Mawonekedwe ndi Kusiyana pakati pa CAN Bus ndi RS485

Makhalidwe a mabasi a CAN:

1. International muyezo mafakitale mlingo kumunda basi, kufala odalirika, mkulu-nthawi yeniyeni;

2. Mtunda wautali wotumizira (mpaka 10km), kuthamanga kwachangu (mpaka 1MHz bps);

3. Basi imodzi ikhoza kugwirizanitsa mpaka 110 nodes, ndipo chiwerengero cha node chikhoza kukulitsidwa mosavuta;

4. Mapangidwe apamwamba kwambiri, mawonekedwe ofanana a ma node onse, ma network osavuta amderalo, kugwiritsa ntchito mabasi ambiri;

5. Ukadaulo wanthawi yeniyeni, wosagwirizana ndi mabasi osawononga, osachedwetsa ma node omwe ali ndi zofunika kwambiri;

6. Node yolakwika ya CAN idzatseka basi ndikudula kulumikizana ndi basi, osakhudza kulumikizana kwa basi;

7. Uthengawu ndi wafupikitsa chimango ndipo uli ndi cheke cha hardware CRC, chotheka chochepa cha kusokonezedwa ndi chiwerengero chochepa cha zolakwika za deta;

8. Zindikirani zokha ngati uthengawo watumizidwa bwino, ndipo hardware imatha kutumizanso, ndi kudalirika kwakukulu;

9. Ntchito yosefera uthenga wa Hardware imatha kulandira chidziwitso chofunikira, kuchepetsa kulemedwa kwa CPU, ndikuchepetsa kukonzekera mapulogalamu;

10. Wawiri zopotoka awiri, coaxial chingwe kapena kuwala CHIKWANGWANI angagwiritsidwe ntchito ngati kulankhulana;

11. Njira ya basi ya CAN ili ndi dongosolo losavuta komanso lokwera mtengo.

 

Zithunzi za RS485

1. Makhalidwe amagetsi a RS485: logic "1" imayimiridwa ndi + (2-6) V voltage kusiyana pakati pa mizere iwiri;Logic "0" imayimiridwa ndi kusiyana kwa voteji pakati pa mizere iwiri monga - (2-6) V. Ngati mawonekedwe a chizindikiro cha mawonekedwe ndi otsika kuposa RS-232-C, sikophweka kuwononga chip cha dera la mawonekedwe, ndi mlingo uwu n'zogwirizana ndi mlingo TTL, amene angathandize kugwirizana ndi dera TTL;

2. Kuchuluka kwa data kufalikira kwa RS485 ndi 10Mbps;

3. RS485 mawonekedwe ndi osakaniza bwino dalaivala ndi osiyana wolandila, amene timapitiriza luso kukana wamba mode kusokonezedwa, ndiko kuti, kusokoneza wabwino phokoso;

4. Kutalika kwakukulu kwa mtunda wamtundu wa RS485 mawonekedwe ndi 4000 mapazi, omwe amatha kufika mamita 3000.Kuphatikiza apo, transceiver imodzi yokha ndiyomwe imaloledwa kulumikizidwa ndi mawonekedwe a RS-232-C pabasi, ndiye kuti, malo amodzi.Mawonekedwe a RS-485 amalola kuti ma transceivers a 128 alumikizike m'basi.Ndiko kuti, ili ndi mphamvu zamasiteshoni angapo, kotero ogwiritsa ntchito amatha kugwiritsa ntchito mawonekedwe amodzi a RS-485 kuti akhazikitse maukonde a chipangizo mosavuta.Komabe, transmitter imodzi yokha imatha kutumiza pa basi ya RS-485 nthawi iliyonse;

5. Mawonekedwe a RS485 ndi mawonekedwe omwe amakonda kwambiri chifukwa chachitetezo chake chabwino cha phokoso, mtunda wautali wotumizira komanso kuthekera kwa masiteshoni ambiri.;

6. Chifukwa netiweki ya duplex yopangidwa ndi ma RS485 nthawi zambiri imafunikira mawaya awiri okha, zolumikizira za RS485 zimatumizidwa ndi zopindika zotetezedwa.

Kusiyana pakati pa CAN bus ndi RS485:

1. Kuthamanga ndi mtunda: Mtunda pakati pa CAN ndi RS485 wofalitsidwa pa liwiro lapamwamba la 1Mbit / S sikuposa 100M, zomwe tinganene kuti ndizofanana ndi liwiro lalikulu.Komabe, pa liwiro lotsika, pamene CAN ndi 5Kbit / S, mtunda ukhoza kufika 10KM, ndipo pa liwiro lotsika kwambiri la 485, ukhoza kufika pafupifupi 1219m (palibe kulandilana).Zitha kuwoneka kuti CAN ili ndi zabwino zonse pakufalitsa mtunda wautali;

2. Kugwiritsa ntchito basi: RS485 ndi gulu limodzi la akapolo, ndiko kuti, pangakhale mbuye m'modzi m'basi, ndipo kulumikizana kumayambika.Sichimapereka lamulo, ndipo mfundo zotsatirazi sizingathe kuzitumiza, ndipo ziyenera kutumiza yankho mwamsanga.Atalandira yankho, wolandirayo amafunsa mfundo yotsatira.Izi ndikuletsa ma node angapo kutumiza deta kubasi, zomwe zimayambitsa chisokonezo cha data.Basi ya CAN ndi gulu la akapolo ambiri, ndipo node iliyonse imakhala ndi wowongolera wa CAN.Ma node angapo akatumiza, amangokambirana ndi nambala ya ID yotumizidwa, kuti deta ya basi ikhale yabwino komanso yosokoneza.Node imodzi ikatumiza, node ina imatha kuzindikira kuti basi ndi yaulere ndikuitumiza nthawi yomweyo, zomwe zimasunga funso la wolandirayo, zimakweza kuchuluka kwa mabasi, ndikuwonjezera liwiro.Chifukwa chake, mabasi a CAN kapena mabasi ena ofanana amagwiritsidwa ntchito pamakina omwe ali ndi zofunikira kwambiri monga magalimoto;

3. Njira yodziwira zolakwika: RS485 imangotchula gawo la thupi, koma osati kugwirizana kwa deta, kotero silingathe kuzindikira zolakwika pokhapokha ngati pali maulendo afupikitsa ndi zolakwika zina zakuthupi.Mwanjira iyi, ndizosavuta kuwononga node ndikutumiza deta ku basi mofunitsitsa (kutumiza 1 nthawi zonse), zomwe zidzapumitsa basi yonse.Chifukwa chake, ngati node ya RS485 ikulephera, maukonde amabasi adzayimirira.Basi ya CAN ili ndi chowongolera cha CAN, chomwe chimatha kuzindikira cholakwika chilichonse.Ngati cholakwikacho chikupitilira 128, chidzatsekedwa chokha.Tetezani basi.Ngati ma node ena kapena zolakwika zawo zizindikirika, mafelemu olakwika adzatumizidwa ku basi kuti akumbutse ma node ena kuti detayo ndi yolakwika.Samalani, nonse.Mwanjira imeneyi, pulogalamu ya CPU ya CAN basi ikathawa, wowongolera amatseka basi ndikuteteza basi.Chifukwa chake, pamaneti omwe ali ndi zofunikira zachitetezo chambiri, CAN ndi yamphamvu kwambiri;

4. Mtengo ndi mtengo wa maphunziro: Mtengo wa zipangizo za CAN uli pafupi kawiri kuposa 485. Mwa njira iyi, kuyankhulana kwa 485 kuli kosavuta kwambiri potsata mapulogalamu.Malingana ngati mukumvetsetsa kulumikizana kwa serial, mutha kupanga.Ngakhale CAN imafuna injiniya wapansi kuti amvetsetse zovuta za CAN, ndipo mapulogalamu apamwamba apakompyuta amafunikanso kumvetsetsa ndondomeko ya CAN.Tinganene kuti mtengo wa maphunziro ndi wokwera;

5. Mabasi a CAN amalumikizidwa ndi basi yakuthupi kudzera mu CANH ndi CANL pazigawo ziwiri zotulutsa za CAN controller interface chip 82C250.Malo otchedwa CANH amatha kukhala pamtunda wapamwamba kapena woyimitsidwa, ndipo chodutsa cha CANL chikhoza kukhala chochepa kapena choyimitsidwa.Izi zimatsimikizira kuti, monga pa intaneti ya RS-485, pamene dongosololi lili ndi zolakwika ndi ma node angapo amatumiza deta ku basi nthawi yomweyo, basi idzakhala yozungulira, motero imawononga ma node ena.Kuonjezera apo, node ya CAN ili ndi ntchito yotseka zotulukapo zokha pamene cholakwikacho chiri chachikulu, kotero kuti ntchito za node zina pa basi sizidzakhudzidwa, kuti zitsimikizire kuti sipadzakhala mavuto pa intaneti, ndi basi idzakhala mu "deadlock" boma chifukwa cha mavuto a mfundo payekha;

6. CAN ali ndi njira yabwino yolankhulirana, yomwe imatha kuzindikiridwa ndi CAN controller chip ndi mawonekedwe ake chip, motero kuchepetsa kwambiri vuto la chitukuko cha dongosolo ndi kufupikitsa chitukuko, chomwe sichingafanane ndi RS-485 kokha ndi protocol yamagetsi.

 

Shenzhen Zhongling Technology Co., Ltd., kuyambira pomwe idakhazikitsidwa mu 2013, idadzipereka pantchito yopanga maloboti, kupanga, kupanga ndi kugulitsa ma wheel hub servo motors ndi madalaivala omwe amagwira ntchito mokhazikika.Madalaivala ake apamwamba a servo hub motor, ZLAC8015, ZLAC8015D ndi ZLAC8030L, amatengera kulumikizana kwa mabasi a CAN/RS485, motsatana amathandizira ma protocol a CiA301 ndi CiA402 a protocol ya CANopen/modbus RTU, ndipo amatha kukwera mpaka zida 16;Imathandizira kuwongolera malo, kuwongolera liwiro, kuwongolera ma torque ndi njira zina zogwirira ntchito, ndipo ndiyoyenera ma roboti munthawi zosiyanasiyana, kulimbikitsa kwambiri chitukuko chamakampani a roboti.