{"id":930,"date":"2021-12-11T02:27:30","date_gmt":"2021-12-11T02:27:30","guid":{"rendered":"http:\/\/gcanbus.com\/?p=930"},"modified":"2021-12-17T02:05:26","modified_gmt":"2021-12-17T02:05:26","slug":"canopen-master-simulator-function-of-gcan-usbcan","status":"publish","type":"post","link":"https:\/\/gcanbus.com\/ko\/canopen-master-simulator-function-of-gcan-usbcan\/","title":{"rendered":"GCAN USBCAN\uc758 CANopen \ub9c8\uc2a4\ud130 \uc2dc\ubbac\ub808\uc774\ud130 \uae30\ub2a5"},"content":{"rendered":"

USB-CAN \ucee8\ubc84\ud130\uc758 CANopen \ub9c8\uc2a4\ud130 \uc2dc\ubbac\ub808\uc774\ud130 \uae30\ub2a5\uc744 \uc0b4\ud3b4\ubcf4\uaca0\uc2b5\ub2c8\ub2e4.
\n\uc67c\ucabd\uc758 \"\uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158 \ucc3e\uae30\"\ub97c \ud074\ub9ad\ud558\uc5ec CAN \ubc84\uc2a4\uc5d0 \uc788\ub294 \ubaa8\ub4e0 CANopen \uc2ac\ub808\uc774\ube0c \ub178\ub4dc\ub97c \uc2a4\uce94\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. CANopen \uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158\uc744 \uc218\ub3d9\uc73c\ub85c \ucd94\uac00\ud560 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4. \uc774\ubbf8 \ucd94\uac00\ub41c \uc2a4\ud14c\uc774\uc158\uc740 \uc544\ub798\uc640 \uac19\uc774 \ud45c\uc2dc\ub429\ub2c8\ub2e4. \uc0ac\uc6a9\uc790\ub294 \uc9c0\uc815\ub41c \ub178\ub4dc \ubc88\ud638\ub97c \ub354\ube14 \ud074\ub9ad\ud558\uc5ec \uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158\uacfc \ud1b5\uc2e0\ud558\uae30 \uc704\ud55c \uc778\ud130\ud398\uc774\uc2a4\ub97c \ud65c\uc131\ud654\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\"\"<\/p>\n

\uc5ec\uae30\ub97c \ud074\ub9ad\ud558\uc5ec GCAN\uc758 USB-CAN \ud398\uc774\uc9c0\ub85c \uc774\ub3d9\ud558\uc5ec \uc790\uc138\ud788 \uc54c\uc544\ubcf4\uc138\uc694.<\/div>\n

CANopen \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158 \uae30\ub2a5\uc740 USBCAN \ub514\ubc14\uc774\uc2a4\ub97c CANopen \ub9c8\uc2a4\ud130 \uce74\ub4dc\ub85c \uc804\ud658\ud558\uace0 CANopen \ub124\ud2b8\uc6cc\ud06c\uc5d0 \uc561\uc138\uc2a4\ud569\ub2c8\ub2e4. ECANTools\uc5d0\ub294 \uc77c\ubc18\uc801\uc73c\ub85c \uc0ac\uc6a9\ub418\ub294 \ub2e4\uc591\ud55c CANopen \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158 \uae30\ub2a5\uc774 \uc788\uc2b5\ub2c8\ub2e4. \uc608\ub97c \ub4e4\uc5b4, NMT(\ub124\ud2b8\uc6cc\ud06c \uad00\ub9ac), SYNC(\ub3d9\uae30 \ud504\ub85c\ud1a0\ucf5c), EMERGENCY(\uae34\uae09 \uba54\uc2dc\uc9c0), PDO(\ud504\ub85c\uc138\uc2a4 \ub370\uc774\ud130 \uac1d\uccb4), SDO(\uc11c\ube44\uc2a4 \ub370\uc774\ud130 \uac1d\uccb4), NODE GUARDING(\ub178\ub4dc \ubcf4\ud638) \ub4f1\uc774 \uc788\uc2b5\ub2c8\ub2e4.
\n\ub2e4\uc74c \ud45c\uc5d0\ub294 CANopen \uacf5\ud1b5 \ud504\ub808\uc784 \uc720\ud615\uc5d0 \ud574\ub2f9\ud558\ub294 \uae30\ub2a5 \ucf54\ub4dc\uc640 \ud504\ub808\uc784 ID \ubc94\uc704\uac00 \ub098\uc640 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n\n
\uba54\uc2dc\uc9c0 \uc720\ud615<\/td>\n\uae30\ub2a5 \ucf54\ub4dc<\/td>\nCOB-ID \ubc94\uc704(16\uc9c4\uc218)<\/td>\n<\/tr>\n
NMT<\/td>\n0000<\/td>\n000h<\/td>\n<\/tr>\n
\ub3d9\uae30\ud654<\/td>\n0001<\/td>\n080h<\/td>\n<\/tr>\n
\uae34\uae09 \uc0c1\ud669<\/td>\n0001<\/td>\n081h-0FFh<\/td>\n<\/tr>\n
\uc2dc\uac04<\/td>\n0010<\/td>\n100h<\/td>\n<\/tr>\n
PDO1(\uc804\uc1a1)<\/td>\n0011<\/td>\n181h-1FFh<\/td>\n<\/tr>\n
PDO1(\uc218\uc2e0)<\/td>\n0100<\/td>\n201h-27Fh<\/td>\n<\/tr>\n
PDO2(\uc804\uc1a1)<\/td>\n0101<\/td>\n281h-2FFh<\/td>\n<\/tr>\n
PDO2(\uc218\uc2e0)<\/td>\n0110<\/td>\n301h-37Fh<\/td>\n<\/tr>\n
PDO3(\uc804\uc1a1)<\/td>\n0111<\/td>\n381h-3FFh<\/td>\n<\/tr>\n
PDO3(\uc218\uc2e0)<\/td>\n1000<\/td>\n401h-47Fh<\/td>\n<\/tr>\n
PDO4(\uc804\uc1a1)<\/td>\n1001<\/td>\n481h-4FFh<\/td>\n<\/tr>\n
PDO4(\uc218\uc2e0)<\/td>\n1010<\/td>\n501h-57Fh<\/td>\n<\/tr>\n
SDO(\uc804\uc1a1)<\/td>\n1011<\/td>\n581h-5FFh<\/td>\n<\/tr>\n
SDO(\uc218\uc2e0)<\/td>\n1100<\/td>\n601h-67Fh<\/td>\n<\/tr>\n
NMT \uc624\ub958 \uc81c\uc5b4<\/td>\n1110<\/td>\n701h-77Fh<\/td>\n<\/tr>\n<\/tbody>\n<\/table>\n

1 NMT \uba85\ub839<\/strong><\/p>\n

\"\"<\/p>\n

NMT \uba85\ub839\uc740 \ub124\ud2b8\uc6cc\ud06c \uad00\ub9ac(\ucd08\uae30\ud654, \ub178\ub4dc \uc2dc\uc791 \ubc0f \uc911\uc9c0, \uc7a5\uc560 \ub178\ub4dc \uac10\uc9c0 \ub4f1)\ub97c \uc81c\uacf5\ud569\ub2c8\ub2e4.
\n\uc0ac\uc6a9\uc790\ub294 NMT \uba85\ub839\uc744 \uc0ac\uc6a9\ud558\uc5ec \uc2ac\ub808\uc774\ube0c \ub178\ub4dc\uc758 \uc2e4\ud589 \uc0c1\ud0dc\ub97c \ubcc0\uacbd\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.
\n\uc6d0\uaca9 \ub178\ub4dc \uc2dc\uc791 - \ub178\ub4dc\ub97c \uc791\ub3d9 \uc0c1\ud0dc\ub85c \uc124\uc815\ud569\ub2c8\ub2e4.
\n\uc6d0\uaca9 \ub178\ub4dc \uc911\uc9c0 - \ub178\ub4dc\ub97c \uc911\uc9c0 \uc0c1\ud0dc\ub85c \uc124\uc815\ud569\ub2c8\ub2e4.
\n\uc791\ub3d9 \uc804 \uc0c1\ud0dc\ub85c \uc804\ud658 - \ub178\ub4dc\ub97c \uc791\ub3d9 \uc804 \uc0c1\ud0dc\ub85c \uc124\uc815\ud569\ub2c8\ub2e4.
\n\ub178\ub4dc \uc7ac\uc124\uc815 - \ub178\ub4dc \uc7ac\uc124\uc815\uc744 \uc124\uc815\ud569\ub2c8\ub2e4.
\n\ud1b5\uc2e0 \uc7ac\uc124\uc815 - \ub178\ub4dc \uc7ac\uc124\uc815 \ud1b5\uc2e0\uc744 \uc124\uc815\ud569\ub2c8\ub2e4.
\n2 \ub3d9\uae30\ud654 \uba54\uc2dc\uc9c0<\/strong>
\nSYNC\ub294 \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158\uc774 \ubcf4\ub0b4\ub294 \ub3d9\uae30\ud654 \uba54\uc2dc\uc9c0\uc785\ub2c8\ub2e4. PDO\uac00 \ub3d9\uae30\ud654\ub41c \ubaa8\ub4e0 \uc2a4\ud14c\uc774\uc158\uc740 SYNC \uba54\uc2dc\uc9c0\ub97c \uae30\ubc18\uc73c\ub85c \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158\uacfc \ud1b5\uc2e0\ud569\ub2c8\ub2e4.
\n\uc0ac\uc6a9\uc790\ub294 ECANTools\ub97c \ud1b5\ud574 \uc8fc\uae30\uc801\uc73c\ub85c \ub3d9\uae30\ud654 \uba54\uc2dc\uc9c0\ub97c \ubcf4\ub0bc \uc218 \uc788\uc2b5\ub2c8\ub2e4.<\/p>\n

\"\"<\/p>\n

3 \uae34\uae09 \uba54\uc2dc\uc9c0<\/strong><\/p>\n

\"\"<\/p>\n

ECANTools\ub294 \uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158 \ub178\ub4dc\ub85c\ubd80\ud130 \ube44\uc0c1 \uba54\uc2dc\uc9c0\ub97c \uc218\uc2e0\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4. \uc774 \uba54\uc2dc\uc9c0\ub294 \ube44\uc0c1 \uc0c1\ud0dc\uc758 \uc2ac\ub808\uc774\ube0c \ub178\ub4dc\uc5d0\uc11c \uc804\uc1a1\ub429\ub2c8\ub2e4. ECANTools\uc758 CANopen \ub9c8\uc2a4\ud130 \uae30\ub2a5\uc740 \uc774 \ube44\uc0c1 \uba54\uc2dc\uc9c0\ub97c \uc218\uc2e0\ud558\uace0 \ucc98\ub9ac\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.
\n4 PDO(\ud504\ub85c\uc138\uc2a4 \ub370\uc774\ud130 \uac1c\uccb4)<\/strong><\/p>\n

\"\"<\/p>\n

CANopen \ub178\ub4dc\ub294 \uc8fc\ub85c \uc2e4\uc2dc\uac04 \ub370\uc774\ud130 \uc804\uc1a1\uc5d0 \uc0ac\uc6a9\ub418\ub294 PDO\ub97c \uc0ac\uc6a9\ud558\uc5ec \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4.
\n\uc804\uccb4 \uc774\ub984\uc740 \ud504\ub85c\uc138\uc2a4 \ub370\uc774\ud130 \uac1d\uccb4\uc774\uba70, \ub2e8\ubc29\ud5a5 \uc804\uc1a1\uc774 \uac00\ub2a5\ud55c \ud504\ub85c\uc138\uc2a4 \ub370\uc774\ud130\uc5d0 \uc18d\ud569\ub2c8\ub2e4. \uc218\uc2e0 \ub178\ub4dc\uc758 \uacbd\uc6b0 \ud655\uc778\ub41c CAN \uba54\uc2dc\uc9c0\uc5d0 \uc751\ub2f5\ud560 \ud544\uc694\uac00 \uc5c6\uc2b5\ub2c8\ub2e4.
\nECANTools\uc5d0\ub294 TPDO\/RPDO\uc758 4\uc30d\uc758 \uc1a1\uc218\uc2e0 PDO\uac00 \uc788\uc2b5\ub2c8\ub2e4.
\n5 SDO(\uc11c\ube44\uc2a4 \ub370\uc774\ud130 \uac1c\uccb4)<\/strong><\/p>\n

\"\"<\/p>\n

CANopen \ub9c8\uc2a4\ud130 \ubaa8\ub4c8\uc758 SDO \uae30\ub2a5\uc740 \uc1a1\uc2e0\uacfc \uc218\uc2e0\uc73c\ub85c \ub098\ub269\ub2c8\ub2e4. ECANTools\uc758 SDO \uae30\ub2a5\uc744 \ud1b5\ud574 \uc0ac\uc6a9\uc790\ub294 \uc778\ub371\uc2a4\uc640 \uc11c\ube0c \uc778\ub371\uc2a4\ub97c \ud3b8\uc9d1\ud558\uc5ec \uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158\uacfc \ud1b5\uc2e0\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.
\n6 \ub178\ub4dc \uac00\ub4dc<\/strong><\/p>\n

\"\"<\/p>\n

ECANTools\uc5d0\uc11c \ub178\ub4dc \uac00\ub4dc \uae30\ub2a5\uc744 \uad6c\ud604\ud558\ub294 \ubc29\ubc95\uc740 \ub450 \uac00\uc9c0\uac00 \uc788\uc2b5\ub2c8\ub2e4. \ub9c8\uc2a4\ud130 \uc2a4\ud14c\uc774\uc158\uc774 \uc790\ub3d9\uc73c\ub85c \uba85\ub839\uc744 \uc804\uc1a1\ud558\uc5ec \uc2ac\ub808\uc774\ube0c \ub178\ub4dc\uc758 \uc0c1\ud0dc\ub97c \uc870\ud68c\ud558\uace0(\ub178\ub4dc \uac00\ub4dc), \uc2ac\ub808\uc774\ube0c \ub178\ub4dc\ub294 \uc8fc\uae30\uc801\uc73c\ub85c \ud558\ud2b8\ube44\ud2b8\ub85c \uc0c1\ud0dc\ub97c \uc804\uc1a1\ud558\ub294(\ud558\ud2b8\ube44\ud2b8) \ubc29\uc2dd\uc785\ub2c8\ub2e4.<\/p>\n

ECANTools\ub294 \uc0ac\uc6a9\uc790 \uc9c0\uc815 \uba54\uc2dc\uc9c0\ub97c \ud3b8\uc9d1\ud558\uc5ec CANopen \ub370\uc774\ud130\ub97c \uc218\ub3d9\uc73c\ub85c \uc2dc\ubbac\ub808\uc774\uc158\ud560 \uc218\ub3c4 \uc788\uc2b5\ub2c8\ub2e4.
\n\uc0ac\uc6a9\uc790\ub294 \uc4f0\uae30 \uae30\ub2a5\uc744 \ud1b5\ud574 CANopen \uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158\uc5d0 \uc9c1\uc811 \ub370\uc774\ud130\ub97c \uc804\uc1a1\ud560 \uc218 \uc788\uc2b5\ub2c8\ub2e4.
\n\ucf54\ub4dc, \uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158 \ub178\ub4dc ID \ubc0f \ub370\uc774\ud130.<\/p>\n

\"\"<\/p>\n

\ud574\ub2f9 \uae30\ub2a5\uc5d0 \ud574\ub2f9\ud558\ub294 \uae30\ub2a5 \ucf54\ub4dc\ub294 \ub2e4\uc74c \ud45c\uc5d0 \ub098\uc640 \uc788\uc2b5\ub2c8\ub2e4:
\n--PDO 0x1800+n \uad6c\uc131 \ubc29\ubc95
\n--COB-ID\ub294 0x387
\n--PDO\ub294 \ud56d\uc0c1 \uc804\uc1a1\uc744 \ud2b8\ub9ac\uac70\ud569\ub2c8\ub2e4.
\n--\ub370\uc774\ud130\ub97c \ud3ec\ud568\ud574\uc57c \ud569\ub2c8\ub2e4: \ub370\uc774\ud130 X(2\ubc14\uc774\ud2b8), \ub370\uc774\ud130 Y(4\ubc14\uc774\ud2b8)
\n\ub2e4\uc74c \uc21c\uc11c\ub300\ub85c
\n-\ub371\uc2a4 0x6000, \ud558\uc704 \uc778\ub371\uc2a4 03\uc5d0 \uc815\uc758\ub41c \ub370\uc774\ud130 X
\n-\ub371\uc2a4 0x2010, \ud558\uc704 \uc778\ub371\uc2a4 21\uc5d0 \uc815\uc758\ub41c \ub370\uc774\ud130 Y
\n1- \uc778\ub371\uc2a4 1800+n, \ud558\uc704 \uc778\ub371\uc2a4 01: COBID \uc4f0\uae30(4\ubc14\uc774\ud2b8)
\n2 \uc778\ub371\uc2a4 1800+N, \uc11c\ube0c \uc778\ub371\uc2a4 02: \uc804\uc1a1 \ubc14\uc774\ud2b8 \"T\"(1\ubc14\uc774\ud2b8) \uc4f0\uae30
\nt=1 ~ 0xF0: \"t\" \ubc30\uc218\uc758 SYNC\ub97c \uc218\uc2e0\ud558\uba74 PDO\uac00 \uc804\uc1a1\ub429\ub2c8\ub2e4.
\nt=FD: PDO \uc694\uccad\uc744 \ubc1b\uc740 \ud6c4 \uc804\uc1a1(rtr=1)
\nt=FF: \uc774\ubca4\ud2b8\uc5d0 \ub530\ub77c \ub178\ub4dc\uac00 \uc790\ub3d9\uc73c\ub85c PDO\ub97c \uc804\uc1a1\ud569\ub2c8\ub2e4.
\n3- \uc778\ub371\uc2a4 1A00+n: \ucc98\uc74c n\uac1c\uc758 \ub370\uc774\ud130\ub97c \uc815\uc758\ud558\ub294 \ub9e4\ud551\uc785\ub2c8\ub2e4.
\n\ud558\uc704 \uc778\ub371\uc2a4 0: PDO\uc5d0 \uae30\ub85d\ub418\ub294 \ub370\uc774\ud130 \uc218(1\ubc14\uc774\ud2b8). \uc774 \uacbd\uc6b0 \"2\"\ub97c \uc501\ub2c8\ub2e4.
\n\ud558\uc704 \uc778\ub371\uc2a4 1: \uccab \ubc88\uc9f8 \ub370\uc774\ud130\ub97c \ucc3e\uc744 \uc704\uce58\uc640 \uae30\ub85d\ud560 \ud06c\uae30(8\ubc14\uc774\ud2b8)\ub97c \uc815\uc758\ud569\ub2c8\ub2e4.
\n\ud615\uc2dd\uc740 \uc778\ub371\uc2a4(2\ubc14\uc774\ud2b8) - \ud558\uc704 \uc778\ub371\uc2a4(1\ubc14\uc774\ud2b8) - \ube44\ud2b8 \ub2e8\uc704 \ud06c\uae30(1\ubc14\uc774\ud2b8)\uc785\ub2c8\ub2e4.
\n\uc774 \uacbd\uc6b0 \"60000310\"\ub97c \uc791\uc131\ud569\ub2c8\ub2e4.
\n\ud558\uc704 \uc778\ub371\uc2a4 2: \ub450 \ubc88\uc9f8 \ub370\uc774\ud130\ub97c \ucc3e\uc744 \uc704\uce58 \ubc0f \uc4f0\uae30 \ud06c\uae30(8\ubc14\uc774\ud2b8)\ub97c \uc815\uc758\ud569\ub2c8\ub2e4.
\n\uc774 \uacbd\uc6b0\"20102120\"\ub97c \uc791\uc131\ud569\ub2c8\ub2e4.
\n\uac01 3 \uac1c\uc758 \ub3d9\uae30\ud654 \uc804\uc1a1\uc758 \uad6c\uc131 \ub178\ub4dc 5 PDO 1802\uc5d0\uc11c \uc804\uc1a1\ud558\ub294 SDO\ub294 \ub2e4\uc74c\uacfc \uac19\uc544\uc57c \ud569\ub2c8\ub2e4.
\n605\u00a023\u00a002\u00a018\u00a001\u00a000\u00a000\u00a08703
\n605 2F 02 18 02 03 00 00 00
\n605 2F 02 1A 00 02 00 00 00 00 00
\n605 23 02 1A 01 10 03 00 60
\n605 23 02 1A 02 20 21 10 20<\/p>","protected":false},"excerpt":{"rendered":"

USB-CAN \ucee8\ubc84\ud130\uc758 CANopen \ub9c8\uc2a4\ud130 \uc2dc\ubbac\ub808\uc774\ud130 \uae30\ub2a5\uc744 \uc0b4\ud3b4 \ubcf4\uaca0\uc2b5\ub2c8\ub2e4. \uc67c\ucabd\uc758 \"\uc2ac\ub808\uc774\ube0c \uc2a4\ud14c\uc774\uc158 \ucc3e\uae30\"\ub97c \ud074\ub9ad\ud558\uc5ec ...<\/p>","protected":false},"author":1,"featured_media":939,"comment_status":"closed","ping_status":"closed","sticky":false,"template":"","format":"standard","meta":{"_joinchat":[],"footnotes":""},"categories":[25],"tags":[],"class_list":["post-930","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-news"],"_links":{"self":[{"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/posts\/930","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=930"}],"version-history":[{"count":0,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/posts\/930\/revisions"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/media\/939"}],"wp:attachment":[{"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/media?parent=930"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/categories?post=930"},{"taxonomy":"post_tag","embeddable":true,"href":"https:\/\/gcanbus.com\/ko\/wp-json\/wp\/v2\/tags?post=930"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}