多電機伺服控制廣泛應用于各種電力傳動自動控制系統中，如配料、傳動等生產過程。伺服系統中電機控制性能和多電機間協調控制的好壞直接影響生產過程的質量，如何**管理、方便應用、實時控制是多電機伺服系統生產領域亟待解決的首要問題。因此，本文提出一種基于CAN總線技術的多軸運動控制數字交流伺服系統。
現場總線技術解決了傳統總線插板I/O模塊多，干擾嚴重、系統軟件編寫復雜、系統硬件兼容性差等問題。大大減輕了現場信號連接的繁瑣與費用，提高了信號傳輸的精度與靈活性，給安裝、調試和維護帶來諸多方便，為現場用戶帶來巨大的經濟效益，代表著自動化領域發展的一個重要方向.
CAN總線技術
隨著工業現場控制和自動化技術的不斷進步，傳統的通信模式已不能滿足現代工程需要。CAN（Controller Area Network）總線是80年代初德國Bosch公司為解決現代汽車中眾多控制與測試儀器間數據交換而開發的一種串行數據通信協議，是一種性能先進、價格低廉、保密性好的現場總線（Field Bus）技術，能夠**支持分布式控制或實時控制串行通信網絡[2>。CAN總線中各節點都有權利向其它節點發送信息。通信介質可以是雙絞線、同軸電纜或光纖，主要技術特點有:
1,是一種多主總線
網絡上任一個節點均可在任意時刻主動向網絡上其它節點發送信息，多主站依據優先機制進行總線訪問;
2,非破壞性基于優先權總線仲裁技術
采用非破壞性基于優先權總線仲裁技術結構，大大節省總線沖突仲裁時間，在重負荷下表現出良好性能;
3,具有多種傳送數據功能
具有點對點，一點對多點（成組）及全局廣播傳送數據功能;
4,節點數目多
直接通訊距離最遠可達10km（傳輸速率為5kbps），**通訊速率可達1Mbps（傳輸距離為40m）;
5,可靠性高
數據鏈路層采用短幀結構，實時性高，糾錯***，每幀信息都有CRC校驗及其它校驗措施，數據出錯率低，可靠性高;
6,故障自動判別
發送期間若丟失仲裁或因出錯而遭破壞的幀可自動重發，暫時錯誤和**性故障節點判別及故障節點自動脫離CAN總線。
CAN總線系統由CAN網絡節點、轉發器節點和上位機構成。總線技術遵循現場總線協議，將分布在不同位置，用途各異的測量儀表、控制設備互聯成網，并可接入Intranet和Internet網絡。現場總線技術的關鍵標志是它能支持雙向多變量、總線式全數字通訊。傳統4～20mA模擬直流回路只能在一根兩芯電纜中單向傳輸一個參數，隨著系統結構的日益復雜和信息量的增加，4～20mA電流環傳輸成為制約信息傳輸的瓶頸，所以現場總線替代4～20mA模擬信號標準已成為控制系統發展的必然趨勢。
基于CAN總線技術的多機伺服系統
CAN總線控制網絡結構
基于CAN總線技術的多電機伺服控制系統網絡結構如圖1所示，系統由上位機、CAN總線、現場伺服單元節點組成。數控系統上位機通過CAN總線控制網絡節點任一伺服單元，數字伺服與數控系統之間數據傳輸可分為實時性數據信息和非實時性數據信息兩類。實時性數據指參與控制器實時位置、速度、轉矩等控制指令和反饋信息，傳輸速度要求較高。非實時性數據主要是指控制器參數設置、功能設定、診斷功能、伺服狀態與報警等信息，傳輸速度相對較低。
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【主營產品】
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2：Invensys Triconex: 冗余容錯控制系統、基于三重模件冗余（TMR）結構的最現代化的容錯控制器。
3：Westinghouse（西屋）： OVATION系統、WDPF系統、WEStation系統備件。
4：Rockwell Allen-Bradley: Reliance瑞恩、SLC500/1747/1746、MicroLogix/1761/1763/1762/1766/1764、
CompactLogix/1769/1768、Logix5000/1756/1789/1794/1760/1788、PLC-5/1771/1785等。
5：Schneider Modicon（施耐德莫迪康）：Quantum 140系列處理器、控制卡、電源模塊等。
6：ABB：工業機器人備件DSQC系列、Bailey INFI 90等。
7：Siemens(西門子)：Siemens MOORE， Siemens Simatic C1，Siemens數控系統等。
8：Motorola（摩托羅拉）：MVME 162、MVME 167、MVME1772、MVME177等系列。
9：XYCOM：I/O 、VME板和處理器等。
10：GE FANUC(GE發那科)：模塊、卡件、驅動器等各類備件。
11：Yaskawa（安川）：伺服控制器、伺服馬達、伺服驅動器。
12：Bosch Rexroth（博世力士樂）：Indramat，I/O模塊,PLC控制器,驅動模塊等。
13：Woodward（伍德沃德）：SPC閥位控制器、PEAK150數字控制器。
14:工業機器人系統備件。
15： 英維斯(TRICONEX):TRICON DCS的系列，如：3805E
另外還有 雅馬哈(YAMAHA), 貝加萊(B&R)， 歐姆龍(OMRON), KEBA， 安川(YASKAWA) 等品牌的停產備件。
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ANDERSON NEGELE GJ43G3G3G3G01 USPP GJ43G3G3G3G01
ANDERSON NEGELE GJ43G3G3N3N01 USPP GJ43G3G3N3N01
ANDERSON GREENWOOD M4AVIC USPP M4AVIC
ANDERSON GREENWOOD HVS-1522S NSFP HVS1522S
ANDERSON NEGELE HA6071G12301205 USPP HA6071G12301205
WE ANDERSON V6EPB-B-S-6-B USPP V6EPBBS6B
WE ANDERSON 605-10 NSPP 60510
ANDERSON NEGELE HA6066G12301205 USPP HA6066G12301205
ANDERSON NEGELE EM069010044011A0000 USPP EM069010044011A0
NEW CLARK- RELIANCE ANDERSON LC75 HI-EF SEPERATOR 3/4"
ANDERSON NEGELE EL077290051111A USPP EL077290051111A
ANDERSON NEGELE EL074010054111A USPP EL074010054111A
ANDERSON NEGELE EL074290051111A USPP EL074290051111A
WE ANDERSON IS626-10-GH-P1-E1--S1 NSFP IS62610GHP1E1S1
ANDERSON GREENWOOD M4THIW4AMS-SSCT USPP M4THIW4AMSSSCT
ANDERSON ELECTRIC CONTROLS HL-4 USPP HL4
ANDERSON NEGELE EL97401004111* USPP EL97401004111*
WE ANDERSON V6EPB-B-S-5-B NSFP V6EPBBS5B
ANDERSON NEGELE 561010077F USPP 561010077F
ANDERSON NEGELE EL-971-01-005-1-1-1-1A USPP EL971010051111A
ANDERSON INSTRUMENT POWER BOARD/CONTROLLER FOR DATA RECORDER 56000-A16
WE ANDERSON 605-0 NSFP 6050
WE ANDERSON 605-10 USPP 60510
ANDERSON POWER 13996 NSFP 13996
ANDERSON GREENWOOD M4TVS-AMS-PT USPP M4TVSAMSPT
ANDERSON NEGELE TZML025D110R0 USPP TZML025D110R0
ANDERSON GREENWOOD M4AVIS USPP M4AVIS
WE ANDERSON V6EPB-B-S-5-B NSPP V6EPBBS5B
ANDERSON NEGELE FB1167F20089 NSPP FB1167F20089
WE ANDERSON GFD3DA USPP GFD3DA
ANDERSON RZ32-92-MPW-24V POSITIVE TRANSDUCER **
ANDERSON INSTRUMENT SV017G123G1205 *NEW IN BOX*
ANDERSON INSTRUMENT POSITIVE DISPLACEMENT TRANSDUCER RZ32-92-MPW-24V, GUC
ANDERSON NEGELE 56000-A32 USPP 56000A32
ANDERSON GREENWOOD M5VDC-46 NSFP M5VDC46
ANDERSON POWER 943 USPP 943
ANDERSON GREENWOOD 04623802 USPP 04623802
ANDERSON PRODUCTS 38510 NSPP 38510
ANDERSON NEGELE EC0840104414200 NSFP EC0840104414200
ANDERSON NEGELE SL6093100001516 USPP SL6093100001516
CJ ANDERSON & CO F-3 USPP F3
WE ANDERSON MARK-II-26 NSFP MARKII26
ANDERSON PRODUCTS 38513 NSFP 38513
ANDERSON INSTRUMENT ANALOG TEMPERATURE TRANSMITTER 561010077F **
ANDERSON GREENWOOD M4TVIS-4 NSFP M4TVIS4
Anderson Instrument E321748 SH-5 94V-O
WE ANDERSON V6EPB-S-S-1-M1 NSFP V6EPBSS1M1
CJ ANDERSON & CO 66350 NSPP 66350
ANDERSON NEGELE CT-1-561010119F USPP CT1561010119F
WE ANDERSON 605-0 USPP 6050
WE ANDERSON 605-1 USPP 6051
ANDERSON GREENWOOD 02-2547-541 USPP 022547541
ANDERSON LC125342/ 8918581 *NEW OUT OF BOX*
ANDERSON GREENWOOD M1VIS-4 INSTRUMENT MANIFOLD *NEW OUT OF A BOX*
ANDERSON SA510040370000 *NEW IN A BOX*
ANDERSON GREENWOOD M4AV1S **
ANDERSON 0191709 GAUGE *NEW OUT OF BOX*
W.E. ANDERSON 350SS FLOW INDICATOR *NEW IN A BOX*
ANDERSON REPAIR KIT 04.8474.123 *NEW IN BOX*
NEW W.E. ANDERSON MODEL: WD WATER DETECTOR
ANDERSON GREENWOOD M4AVC USPP M4AVC
ANDERSON GREENWOOD M4TVIS-4 NSPP M4TVIS4
ANDERSON INSTRUMENT 56000-A51 REV. D SETPOINT BOARD 56000A51
ANDERSON INSTRUMENT 56000-A51 REV. D CALIBRATION BOARD 56000A51
ANDERSON INSTRUMENT 56000-A51 REV. D LOGIC BOARD 56000A51
ANDERSON PHARMACEUTICAL SERIES 0-300 PSI GAUGE W/ RELAY CONTACTOR E989PPJ
GUARANTEE ANDERSON INSTRUMENT GF114J22 PULSE LEVEL MONITOR BOARD 56000-A72 REV.B
GUARANTEED! ANDERSON INSTRUMENT GF114J22 PULSE LEVEL MONITOR BOARD 56000-A73
WE ANDERSON VA13411 NSFP VA13411
ANDERSON GREENWOOD M9VIS-44 NSFP M9VIS44
ANDERSON GREENWOOD MC2HPS-4-XP NSFP MC2HPS4XP
WE ANDERSON MARK-II-26 USPP MARKII26
ANDERSON GREENWOOD M9VIS4M061305001 NSPP M9VIS4M061305001
ANDERSON GREENWOOD M4TVIS-4 USPP M4TVIS4
WE ANDERSON SFI-300SS-1/2-G1-12 NSFP SFI300SS12G112
ANDERSON,GREENWOOD & COMPANY M4ACIC INSTRAMENT MANIFOLD *NEW NO BOX*
Anderson TDL Differential Level Transmitter
GUARANTEED ANDERSON INSTRUMENT GF114J22 PULSE LEVEL MONITOR BOARD 56000-A41 RV.D
GUARANTEED! ANDERSON INSTRUMENT GF114J22 PULSE LEVEL MONITOR BOARD 56014-R34
ANDERSON NEGELE 56000-A7C USPP 56000A7C
ANDERSON GREENWOOD M9VIS-44 NSPP M9VIS44
WE ANDERSON 119151-00 NSFP 11915100
ANDERSON GREENWOOD M4AVIS-02-2565-541 USPP M4AVIS022565541
ANDERSON GREENWOOD M*HSC46 022260005 GAGE VALVE 1500PSI 850DEG. F
ONE NEW Anderson PWA Digital Display Board for AJ300 Chart Recorder SP04624606
ANDERSON GREENWOOD MC2HPS-4 NSPP MC2HPS4
ANDERSON GREENWOOD B10254-001-108 NSPP B10254001108
ANDERSON GREENWOOD M1VIS-4 NSPP M1VIS4
WE ANDERSON V6EPB-B-S-1-B NSFP V6EPBBS1B
ANDERSON NEGELE 56000-A53 USPP 56000A53
WE ANDERSON V8-119152-00 NSPP V811915200
WE ANDERSON V6EPBSS60 NSFP V6EPBSS60
ANDERSON 56001 **
WE ANDERSON V8 FLOW SWITCH 119152-00 *NEW IN BOX*
ANDERSON NEGELE 56000-L04 USPP 56000L04
TAYLOR 3400T SERIES TRANSMITTER and ANDERSON-GREENWOOD MANIFOLD
GUARANTEED! ANDERSON INSTRUMENT GF114J22 PULSE LEVEL MONITOR BOARD 56000-A56
ANDERSON GREENWOOD M4TVIC-4 USPP M4TVIC4
ANDERSON NEGELE 0030838 USPP 0030838
ANDERSON POWER OPGWHARDWARE NSFP OPGWHARDWARE
ANDERSON NEGELE HD310051015 USPP HD310051015
ANDERSON NEGELE HD320051015 USPP HD320051015
ANDERSON INSTRUMENTS SP160-A1 *NEW NO BOX*
ANDERSON NEGELE HB10050C1200 NSPP HB10050C1200
WE ANDERSON 2008 FNFP 2008
WE ANDERSON V6EPB-B-S-6-0 NSPP V6EPBBS60
ANDERSON POWER A32595-0049 NSFP A325950049
ANDERSON POWER 941 USPP 941
ANDERSON GREENWOOD H1RDS-6Q-SG NSFP H1RDS6QSG
Anderson Instrument E321748 SH-5 94V-O
ANDERSON POWER OPGWHARDWARE NSPP OPGWHARDWARE
ANDERSON NEGELE 56000-A80 USPP 56000A80
ANDERSON GREENWOOD H7HC-46 USPP H7HC46
ANDERSON GREENWOOD MM1VIC-2 NSFP MM1VIC2
WE ANDERSON SFI-300-1-1/4 NSFP SFI300114
WE ANDERSON V6EPB-B-S-6-0 USPP V6EPBBS60
WE ANDERSON V6EPBSS60 USPP V6EPBSS60
ANDERSON SA510621390000 TEMPERATURE SENSOR *NEW OUT OF A BOX*
ANDERSON CO. EM977010051111A METER *NEW NO BOX**
ANDERSON CO. SA510841370000 RESISTANCE TEMP. SENSOR *NEW IN BOX*
ANDERSON GREENWOOD, VALVE REGULATOR M*VEC44S101063013
ANDERSON GREENWOOD M5VHS-44-S10602001 USPP M5VHS44S10602001
ANDERSON NEGELE P8105 USPP P8105
WE ANDERSON SFI-300-1/2 NSFP SFI30012
ANDERSON POWER A32402-10C9 NSFP A3240210C9
ANDERSON INSTRUMENTS 56000-A81 REV A SINGLE 4-20 MA INPUT BOARD
ANDERSON 0-300 PSI GAUGE *NEW NO BOX*
W.E ANDERSON L10B30 FLOW SWITCH *NEW NO BOX*
ANDERSON NEGELE 56000-A51 USPP 56000A51
ANDERSON GREENWOOD 83S1M66-4L USPP 83S1M664L
WE ANDERSON SFI-300-1/2 NSPP SFI30012
WE ANDERSON SFI-350-1/2-W2 USPP SFI35012W2
ANDERSON GREENWOOD H1VDS440A-022245500 USPP H1VDS440A0222455
ANDERSON HOLE SAW ATCG88 NSPP ATCG88
ANDERSON GREENWOOD H1C-44Q NSFP H1C44Q
ANDERSON NEGELE 37-00 NSPP 3700
ANDERSON NEGELE 56000-M01 USPP 56000M01
ANDERSON PRODUCTS 38281 NSFP 38281
ANDERSON NEGELE EM-966010054011A USPP EM966010054011A
WE ANDERSON L8 NSFP L8
ANDERSON POWER 6322G1 NSFP 6322G1
ANDERSON NEGELE 37-00 USPP 3700
ANDERSON GREENWOOD 7000010520 INSTRUMENT MANIFOLD *NEW NO BOX*
ANDERSON INSTRUMENTS COMPANY, INCORPORATED 1100565 GAUGE & CABLE **
ANDERSON INSTRUMENT COMPANY, INCORPORATED EM071010041141 GAUGE *NEW IN BOX*
ANDERSON INSTRUMENT CO, INC. MODEL SERIES 788
GUARANTEED! ANDERSON INSTRUMENT PULSE 100 LEVEL MONITOR DIS BOARD 56000-A0133
ANDERSON GREENWOOD B10252-001-108 NSPP B10252001108
ANDERSON NEGELE SP160-B1-0-200 NSPP SP160B10200
ANDERSON NEGELE HD.64.SGD-LB.1.29.Z NSPP HD64SGDLB129Z
ANDERSON GREENWOOD A10212-001-112 NSPP A10212001112
ANDERSON NEGELE PM02SY021 NSPP PM02SY021
ANDERSON POWER 5804B NSFP 5804B
ANDERSON POWER 5806B NSFP 5806B
WE ANDERSON 20008C USPP 20008C
ANDERSON GREENWOOD 9426827 USPP 9426827
ANDERSON NEGELE 9611240 USPP 9611240
ANDERSON POWER 6320G2 NSPP 6320G2
ANDERSON POWER 6321G1 NSPP 6321G1
ANDERSON POWER 951 NSFP 951
NEW ANDERSON POWER TYPE EC BLOCK ASSEMBLY
ANDERSON 6316 CONNECTOR W/HDW *NEW IN A BOX*
ANDERSON INSTRUMENT COMPANY, INCORPORATED 1100568 GUAGE & CABLE *NEW NO BOX*
2 NEW ANDERSON POWER 6321G1 PLUG & SOCKET CONNECTOR
WE ANDERSON 2008 NSFP 2008
WE ANDERSON 200-20HG USPP 20020HG
ANDERSON PRODUCTS 70014 NSPP 70014
WE ANDERSON 20010C NSPP 20010C
ANDERSON POWER 6320G4 NSFP 6320G4
WE ANDERSON 2205C USPP 2205C
ANDERSON NEGELE LL3Y-100000 USPP LL3Y100000
ANDERSON POWER 5806B NSPP 5806B
ANDERSON POWER 58218 NSPP 58218
ANDERSON POWER A32495-1049 NSFP A324951049
WE ANDERSON V8-WPA-250 NSPP V8WPA250
資訊來源：漳州鼎晟達自動化設備有限公司
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