{"id":10923,"date":"2026-01-16T16:45:49","date_gmt":"2026-01-16T08:45:49","guid":{"rendered":"https:\/\/www.pusirobot.com\/?p=10923"},"modified":"2026-01-16T16:45:50","modified_gmt":"2026-01-16T08:45:50","slug":"python-shizhantongguoyitaiwangcanetyuanchengkongzhi-pmc006cx-bujindianji","status":"publish","type":"post","link":"https:\/\/www.pusirobot.com\/index.php\/2026\/01\/16\/python-shizhantongguoyitaiwangcanetyuanchengkongzhi-pmc006cx-bujindianji\/","title":{"rendered":"Python \u5b9e\u6218\uff1a\u901a\u8fc7\u4ee5\u592a\u7f51(CANET)\u8fdc\u7a0b\u63a7\u5236 PMC006CX \u6b65\u8fdb\u7535\u673a"},"content":{"rendered":"\n<p>\u5728\u5de5\u4e1a\u81ea\u52a8\u5316\u4e0e\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c<strong>\u201c<a href=\"https:\/\/www.pusirobot.com\/index.php\/2019\/11\/06\/ruhekongzhibujindianji\/\" data-type=\"URL\" data-id=\"https:\/\/www.pusirobot.com\/index.php\/2019\/11\/06\/ruhekongzhibujindianji\/\">\u5982\u4f55\u63a7\u5236\u7535\u673a<\/a>\u201d<\/strong> \u59cb\u7ec8\u662f\u4e00\u4e2a\u6838\u5fc3\u8bdd\u9898\u3002\u4f20\u7edf\u7684\u63a7\u5236\u65b9\u5f0f\u5f80\u5f80\u53d7\u9650\u4e8e\u7269\u7406\u63a5\u7ebf\u957f\u5ea6\uff08USB\/\u4e32\u53e3\uff09\uff0c\u6216\u8005\u53d7\u56f0\u4e8e\u7e41\u7410\u7684\u5bc4\u5b58\u5668\u64cd\u4f5c\u3002<\/p>\n\n\n\n<p>\u4eca\u5929\uff0c\u6211\u4eec\u5c06\u5c55\u793a\u4e00\u5957<strong>\u7eaf Python \u89e3\u51b3\u65b9\u6848<\/strong>\uff1a\u5229\u7528 ZLG \u7684\u4ee5\u592a\u7f51 CAN \u9002\u914d\u5668\uff08CANET-2E-U\uff09\uff0c\u7ed3\u5408\u5f3a\u5927\u7684 <code>canopen<\/code> \u5f00\u6e90\u5e93\uff0c\u5b9e\u73b0\u5bf9 <strong><a href=\"https:\/\/www.pusirobot.com\/index.php\/zongxianxingbujindianjikongzhitaozhuang\/\" data-type=\"URL\" data-id=\"https:\/\/www.pusirobot.com\/index.php\/zongxianxingbujindianjikongzhitaozhuang\/\">PMC006CX \u4e00\u4f53\u5316\u6b65\u8fdb\u9a71\u52a8\u5668<\/a><\/strong> \u7684\u8fdc\u7a0b\u3001\u9ad8\u5c42\u7ea7\u63a7\u5236\u3002<\/p>\n\n\n\n<h3>1.\u4e3a\u4ec0\u4e48\u9009\u62e9\u8fd9\u5957\u65b9\u6848\uff1f<\/h3>\n\n\n\n<ul><li><strong>\u6253\u7834\u8ddd\u79bb\u9650\u5236<\/strong>\uff1a\u4f7f\u7528 CANET\uff08\u4ee5\u592a\u7f51\u8f6c CAN\uff09\uff0c\u4f60\u7684\u63a7\u5236\u4e3b\u673a\uff08PC\/\u5355\u7247\u673a\uff09\u53ef\u4ee5\u4f4d\u4e8e\u5c40\u57df\u7f51\u7684\u4efb\u4f55\u4f4d\u7f6e\uff0c\u800c\u7535\u673a\u53ef\u4ee5\u5728\u6570\u767e\u7c73\u5916\u7684\u8f66\u95f4\uff0c\u901a\u8fc7 TCP\/IP \u534f\u8bae\u900f\u4f20 CAN \u6570\u636e\u3002<\/li><li><strong>\u6807\u51c6\u5316\u534f\u8bae<\/strong>\uff1aPMC006CX \u652f\u6301 <a href=\"https:\/\/www.pusirobot.com\/index.php\/2022\/06\/24\/yiwenlejiecanopen\/\" data-type=\"URL\" data-id=\"https:\/\/www.pusirobot.com\/index.php\/2022\/06\/24\/yiwenlejiecanopen\/\">CANopen \u534f\u8bae<\/a>\u3002\u76f8\u6bd4\u4e8e\u53d1\u9001\u539f\u59cb\u7684 8 \u5b57\u8282 HEX \u6570\u636e\uff0c\u4f7f\u7528 Object Dictionary\uff08\u5bf9\u8c61\u5b57\u5178\uff09\u8fdb\u884c\u63a7\u5236\u66f4\u52a0\u89c4\u8303\u3001\u6613\u8bfb\u3002<\/li><li><strong>Python \u751f\u6001<\/strong>\uff1a\u5229\u7528 Python \u7684\u52a8\u6001\u7279\u6027\uff0c\u6211\u4eec\u5c06\u590d\u6742\u7684\u5bc4\u5b58\u5668\u64cd\u4f5c\u5c01\u88c5\u6210\u7b80\u5355\u7684\u51fd\u6570\u8c03\u7528\uff08\u5982 <code>set_max_speed<\/code>\uff09\uff0c\u6781\u5927\u5730\u964d\u4f4e\u4e86\u5f00\u53d1\u95e8\u69db\u3002<\/li><\/ul>\n\n\n\n<div class=\"wp-block-columns\">\n<div class=\"wp-block-column is-vertically-aligned-top\" style=\"flex-basis:100%\">\n<div class=\"wp-container-1 wp-block-group\"><div class=\"wp-block-group__inner-container\">\n<h3>2.\u8ba9 canopen \u5e93\u201c\u8ba4\u8bc6\u201d CANET<\/h3>\n\n\n\n<p>Python \u7684 <code>canopen<\/code> \u5e93\u539f\u751f\u652f\u6301 SocketCAN\u3001Kvaser\u3001Vector \u7b49\u8bbe\u5907\uff0c\u4f46\u9ed8\u8ba4\u5e76\u4e0d\u652f\u6301 ZLG \u7684 TCP \u6a21\u5f0f\u3002<\/p>\n\n\n\n<p>\u4e3a\u4e86\u89e3\u51b3\u8fd9\u4e2a\u95ee\u9898\uff0c\u6211\u4eec\u7f16\u5199\u4e86 <code>zlgcanadapter.py<\/code>\u3002\u8fd9\u662f\u4e00\u4e2a<strong>\u786c\u4ef6\u62bd\u8c61\u5c42<\/strong>\uff0c\u5b83\u7ee7\u627f\u81ea <code>can.BusABC<\/code>\u3002\u5b83\u7684\u4f5c\u7528\u662f\u6b3a\u9a97 <code>canopen<\/code> \u5e93\uff0c\u8ba9\u5b83\u4ee5\u4e3a\u81ea\u5df1\u8fde\u63a5\u7684\u662f\u4e00\u4e2a\u6807\u51c6\u7684\u672c\u5730 CAN \u5361\uff0c\u4f46\u5b9e\u9645\u4e0a\u6240\u6709\u6570\u636e\u90fd\u901a\u8fc7 TCP \u7f51\u7edc\u6d41\u5411\u4e86 ZLG \u9002\u914d\u5668<\/p>\n\n\n\n<p>\u5173\u952e\u4ee3\u7801\u89e3\u6790 (<code>zlgcanadapter.py<\/code>):<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u6838\u5fc3\u673a\u5236\uff1a\u62e6\u622a send \u548c recv\nclass ZLGCanNetBus(can.BusABC):\n    def __init__(self, ip, port, ...):\n        # \u521d\u59cb\u5316 ZLG SDK\uff0c\u5efa\u7acb TCP \u8fde\u63a5\n        self.zcanlib = ZCAN()\n        self.device_handle = self.zcanlib.OpenDevice(ZCAN_CANETTCP, 0, 0)\n        # \u914d\u7f6e IP \u548c \u7aef\u53e3...\n        \n    def send(self, msg, timeout=None):\n        # \u5c06 python-can \u7684 Message \u5bf9\u8c61\u8f6c\u6362\u4e3a ZLG \u7684 C \u7ed3\u6784\u4f53\u5e76\u53d1\u9001\n        z_msg = ... \n        self.zcanlib.Transmit(self.chn_handle, z_msg, 1)\n\n    def _recv_internal(self, timeout):\n        # \u4ece ZLG SDK \u8bfb\u53d6\u6570\u636e\uff0c\u5c01\u88c5\u56de python-can \u7684 Message \u5bf9\u8c61\n        rcv_msg = self.zcanlib.Receive(...)\n        return msg, False<\/code><\/pre>\n\n\n\n<p>\u6709\u4e86\u8fd9\u4e2a\u6587\u4ef6\uff0c\u6211\u4eec\u5c31\u53ef\u4ee5\u65e0\u7f1d\u5bf9\u63a5 <code>canopen<\/code> \u7684\u9ad8\u5c42\u529f\u80fd\u4e86\u3002<\/p>\n<\/div><\/div>\n<\/div>\n<\/div>\n\n\n\n<h3>3.\u6781\u7b80\u5c01\u88c5\uff1apusican.py<\/h3>\n\n\n\n<p>\u76f4\u63a5\u64cd\u4f5c SDO\uff08\u4f8b\u5982 <code>node.sdo[0x6003].raw = 50000<\/code>\uff09\u867d\u7136\u53ef\u884c\uff0c\u4f46\u4e0d\u591f\u76f4\u89c2\u3002\u6211\u4eec\u5728 <code>pusican.py<\/code> \u4e2d\u6784\u5efa\u4e86\u4e00\u4e2a <code>Canopen_ku<\/code> \u7c7b\uff0c\u5c06\u590d\u6742\u7684 CANopen \u5bf9\u8c61\u5b57\u5178\u5730\u5740\uff08Index\/SubIndex\uff09\u6620\u5c04\u4e3a\u4eba\u7c7b\u53ef\u8bfb\u7684\u51fd\u6570\u3002<\/p>\n\n\n\n<p><strong>\u770b\u770b\u5c01\u88c5\u524d\u540e\u7684\u5bf9\u6bd4\uff1a<\/strong><\/p>\n\n\n\n<p><strong>\u539f\u59cb\u65b9\u5f0f\uff1a<\/strong><\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u60f3\u8981\u8bbe\u7f6e\u52a0\u901f\u5ea6\uff0c\u4f60\u9700\u8981\u67e5\u9605\u624b\u518c\u627e\u5230 0x6008\nnode.sdo&#91;0x6008].raw = 5<\/code><\/pre>\n\n\n\n<p>\u5c01\u88c5\u540e (<code>pusican.py<\/code>)\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code># \u76f4\u63a5\u8c03\u7528\u8bed\u4e49\u5316\u51fd\u6570\ndef set_acce_speed(self, node_id, a_speed):\n    self.node_map&#91;node_id].sdo&#91;0x6008].raw = a_speed<\/code><\/pre>\n\n\n\n<p>\u8be5\u5e93\u901a\u8fc7\u68c0\u6d4b <code>bustype<\/code> \u53c2\u6570\uff0c\u81ea\u52a8\u5224\u65ad\u662f\u52a0\u8f7d\u6807\u51c6\u7684 CAN \u63a5\u53e3\uff0c\u8fd8\u662f\u52a0\u8f7d\u6211\u4eec\u81ea\u5b9a\u4e49\u7684 ZLG \u7f51\u7edc\u63a5\u53e3\uff1a<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>if self.bustype1 == 'zlgcanet':\n    # \u81ea\u52a8\u52a0\u8f7d\u6211\u4eec\u5199\u7684\u9002\u914d\u5668\uff0c\u89e3\u51b3 connect \u62a5\u9519\u95ee\u9898\n    zlgcannet_bus = ZLGCanNetBus(ip=ip, port=port)\n    self.network.bus = zlgcannet_bus<\/code><\/pre>\n\n\n\n<h2>4.\u5b9e\u6218\u6f14\u793a\uff1a\u8ba9\u7535\u673a\u8f6c\u8d77\u6765<\/h2>\n\n\n\n<p>\u4e07\u4e8b\u4ff1\u5907\uff0c\u73b0\u5728\u6211\u4eec\u6765\u7f16\u5199\u4e00\u4e2a\u4e3b\u7a0b\u5e8f <code>motor_controller.py<\/code>\u3002\u5047\u8bbe\u7535\u673a\u7684 Node-ID \u4e3a 3\uff0cCANET \u7684 IP \u4e3a <code>192.168.1.200<\/code>\uff0c\u7aef\u53e3 <code>4001<\/code>\u3002<\/p>\n\n\n\n<p>\u6211\u4eec\u5c06\u6f14\u793a<strong><a href=\"https:\/\/www.pusirobot.com\/index.php\/2021\/12\/19\/zhongqingpusiweixingdianjikongzhiqiqudongyundongdebutonggongzuomoshishang\/\" data-type=\"URL\" data-id=\"https:\/\/www.pusirobot.com\/index.php\/2021\/12\/19\/zhongqingpusiweixingdianjikongzhiqiqudongyundongdebutonggongzuomoshishang\/\">PP\u6a21\u5f0f\uff08\u70b9\u5bf9\u70b9\u4f4d\u7f6e\u63a7\u5236\uff09<\/a><\/strong>\uff0c\u8ba9\u7535\u673a\u8f6c\u52a8\u6307\u5b9a\u7684\u6b65\u6570\u3002<\/p>\n\n\n\n<pre class=\"wp-block-code\"><code>import time\nfrom pusican import Canopen_ku\n\n\ndef main():\n    # 1. \u8fde\u63a5\u8bbe\u5907\n    # \u683c\u5f0f\uff1a\u7c7b\u578b, IP:\u7aef\u53e3, \u6ce2\u7279\u7387, &#91;\u8282\u70b9ID\u5217\u8868]\n    print(\"\u6b63\u5728\u8fde\u63a5 CANET \u8bbe\u5907...\")\n    driver = Canopen_ku('zlgcanet', '192.168.1.200:4001', baud1=125000, node_ids=&#91;3])\n\n    node_id = 3\n\n    # 2. \u8bbe\u7f6e\u8fd0\u52a8\u53c2\u6570 (PP\u6a21\u5f0f - \u4f4d\u7f6e\u63a7\u5236)\n    # \u8bbe\u7f6e\u5de5\u4f5c\u6a21\u5f0f\u4e3a 4 (PP Mode - Point to Point)\n    driver.set_work_mode(node_id, 4)\n\n    # \u8bbe\u7f6e\u6700\u5927\u901f\u5ea6\n    driver.set_pp_speed(node_id, 100000)  # \u8bbe\u7f6e\u6700\u5927\u901f\u5ea6\n\n    # 3. \u6267\u884c\u8fd0\u52a8\u6307\u4ee4\n    target_step = 20000  # \u76ee\u6807\u6b65\u6570\n    print(f\"\u5f00\u59cb\u8fd0\u52a8\uff1a\u76ee\u6807 {target_step} \u6b65\")\n    driver.set_pp_step(node_id, target_step)\n    driver.set_pp_control_word(node_id, 16)\n\n    # \u6a21\u62df\u8fd0\u884c\u4e00\u6bb5\u65f6\u95f4\n    time.sleep(3)\n\n    # 4. \u8bfb\u53d6\u5b9e\u65f6\u72b6\u6001\n    pos = driver.read_motor_position(node_id)\n    print(f\"\u5f53\u524d\u7535\u673a\u4f4d\u7f6e: {pos}\")\n\n    # \u5173\u95ed\u8fde\u63a5\n    driver.network.disconnect()\n    print(\"\u8fde\u63a5\u5df2\u65ad\u5f00\")\n\n\nif __name__ == '__main__':\n    main()\n<\/code><\/pre>\n\n\n\n<p><strong>\u8fd0\u884c\u9884\u671f\u7ed3\u679c\uff1a<\/strong><\/p>\n\n\n\n<ol><li>\u7ec8\u7aef\u663e\u793a\u8fde\u63a5\u6210\u529f<\/li><li>\u7535\u673a\u52a0\u901f\u65cb\u8f6c\uff0c\u5b8c\u6210\u6307\u5b9a\u6b65\u6570\u540e\u51cf\u901f\u505c\u6b62<\/li><li>\u7ec8\u7aef\u6253\u5370\u51fa\u7535\u673a\u6700\u7ec8\u7684\u9a6c\u8fbe\u4f4d\u7f6e<\/li><\/ol>\n\n\n\n<h2>\u603b\u7ed3<\/h2>\n\n\n\n<p>\u901a\u8fc7\u5f15\u5165 <code>ZLGCanNetBus<\/code> \u7c7b\uff0c\u6211\u4eec\u6210\u529f\u8ba9 <code>canopen<\/code> \u5e93\u4e0eZLG CANET \u8bbe\u5907\u4e4b\u95f4\u8fde\u63a5\u3002\u914d\u5408 <code>pusican.py<\/code> \u7684\u5c01\u88c5\uff0c\u6574\u5957\u7cfb\u7edf\u5177\u5907\u4e86\u4ee5\u4e0b\u4f18\u52bf\uff1a<\/p>\n\n\n\n<ol><li><strong>\u6781\u4f4e\u8026\u5408<\/strong>\uff1a\u786c\u4ef6\u63a5\u53e3\u4e0e\u4e1a\u52a1\u903b\u8f91\u5206\u79bb\uff0c\u5982\u679c\u9700\u8981\u66f4\u6362\u4e3a USB-CAN \u5361\uff0c\u53ea\u9700\u4fee\u6539 <code>bustype<\/code> \u53c2\u6570\u5373\u53ef\uff0c\u4e1a\u52a1\u4ee3\u7801\u65e0\u9700\u53d8\u52a8\u3002<\/li><li><strong>\u6613\u4e8e\u6269\u5c55<\/strong>\uff1a\u5982\u679c\u9700\u8981\u589e\u52a0\u591a\u8f74\u63d2\u8865\u6216\u540c\u6b65\u63a7\u5236\uff0c\u76f4\u63a5\u57fa\u4e8e <code>canopen<\/code> \u5e93\u7684 SYNC\/PDO \u673a\u5236\u6269\u5c55\u5373\u53ef\u3002<\/li><li><strong>\u8c03\u8bd5\u65b9\u4fbf<\/strong>\uff1a\u5168 Python \u4ee3\u7801\uff0c\u65e0\u9700\u7f16\u8bd1\uff0c\u968f\u6539\u968f\u6d4b\u3002<\/li><\/ol>\n\n\n\n<p>\u9644\u4ef6\uff1a<\/p>\n\n\n\n<div class=\"wp-block-file\"><a id=\"wp-block-file--media-f1e34e59-23ec-48fb-adeb-0f799c0b3554\" href=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2026\/01\/zlgcannet_demo.zip\">zlgcannet_demo<\/a><a href=\"https:\/\/www.pusirobot.com\/wp-content\/uploads\/2026\/01\/zlgcannet_demo.zip\" class=\"wp-block-file__button\" download aria-describedby=\"wp-block-file--media-f1e34e59-23ec-48fb-adeb-0f799c0b3554\">\u4e0b\u8f7d<\/a><\/div>\n\n\n\n<p>\u8fd9\u5957\u65b9\u6848\u975e\u5e38\u9002\u5408<a href=\"https:\/\/www.pusirobot.com\/index.php\/feibiaozidonghuaxingye\/\" data-type=\"URL\" data-id=\"https:\/\/www.pusirobot.com\/index.php\/feibiaozidonghuaxingye\/\">\u5b9e\u9a8c\u5ba4\u81ea\u52a8\u5316<\/a>\u3001<a href=\"https:\/\/www.pusirobot.com\/index.php\/2019\/10\/10\/application-of-integrated-stepping-motor-in-agv-car\/\" data-type=\"URL\" data-id=\"https:\/\/www.pusirobot.com\/index.php\/2019\/10\/10\/application-of-integrated-stepping-motor-in-agv-car\/\">AGV \u5c0f\u8f66\u539f\u578b<\/a>\u9a8c\u8bc1\u4ee5\u53ca\u8fdc\u7a0b\u8bbe\u5907\u7ef4\u62a4\u573a\u666f\u3002\u53ea\u9700\u4e00\u6839\u7f51\u7ebf\uff0c\u4f60\u7684 Python \u4ee3\u7801\u5c31\u80fd\u638c\u63a7\u4e00\u5207\u52a8\u529b\u3002<\/p>\n","protected":false},"excerpt":{"rendered":"<p>\u5728\u5de5\u4e1a\u81ea\u52a8\u5316\u4e0e\u673a\u5668\u4eba\u5f00\u53d1\u4e2d\uff0c\u201c\u5982\u4f55\u63a7\u5236\u7535\u673a\u201d \u59cb\u7ec8\u662f<span class=\"excerpt-hellip\"> [\u2026]<\/span><\/p>\n","protected":false},"author":6,"featured_media":11008,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[17],"tags":[231,131,188,46,47,39,38],"_links":{"self":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10923"}],"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=10923"}],"version-history":[{"count":9,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10923\/revisions"}],"predecessor-version":[{"id":11009,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/posts\/10923\/revisions\/11009"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/media\/11008"}],"wp:attachment":[{"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/media?parent=10923"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/categories?post=10923"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/www.pusirobot.com\/index.php\/wp-json\/wp\/v2\/tags?post=10923"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}