Izindaba

1. Isimiso sobuchwepheshe: Ibhasi le-CAN lamukela isimiso sobuchwepheshe sokutholwa kokungqubuzana okusabalalisiwe kanye nesikhathi sebhithi esingabhubhisi, futhi lixhumana ngamanodi asebhasini labelane ngendlela yokudlulisela (okufana nokupheya okusontekile).I-EtherCAT isekelwe kubuchwepheshe be-Ethernet, isebenzisa isakhiwo se-master-slave kanye nendlela yokusakaza eyinhloko ukuze kuzuzwe ukuxhumana okuvumelanayo kwamadivayisi ezinceku eziningi ngaphakathi kohlaka lwe-Ethernet.

2.Isivinini sokudlulisa: Isivinini sokudlulisa sebhasi le-CAN ngokuvamile sisuka kumakhulu ambalwa wama-kbps ukuya ku-1Mbps ambalwa, esifanele izimo zohlelo lokusebenza olumaphakathi nesivinini esiphansi.I-EtherCAT isekela izivinini zokudlulisela eziphezulu, ngokuvamile ezifinyelela ku-100Mbps.Ngisho nokuthembela kubuchwepheshe obungeziwe be-EtherCAT G, izinga lokudlulisela lingafinyelela ku-1000Mbit/s noma ngaphezulu, elifanele izinhlelo zokusebenza zesivinini esikhulu ezidinga ukuxhumana okusheshayo kwesikhathi sangempela.

3. Isikhathi sangempela nokuvumelanisa: I-EtherCAT ingaqinisekisa ukudluliswa kwedatha ngesikhathi sangempela, futhi ukudluliswa kwedatha kuthola kuphela umkhawulo wesikhathi ophephile phakathi kwamafreyimu amabili.Ukuvumelanisa okuyingqayizivele kwe-EtherCAT kungaqinisekisa ukuthi wonke ama-node aqalwa ngokuhambisanayo, futhi isikhathi se-jitter sesiginali yokuvumelanisa singaphansi kakhulu kwe-1us.

4.Umkhawulo wobude bephakethe ledatha: I-EtherCAT inqamula umkhawulo wobude bephakethe le-SDO ebhasini le-Can.

5. Imodi yokukhuluma: I-EtherCAT inganqamula ama-node amaningi ekudluliseni okukodwa, futhi amakheli esiteshi esikhulu ngokwekheli elibekwe esiteshini ngasinye sezigqila.Izindlela zokukhuluma zingahlukaniswa zibe: ikheli elisakazwayo, ikheli lokwengeza okuzenzakalelayo, ikheli lendawo engaguquki, kanye nokukhuluma okunengqondo.Izindlela zokukhuluma zenodi ye-CAN zingahlukaniswa zibe: ikheli lendawo kanye namakheli okusakaza.

6.I-Topology: I-CAN topology esetshenziswa kakhulu wuhlobo lwebhasi;I-EtherCAT isekela cishe wonke ama-topology: inkanyezi, umugqa, isihlahla, iketango le-daisy, njll., futhi isekela imidiya yokuxhumana ehlukahlukene njengezintambo nemicu yokubona.Iphinde isekele Isici esishintshashintshayo esishisayo siqinisekisa ukuguquguquka kokuxhumana phakathi kwamadivayisi.

Ukufingqa, ezinhlelweni zokusebenza zesishumeki sekhodi, kukhona umehluko omkhulu phakathi kwebhasi le-CAN ne-EtherCAT ngokwemigomo yezobuchwepheshe, isivinini sokudlulisa, ukusebenza kwesikhathi sangempela nokuvumelanisa, imikhawulo yobude bephakethe ledatha nezindlela zokukhuluma, nezakhiwo ze-topology.Iphrothokholi yokuxhumana efanele idinga ukukhethwa ngokusekelwe ezidingweni zangempela kanye nezimo.