1336S-B020-AA-EN6

多电机伺服控制广泛应用于各种电力传动自动控制系统中，如配料、传动等生产过程。伺服系统中电机控制性能和多电机间协调控制的好坏直接影响生产过程的质量，如何管理、方便应用、实时控制是多电机伺服系统生产领域亟待解决的问题。因此，本文提出一种基于CAN总线技术的多轴运动控制数字交流伺服系统。 

   现场总线技术解决了传统总线插板I/O模块多，干扰严重、系统软件编写复杂、系统硬件兼容性差等问题。大大减轻了现场信号连接的繁琐与费用，提高了信号传输的精度与灵活性，给安装、调试和维护带来诸多方便，为现场用户带来巨大的经济效益，代表着自动化领域发展的一个重要方向. 

CAN总线技术 

   随着工业现场控制和自动化技术的不断进步，传统的通信模式已不能满足现代工程需要。CAN（Controller Area Network）总线是80年代初德国Bosch公司为解决现代汽车中众多控制与测试仪器间数据交换而开发的一种串行数据通信协议，是一种性能先进、价格低廉、保密性好的现场总线（Field Bus）技术，能够有效支持分布式控制或实时控制串行通信网络[2>。CAN总线中各节点都有权利向其它节点发送信息。通信介质可以是双绞线、同轴电缆或光纤，主要技术特点有: 

1,是一种多主总线 

   网络上任一个节点均可在任意时刻主动向网络上其它节点发送信息，多主站依据优先机制进行总线访问; 

2,非破坏性基于优先权总线仲裁技术 

   采用非破坏性基于优先权总线仲裁技术结构，大大节省总线冲突仲裁时间，在重负荷下表现出良好性能; 

3,具有多种传送数据功能 

   具有点对点，一点对多点（成组）及全局广播传送数据功能; 

4,节点数目多 

   直接通讯距离远可达10km（传输速率为5kbps），高通讯速率可达1Mbps（传输距离为40m）; 

5,可靠性高 

   数据链路层采用短帧结构，实时性高，纠错效果好，每帧信息都有CRC校验及其它校验措施，数据出错率低，可靠性高; 

6,故障自动判别 

   发送期间若丢失仲裁或因出错而遭破坏的帧可自动重发，暂时错误和性故障节点判别及故障节点自动脱离CAN总线。 

   CAN总线系统由CAN网络节点、转发器节点和上位机构成。总线技术遵循现场总线协议，将分布在不同位置，用途各异的测量仪表、控制设备互联成网，并可接入Intranet和Internet网络。现场总线技术的关键标志是它能支持双向多变量、总线式全数字通讯。传统4～20mA模拟直流回路只能在一根两芯电缆中单向传输一个参数，随着系统结构的日益复杂和信息量的增加，4～20mA电流环传输成为制约信息传输的瓶颈，所以现场总线替代4～20mA模拟信号标准已成为控制系统发展的必然趋势。 

   基于CAN总线技术的多机伺服系统 

   CAN总线控制网络结构 

   基于CAN总线技术的多电机伺服控制系统网络结构如图1所示，系统由上位机、CAN总线、现场伺服单元节点组成。数控系统上位机通过CAN总线控制网络节点任一伺服单元，数字伺服与数控系统之间数据传输可分为实时性数据信息和非实时性数据信息两类。实时性数据指参与控制器实时位置、速度、转矩等控制指令和反馈信息，传输速度要求较高。非实时性数据主要是指控制器参数设置、功能设定、诊断功能、伺服状态与报警等信息，传输速度相对较低。 

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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

Baumüller 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

Baumüller 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