Handwheel Handwheel 6fc9320-5db
Festo Input Module cp-e16-m8 18205
Leuze reflektionslichtschranke RK 18/4 gdl.4
Sew Movitrac HMI device dbg11b-08
Sew Movitrac HMI device fbg31c-01
Leuze Reflex Light Barrier unpolarisiert rk18b.t2/4p-m12 NEW!
Siemens Sinumerik 880 NC Servo CPU 6fx1121-3ba01
Pilz PNOZ ms2p Speed Control Module 773810
Turck Separator Switching Amplifier 1-kanalig im1-12ex-t
Festo Compact Cylinder ADVUL - 63-30-p-a 156907
VISOLUX LS 500-da-ibs/f1 data light barrier Light Curtain
AFAG Linear Sled csp16/30 Pneumatic #10
AFAG Linear Sled csp16/30 Pneumatic #11
Pilz SAFETY RELAY PNOZ s3 24vdc 2 N/O 750103
Siemens Memory Module 6es5373-1aa61 6es5 373-1aa61 NEW!
Siemens Simatic Optical rulad modules 6gk1502-2cb10 6gk1 502-2cb10
Siemens Sinumerik measuring circuit assembly 6fx1125-1aa01
Phoenix Contact Din Rail Terminal Block IBS IL 24 rb-lk-2mbd 2878159
Ismet Transformers Type: mtdg 90/063547
Siemens Sinumerik NCU Box 6fc5247-0aa00-0aa2 Version: H
Siemens Sinec 6gk1 500-0aa00 6gk1500-0aa00
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