Research Of Intelligent Monitoring And Control Lower-End System Based On Canopen

With the development of computer network technology and field bus technology, marine automation is currently facing a technical revolution. Experiencing distributing centre control, distributing control and local area network control, the marine automation monitoring and control system will be replaced by field bus system step by step. Field bus control system use the open, uniform and co-operational network to connect all the controller and instrument and reduce the cost and the fee for maintenance. CAN is one of the most dominating field-bus protocol and CANopen is the high-level protocol of CAN, which defines the standard communication object and enables information such as process data, configuration data, special function data and network management data transfer in the network. CANopen becomes the most important embedded network standard in Europe.The CAN bus communication principle and CANopen protocol by researched depthly and puts forward a kind of software and hardware solution of intelligent CANopen slave node with the MCU which is embedded CAN controller. The paper completes the hardware design of the intelligent module, including AI, DI, DO and CAN communication, analyses the principle of the embedded CAN controller, uses software modularized idea with C language and writes standard interfaces such as can send and receive, timing, CANopen communication objects and applications. There are detailed circuits and diagrams in the paper.The design of CANopen intelligent slave node implements the dual direction transfers of CAN messages, one is the analog and digital signal from the spot and the other is management and control command from master. The design fully bring in play the advantages of CANopen Object Dictionary and implements the flexible online configuration.In the end the testing of the intelligent module has been done with the standard analyzing software. The test result indicates that the system runs efficiently and stably on CAN bus, packs and unpacks the communication objects correctly, achieves the expected effectiveness, and proves the practicability of this embedded Internet scheme.