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canopen中文协议
1、介绍 .....................................................................................................................................................................1
2、CAL 协议............................................................................................................................................................2
3、CANopen .............................................................................................................................................................3
3．1 对象字典 OD........................................................................................................................................3
3．2 CANopen 通讯.....................................................................................................................................4
3．3 CANopen 预定义连接集 .....................................................................................................................6
3．4 CANopen 标识符分配 .........................................................................................................................8
3．5 CANopen boot-up 过程........................................................................................................................8
3．6 CANopen 消息语法细节 .....................................................................................................................9
4、总结 ...................................................................................................................................................................18
5、说明 ...................................................................................................................................................................19
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