{"id":2133,"date":"2021-12-17T02:36:48","date_gmt":"2021-12-17T02:36:48","guid":{"rendered":"http:\/\/gcanbus.com\/?p=2133"},"modified":"2021-12-21T12:36:02","modified_gmt":"2021-12-21T12:36:02","slug":"application-example-of-canopen-io-8di-8do","status":"publish","type":"post","link":"https:\/\/gcanbus.com\/ko\/application-example-of-canopen-io-8di-8do\/","title":{"rendered":"CANopen IO 8DI\/8DO\uc758 \uc801\uc6a9 \uc0ac\ub840"},"content":{"rendered":"
5.3 PDO \uba85\ub839<\/strong><\/div>\n
GCAN-4055\uc758 TPDO1\uc740 \uc785\ub825\uacfc \ucd9c\ub825\uc758 \uc0c1\ud0dc\ub97c \ub098\ud0c0\ub0b4\ub294 \ub370 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. \uac01\uac01\uc740 1\ubc14\uc774\ud2b8\ub85c \ud45c\uc2dc\ub429\ub2c8\ub2e4. RPDO1\uc740 \ub514\uc9c0\ud138 \ucd9c\ub825\uc758 \uc0c1\ud0dc\ub97c \ubcc0\uacbd\ud558\ub294 \ub370 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. 1\ubc14\uc774\ud2b8\ub85c \uc81c\uc5b4\ub429\ub2c8\ub2e4.<\/div>\n
5.3.1 RPDO \uba85\ub839(\ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158\uc5d0\uc11c \uc804\uc1a1\ud558\ub294 RPDO1)<\/strong><\/div>\n
\uc0ac\uc6a9\uc790\ub294 CANopen \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158 \ub610\ub294 \uc218\ub3d9 \uc2dc\ubbac\ub808\uc774\uc158\uc744 \uc0ac\uc6a9\ud558\uc5ec \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. GCAN-4055 \ubaa8\ub4c8\uc758 \ucd9c\ub825 \uc0c1\ud0dc\ub97c \uc124\uc815\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \ud504\ub808\uc784 ID\ub294 0x200+\ub178\ub4dc ID(X)\uc785\ub2c8\ub2e4. \ud504\ub808\uc784 \ub370\uc774\ud130\uc758 \uccab \ubc88\uc9f8 \ubc14\uc774\ud2b8\ub294 \ucd9c\ub825 \uc0c1\ud0dc\ub97c \uc124\uc815\ud558\ub294 \ub370 \uc0ac\uc6a9\ub418\uba70, 1\ub85c \uc124\uc815\ub41c \uac01 \ube44\ud2b8\ub294 \ucd9c\ub825\uc744, 0\uc740 \ucd9c\ub825\uc774 \uc5c6\uc74c\uc744 \ub098\ud0c0\ub0c5\ub2c8\ub2e4.<\/div>\n
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\uc608\ub97c \ub4e4\uc5b4 \ubaa8\ub4c8\uc758 DO_3 \uc0c1\ud0dc\ub294 \ucd9c\ub825\uc73c\ub85c \uc124\uc815\ub418\uc5b4 \uc788\uace0 \ub098\uba38\uc9c0 DO \uc0c1\ud0dc\ub294 \ucd9c\ub825 \uc5c6\uc74c\uc785\ub2c8\ub2e4. \uc544\ub798 \ud45c\uc640 \uadf8\ub9bc 5.4\uc758 \uadf8\ub9bc 3\uacfc \uac19\uc774 \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/div>\n
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\n
GCAN-4055\ub294 \uadf8\ub9bc 5.5\uc758 \uc138 \ubc88\uc9f8 \ub370\uc774\ud130 \ud45c\uc5d0 \ud45c\uc2dc\ub41c \ub300\ub85c \ub370\uc774\ud130\ub97c \uc218\uc2e0\ud569\ub2c8\ub2e4.<\/div>\n
5.3.2 TPDO \uba85\ub839(TPDO1, GCAN-4055\ub85c \uc804\uc1a1)<\/strong><\/div>\n
GCAN-4055\ub294 TPDO\ub97c \uc0ac\uc6a9\ud558\uc5ec \ud604\uc7ac \uc785\ub825 \ubc0f \ucd9c\ub825 \uc0c1\ud0dc\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4. \ud504\ub808\uc784 ID\ub294 0x180 + \ub178\ub4dc ID(X)\uc785\ub2c8\ub2e4. \ub370\uc774\ud130 \uae38\uc774\ub294 2\uc785\ub2c8\ub2e4. \uccab \ubc88\uc9f8 \ubc14\uc774\ud2b8\ub294 \uc785\ub825 \uc0c1\ud0dc, \ub450 \ubc88\uc9f8 \ubc14\uc774\ud2b8\ub294 \ucd9c\ub825 \uc0c1\ud0dc\uc785\ub2c8\ub2e4. \uac01 \ube44\ud2b8\ub294 1\uc740 \uc785\ub825\/\ucd9c\ub825, 0\uc740 \uc785\ub825\/\ucd9c\ub825\uc774 \uc5c6\uc74c\uc744 \ub098\ud0c0\ub0c5\ub2c8\ub2e4. GCAN-4055\uc5d0\ub294 \ub450 \uac00\uc9c0 \uc885\ub958\uc758 TPDO \uc804\uc1a1 \ubaa8\ub4dc\uac00 \uc788\uc2b5\ub2c8\ub2e4. \ud2b8\ub9ac\uac70 \ubaa8\ub4dc\uc640 \uc21c\ud658 \ubaa8\ub4dc.<\/div>\n
\uae30\ubcf8\uac12\uc740 \ud2b8\ub9ac\uac70 \ubaa8\ub4dc\uc774\uba70, \uc774 \ubaa8\ub4dc\uc5d0\uc11c\ub294 DI \ub610\ub294 DO\uac00 \ubcc0\uacbd\ub420 \ub54c\ub9cc GCAN-4055\uac00 TPDO \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4.<\/div>\n
\uc21c\ud658 \ubaa8\ub4dc\uc5d0\uc11c GCAN-4055\ub294 100ms(\uc8fc\uae30 \uc2dc\uac04 \ubcc0\uacbd \uac00\ub2a5)\ub9c8\ub2e4 TPDO \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4. \ud574\ub2f9 \uc2dc\uc810\uc758 DI\uc640 DO\uc758 \uc0c1\ud0dc\ub97c \ubcf4\uc5ec\uc90d\ub2c8\ub2e4.<\/div>\n
\"\"<\/div>\n
\uc608\ub97c \ub4e4\uc5b4, \ubaa8\ub4e0 DI \uc0c1\ud0dc\ub294 \uc785\ub825\uc774 \uc5c6\uace0, DO3 \uc0c1\ud0dc\ub294 \ucd9c\ub825\uc774\uba70, \ub098\uba38\uc9c0 DO \uc0c1\ud0dc\ub294 \ucd9c\ub825\uc774 \uc5c6\ub294 \uc0c1\ud0dc\uc785\ub2c8\ub2e4. GCAN-4055\ub294 \uc544\ub798 \ud45c\uc640 \uadf8\ub9bc 5.5\uc758 \ub124 \ubc88\uc9f8 \ub370\uc774\ud130\uc640 \uac19\uc774 \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4.<\/div>\n
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\n
5.4 SDO \uba85\ub839<\/strong><\/div>\n
\uc0ac\uc6a9\uc790\ub294 CANopen \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158 \ub610\ub294 \uc218\ub3d9 \uc2dc\ubbac\ub808\uc774\uc158\uc744 \ud1b5\ud574 GCAN-4055\uc758 TPDO \uc804\uc1a1 \ubaa8\ub4dc\ub97c \uc218\uc815\ud558\uae30 \uc704\ud55c SDO \uba85\ub839\uc744 \uc804\uc1a1\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc124\uc815\ud560 \uc218 \uc788\ub294 \uc791\uc5c5 \ubaa8\ub4dc\uc5d0\ub294 \ud2b8\ub9ac\uac70 \ubaa8\ub4dc(\uae30\ubcf8\uac12)\uc640 \uc21c\ud658 \ubaa8\ub4dc\uc758 \ub450 \uac00\uc9c0 \uc720\ud615\uc774 \uc788\uc2b5\ub2c8\ub2e4.<\/div>\n
5.4.1 \uc6d0\ud615 \ud328\ud134 \uad6c\uc131\u00a0<\/strong><\/div>\n
\uc21c\ud658 \ubaa8\ub4dc\ub294 \uadf8\ub9bc 5.6\uc5d0 \ub098\uc640 \uc788\uc2b5\ub2c8\ub2e4. \uc21c\ud658 \ubaa8\ub4dc\uc5d0 \uc9c4\uc785\ud55c \ud6c4 GCAN-4055\ub294 \uac00\ub054\uc529 \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158\uc5d0 TPDO\ub97c \ubcf4\ub0c5\ub2c8\ub2e4.<\/div>\n
\uc124\uc815 \ubc29\ubc95:<\/div>\n
GCAN-4055\ub97c \uc791\ub3d9 \uc804 \uc0c1\ud0dc\ub85c \uc804\ud658\ud569\ub2c8\ub2e4(5.2 \ucc38\uc870).<\/div>\n
GCAN-4055\uc5d0 \ud504\ub808\uc784 ID 601\uc744 \uc804\uc1a1\ud558\uace0, \ud504\ub808\uc784 \ub370\uc774\ud130\ub294 2F 00 18 02 FE 00 00 00\uc785\ub2c8\ub2e4. \uc804\uc1a1 \uc131\uacf5 \ud6c4 GCAN-4055\uc758 \uc751\ub2f5 \ud504\ub808\uc784 ID\ub294 581\uc774\uba70, \ud504\ub808\uc784 \ub370\uc774\ud130\ub294 60 00 18 02 XX XX XX\uc785\ub2c8\ub2e4. \uc774\ub294 \ubcc0\uacbd\uc774 \uc131\uacf5\ud588\uc74c\uc744 \ub098\ud0c0\ub0c5\ub2c8\ub2e4.<\/div>\n
Start \uc6d0\uaca9 \ub178\ub4dc(5.2 \ucc38\uc870)\ub97c \uc804\uc1a1\ud558\uc5ec \ucee8\ubc84\ud130\ub97c \uc2dc\uc791\ud558\uba74 GCAN-4055\ub294 100ms\ub9c8\ub2e4 \ud558\ub098\uc758 TPDO \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4(\uae30\ubcf8\uac12). \uc774\uac83\uc774 \uad6c\uc131 \uc21c\ud658 \ud328\ud134\uc758 \uc131\uacf5\uc785\ub2c8\ub2e4.<\/div>\n
\ucc38\uace0: \uc21c\ud658 \ubaa8\ub4dc\uc758 \uac04\uaca9 \uc2dc\uac04\uc744 \ubcc0\uacbd\ud574\uc57c \ud558\ub294 \uacbd\uc6b0. \ub450 \ubc88\uc9f8 \ub2e8\uacc4\uac00 \ub05d\ub098\uba74 \ud504\ub808\uc784 ID 601\uc744 GCAN-4055\ub85c \uc804\uc1a1\ud569\ub2c8\ub2e4. \ud504\ub808\uc784 \ub370\uc774\ud130\ub294 2F 00 20 01 XX 00 00 00\uc785\ub2c8\ub2e4. \ube68\uac04\uc0c9 \ubd80\ubd84\uc740 \uc2dc\uac04 \uac04\uaca9(16\uc9c4\uc218), \ucd5c\ub300 FF, \ub2e8\uc704 ms\uc758 \ubcc0\uacbd \uc0ac\ud56d\uc785\ub2c8\ub2e4.<\/div>\n
\"\"<\/div>\n
\n
5.4.2 \ud2b8\ub9ac\uac70 \ubaa8\ub4dc \uad6c\uc131 \uc0ac\uc591(\uae30\ubcf8 \ubaa8\ub4dc)<\/strong><\/div>\n
\ud2b8\ub9ac\uac70 \ubaa8\ub4dc\ub294 \uadf8\ub9bc 5.7\uc5d0 \ub098\uc640 \uc788\uc73c\uba70, GCAN-4055\ub294 IO\uac00 \ubcc0\uacbd\ub420 \ub54c\ub9cc \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158\uc73c\ub85c TPDO\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4.<\/div>\n
\uc124\uc815 \ubc29\ubc95:<\/div>\n
GCAN-4055\ub97c \uc791\ub3d9 \uc804 \uc0c1\ud0dc\ub85c \uc804\ud658\ud569\ub2c8\ub2e4(5.2 \ucc38\uc870).<\/div>\n
\ubcc0\ud658\uae30(601)\ub85c \ud504\ub808\uc784 ID\ub97c \uc804\uc1a1\ud558\uba70, \ud504\ub808\uc784 \ub370\uc774\ud130\ub294 2F 00 18 02 FF 00 00 00\uc785\ub2c8\ub2e4. \uc804\uc1a1 \uc131\uacf5 \ud6c4 \ubaa8\ub4c8 \uc751\ub2f5\uc758 \ud504\ub808\uc784 ID\ub294 581\uc774 \ub418\uace0, \ud504\ub808\uc784 \ub370\uc774\ud130\ub294 60 00 18 02 XX XX XX\uac00 \ub429\ub2c8\ub2e4.<\/div>\n
\uc131\uacf5 \uc124\uc815 \ud6c4 \uc2dc\uc791 \uc6d0\uaca9 \ub178\ub4dc(5.2 \ucc38\uc870)\ub97c \uc804\uc1a1\ud558\uc5ec \ucee8\ubc84\ud130\ub97c \uc2dc\uc791\ud569\ub2c8\ub2e4. \ucee8\ubc84\ud130\ub294 \uc124\uc815\ub41c \uc21c\ud658 \ubaa8\ub4dc\uac00 \uc131\uacf5\ud588\uc74c\uc744 \ub098\ud0c0\ub0b4\ub294 TPDO \ub370\uc774\ud130\ub9cc \uc804\uc1a1\ud569\ub2c8\ub2e4.<\/div>\n<\/div>\n<\/div>\n<\/div>","protected":false},"excerpt":{"rendered":"

5.3 PDO \uba85\ub839 GCAN-4055\uc758 TPDO1\uc740 \uc785\ub825 \ubc0f \ucd9c\ub825 \uc0c1\ud0dc\ub97c \ub098\ud0c0\ub0b4\ub294 \ub370 \uc0ac\uc6a9\ub429\ub2c8\ub2e4. \uac01\uac01\uc740 ...<\/p>","protected":false},"author":1,"featured_media":2799,"comment_status":"open","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_joinchat":[],"footnotes":""},"categories":[26],"tags":[],"class_list":["post-2133","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-solution"],"_links":{"self":[{"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/posts\/2133","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/comments?post=2133"}],"version-history":[{"count":0,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/posts\/2133\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/media\/2799"}],"wp:attachment":[{"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/media?parent=2133"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/categories?post=2133"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/tags?post=2133"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}