【英为有你】我司DA180和DA200与汇川AM400或AM600系列的组态

<p style="line-height:150%"><span style="font-family:宋体">首先应确保连线无问题，<span style="color:red">需要注意的是，汇川PLC的CANopen采用DB9接头进行数据传输。</span></span></p><p><img src="/upload/article/20230526/1685087812932780.png" title="1685087812932780.png" alt="汇川PLC图.png"/></p><p><img src="http://technology.invt.com.cn/upload/article/20230526/1685088013937628.png" title="1685088013937628.png" alt="汇川PLC图2.png"/></p><p style="line-height:150%"><span style="font-family:宋体">需将二者引脚与引脚相对应进行连接，即汇川PLC的DB9中PIN2、PIN7、PIN3分别对应我司伺服DA180的CN3的7、8、1引脚。</span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p style="line-height:150%"><span style="font-family:宋体"><img src="http://technology.invt.com.cn/upload/article/20230526/1685088059727443.png" title="1685088059727443.png" alt="我司伺服图1.png"/></span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p style="text-align:left;line-height:150%"><span style="font-family:宋体">连线完成后，以汇川PLC(AM600-CPU1608TP)与英威腾伺服(DA180)连接为例进行说明：</span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p style="line-height:150%"><strong><span style="font-family:宋体">第一步：新建工程。</span></strong></p><p style="line-height:150%"><strong><span style="font-family:宋体"><img src="/upload/article/20230526/1685088149319182.png" title="1685088149319182.png" alt="示例1.png"/></span></strong></p><p><span style="font-family:宋体">点击新建工程，选择对应型号，并点击确定。</span></p><p style="line-height:150%"><span style="font-family:宋体"><img src="/upload/article/20230526/1685088158602096.png" title="1685088158602096.png" alt="示例2.png"/></span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p style="line-height:150%"><strong><span style="font-family:宋体">第二步：组态canopen主站与从站。</span></strong></p><p style="line-height:150%"><span style="font-family:宋体">双击Network Configuration，在弹出的界面中选择CANopen主站。</span></p><p style="line-height:150%"><img src="/upload/article/20230526/1685088193243795.png" title="1685088193243795.png" alt="示例3.png"/></p><p style="line-height:150%"><span style="font-family:宋体">则CANopen Config与CANOPEN(CANOPEN Master)则会自动添加。</span></p><p style="line-height:150%"><span style="font-family:宋体"><img src="/upload/article/20230526/1685088222791809.png" title="1685088222791809.png" alt="示例4.png"/></span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p><span style="font-family:宋体">PLC</span><span style="font-family:宋体">作为CANOPEN的主站，则从站需下挂，点击导入EDS文件。</span></p><p style="line-height:150%"><img src="/upload/article/20230526/1685088263899252.png" title="1685088263899252.png" alt="示例5.png"/><span style="font-family:宋体"></span></p><p style="line-height:150%"><span style="font-family:宋体">导入DA180对应的EDS文件后，则右边的网络设备列表中的第三方厂商中找寻对应的设备并双击进行添加，添加后如图所示：</span></p><p style="line-height:150%"><span style="font-family:宋体"><img src="/upload/article/20230526/1685088367411599.png" title="1685088367411599.png" alt="示例7.png"/></span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p style="line-height:150%"><strong><span style="font-family:宋体">第三步：CANopen主站与从站相关参数的设置。</span></strong></p><p style="line-height:150%"><span style="font-family:宋体">点击CANopen(CANopen Master)，节点ID默认127，波特率一般为500K，勾选<strong><span style="color:red">使能同步生产</span></strong>与<strong><span style="color:red">使能心跳生产</span></strong>。</span></p><p style="line-height:150%"><img src="/upload/article/20230526/1685088401125806.png" title="1685088401125806.png" alt="示例8.png"/></p><p style="line-height:150%"><span style="font-family:宋体">对应修改同步周期(一般为任务循环周期的整数倍)与生产时间。如CANopen任务中循环周期间隔为t#10ms，则<span style="color:red">使能同步生产</span>中的同步周期为10ms的整数倍即可。</span></p><p style="line-height:150%"><span style="font-family:宋体"><img src="/upload/article/20230526/1685088444221675.png" title="1685088444221675.png" alt="示例9.png"/></span></p><p style="line-height:150%"><span style="font-family:宋体"></span></p><p style="line-height:150%"><span style="font-family:宋体">点击<strong>DA300_Drive(CANopen Slaver)</strong>，进行canopen从站的设置。点击<strong>使能专家设置</strong>，<span style="color:red">在此页面中务必勾选<strong>未初始化</strong></span>，<strong><span style="color:red">重启时检查菜单</span></strong><span style="color:red">中不要勾选<strong>检查版本</strong></span>，其余两个选项任意选择。</span></p><p style="line-height:150%"><span style="font-family:宋体"><img src="/upload/article/20230526/1685088456281962.png" title="1685088456281962.png" alt="示例10.png"/></span><br/></p><p style="line-height:150%"><span style="font-family:宋体">分别点击<strong>接受PDO</strong>和<strong>发送PDO</strong>，将<strong>接受PDO</strong>的传输模式设置为<strong>异步传输模式254</strong>，并在<strong>发送PDO</strong>的传输模式中的<strong>抑制时间</strong>设置为500(根据具体情况设置，单位为100μs，输入500即代表抑制时间为500×100μs=50ms)。</span></p><p><img src="/upload/article/20230526/1685088496981768.png" title="1685088496981768.png" alt="示例11.png"/></p><p><img src="/upload/article/20230526/1685088506230431.png" title="1685088506230431.png" alt="示例12.png"/></p><p style="line-height:150%"><span style="font-family:宋体">点击CANopenSlaver I/O映射，改为启用2(总是在总线周期任务中)。</span></p><p><img src="/upload/article/20230526/1685088538761388.png" title="1685088538761388.png" alt="示例13.png"/></p><p style="line-height:150%"><strong><span style="font-family:宋体">第四步：设置完成后，点击Device(AM600-CPU1608TP/TN)，并点击扫描网络。</span></strong></p><p style="line-height:150%"><strong><span style="font-family:宋体"><img src="/upload/article/20230526/1685088595850300.png" title="1685088595850300.png" alt="示例14.png"/></span></strong></p><p><img src="/upload/article/20230526/1685088582771532.png" title="1685088582771532.png" alt="示例15.png"/></p><p style="line-height:150%"><span style="font-family:宋体">点击确定后，显示此页面则为已经连接到PLC，</span></p><p><span style="font-family:宋体">点击</span><strong><span style="font-family:宋体">在线</span></strong><span style="font-family:宋体">中的登录到，点击确定。</span></p><p style="line-height:150%"><span style="font-family:宋体"></span><img src="/upload/article/20230526/1685088708206071.png" title="1685088708206071.png" alt="示例16.png"/></p><p style="line-height:150%"><span style="font-family:宋体">点击<strong>启动</strong>，则显示已通讯上，如若伺服处于故障状态，则需通过上位机将伺服软复位，复位后即正常通讯状态。且通过给contro word控制字写15(0XF)，modes of operation控制模式为3(速度模式)，给Target velocity目标速度写100，运转正常。</span></p><p><img src="http://technology.invt.com.cn/upload/article/20230526/1685088718610071.png" title="1685088718610071.png" alt="示例17.png"/></p><p><img src="http://technology.invt.com.cn/upload/article/20230526/1685088792769808.png" title="1685088792769808.png" alt="示例18.png"/></p><p style="line-height:150%"><span style="font-family:宋体">至此，汇川PLC与我司伺服通过CANopen连接完成。(经测试，DA200按上述设置也可通讯成功)。</span></p><p style="line-height:150%"><strong><span style="font-size:19px;line-height:150%;font-family:宋体">小结</span></strong></p><p style="text-indent:28px;line-height:150%"><span style="font-family:宋体">1.</span><span style="font-family:宋体">汇川的上位机InoProShop和codesys的界面略有不同，在从站的设置界面中，为保证CANopen连接成功，<span style="color:red">在<strong>常规</strong>菜单中务必勾选<strong>未初始化</strong></span>，<strong>可选设备</strong>(可勾选，也可不勾选)，在<strong>重启时检查菜单</strong>中，<strong>检查供应商ID</strong>和<strong>检查产品号</strong>二者随意勾选，<span style="color:red">但<strong>检查版本</strong>不能勾选。</span></span></p><p style="text-indent:28px;line-height:150%"><span style="font-family:宋体">2.</span><span style="font-family:宋体">为保证汇川AM600系列PLC与我司伺服CANopen连接成功，则需保证发送PDO和接受PDO的传输模式都为异步传输模式(Type 254)，该型号PLC不支持同步传输模式。</span></p><p><br/></p>