Powerlink课程设计报告-现场总线技术及应用

n4hM|ubuntu:-/|>rj/P4uee-Unksre/openF^OwEHLINK^v2-0,2-f/btr/UnuK/tsol«$sud4n/denatncomole[sudo]paiSHordfor时hwi ' op^nPOUERLlHKconsoleCKDtflt)ippLtcitlwiusingOMPiP伽WLiNKStdck:V2.Qi.2inltlFiltrtogopenPnwEqLTNKitftck...LLstoTtthernettjrdsFoundVnthisSystem:Knetfilt*rInq(NFLQG)Interfax仔nflogJ.Linuxnetfllterqueue(fiFCJUtUtJinterfatentqueu?4.Psfrudo-dfvtcpthfltcdptur»$onalltntprfjtcMany5-IdSelectth*Intcrfatttobpu«dfwWHEBLINK□sCHE)2SJ4/12/2T)2814/12/27jZ914/12/27I?ai4/12/2T!2ai4/12/2T2314/11/21!2914/12；2712914/12/2?2914/12/27?914/13/27£&14/li/Z72314/12/ZTzai4/i2/zrZai4/lZ/Z72314/12/2?2014/12/2701:52:46e1:52:46ei:5?：4ftei:5?：4B61^52^53e1：S2：5.3Cl：Si：54ei：S2；E>4C1；S2：SSei：sz：ssei：5?：5^ei^52：5Sei：S2：5Sei：52：S5Ol：S£：SieiTS2：Siei：52：S5StatcChdrigeEveitC0K79)ortglndtLngevent-0m2J<hntEvcr»tEritcrRcieLCDrifIg)StitcChdngeEveftt(OxllC)stJttchdfigeEvtntfotim}匚h4figeFvtnt(BKi5DjPDOchflftgtcutnt:(RPDOorLQgtt网ertggtlMorlggtlM=0nl6QatfleventSelectth*Intcrfatttobpu«dfwWHEBLINK□sCHE)2SJ4/12/2T)2814/12/27jZ914/12/27I?ai4/12/2T!2ai4/12/2T2314/11/21!2914/12；2712914/12/2?2914/12/27?914/13/27£&14/li/Z72314/12/ZTzai4/i2/zrZai4/lZ/Z72314/12/2?2014/12/2701:52:46e1:52:46ei:5?：4ftei:5?：4B61^52^53e1：S2：5.3Cl：Si：54ei：S2；E>4C1；S2：SSei：sz：ssei：5?：5^ei^52：5Sei：S2：5Sei：52：S5Ol：S£：SieiTS2：Siei：52：S5StatcChdrigeEveitC0K79)ortglndtLngevent-0m2J<hntEvcr»tEritcrRcieLCDrifIg)StitcChdngeEveftt(OxllC)stJttchdfigeEvtntfotim}匚h4figeFvtnt(BKi5DjPDOchflftgtcutnt:(RPDOorLQgtt网ertggtlMorlggtlM=0nl6Qatflevent-»x24(NntEverLFnterCiM&LActlvc)frveot=9x7(NntF^^efitl>IReSoc)event=»k7(NntFventallctSoc)nodeHtthdctlvattd)]"PloppedobjectQxfi2ea/OPDOchangeevent:(TpDo=oxiAda1.nappedobjecttixbOfte/oPDOChangeevflit:(RPDO-exi6001.Fapp^dobjectov62«e/aPDOfhflngpevent:tTPno=oviaoo1,nappedflbjectgxeeeqyQtototonod亡□KOfJXflHtthHtthHtTh1objects1objects1objwtsactivated)activated)acttvfltec))StateCharqeEverbtC0K79}originatingeventstatecharqeEvent(OKIic)StateChargeEvcPiT(OKllD)stattcharigeEvertttoxitu)statech3ngeLvent(cxl6D}originatingort^tnatlrigortg-LnattfigorLggtlM=0)tl3(NEtEventResetConflg】event=9x24(NRtEventEntErCsN&TActtve)*vent=9n7(NPltt^fcfiTDllteSoc)=9x7(MnttventDlResoe>event-axis(NntLx/efittnableReadyiooperate)通信成功，从站接收到来自主站的数据。11•打开wireshark,通过此工具观察主从站之间的通信过程A)打开wiresharknahwgubuntu^*ypfj/openPOWERLINK'V2►Q.2-2/bin7LlfnJx/i6Q6/dei^o_ptn_consoT<Ssudowireshark|■mW^SHSRkventSwil■mW^SHSRkventSwilB）在界面中选择主从站配置时选择的网卡 ethO，点击start开始通信" ThewiresharkNetworkAnalyzer[wiresharhi.io*6(vi^TOiefrommascer-i.TD}]FieEdieViewCoCaptur«Analyzestatist?C4TelephonyToolsIrternaUHelpFilter:I▼IExpression...WIRISHARKTheWorld'sMostPopularNetworkProtocolAnalyze'/ersion1.10,6{vl.10.6frommaster-1.10)CaptureFilesInterFaceList-f,LivelitstofihecaptureinterrscescounKinronringipackprs]openOper5previtnislycapturedfileopenRecent:&B）在界面中选择主从站配置时选择的网卡 ethO，点击start开始通信" ThewiresharkNetworkAnalyzer[wiresharhi.io*6(vi^TOiefrommascer-i.TD}]FieEdieViewCoCaptur«Analyzestatist?C4TelephonyToolsIrternaUHelpFilter:I▼IExpression...WIRISHARKTheWorld'sMostPopularNetworkProtocolAnalyze'/ersion1.10,6{vl.10.6frommaster-1.10)CaptureFilesInterFaceList-f,LivelitstofihecaptureinterrscescounKinronringipackprs]openOper5previtnislycapturedfileopenRecent:&SampleCapturesArichiSiorcn^«nLor&财mplet^ptureritesontheEnflog@nfqueue国any£^lnnnhflrlf*InC）如下图所示，可以观察到主从站之间通信的数据信息CAptiirtfi孚FramvthO州訂电％hark7UDifi(v1.IGAftiqihni*it«r-1.I^OJJMf|忙EdJC71曲阳G&C^pturt btaTIlEkiVSp卜h^i^PUUll.?-p昨「 -*1.-hlLS!-rtId=■—张I 姬*申PI"pg湃烁也9」轧卽：4h ae田u珂，wAj详瓠feu；$^：,[i：沖；:Ub）g——--———— ■Frne2B：:Mbyteson4「el532bnsj,Rbytescaptured：(592faltsjonintertue0InlfTtiC?ini：0CnciDauUtiMitype：Lt睡厅hU'lA^nwfllTint!D祝27,JP"A][通：»・站軒电日闕日户畀|T:nf5~iirfarthiTpacket-D.HaoODEHacEeca"<l=，lElJOChTine：1列嗨"「山」«『如0曲^cwndsL1ii«ml苗trohprtzdKtacturadfq忧.丄.B册曲聲iMs昶朗dG■c596站56T9STBDi:«c7tefl站fC«]7iA?rfra■■.r**r甘BEUOW静掃£1■旳S9940S3207&0冷221■SCOI5d004a4fl帥舸晦訥LO0aOnW5t2d6.up-o4coom百-4fit2、openCONFIGURATOR应用1.0penCONFIGURATOR!安装进入openCONFIGURATOR-v131-linux-i38文件夹运行confiture可执行文件，系统就会自动下载安装所需文件rtshw®ubuntu：-/prj/opefitofiFicuftAroR_vi^3.i_LtrHjx_i3a65is■cMn^urtCUT柄■赴nwkead^ePiahw^buntu:-/prJ7apen匚OHFICUKRTCJR.忖1.3_ cdGUI/Fiahwgijbuntu=-/prj/openCOIFICURATOR^Vl-3-" "ajfc -1-i.i.i|H^chtVdHtndPtifc-ttlCCHISClC.tclRtkfifllc.innQt«bwk^aJi4qtr,tcl4d.MilppenCiHifoptr^roHFicutArnn4t>C/iCMF[CuAAroA•dr-ckUfl,LtrHJX_1.3B0/CJlSl&»f>4nCMFlCUMTOn.lO9p«fKonf<4vriitQrHrapptrRECapcnPOtiE^LBiK_CH.MddopcnPQwElt^IMK.^H.iddont.tcLI咻Wn七I;ifrutetx+啪h>9u6untsTNHopenCOdFICUfiArORVl,3.1_Linun_1.36D/CUICONFIGUAMQutcksurtcvtdt-pdf「亡s£・rcrs¥pl"h书>■Ir^jT^er.<h鬲M*unUN-fyrVtf^CCMRCUHATOTJ.1.Urhu.IWIgn4hr^ubuntd=-SvtCkjs/iiA5■”“L匸日阳 rtml二Plclurif^pr!Pubtiin占h轉ubuntu:7cd[irJ/opefiCCNFlGLJftArOR_Vl讯dh畔utiuriLiiFdin'/opw就DVfLtbHAl l_Ltnuji_lCHjureLU：nikcFtlfALADREnihM^ubuntu:-^/prj^openCOfifI€bftArOft_Vl_3t^TCktnsfcKin总ch弋匚tlno5叩4cMcfcinfl伽耐checkLr>4机■ilfigl_L-inujc_iM6 口figfortflffortele.5.,.tclthread..・the hef&reukeReadingpHk与ellit-s.--Done阿dtprndTntftffreP^fdlngstdtrtitfar蚀却业on,・・DcnrNote,iclrcticQtel-thrrfltf-Insteadof"tcTttirrfldtcL-thresdtsflli-F#dythe<i^estverston-Aupfr4rt*c1jefi“\¥lhir・ll*4.Ator■窗u*4nd?79Mt・冋*鼻rlH卜"蚀Hak^fUtdHR匚p:cannmtcreateregularfile'Kdkeftle**lF«rnis&tondentediK^TftUL/UfllRiTJULr*MkpLrtitALlUfflFistun->™ktLfnlnstal^l==iqahw^Libuntu:-/prj/oppnrONrTCURATOR_VtVOUMUSTBEROOTTOTNSTALLpial<cins十界5rnrnrnrn-rr/usr/share/openCONFIGURATOR*-ffffchmexiFikdircpIncpcp/usr/bln/openctWFiCURATOR-urtnstall；UEr/bif>/opcnCOiNFlCURATOR/usr/share；appticattons/openCQNrIGUfiATOR.desktopyusr/share/pixnaps/floir.svg755-R*./usr/sh*re；openrONFlCURATOR-l.J.1-prf./GUI；-'yusr/ih-are/openCONFICURATOR-1,5.1-S/usir/shdre/openCONFICURATOR-1.3.l/OpenCONFICUft占TOR-prfH/GUI/opencoNFigurator.desktop/usrfshjre丿applAcarionsprfH/GUi/BHldgcti.2.iMnagcs/flatr.Evg/usrysharc/^ptxn^psivcpf./CLil/opcnONUGUHATOflunirstolL/usr/blncpfGUI/openCONriCURATOR.soyusr/Ub；iJSr/btn/openCONFICURATORTMSTALLCOSUCCESSrULLVAT/usr/shflre/optnCOMFTCURATOR-l.3.1编译成功可以在gui文件夹下看到可执行文件openCONFIGURATOR,运行此文件。可打开openCONFIGURATOR如下图进行配置OAopen匚ONFICURATORhCreateMewProjecthCreateMewProjectOpeniExistingProjectDescnpt【onCreateanewProjectCanedProjrclWizardChoosePath 曰CanedProjrclWizardChoosePath 曰mahH/OXum白its^op唱n匚ONFiGUftATORnRrow&eChooseSaveOptionTAutoSweuOuardDescriptionPnynptsth电userfor整/ngtheediteddata在此页面的“choosesaveoption'下的三个选项中选择poompt选项，其作用是当用户修改了配置或退出时,openCONFIGURATO项，其作用是当用户修改了配置或退出时,openCONFIGURATO会淡出一个窗口询问是否保存。AutDijeneratf-linpeitNOD«5CTVtionQWCAutDijeneratf-linpeitNOD«5CTVtionQWC忆17； ^I^Cm^；rTvih#；prVOpertMhiritjLPhAlDfl_V1.3,l_LiruK_lje&/Otll|画|rpbijrusflfAlertednddw 杓归伙叩-^罔幅CRuihkmhBIWiaqet-l2I忤EpfetirtuuKHrablelKt^ID□PePO凶ERL眠K—ChLicddOkOpenCUUfIF-ileoa™.OpenCUUfIi=i龄flft■怦: IDCJMDDFilesC-kdM接下来如上图所示，导入主站的XDD文件，我们选择importXDD/XDC选项，是因为此选项用于用户自己开发的主站或者第三方提供的主站，来导入与主站相对应的XDD文件。并在接下来弹出的窗口中选择“yes”选项，openCONFIGURATO会自动计算并填写主站中如下参数的配置信息，完成了添加一个网络配置的工程，并在网络里添加了一个默认的主站的工作。然后进行从站的添加工作，如下图进行配置NFICURATORFileProject13'viewHolp*5rmp|eViewFileProject13'viewHolp*5rmp|eViewC^SdvanceciViewNetworkB^ShowOutputConsole#ShowNetworkBrowserIIj■V「V4」PI■Tt—'H"A*F7fNetworkBrowserl^-rjmahongwef□j-I=-|±HOBDVAddCN-ReplacewithXDC/XDD…NetworkBrowserl^-rjmahongwef□j-I=-|±HOBDVAddCN-ReplacewithXDC/XDD…AutoGenerateDefeteOBD在弹出的窗口中填好相应的从站名称，节点号以及与主站相似的选项。name;Mod*应'nLWCerfi?uphonf>eh«ut*impvtKDQXDD igufuDirKtory wfnahft.TryopsneOHFiCUFVlTOfl_VL.3.1_LirWM_L3S6^QUl J住]巳iDwdget-1.21 勺op叩PO*A)eRUHiC_MNxdd□h*口lib亡TrESQUTtH上1能心十、卫 边~pperiKh诞ALI呃出川迪二CancelnHenartCancelnHenart他op^TiPOWtRUHK.'Ch-Xqtdfilesoftype.KIHJKDDFaesC-xd*]Dp«Cancel观察从节点，单击某个从节点，显示如下界面，如下图进行配置'ChKiKd■出Bti“ICtrard“pollResponseTimou”选项是指主站接收该从站pollresponse数据帧的超时时间，也可看作主站为该从站发送数据所分配的时间片然后配置接收和发送的网络参数和映射参数首先配置从站的发送PDO的映射信息，发送PDO的映射信息，描述了如何将该节点对字典中的object打包成一个数据帧，单击cm中的PDO的TPDQ按下图进行配置。rahrtvcrkB*~?vi9b~1\|号・EJ.I日In轴曹翊li^ejLLg^gtrt疔0oriMinMMMa-*HKTlrtto-ficeGf匚」1<irh_RECfOElOMrF和hrLrahrtvcrkB*~?vi9b~1\|号・EJ.I日In轴曹翊li^ejLLg^gtrt疔0oriMinMMMa-*HKTlrtto-ficeGf匚」1<irh_RECfOElOMrF和hrL帥可曰■:衬-*i巾訓帥i机L3DO址」Layerr^MLlU询Ell□嗔,(xtjCMxfiX.他抚如iffl刨 厲DLlD<iJnr*rq_MCrDi£TC(ipT>DLLjXKf斤*秋□虹ICOR影DLLQAjon^HlDlinncaU'l忡HKnC*J[Mt£5s叫nmertM兀询■IFfH>hrttT(gii注UJJIO^1(I2Ih町了甩啊性^找IDCF«&聲hHLCurrWhStilLU^UAlFBOh化™“*斗1电GirtI爭AUl机和1Fi匸Hr吊二石访乔rw1Cftia:ic£tKeTnrt;Tni«M.t_L!3ai0>hHT上PLhxelD.AK【如1汕肿OraOdfiDZEDflDfrsOurnBid3DOBflsOCsnfeilOtrwAyi-inirtj00«>30i)LOcHMKkn毋hhLT-约L>JJIQkIQH] 」4 诂00«>30i)LOcHMKkn毋hhLT-约L>JJIQkIQH] 」4 诂tEaS*VMailOEWril母hrHTHjnuf«LtHn>nVL.hdM刖IhHT鼻出ng代irt*切匸轉血2冈-JhWTiSt件冏RiCfCxldUt畑加Hr隣章弗《tl"CO4WM-JhHlUW^iCf啊Qh医CfmWM->Kw仁贰冰运於-UO*%e4jLO^FnwlUlJ^OXlKD书DLL.O4LossS«C.F^CaC-1C0E.-->&ll-_CMjniF^a惟HDTCflIS)OLiTCNCftfFrfW^ECffttlCQFl令Dai._CHj：Ba^^cc1'dEFa-icc_kiy2<ailh•>*MlfLwOil^S^nrTi^_AyJJ(OiI(FJI-_*¥.■hTTXHad-iaraE!■_-■■■I.I'R□irivlEH*1b ■jOXDOdllull ■厂hFMET护DixQr”[101G仆11小叭ifi；U□丄耶C汕凶nt:珀6r・1?-/1「；0VIW-IIQ■一■cj 「E——r^-p]— |u^^| I◎Enw A郭arnipqHL^*r・■$num然后配置从站接收的映射信息接收PDO的映射信息，描述该节点，如何解析收到的数据帧，设置同上图主站的一样，配置完成后大考TPDO的objectmapping(Ox01和0x02),可以看到配置结果如下图所示.纭hktutcrkBnwscfirwHSiJzirndrjiMame□bjcctMupn^Ihduc绘5ubipd±ir-CDC护jetiriHtfi」Uppert.amrtrwniTTfM鼻代也IVP*QtjectTVpeL叫曰LmtP□匚M^ppr-D&'C囱 twgtfOC !Q色TPpO I洛卜HXJ_lx£ommP<am_UQIiReDW1-bNjmb«CMiw«rc<wi—3hodeiDUftlDxGIi-bH单P冈VVUiXlU酉I卽ghbyRPWTgdpePdi^«h聊讣—£对m吨：—hOfc怦申細pl轡Cl迪封—b他声■*旳|||吟1旳0聊7閃声代appinqe迪卄ifc阿蚊卍曲pl闻rip曲胛—・DbiPf刊nfipinQHgo时—tDtlKr^gppin^pMflAt--'tWrr«wpi吩fDtt€<-^appinciOMac&0mb0>iLircrAWurnrigkii^a»D«[»na»i«]Dia■HisxDet^h皿SjvbDkcm-d,HML他fcMDiAxMLJH冲丄訓叽JIhraFFMtal谢CLRFGn诃FflHhMt亡/^»叭油豪/11口厲卯9刖tNFo'crwn^rfthffruflTTlr-mMUMI(fhHTftftMlLTIdiLMWUg曰-pm'■&>ra^-bcQznmF.im_oah_nEeDk.1卜»PMu^btfOfEhTfffcl o7知出DLUa0X011—bMap|hn^flrtm_Ui*(Qh«JJ白艸PbOTxhvp^rmKhUJC-llTn—hRjNherOftnlTdsOW—h—hCta^tMapfirngCK口了〕7Ob^tHaPiHh^'CKD^I—話仙聽血(Ml—bob：ectHHpfrHveKrt】—bm草 彗(tK»j—£Cfa>eftM9p|]irq'CicQ7]—._hr*.u-hu■iv'iiVI-r.vr>ai —Qln^OfcrriX'AWimsnQI设置循环周期M.Hd I型.lUIndoKSubIndugg出0AkOOhI»01CptQOOmGDOCJ>LJJl耐□御E»SrH«ISkO4hDJ.L-JtJ輛D如&49汕4DJ.'./Jc5OriOQmOJ/i.X]t•DkDQ-U」".」•：7閘1・〉血SI;g 1UiHsrdi单击openPOWERLINK_MN(240)在右边的cycletime里填写循环周期甲ePO脏曜ir*」ihModfntirnber»q4Pnptrtittftocfenrnietfefrojeti如时■:□fJTr;I③ififNhn^[>vK«Iypc^O3240x1WDh—>胡直工E竝gw亦JU胡C111悅H—tHWfCyrlpLmLJ3?CQx1ddfi]fHMrMjnuSzlifc出■ne_yilD询闖射hMrM4nu5rtH*VE^^idO«hfNhnManu^tS^vVnz_XrSIOzlOOA：*>MMMdrti锻yCb疋tL庖V】叽可cmVtrifyCiinfigur^iDn睡[/bdCiDktdnca:JOOAt^fhrQ=i.3u&HTLJip™\mFl£->NMr*lnL«dsEGmu口[»匚氏££厲心03|atHM厂Ac#W^L«4biiX>FMlJl'ihOhL'OVI—tSOa&«^L^crTip»«uT03^1071300-Lb->ULLj2WjaaafiiCC_fttC(01IciAlit-tDuYhta^nr兀严口0直1口>口11OLLlcWTBCErriF^ntqaiICf