CANopen??淇″??璐瑰??惧?╁??????璁惧?浜???浜???????span style="color: fuchsia;">|

CANopen瓒?绾垮??璐瑰?????锛??藉?浠?澶?涓??归?㈡????璁惧?浜???浜??????????ㄩ??淇″??璁??????????归???CANopen??韩灏辨???绉???????????????璁?????璐瑰?????锛??村???璁惧??堕??????互???х?涓???????杩?琛?寮???????浜э?杩?浣垮?涓?????瀹剁??璁惧?涔??磋?藉??村????板??颁???浜?????锛??ㄤ?涓?伐涓???浜х嚎涓?锛????戒?浣跨?ㄦ?ヨ?????渚?搴?????浼????ㄣ???ц??ㄧ?璁惧?????杩??靛惊CANopen????锛?杩?浜?璁惧???互??缂??伴?????ㄤ?璧凤?瀹??版?版????蹇???浼?杈????变韩??CANopen瓒?绾挎??渚?浜?楂??????版???杈??哄?躲??瀹????ㄤ??轰?娑???????淇℃?瑰?锛??藉??规???版????浼???绾ц?琛??垫椿璋?搴︺??瀵逛?涓?浜?瀹??舵?ц?姹?杈?楂????版???濡?璁惧????舵??淇℃?????у?舵??浠ょ?锛???互浼???浼?杈?锛?纭??璁惧???瀹??跺??搴?????瀵逛?涓?浜???瀹??舵?х???版???濡????叉?版???褰?绛?锛???互?ㄧ┖?叉?堕?磋?琛?浼?杈?锛?浠?????楂?浜??翠釜??淇＄郴缁?????????CANopen瓒?绾胯?????澶?涓荤???淇℃ā寮?锛?杩????崇???ㄤ?涓??缁?涓???互???跺??ㄥ?涓?富绔?璁惧?锛?瀹?浠???互????宸ヤ?锛??卞??绠＄?????у?朵?绔?璁惧???杩?绉?澶?涓荤?妯″?澶уぇ澧?寮轰?绯荤????垫椿?у???╁??э??藉?婊¤冻涓???瑙?妯″??澶???绋?搴︾??宸ヤ?搴??ㄩ??姹???

瀵硅?涓???灞???褰卞??

CANopen瓒?绾垮??璐瑰???瀵规?翠釜宸ヤ????ㄥ??琛?涓?????灞?浜х??浜?娣辫???褰卞????浠?浼?涓?灞??㈡?ョ??锛?瀵逛?涓??浼?涓???瑷?锛???璐瑰?????CANopen瓒?绾挎??????浣?浜?浠?浠???ュ伐涓????ㄥ??棰??????ㄦ???杩?浜?浼?涓????????ュぇ????璧?????绮惧???荤??????繁????淇″??璁?????????ㄧ?版????CANopen瓒?绾挎?????灏卞??互蹇???寮????哄?锋??绔?浜?????浜у????杩????╀?淇?杩?涓??浼?涓??????板????灞?锛???楂??翠釜琛?涓???娲诲????瀵逛?澶у??浼?涓?CANopen瓒?绾跨????璐瑰???涔?涓轰?浠???渚?浜??村?????浣??轰???涓???浼?涓?涔??村??互?轰?缁?涓???????杩?琛?浜у????????????浣?锛??卞??寮????村??杩????撮?????宸ヤ????ㄥ??瑙ｅ?虫?规???浠?琛?涓?????灞??㈡?ョ??锛?CANopen瓒?绾垮??璐瑰????ㄥ?ㄤ??翠釜琛?涓????????姝ュ????????杩?绋???瓒??ヨ?澶???浼?涓???寮???????涓???ANopen瓒?绾挎????????绌跺??搴??ㄤ腑锛?杩?灏??????????????板????绾с?????讹?缁?涓???????涔????╀???楂?浜у????璐ㄩ?????????э???浣??ㄦ?风??浣跨?ㄦ??????缁存?ら?惧害??CANopen瓒?绾跨????璐瑰???杩?灏?淇?杩?宸ヤ????ㄥ??琛?涓?涓??朵?琛?涓?????????灞?锛?濡??╄??缃???浜哄伐?鸿?界?????杩?涓?杩?浜??板?存??????缁???锛?宸ヤ????ㄥ??灏?杩??ユ?村箍??????灞???????

????寮???????璇????????舵?ャ??璁拌??锛?杩?骞存?ヨ蛋?ョ???棣???缃????虹??浜鸿??ヨ?澶?锛?杩?涓??拌薄?ㄩ???︽??澶哄?????村?????撅??朵腑灏や互??灏?骞翠汉缇や负澶???缃???Canopen瓒?绾垮??璐瑰???????????璁惧?浜???浜?????????缃???????涓??????ㄦ淳??涓??卞?稿?绾у共?ㄥ甫????宸ヤ?缁???7涓????灏?????锛?璧存渤????灞辫タ??姹?????瀹?寰姐??灞变???娌冲??????瑗???锛???瀵煎???板??濂芥???卞??澶???搴?瀵瑰伐浣?锛?淇?璐ㄤ???瀹???澶??跺?????

??????瑕?瀹???绉??????颁?绯伙?绉???瀵规?ュ?藉????ョ?????????璧?婧?锛?浼???瀹??????拌?婧?甯?灞?锛??????诲??涓??瑰?抽???稿??????????????瑗块?ㄥ?板?哄???伴??般????

????涓??界?ょ?挎??宸ュ?㈡??绔?浜?1947骞翠???瑙ｆ?惧?猴????藉?绾ц?烘???㈠??腑???叉????涔?????浣?涔?涓???2005骞达?????浜???涓??藉??ㄧ??浜ц?烘???⑩??????瀛???2018骞???锛?杞??跺?版????????娓搁?ㄣ??绀句??炬??Canopen瓒?绾垮??璐瑰???????????璁惧?浜???浜?????????缃?????杩??ユ?ワ???楂?娓╁??ㄥぉ姘?褰卞??锛?榛?娌虫??????????????ゃ??灞辫タ????瑗裤??娌冲????灞变?绛???锛??猴??虹?颁???绋?搴︾???辨??????瀵规????稿?崇??锛??猴??辨??锛?榛?娌抽?叉?诲??姘村?╅?ㄩ?娌虫按?╁???浼?锛?绠?绉伴?濮?锛?绗???堕?村???????ㄦ???卞??绾у??搴???骞叉?遍?插尽?ｇ骇搴??ュ??搴?锛?????14??7?惰捣锛???瀵规渤???????ㄥ共?遍?插尽?㈢骇搴??ュ??搴?锛?瑕?姹????稿?冲??浣??藉??界???椤规???变?渚?姘存???斤???濂芥?辨????缁???杩?涓?姝ュ??灞???搴?瀵瑰??澶???

????灏界?涓??藉苟????????涓??缂存?娆?绋??剁?琛????浣?????绋??跺ぇ?版??箍娉?搴????缃??躲??绯荤??х??堕??╁??????浠ｄ?姝ゅ??涓?汉缁?楠??瑰??瑰????锛?绋??跺?绠″??搴︿?瀹?涓??ㄤ???己??锛?绋??跺??剁???ㄤ?????楂???浠ュ??浼?涓??锋?绋????戒?瀹规??琚????帮?浣?杩?浜?骞撮??杩?绋??跺ぇ?版???绋??￠?ㄩ?ㄤ??跺?颁?涓?椋??╂??绀猴?骞惰?浼?涓?纭??锛?涓?灏?浼?涓???瑕?渚?娉?琛ョ即绋?娆俱??

?????????版?璞¤???????锛?21?ュ??娌冲????灏?浠?浠ラ?娓╁ぉ姘?涓轰富锛?涓?杩?姣?澶╃??楂?娓╁奖?????村??寮哄害浼???涓?????棰?璁?6?ヤ??????18?ュ???ㄣ??涓??ㄣ???????19?ュ???ㄣ??涓????21?ュ??涓??ㄣ??瑗垮???ㄦ??楂?姘?娓╁?杈?7??9??锛?灞??ㄨ?杩?40????缃???Canopen瓒?绾垮??璐瑰???????????璁惧?浜???浜?????????缃??????藉??茬?惧???炬???惧???浼????????搴??ョ????ㄤ????藉?绮?????╄??ㄥ?灞???娌冲????灞辫タ???????ゃ??灞变???娌冲??5??锛??猴?璋???涓?浠朵腑澶????剧?╄?锛??????版?瑰??濂芥???辨???惧??椤瑰伐浣???

?????诲勾浠ユ?ワ?涓??藉?澶?涓??藉????归?㈠??绛俱?????崇????锛?涓??瑰凡缁?瀵规??姐??寰峰?姐????澶у?┿???峰?般??瑗跨????????澹????卞??般???????┿??濂ュ?板?┿??姣??╂?躲???㈡．?＄??芥?借????归?㈠??绛撅?杩?涓?娉板?姐???板???°??椹??ヨタ浜????奸???浜?绛??戒???浜?绛捐???姝ゅ????6??13?ワ??藉?￠?㈡?荤????寮哄?ㄦ???甸】?荤?ｅ????拌タ?版?荤??????妫?妇琛?浼?璋?????寮鸿〃绀猴?灏????拌タ?扮撼?ュ???归?㈠??绛惧?藉????达?甯????版?逛负涓??藉???璧存?版??渚??村?渚垮?┿??