{"id":10352,"date":"2025-03-07T11:41:20","date_gmt":"2025-03-07T03:41:20","guid":{"rendered":"https:\/\/www.pusirobot.com\/?p=10352"},"modified":"2025-03-10T10:42:24","modified_gmt":"2025-03-10T02:42:24","slug":"pdotongxingongyeshishikongzhidexiaoluhexin","status":"publish","type":"post","link":"https:\/\/www.pusirobot.com\/index.php\/2025\/03\/07\/pdotongxingongyeshishikongzhidexiaoluhexin\/","title":{"rendered":"PDO\u901a\u4fe1\uff1a\u5de5\u4e1a\u5b9e\u65f6\u63a7\u5236\u7684\u6548\u7387\u6838\u5fc3"},"content":{"rendered":"\n<p>           \u5728\u5de5\u4e1a\u81ea\u52a8\u5316\u9886\u57df\uff0c\u5b9e\u65f6\u6027\u548c\u53ef\u9760\u6027\u662f\u8bbe\u5907\u901a\u4fe1\u7684\u6838\u5fc3\u8bc9\u6c42\u3002\u4f5c\u4e3aCANopen\u534f\u8bae\u4e2d\u7684\u5173\u952e\u673a\u5236\u4e4b\u4e00\uff0c<strong>PDO\uff08Process Data Object\uff0c\u8fc7\u7a0b\u6570\u636e\u5bf9\u8c61\uff09<\/strong>\u51ed\u501f\u5176\u9ad8\u6548\u7684\u6570\u636e\u4f20\u8f93\u65b9\u5f0f\uff0c\u6210\u4e3a\u5de5\u4e1a\u8bbe\u5907\u5b9e\u65f6\u63a7\u5236\u7684\u57fa\u77f3\u3002\u672c\u6587\u5c06\u6df1\u5165\u89e3\u6790PDO\u7684\u5de5\u4f5c\u539f\u7406\u3001\u6838\u5fc3\u4f18\u52bf\u53ca\u5178\u578b\u5e94\u7528\u573a\u666f\u3002<\/p>\n\n\n\n<p><strong>\u4e00\u3001PDO\u662f\u4ec0\u4e48\uff1f<\/strong><\/p>\n\n\n\n<p>            PDO\u662fCANopen\u534f\u8bae\u4e2d\u7528\u4e8e<strong>\u5b9e\u65f6\u4f20\u8f93\u8fc7\u7a0b\u6570\u636e<\/strong>\u7684\u901a\u4fe1\u5bf9\u8c61\uff0c\u5176\u8bbe\u8ba1\u76ee\u6807\u662f<strong>\u4ee5\u6700\u5c0f\u7684\u5ef6\u8fdf\u4f20\u9012\u8bbe\u5907\u7684\u5173\u952e\u72b6\u6001\u4fe1\u606f<\/strong>\u3002\u4f8b\u5982\uff0c\u7535\u673a\u8f6c\u901f\u3001\u4f20\u611f\u5668\u6d4b\u91cf\u503c\u3001\u5f00\u5173\u91cf\u4fe1\u53f7\u7b49\u5747\u901a\u8fc7PDO\u4f20\u8f93\u3002<\/p>\n\n\n\n<ul><li><strong>\u6570\u636e\u7279\u6027<\/strong>\uff1a\u5355\u5e27\u4f20\u8f93\u6570\u636e\u91cf\u5c0f\uff081-8\u5b57\u8282\uff09\uff0c\u4f46\u4f20\u8f93\u9891\u7387\u9ad8\uff08\u53ef\u8fbekHz\u7ea7\uff09\u3002<\/li><li><strong>\u901a\u4fe1\u6a21\u5f0f<\/strong>\uff1a\u652f\u6301<strong>\u5468\u671f\u4f20\u8f93<\/strong>\uff08\u5b9a\u65f6\u53d1\u9001\uff09\u548c<strong>\u4e8b\u4ef6\u89e6\u53d1<\/strong>\uff08\u5982\u6570\u636e\u53d8\u5316\u6216\u5916\u90e8\u4fe1\u53f7\u89e6\u53d1\uff09\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u4e8c\u3001PDO\u7684\u5de5\u4f5c\u539f\u7406<\/strong><\/p>\n\n\n\n<p> 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width=\"698\" height=\"241\" src=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2025\/03\/\u5fae\u4fe1\u56fe\u7247_20250306160146.png\" alt=\"\" class=\"wp-image-10353\" srcset=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2025\/03\/\u5fae\u4fe1\u56fe\u7247_20250306160146.png 698w, https:\/\/www.pusirobot.com\/wp-content\/uploads\/2025\/03\/\u5fae\u4fe1\u56fe\u7247_20250306160146-300x104.png 300w, https:\/\/www.pusirobot.com\/wp-content\/uploads\/2025\/03\/\u5fae\u4fe1\u56fe\u7247_20250306160146-260x90.png 260w, https:\/\/www.pusirobot.com\/wp-content\/uploads\/2025\/03\/\u5fae\u4fe1\u56fe\u7247_20250306160146-50x17.png 50w, https:\/\/www.pusirobot.com\/wp-content\/uploads\/2025\/03\/\u5fae\u4fe1\u56fe\u7247_20250306160146-150x52.png 150w\" sizes=\"(max-width: 698px) 100vw, 698px\" \/><\/figure>\n\n\n\n<p>        \u5f53\u89e6\u53d1\u4f20\u8f93\u65f6\uff0c\u8bbe\u5907\u81ea\u52a8\u5c06\u8fd9\u4e09\u4e2a\u53c2\u6570\u7684\u503c\u6253\u5305\u4e3a8\u5b57\u8282CAN\u5e27\u53d1\u9001\uff0c\u65e0\u9700\u8f6f\u4ef6\u5e72\u9884\u3002<\/p>\n\n\n\n<p><strong>2. \u540c\u6b65\u4f20\u8f93\u673a\u5236<\/strong><\/p>\n\n\n\n<p>\u5728\u9700\u8981\u591a\u8282\u70b9\u534f\u540c\u7684\u573a\u666f\uff08\u5982\u591a\u8f74\u8fd0\u52a8\u63a7\u5236\uff09\uff0cCANopen\u901a\u8fc7<strong>SYNC\u6d88\u606f<\/strong>\u5b9e\u73b0\u540c\u6b65\uff1a<\/p>\n\n\n\n<ul><li>\u4e3b\u8282\u70b9\u53d1\u9001SYNC\u4fe1\u53f7\u540e\uff0c\u6240\u6709\u4ece\u8282\u70b9\u7acb\u5373\u66f4\u65b0PDO\u6570\u636e\u5e76\u4f20\u8f93\uff0c\u786e\u4fdd\u6570\u636e\u65f6\u95f4\u6233\u4e00\u81f4\u3002<\/li><li>\u5178\u578b\u5e94\u7528\uff1a\u673a\u5668\u4eba\u5173\u8282\u7684\u534f\u540c\u8fd0\u52a8\u63a7\u5236\uff0c\u907f\u514d\u56e0\u6570\u636e\u5ef6\u8fdf\u5bfc\u81f4\u7684\u4f4d\u7f6e\u504f\u5dee\u3002<\/li><\/ul>\n\n\n\n<p><strong>3. \u89e6\u53d1\u65b9\u5f0f<\/strong><\/p>\n\n\n\n<ul><li><strong>\u4e8b\u4ef6\u89e6\u53d1<\/strong>\uff1a\u6570\u636e\u53d8\u5316\u8d85\u8fc7\u9608\u503c\u6216\u5916\u90e8\u4fe1\u53f7\uff08\u5982\u6025\u505c\u6309\u94ae\u6309\u4e0b\uff09\u65f6\u7acb\u5373\u53d1\u9001\u3002<\/li><li><strong>\u5468\u671f\u89e6\u53d1<\/strong>\uff1a\u6309\u56fa\u5b9a\u65f6\u95f4\u95f4\u9694\uff08\u59821ms\uff09\u53d1\u9001\uff0c\u9002\u7528\u4e8e\u7a33\u6001\u63a7\u5236\u73af\u8def\u3002<\/li><li><strong>\u8fdc\u7a0b\u8bf7\u6c42<\/strong>\uff1a\u4e3b\u8282\u70b9\u901a\u8fc7\u53d1\u9001\u7a7aCAN\u5e27\uff0c\u4e3b\u52a8\u8bf7\u6c42\u4ece\u8282\u70b9\u7684PDO\u6570\u636e\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u4e09\u3001PDO\u7684\u6838\u5fc3\u4f18\u52bf<\/strong><\/p>\n\n\n\n<p><strong>1. \u6781\u81f4\u5b9e\u65f6\u6027<\/strong><\/p>\n\n\n\n<ul><li><strong>\u65e0\u534f\u8bae\u5c42\u5ef6\u8fdf<\/strong>\uff1aPDO\u6570\u636e\u76f4\u63a5\u5d4c\u5165CAN\u5e27\uff0c\u65e0\u9700\u5c01\u88c5\/\u89e3\u6790\u590d\u6742\u534f\u8bae\u5934\u3002<\/li><li><strong>\u751f\u4ea7\u8005-\u6d88\u8d39\u8005\u6a21\u578b<\/strong>\uff1a\u6570\u636e\u751f\u4ea7\u65b9\uff08\u5982\u4f20\u611f\u5668\uff09\u4e3b\u52a8\u63a8\u9001\uff0c\u6d88\u8d39\u8005\uff08\u5982\u63a7\u5236\u5668\uff09\u76f4\u63a5\u8bfb\u53d6\uff0c\u51cf\u5c11\u4e3b\u7ad9\u8f6e\u8be2\u5f00\u9500\u3002<\/li><li><strong>\u5178\u578b\u5ef6\u8fdf<\/strong>\uff1a&lt;1ms\uff08CAN\u603b\u7ebf\u901f\u73871Mbps\u65f6\uff09\uff0c\u6ee1\u8db3\u591a\u6570\u8fd0\u52a8\u63a7\u5236\u9700\u6c42\u3002<\/li><\/ul>\n\n\n\n<p><strong>2. \u8d44\u6e90\u5360\u7528\u6781\u4f4e<\/strong><\/p>\n\n\n\n<ul><li><strong>\u786c\u4ef6\u52a0\u901f<\/strong>\uff1aPDO\u6620\u5c04\u7531CAN\u63a7\u5236\u5668\u786c\u4ef6\u81ea\u52a8\u5904\u7406\uff0c\u4e0d\u5360\u7528CPU\u8d44\u6e90\u3002<\/li><li><strong>\u5e26\u5bbd\u4f18\u5316<\/strong>\uff1a8\u5b57\u8282\u77ed\u5e27\u8bbe\u8ba1\u907f\u514d\u603b\u7ebf\u62e5\u585e\uff0c\u9002\u5408\u591a\u8282\u70b9\u5bc6\u96c6\u901a\u4fe1\u573a\u666f\u3002<\/li><\/ul>\n\n\n\n<p><strong>3. \u7075\u6d3b\u53ef\u914d\u7f6e<\/strong><\/p>\n\n\n\n<ul><li><strong>\u52a8\u6001\u91cd\u6620\u5c04<\/strong>\uff1a\u901a\u8fc7SDO\u5728\u8fd0\u884c\u65f6\u4fee\u6539PDO\u6620\u5c04\u5173\u7cfb\uff0c\u9002\u5e94\u4e0d\u540c\u5de5\u51b5\u9700\u6c42\u3002<\/li><li><strong>\u4f20\u8f93\u6a21\u5f0f\u5207\u6362<\/strong>\uff1a\u53ef\u52a8\u6001\u914d\u7f6e\u4e3a\u5468\u671f\u578b\u6216\u4e8b\u4ef6\u578b\uff0c\u5e73\u8861\u5b9e\u65f6\u6027\u4e0e\u5e26\u5bbd\u5360\u7528\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u56db\u3001PDO\u7684\u5178\u578b\u5e94\u7528\u573a\u666f<\/strong><\/p>\n\n\n\n<p><strong>1. \u8fd0\u52a8\u63a7\u5236\u7cfb\u7edf<\/strong><\/p>\n\n\n\n<ul><li><strong>\u6b65\u8fdb\u9a71\u52a8\u63a7\u5236<\/strong>\uff1a<ul><li>TPDO\u53d1\u9001\u7535\u673a\u5b9e\u9645\u4f4d\u7f6e\u3001\u72b6\u6001\u53cd\u9988\u7b49\uff1b<\/li><li>RPDO\u63a5\u6536\u76ee\u6807\u4f4d\u7f6e\u3001\u901f\u5ea6\u6307\u4ee4\u7b49\u3002<\/li><\/ul><\/li><li><strong>\u540c\u6b65\u63a7\u5236<\/strong>\uff1a\u901a\u8fc7SYNC\u4fe1\u53f7\u5b9e\u73b0\u591a\u8f74\u63d2\u8865\u8fd0\u52a8\uff08\u5982CNC\u673a\u5e8a\uff09\u3002<\/li><\/ul>\n\n\n\n<p><strong>2. \u5206\u5e03\u5f0fI\/O\u7cfb\u7edf<\/strong><\/p>\n\n\n\n<ul><li><strong>\u9ad8\u901f\u91c7\u96c6<\/strong>\uff1a\u6570\u5b57\u91cf\u8f93\u5165\uff08DI\uff09\u72b6\u6001\u901a\u8fc7TPDO\u5b9e\u65f6\u4e0a\u4f20\uff08\u59821ms\u5468\u671f\uff09\u3002<\/li><li><strong>\u5b9e\u65f6\u8f93\u51fa<\/strong>\uff1a\u63a7\u5236\u5668\u901a\u8fc7RPDO\u4e0b\u53d1\u7ee7\u7535\u5668\u63a7\u5236\u6307\u4ee4\uff08\u5982\u6025\u505c\u4fe1\u53f7\uff09\u3002<\/li><\/ul>\n\n\n\n<p><strong>3. 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ID\u8d8a\u5c0f\u4f18\u5148\u7ea7\u8d8a\u9ad8\uff09\u3002<\/li><\/ul>\n\n\n\n<p>PDO\u4f5c\u4e3aCANopen\u534f\u8bae\u4e2d\u201c\u8f7b\u91cf\u7ea7\u5b9e\u65f6\u6570\u636e\u901a\u9053\u201d\uff0c\u5728\u5de5\u4e1a\u63a7\u5236\u9886\u57df\u5c55\u73b0\u4e86\u4e0d\u53ef\u66ff\u4ee3\u7684\u4ef7\u503c\uff1a<\/p>\n\n\n\n<ul><li><strong>\u5feb\u901f<\/strong>\uff1a\u6ee1\u8db3\u6beb\u79d2\u7ea7\u5b9e\u65f6\u63a7\u5236\u9700\u6c42\uff1b<\/li><li><strong>\u9ad8\u6548<\/strong>\uff1a\u786c\u4ef6\u7ea7\u4f18\u5316\u51cf\u5c11\u8d44\u6e90\u6d88\u8017\uff1b<\/li><li><strong>\u7075\u6d3b<\/strong>\uff1a\u52a8\u6001\u914d\u7f6e\u9002\u914d\u590d\u6742\u573a\u666f\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u516d\u3001CANopen\u4e0e\u5176\u4ed6\u5de5\u4e1a\u901a\u4fe1\u534f\u8bae\u7684\u5bf9\u6bd4\u4f18\u52bf<\/strong><\/p>\n\n\n\n<p><strong>\u5bf9\u6bd4modbus<\/strong><\/p>\n\n\n\n<ul><li><strong>\u5b9e\u65f6\u6027<\/strong><br>CANopen\u7684PDO\u901a\u4fe1\u5468\u671f\u53ef\u4f4e\u81f31ms\uff08\u5178\u578b\u503c\uff09\uff0c\u8fdc\u4f18\u4e8eModbus RTU\uff08\u901a\u5e3810ms\u4ee5\u4e0a\uff09\u3002<\/li><li><strong>\u62d3\u6251\u7ed3\u6784<\/strong><br>CANopen\u652f\u6301\u591a\u4e3b\u7ad9\u603b\u7ebf\u62d3\u6251\uff0c\u800cModbus\u4e3a\u4e3b\u4ece\u67b6\u6784\uff0c\u6269\u5c55\u6027\u53d7\u9650\u3002<\/li><li><strong>\u6570\u636e\u8bed\u4e49<\/strong><br>CANopen\u901a\u8fc7\u5bf9\u8c61\u5b57\u5178\u5b9a\u4e49\u6570\u636e\u542b\u4e49\uff0c\u6807\u51c6\u5316\u7a0b\u5ea6\u9ad8\uff08\u5982DS402\u6807\u51c6\u5b9a\u4e49\u7535\u673a\u9a71\u52a8\u53c2\u6570\uff09\uff0c\u800cModbus\u9700\u81ea\u5b9a\u4e49\u5bc4\u5b58\u5668\u6620\u5c04\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u5bf9\u6bd4EtherCAT<\/strong><\/p>\n\n\n\n<ul><li><strong>\u6210\u672c\u4e0e\u590d\u6742\u5ea6<\/strong><br>CANopen\u57fa\u4e8e\u4f4e\u6210\u672cCAN\u786c\u4ef6\uff0c\u9002\u5408\u4e2d\u5c0f\u89c4\u6a21\u7cfb\u7edf\uff1bEtherCAT\u9700\u8981\u4e13\u7528\u4ece\u7ad9\u63a7\u5236\u5668\uff08ESC\uff09\uff0c\u786c\u4ef6\u6210\u672c\u66f4\u9ad8\u3002<\/li><li><strong>\u786e\u5b9a\u6027<\/strong><br>EtherCAT\u901a\u8fc7\u65f6\u95f4\u69fd\u673a\u5236\u5b9e\u73b0\u5fae\u79d2\u7ea7\u786e\u5b9a\u6027\uff0c\u4f18\u4e8eCANopen\uff08\u9002\u7528\u4e8e\u66f4\u9ad8\u5b9e\u65f6\u6027\u8981\u6c42\u7684\u573a\u666f\uff0c\u5982\u9ad8\u901f\u5305\u88c5\u673a\u68b0\uff09\u3002<\/li><li><strong>\u6570\u636e\u91cf<\/strong><br>CANopen\u5355\u5e27\u6570\u636e\u91cf\u53d7\u9650\uff088\u5b57\u8282\uff09\uff0cEtherCAT\u652f\u6301\u5927\u6570\u636e\u5757\u4f20\u8f93\uff08\u5982\u89c6\u89c9\u7cfb\u7edf\uff09\u3002<\/li><\/ul>\n\n\n\n<p><strong>\u5bf9\u6bd4Profinet<\/strong><\/p>\n\n\n\n<ul><li><strong>\u534f\u8bae\u6808\u590d\u6742\u5ea6<\/strong><br>CANopen\u534f\u8bae\u6808\u8f7b\u91cf\uff08\u9002\u5408\u8d44\u6e90\u53d7\u9650\u7684\u5d4c\u5165\u5f0f\u8bbe\u5907\uff09\uff0cProfinet\u9700\u5b9e\u73b0\u5b8c\u6574TCP\/IP\u6808\u3002<\/li><li><strong>\u5b9e\u65f6\u6027\u5206\u7ea7<\/strong><br>Profinet 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class=\"excerpt-hellip\"> [\u2026]<\/span><\/p>\n","protected":false},"author":6,"featured_media":0,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[17],"tags":[131,197,38],"_links":{"self":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10352"}],"collection":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/users\/6"}],"replies":[{"embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/comments?post=10352"}],"version-history":[{"count":4,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10352\/revisions"}],"predecessor-version":[{"id":10360,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10352\/revisions\/10360"}],"wp:attachment":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/media?parent=10352"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/categories?post=10352"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/tags?post=10352"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}