Bosch_CAN用户手册中文版

1. C_CAN用户手册1术语和缩写Terms and AbbreviationsThis document uses the following terms and abbreviations.这个文档使用到以下的术语和缩写。

Term MeaningCAN Controller Area Network控制器局域网BSP Bit Stream Processor位流处理器BTL Bit Timing Logic位时间机制CRC Cyclic Redundancy Check Register循环冗余码校验冗余DLC Data Length Code数据长度编码EML Error Management Logic错误管理机制FSM Finite State Machine有限动作状态TTCAN Time Triggered CAN 时间触发通讯的控制器局域网2. C_CAN用户手册2Functional Description功能简介C_CAN是可以作为单独或集成ASIC一部分的CAN总线模块。

用硬件描述语言描述C_CAN综合到逻辑器件。

它包含CAN内核、消息RAM、消息处理状态机、控制寄存器和模块接口。

CAN内核通信符合CAN协议规范2.0A和2.0B。

在使用中位速率可以编程达到1M/S。

硬件连接物理层需在接收发射器。

在CAN网络中通信，每个消息目标需要设定，接收的消息目标和识别符掩码存储到消息RAM中。

所有关于消息处理是在消息处理状态器中完成。

这些功能包括消息过滤、CAN内核与消息RAM之间的通信和消息发送中断请求并产生中断模块。

C_CAN中的寄存器组可以通过接口模块被外器CPU访问。

这些寄存器用于控制或配置CAN内核和消息处理状态机，并存储到消息RAM。

在C_CAN模块中的接口模块可以定制成适合于用户使用的模块接口。

C_CAN具有以下的功能特性：支持CAN协议怎版本2.0A和版本2.0B位速度达到1M/S32个消息目标（在消息RAM中有32个可以自定义接收或发送的消息目标）每个消息目标有自己的识别符掩码可编程的FIFO模式（消息目标在FIFO中连续存放）可屏蔽中断对于时间触发的CAN应用可以取消自动重传模式在自己测试操作可以设计成循环模式（重复发关这一个消息）兼容摩托罗拉公司HC08的8位单处理模块接口对ARM内核有2个16位的接口模式给AMBA ABB总路线3. C_CAN用户手册3模式结构Block DiagramCAN CoreCAN内核CAN协议控制器和接收与发送移位寄存器完成消息的并行或串行转换Message RAM消息RAN存储消息目标和识别符掩码Registers寄存器所有寄存器用于控制和配置C_CAN模块Message Handler消息状态处理机控制数据在CAN内核接收与发送移位寄存器与消息RAM 之间的传送，也在控制和配置寄存器中产生中断Module Interface模块接口到目前为止，C_CAN模块被分成３种不同的接口。

中央控制器（CCU）部分1．激活的话筒（Active Micro’s）：中央控制器（CCU）前面板上的“ 激活的话筒（Active Micro’s）” 有“1”、“2”、“4”三个可选项，表示在开会过程中可以同时打开的话筒的数量，在开会过程中根据具体情况可灵活选择；2．话筒控制方式”Operation”：中央控制器（CCU）前面板上的”Operation”表示话筒控制方式，有“Open”、“Override”、“Voice activation”三个可选项，具体意思如下：λ话筒控制方式“Open”：如果该控制方式被选中，会议代表可通过按下代表机上的话筒按键的方式来激活他们的话筒。

同时可以讲话的代表的数量受“ 激活的话筒（Active Micro’s）”选项中选择的数量确定。

例如：如果在“ 激活的话筒（Active Micro’s）”选项中选择的数量为4，则只允许有四个代表可以同时讲话，其他代表在这段时间内无法讲话；如果有第五位代表按下了他的代表机上的话筒按键想要加入到前四个代表的辩论中去，则这个代表只能加入到一个“要求发言（request-to-speak）”的队列中去。

如果前四个正在参加辩论的代表中的一个按下了他的代表机上的话筒按键关闭了他的话筒，则第一个在“要求发言（request-to-speak）”的队列中的代表的话筒会打开，并加入到前面的辩论中去。

注：“要求发言（request-to-speak）”的队列中的最大的代表数量为20人。

λ话筒控制方式“Override”：如果该控制方式被选中，会议代表可通过按下代表机上的话筒按键的方式来激活他们的话筒。

如果在“ 激活的话筒（Active Micro’s）”选项中选择的数量为4，且目前只有三个代表在参加辩论，如果这时有第四位代表按下了他的代表机上的话筒按键想要加入到前三个代表的辩论中去，这不会打断前三个代表的辩论；但是如果这时有第五位代表按下了他的代表机上的话筒按键想要加入到前四个代表的辩论中去，这将会强行关闭前四个正在辩论的代表中最早加入进去的那个代表的话筒（按照‘先入先出’的顺序）。

CAN总线的使用1、硬件连接方式硬件电路如下图所示：图中，D1（IL712）是磁隔离器件，其作用为了使各下井仪之间实现电气隔离。

各下井仪需要为D1提供两组＋5V电源，图中标为VCC1和VCC2。

其中，VCC1为仪器内部数字电源，提供给单片机C8051F041和其它数字电路；VCC2是隔离电源，用于给IL712和TJA1050供电，电源电流应大于75mA。

C1、C2为两组电源的滤波电容。

D1的2脚与C8051F041（图中未画）的7脚（CANTX）直接连接，D1的3脚与C8051F041的6脚（CANRX）直接连接。

D2（TJA1050）为CAN总线收发器，该器件应用VCC2供电。

C3为该器件的滤波电容。

D2的输出CANH（6脚）、CANL（7脚）直接连接到下井仪的总线上。

R1、R2、C4为CAN总线终端匹配电阻的接法，这三个器件只需要在处在下井仪串上下两端的仪器中需要。

即：在某仪器中，如果CAN总线是贯通线，则不能连接这三个器件，反之，如果在该仪器中，如果CAN总线不是贯通线，则需要连接这三个器件。

输出的CANH和CANL应双绞。

2、软件使用方法编程者应该熟悉以下两本资料：《C8051F040/1/2/3/4/5/6/7混合信号ISP FLASH微控制器数据手册》《Bosch’s C_CAN User’s Manual》在下井仪中建议采用C8051F041或C8051F040单片机，该单片机内部集成了Bosch CAN控制器。

以下简要介绍C8051F04x单片机和Bosch CAN控制器及其软件编程方法。

2.1 C8041F04x单片机SFR的分页机制C8051F04x系列MCU对CIP－51内核和外设有几项关键性的改进，提高了整体性能。

其中与编程密切相关的一点是使用了SFR（特殊功能寄存器）分页机制，允许器件将很多SFR映射到0X80～0XFF这个存储器空间。

C8051F04x器件使用了5个SFR页：0、1、2、3和F。

Rexroth Indra Control VCP 20Rexroth PSI 6xxx.000LT-IB Operator Interface Technical Information 1070087066 Edition 02II Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02and ControlsTitle Rexroth PSI 6xxx.000LT-IB operator interfaceType of Documentation Technical InformationDocument Typecode DOK-PS6000-LT-IB*****-FK02-EN-PPurpose of Documentation The present manual provides information on●Installation and●functionalityof the “LT-IB” operator interface/parameterization software.Record of Revisions Description ReleaseNotesDate−−−−DOK-PS6000-LT-IB*****-FK02-EN-P 03.2005Copyright © Bosch Rexroth AG, 2003−2005Copying this document , giving it to others and the use orcommunication of the contents thereof without expressauthority, are forbidden. Offenders are liable for the paymentof damages. All rights are reserved in the event of the grantof a patent or the registration of a utility model or design (DIN34-1).Validity The data specified above only serve to describe theproduct. No statements concerning a certain condition orsuitability for a certain application can be derived from ourinformation. The given information does not release theuser from the obligation of own judgement and verification. Itmust be remembered that our products are subject to anatural process of wear and aging.Published by Bosch Rexroth AGPostfach 11 62D-64701 ErbachBerliner Strafle 25D-64711 ErbachTel.: +49 (0) 60 62/78-0Fax: +49 (0) 60 62/78-4 28Abt.: BRC − WS/VTRContentsContentsPage3 Operation 3−13.1 Starting / Exiting the software 3−13.2 Setting the basic parameters 3−23.3 Parameterizing the setpoint input 3−93.4 Setting the date/time 3−11 3.5 Displaying the device type and the firmware version 3−113.6 Displaying the error log 3−113.7 Fault reset 3−123.8 Backing-up data 3−123.9 Restoring data backups 3−133.10 Triggering device Reset 3−13 3.11 Loading factory setting of the device 3−14Operation3 Operation3.1 Starting / Exiting the software★Before starting the LT-IB software, you should make sure that the 24 V supply voltage for the digital welding current source has been switchedon.This is indicated by the “LOGIC” LED on the front panel of the interfacemodule:LOGIC LED, green. Is on if 24 V DC (logicsupply voltage) is available.●Start the LT-IB software by double-clicking on the link symbol createdin the course of installation.☞If the program window remains empty after the start, or if it closesagain automatically, the software is not able to detect a digital weldingcurrent source at either of the serial interfaces of the PC. In this case, you should check whether●the connecting cable has been properly wired and plugged in.●the 24 V supply to the digital welding current source has beenswitched on.If a digital welding current source is connected and has beendetected, the main menu of the software will appear as follows:Device type andfirmware version ofthe digital weldingcurrent sourceconnectedMain menuInput prompt3−2 Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperationThe cursor is flashing at the input prompt. In this condition, you can activate the functions displayed simply by pressing the corresponding key.For a description of the individual functions ofkey “P”: refer to Sect. 3.2 page 3−2.key “F”: refer to Sect. 3.6 page 3−11.key “K”: refer to Sect. 3.3 page 3−9.key “B”: refer to Sect. 3.8 page 3−12.key “R”: refer to Sect. 3.9 page 3−13.key “Z”: refer to Sect. 3.7 page 3−12.key “D”: refer to Sect. 3.4 page 3−11.key “N”: refer to Sect. 3.5 page 3−11.Keys “E” or “Esc”: exit the software.3.2 Setting the basic parameters------------------------------------------------------------------------------------------------------------------------------------ CAUTIONIncorrect parameter settings may damage the transformers, thewelding system, or produce incorrect welds. Therefore, you should notchange any parameters unless you are totally sure about theconsequences of such a change.In cases of doubt, please ask your supervisor!------------------------------------------------------------------------------------------------------------------------------------ Here, you can set the basic parameters of the digital welding currentsource. The display/query of some parameters depends on thecurrent firmware version and the parameter settings made for the unit:●Configuration (only if master/slave operationis supported by the inverter)●Regulation mode●Current measurement●Toroid sensitivity● Measuring range (with secondary currentmeasurement only)●Transformer type●Number of transformers●Type of transformer connection●Transformer ratio (for third-party transformers only)●Transformer secondary current (for third-party transformers only)● Diode type (for third-party transformers only)●Number of parallel diodes (for third-party transformers only)●Diode monitoring (on/off)1070087066 / 02 PSI 6xxx.000 Electric Drives Bosch Rexroth AG 3−3 and ControlsOperation★Press key “P” in the main menu while the cursor is at the input prompt.All necessary parameters are displayed one by one by the system,queried, a nd immediately transmitted to the unit after acknowledgment by the “Enter” or “Esc” key.☞If you do not want to change a parameter, press the “Enter” or “Esc” keywithout entering a value.When all parameters have been displayed/queried, the main menu is built up again.Example:Resulting query sequence with the following parameter input:●Configuration as master with 1 slave●KSR mode (current regulation)●Primary current measurement●Toroid sensitivity = 150●Connection of 1 x transformer PSG 3100.00●Diode monitoring is active●Normal controller dynamics3−4 Bosch Rexroth AG I Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperationRegulation modePossible settings:●0 : Pulse width mode (PHA mode)The welding heat within the welding circuit is influenced by changing thepulse width. The pulse width only depends on the command value present in this case.● 2 : Current regulation (KSR mode)The programmed current (in kA) is determined by the command value signal supplied (0 to 10 V DC). There is closed-loop control of the actual current in the secondary circuit. The welding heat within the welding circuit is influenced by the controller which changes the pulse width as needed.★Make sure that the setting matches the type of command value input by the external weld timer!☞For more information on the regulation modes, refer to the manual “Controland I/O level, Technical Information (1070 087 065)”, keyword “Regulationmodes”.Current measurementPossible settings:●0 : Primary current measurementAn sensor integrated in the primary circuit inside the device is used as current sensor. The device converts the measured value into the correspondingsecondary current based on the transformer parameter settings.● 1 : Secondary current measurementAn external current sensor linked to X3 is used in the secondary circuit.☞The following applies for secondary current measurement: max. weld time< 1s!1070087066 / 02 PSI 6xxx.000 Electric Drives Bosch Rexroth AG 3−5and ControlsOperationToroid sensitivityInternal evaluation factor for the measured current.This function may be used to adjust the device to an external currentmeasuring unit (reference ammeter) (calibration).Measuring range☞ The parameter is only offered if secondary current measurement is active.Possible settings:●11 : 0.5 to 5 kA●12 : 1 to 10 kA●13 : 2 to 20 kA●14 : 4 to 40 kA●15 : 8 to 80 kA●16 : 16 to 160 kADefines the current range covered by the currents to be measured.★Please make sure that the measuring range set for the currents to bemeasured is not too small. The measured currents should be in the upperthird of a measuring range.Transformer typePossible settings:●0 : PSG 3050.00● 1 : PSG 3050.10● 2 : PSG 3075.10● 3 : PSG 3100.00● 4 : PSG 3200.00● 5 : no PSG transformer (third-party transformer)From this setting, the unit derives certain PSG transformer parameters fordiode monitoring and conversion from primary into secondary current values.★After having changed this parameter, you should perform a device reset(refer to Sect. 3.10 page 3−13) as soon as the main menu was built up again!3−6 Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperationNumber of transformersPossible settings:● 1 to 8Number of welding transformers connected to the unit.★After having changed this parameter, you should perform a device reset(refer to Sect. 3.10 page 3−13) as soon as the main menu was built up again!Type of transformer connectionPossible settings:●0 : serial● 1 : parallelYou specify whether the welding transformers on the secondary side areconnected in parallel or in series.★After having changed this parameter, you should perform a device reset(refer to Sect. 3.10 page 3−13) as soon as the main menu was built up again! Transformation ratio☞The parameter is only offered for third-party transformers(trans former type = 5).It specifies the transformation ratio (primary/secondary side) of the welding transformers used.Maximum transformer secondary current☞The parameter is only offered for third-party transformers(trans former type = 5).Specifies the maximum permitted secondary current of the transformer(in kA).1070087066 / 02 PSI 6xxx.000 Electric Drives Bosch Rexroth AG 3−7and ControlsOperationType of diode☞ The parameter is only offered for third-party transformers(trans former type = 5).Possible settings:●0 : SKN 4000● 1 : SKN 6000● 2 : SDD71B0200● 3 : D 4457 NSpecifies the diode types the transformers in use are equipped with.★After having changed this parameter, you should perform a device reset(refer to Sect. 3.10 page 3−13) as soon as the main menu was built up again! Number of parallel diodes☞ The parameter is only offered for third-party transformers(transformer type = 5).Possible settings:● 1 to 4Specifies the number of diodes connected in parallel in the transformer per branch.Diode monitoring active------------------------------------------------------------------------------------------------------------------------------------ CAUTIONPossibility of destroying the power unit or the welding transformer!If diode monitoring is not active, the diodes of the welding transformer are no longer monitored by the PSI. In the event of excessive load, this may result in considerable damage to the welding equipment.Therefore, diode monitoring should always be switched on.------------------------------------------------------------------------------------------------------------------------------------ Possible settings:●0 : Monitoring deactivated● 1 : Monitoring activated★After having changed this parameter, you should perform a device reset(refer to Sect. 3.10 page 3−13) as soon as the main menu was built up3−8 Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperationController adjustmentPossible settings:●−10 to 10, step size 1. Default setting: 0.Influences the dynamics of the constant-current regulator.Negative values mean a potentially slower current rise, positive values afaster current rise.------------------------------------------------------------------------------------------------------------------------------------ CAUTIONOscillation of current control is possible!Changing this parameter to inappropriate values may cause the control tooscillate and lead to improper welds!After having changed this parameter, please check whether the resultingcurrent characteristic during the weld is correct.------------------------------------------------------------------------------------------------------------------------------------1070087066 / 02 PSI 6xxx.000 Electric Drives Bosch Rexroth AG 3−9 and ControlsOperation3.3 Parameterizing the setpoint input☞The parameter settings for the command value input are not active unless KSR regulation mode has been selected.In order to optimally adjust the setpoint signal input of the digital weldingcurrent source (at X2, input voltage range: 0 to 10 V DC) to the setpoint signal of an external controller, two pairs of values can be parameterized (voltage inmV, resulting welding current in kA) to specify a linear characteristic.The digital welding current source will then use this characteristic to convert any active voltage to the corresponding command current.★Proceed as follows to set the parameters for these two pairs of values:1. Press key “K” in the main menu while the cursor is at the input prompt.The system then waits for input of the first voltage value.☞If you do not want to change the currently active characteristic, press the“Enter” or “Esc” key without entering a value in subsequent steps 2, 3, 4 or 5.After having queried all values, the system will report “Function aborted –please repeat” in this case without changing the existing characteristic.2. Enter the first voltage value in mV.The lower one of the two voltages must be input at this point. In theexample below, this would be 2000.Acknowledge the value input with the “Enter” key.The system then waits for input of the first current value.3. Enter the first current value in kA.The lower one of the two current values must be input at this point. In theexample below, this would be 60.Acknowledge the value input with the “Enter” key.The system then waits for input of the second voltage value.4. Enter the second voltage value in mV.The higher one of the two voltages must be input at this point. In theexample below, this would be 10000.Acknowledge the value input with the “Enter” key.The system then waits for input of the second current value.5. Enter the second current value in kA.The higher one of the two current values must be input at this point. In the example below, this would be 120.Acknowledge the value input with the “Enter” key.The system calculates the characteristics from the data input and showsthe resulting currents for the input voltages of 0 V and 5 V as controloutput.The main menu is built up again afterwards.3−10 Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperationExample for Type PSI 6500.000:Desired adjustment toexternal controller:Parameter input procesdurecorresponding to step 2. to 5.(see above):1st pair of values2nd pair of valuesControl displayParameter input for the setpoint signal input☞ Please note that voltage values below 1 V are basically interpreted as 0 V, therefore, no activity is initiated.1070087066 / 02 PSI 6xxx.000 Electric Drives Bosch Rexroth AG 3−11 and ControlsOperation3.4 Setting the date/timeThis function will copy the current date and the current time of the PC to the digital welding current source.☞ Errors cannot be logged properly unless these values have been setcorrectly!★Proceed as follows:1. Check whether the date and time settings of the PC are correct.Otherwise, set the proper date and time at the PC.2. Press key “D” in the main menu while the cursor is at the input prompt.The time settings of the PC and the digital welding current source havebeen synchronized.The main menu is built up again.3.5 Displaying the device type and the firmware versionDisplays the device type and the firmware version.★Press key “N” in the main menu while the cursor is at the input prompt.The information is displayed, and the main menu is built up again afterwards.3.6 Displaying the error logDisplays the internal error log − starting with the error that occurredlast − page by page on the screen.★Press key “F” in the main menu while the cursor is at the input prompt.●Enter key:scrolling by pages through the error log●“Esc” key:cancels the error log display.When the last page of the error log has been displayed or if the display has been canceled, the main menu is built up again.3−12 Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperation3.7 Fault resetWhile the digital welding current source automatically resets“selfacknowledging errors” as soon as the corresponding error condition no longer exists, “non-self-acknowledging errors “ must be reset manually using “Fault reset”.Whether or not an error is currently pending is indicated on the front panel of the interface module.☞For more details concerning possible errors, please refer to the“Display error log” function (refer to Sect. 3.6).★First, the cause of the error should be corrected.★Press key “Z” in the main menu while the cursor is at the input prompt.The main menu is built up again.If the error condition is no longer present, the “READY” LED on the frontpanel of the interface module will be lit again.3.8 Backing-up dataFor backup purposes or for series commissioning of a plant, the currentparameter settings of the digital welding current source can be saved on the PC:“Data backup” can be performed at any time, even during a weldingschedule.★Press key “B” in the main menu while the cursor is at the input prompt.The complete parameter settings are saved to the “BACKUP.SST” file in thecurrent working directory.When the process is finished, main menu is built up again.☞ To restore the data: refer to section 3.9.1070087066 / 02 PSI 6xxx.000 Electric Drives Bosch Rexroth AG 3−13 and ControlsOperation3.9 Restoring data backupsWhen the parameters of the digital welding current source have alreadybeen backed up (refer to “Backing-up data”, Section 3.8), the backup datacan be restored when necessary.☞ Backup data can be restored to a device of the same type only!------------------------------------------------------------------------------------------------------------------------------------ CAUTION“Restore” will interrupt the currently active welding process!This will result in an incorrect weld. Therefore, you should only use thisfunction if●the unit is not involved in a production process.------------------------------------------------------------------------------------------------------------------------------------ ★Proceed as follows:1. Make sure that the “BACKUP.SST” file containing the appropriateparameters exists in the current working directory.2. Press key “R” in the main menu while the cursor is at the input prompt.3. Then confirm the query “Are you sure” by hitting “Y”.Any other key will abort the function.The Ready status of the unit is deactivated while data is being restored.During this time span, welding is not possible.If there is no error, the unit will automatically restore the Ready condition when the data restoring process has been completed.The main menu is built up again.3.10 Triggering device ResetUse this function to reboot the digital welding current source.This process is equivalent to reinitialization of the device and may benecessary after certain parameter changes (e.g. in the area of diodemonitoring) in order to ensure proper functioning.Where this is the case, you will be informed accordingly.------------------------------------------------------------------------------------------------------------------------------------ CAUTIONDevice Reset will interrupt the currently active welding process! This willresult in an incorrect weld. Therefore, you should only use this function if●the unit is not involved in a production process.------------------------------------------------------------------------------------------------------------------------------------------------3−14 Bosch Rexroth AG Electric Drives PSI 6xxx.000 1070087066 / 02 and ControlsOperation★Press key “*” in the main menu while the cursor is at the input prompt.The device is rebooted without any further safety query.The main menu is built up again.3.11 Loading factory setting of the deviceThis option should be used in order to●reset all parameters of the digital welding current source to their defaultvalues, and●delete the contents of all process log memories.------------------------------------------------------------------------------------------------------------------------------------ CAUTIONLoading the factory settings of the device will delete the current parameter settings!The default value settings (e.g. transformer values, characteristic forconverting the setpoint signal into a current setpoint) may not be suitable for your specific application. Therefore, you should only use this function if●you are fully aware of its consequences●the unit is not involved in a production process.------------------------------------------------------------------------------------------------------------------------------------ ☞Deleting the process log memory contents of units that are involved in theproduction process is not permitted by quality assur a nce in many cases.If you are not sure whether or not the process log memory contents of thedevice may be deleted, please contact your supervisor.★Proceed as follows:1. Press key “L” in the main menu while the cursor is at the input prompt.2. Then confirm the query “Are you sure” by hitting “Y”.Any other key will abort the function.The main menu is built up again.BOSCH psi6500.000現有參數設定值:Regulation mode :( 0: Pulse width mode (PHA mode), 2: Current regulation (KSR mode)) Possible settings: 2Current measurement (0:Primary 1: Secondary)Possible settings: 1Sensor responsiveness :Possible settings: 150Measuring range : ( 11:5kA ;12:10kA;13:20kA; 14:40kA; 15:80kA; 16:160kA)Possible settings: 15Transformer type: (0: PSG 3050.00, 1: PSG 3050.10. 2: PSG 3075.10, 3: PSG 3100.00, 4: PSG 3200.00, 5:OEM)Possible settings: 5Number of transformers :Possible settings: 4Type of transformer connection :( 0: serial, 1: parallel)Possible settings: 1Transformation ratioPossible settings: 55Maximum transformer secondary currentPossible settings: 0Type of diode:( 0: SKN 4000, 1: SKN 6000, 2: SDD71B0200, 3: D 4457 N)Possible settings: 0Number of parallel diodes : (1-4)Possible settings: 2Diode monitoring active : ( 0:off, 1: on)Possible settings: 1BOSCH psi6500.000 KSR現有設定值3.3 Parameterizing the setpoint inputThe parameter settings for the command value input are not active unless KSR regulation mode has been selected.aborted −please repeat. in this case without changing the existing characteristic.2. Enter the first voltage value in mV. 10003. Enter the first current value in kA. 104. Enter the second voltage value in mV.100005. Enter the second current value in kA. 483-2 Bosch Rexroth AG | Electric Drives PSG 6xxx. | 1070087063 / 03 andControlsTransformer selection3.2 Technical dataNameTypes PSG ...3075.10 xx 6130.00 xxNominal power SN 80 kVA (at 20% duty cycle) 130 kVA (at 20% duty cycle) maximum primary continuous current I1P76 A 118 APrimary voltage U1N 500 Vmaximum DC current Idmax refer to load diagrams in the sections that deal with thetransformersContinuous DC current Id (100% duty cycle) 4.2 kA 6.5 kA No-load DC voltage UdiO 8.4 V 9 V Frequency f (primary circuit) 1000 HzSensitivity Ratio 55 : 1min. conductor area (primary circuit) 16 mm2 35 mm2 min. cooling water quantity 6 l/min 8 l/min max. cooling water temperature 30° Cmax. cooling water pressure drop refer to differential pressure diagrams in the sections that dealwith the transformersmax. operating temp. (primary winding) 150° Cmax. operating temperature (diodes) 80° CDegree of protection of transformer block IP65Degree of protection(connection zone on primary side)1)Degree of protection(connection zone on secondary side)IP00Insulation class of welding transformers FWeight 14.5 kg 16 kg Dimensions and locations of connections refer to dimensioned drawingsColor RAL 7005; grey RAL 1004; yellow 1) With terminal box: IP55; without terminal box: IP009-40 Bosch Rexroth AG | Electric Drives PSI 6xxx. | 1070080059 / 02 andControlsPSI 6500.xxx W19.6.2 Technical dataType 3-phase rack-mounted mid-frequency converterWeld timer integratedI/O interface Slot for parallel, serial or fieldbus interfaceQuality module Slot provided for later additionDegree of protection IP 20; designed for installation in housing or switch cabinet with IP 54 Storage temperature range −25° C to +70° COperating temperature range (in installation space) +10° C to +45° C; in the case of a thermal capacity that is greater than half of the nominal capcity, a cabinet cooler that regulates the cabinet temperature to 35 degrees Celsius is used.Cooling using water; 10 l/min; supply flow max. 30° C Temperature monitoring integratedCorrosion The ambient air must be free of high concentrations of acids, brines, corrosives, salt and metallic vapors.Humidity 3K3 according to EN 60721−3−3 Condensation on the mid-frequency converter is not permitted.Air pressure 0 to 2000 m above sea level.Main supply voltage connection to grounded TN or TT network. 400 V −20% to 480 V +10%; 50/60 Hz Nominal main supply voltage(maximum thermal continuouscurrent)660 A (with cabinet cooler) 330 A (without cabinet cooler)Max. output current(primary current)2400 AMax. secondary current(transformer−dependent)120 kA (with PSG 3100)Logic main supply(e.g. for weld timer CPU, I/O interfaces, etc.) 24 V=, min: 19 V=; max: 30 V=, acc. to EN 61131-2. Supply possibilities: using external power pack; using separate supply with the integrated power pack (from the welding main supply).1070080059 / 02 | PSI 6xxx Electric Drives | Bosch Rexroth GmbH 9-41and ControlsPSI 6500.xxx W1Over voltage protection MOV (metal oxide varistor)Electrical connection main supply andusing terminal ends; M10 screws per connectiontransformerWire range 2−4 cables per 120 mm2Basic switchgear cabinet losses 100 Wmax. cooling losses 4400 WSwitchgear cabinet losses at max. power 850 WWeight approx. 70 kg; mechanically divisibleMounting position vertical or lying on rearProduct informationPerformance chartSecondary current ranges of PSI 6xxxs from thermal current up to peak current with 9VTransformers3* PSI 6500 2* PSI 6500PSI 6500PSI 6400PSI 6200PSI 6300PSI 6100PSI 60256V transformerThe master/slave conceptThe PSI 6500 inverter can be operated in a master/slave configuration to increase its power. In this mode, up to 3 units can be connected in parallel. Each inverter is connected to one or several identical transformers in this case.The transformers can then be connected in parallel on the secondary side in a simple symmetrical configuration in order to achieve three times the power of one individual unit. The hardware of the units is identical. The slave or master function is selected by suitable parameter settings.Technical dataBosch Rexroth AG“The Drive & Control Company”Vertriebskoordination WiderstandsschweißenPostfach 1162D-64701 Erbach/OdenwaldTel: +49 (0)60 62-78-231Fax: +49 (0)60 62-78-728。

BOSCH 同声传译系统说明中央控制器通过内置的D/A转换器，将会议系统的音频信号输入到混音功放进行扩声，并可将外部的声源信号通过中央控制器接入DCN系统，代表可在面板扬声器和耳机中直接收听。

BOSCH（原PHILIPS）数字会议网络系统(DCN)首开在研讨、代表、大型国际会议中应用数字技术的先河，它的信号传输和处理均采用了数字音频技术，具有多功能、高音质、数据传输保密可靠等特点，可对会议过程实行全面的控制，对各类型的会议都能提供灵活的管理，不论是非正式的小型会议，还是上千人的国际大型会议。

DCN是同类设备中率先采用全数字技术的系统。

具有多功能、高音质、数据传送保密可靠等特点，可以满足现代会议的一切管理需求，包括：基本的话筒管理，代表认证和登记，电子表决，资料分配和显示以及多语种的同声传译。

系统的信号和处理采用了久经考验的飞利浦数字音频技术。

比如在会议代表用的话筒中采用了高性能的“Bitstream”系统进行模－数转换。

由于采用了先进的数字技术，在传输过程中信号的质量和幅度都不会衰减，因此音频的技术性能达到了空前的水平。

使得每一个与会者都可以听到稳定、纯正的声音。

这一点对提高发言的清晰度无疑有重要的贡献。

DCN从根本上消除了一般会议系统的缺陷，如背景噪音、干扰、失真和串音等。

DCN数字技术的另一个重要优点是安装速度快,节约经费。

用一根细而软的双同轴电缆可以传送系统的全部数字信号，并且可以在任意点上“搭接”补充发言机或其他DCN设备。

因此在以后需要将系统的容量进一步扩大时，不必改动系统原来的接线即可进行扩容。

各设备的电源也是同一根电缆上的两根线提供的。

DCN的控制系统有两种选择：一种是以先进的、操作方便的软件设施调整与控制。

另一种是无机务人员的自动控制。

系统的应用软件能把会议的准备、管理、控制置于计算机环境中，微软视窗允许同时运行多个软件，并可在各应用软件之间进行信息传递。

视窗的图形用户界面具有非常的直观性。

bus规范V2.0版本引言随着串行通讯进入更多应用领域在一些应用里原先的地址范围由11个识别位定义则这些应用就可以更好地由CAN来实现由29位定义有的用户不需要由扩展格式提供的识别符范围可以采用市场上可用的CAN仪器为了区别标准格式和扩展格式使用了CAN报文格式的第一个保留位因此仍然是有效的由于扩展格式已经定义这本CAN规范技术规范由两部分组成CAN的报文格式说明标准格式和扩展格式的说明要求CAN的仪器应兼容A部分或B部分只要没有用到扩展格式根据A部分或CAN旧版本设计的仪器可以和根据B部分设计的仪器相互间进行通讯介绍 (3)2报文传输 (6)3.1 帧类型 (6)3.1.1 数据帧 (6)3.1.2 远程帧 (9)3.1.3 错误帧 (10)3.1.4 过载帧 (11)3.1.5 帧间空间 (11)3.2 发送器/接收器的定义 (12)4编码 (13)6故障界定 (13)8介绍控制器局域网为串行通讯协议CAN的应用范围很广在汽车电子行业里传感器等等同时诸如车灯组用以代替接线配线装置可是比如电气特性和数据转换的解释CAN被细分为以下不同的层次the object layerthe transfer layerthe phyical layer¶ÔÏó²ãµÄ×÷Ó÷¶Î§°üÀ¨l 确定由实际要使用的传输层接收哪一个报文在这里传输层的作用主要是传送规则执行仲裁出错标定总线上什么时候开始发送新报文及什么时候开始接收报文位定时的一些普通功能也可以看作是传输层的一部分传输层的修改是受到限制的当然物理层对于所有的节点必须是相同的在选择物理层方面还是很自由的并定义CAN协议于周围各层当中所发挥的作用基本概念CAN具有以下的属性就自动将破坏的报文重新传输• 将节点的暂时性错误和永久性错误区分开来Layered Structure od a CAN node±¾¼¼Êõ¹æ·¶Ã»Óж¨ÒåÎïÀí²ã¶Ô·¢ËÍýÌåºÍÐźŵçƽ½øÐÐÓÅ»¯Ëü°Ñ½ÓÊÕµ½µÄ±¨ÎÄÌṩ¸ø¶ÔÏó²ã´«Êä²ã¸ºÔðλ¶¨Ê±¼°Í¬²½ÖٲôíÎó¼ì²âºÍ±ê¶¨l 对象层的功能是报文滤波以及状态和报文的处理所具有的意义Messagesµ«³¤¶ÈÊÜÏÞ信息路由　在CAN系统里比如l 系统灵活性就可以在CAN网络中直接添加节点报文的内容由识别符命名但解释数据的含义网络上所有的节点可以通过报文滤波确定是否应对该数据做出反应由于引入了报文滤波的概念并同时对此报文做出反应在CAN网络内或同时不被接收系统的数据连贯性是通过多播和错误处理的原理实现的Bit rateCAN的速度不同在一给定的系统里并且是固定的Prioritiesʶ±ð·û¶¨ÒåÒ»¾²Ì¬µÄ±¨ÎÄÓÅÏÈȨRemote Data RequestÐèÒªÊý¾ÝµÄ½Úµã¿ÉÒÔÇëÇóÁíÒ»½Úµã·¢ËÍÏàÓ¦µÄÊý¾ÝÖ¡IDENTIFIERMultimasterÈκε¥Ôª¶¼¿ÉÒÔ¿ªÊ¼´«Ëͱ¨ÎÄ仲裁任何单元都可以开始发送报文那么就会有总线访问冲突仲裁的机制确保信息和时间均不会损失数据帧优先于远程帧每一个发送器都对发送位的电平与被监控的总线电平进行比较则这个单元可以继续发送隐性显性见总线值必须退出发送状态SafetyCAN的每一个节点均采取了强有力的措施以进行错误检测错误检测必须采取以下措施发送器对发送位的电平与被监控的总线电平进行比较Performance of Error Detection- 检测到所有的全局错误- 检测到发送器所有的局部错误- 可以检测到一报文里多达5个任意分布的错误- 检测到一报文里长度低于15µÄÍ»·¢ÐÔ´íÎó- 检测到一报文里任一奇数个的错误对于没有被检测到的错误报文报文错误率* 4.7 * 10 –11Error Sinalling and Recovery Time´Ë±¨ÎÄ»áʧЧ²¢½«×Ô¶¯µØ¿ªÊ¼ÖØд«ËÍ´Ó¼ì²âµ½´íÎóµ½ÏÂÒ»±¨ÎĵĴ«ËÍ¿ªÊ¼ÎªÖ¹故障界定永久故障的节点会被关闭ConnectionsÀíÂÛÉϵ«ÓÉÓÚʵ¼ÊÉÏÊÜÑÓ³Ùʱ¼äÒÔ¼°/或者总线线路上电气负载的影响Single Channelͨ¹ý´ËͨµÀ¿ÉÒÔ»ñµÃÊý¾ÝµÄÔÙͬ²½ÐÅÏ¢ÓÐÐí¶àµÄ·½·¨¿ÉÒÔ²ÉÓüÓÉϽӵعâÀµȵȼ´Î´¶¨ÒåÎïÀí²ãBus value»ò显性隐性总线的结果值为在执行总线的时显性逻辑1代表等级比如光Acknowledgment¶ÔÓÚÁ¬¹áµÄ±¨ÎĶÔÓÚ²»Á¬¹áµÄ±¨ÎÄ睡眠模式可以将CAN器件设为睡眠模式以便停止内部活动及断开与总线驱动器的连接或系统内部状态而被唤醒虽然传输层要等待一段时间使系统振荡器稳定通过检查11个连续的的位总线在线内部运行已重新开始可以使用一特殊的唤醒报文最低等级的识别符rrr rrrd rrrr; r = d=- 数据帧- 远程帧请求发送具有同一识别符的数据帧任何单元检测到一总线错误就发出错误帧过载帧用以在先行的和后续的数据帧之间提供一附加的延时或远程帧帧起始控制场CRC场帧结尾　帧起始它标志数据帧和远程帧的起始显性只在总线空闲信号参见Interframe Spac eInterfram eSpac eRTRʶ±ð·ûµÄ³¤¶ÈΪ11位最低位是ID-0ID-10到ID-4¸ÃλÔÚÊý¾ÝÖ¡Àï±ØÐëΪÒþÐÔ控制场控制场由6个位组成所发送的保留位必须为显性隐性数据长度代码数据长度代码为4个位DATA LENGTH CODEd显性012345678d d d d d d d d rd d d d r r r r dd d r r d d r r dd r d r d r d r d其他的数值不允许使用它可以为0ÿ×Ö½Ú°üº¬ÁË8个位　　CRC 场CRC 场包括CRC序列CRC DELIMITERÓÉÑ-»·ÈßÓàÂëÇóµÃµÄÖ¡¼ì²éÐòÁÐ×îÊÊÓÃÓÚλÊýµÍÓÚ127位的帧被除的多项式系数由无填充位流给定帧起始控制场假如有将此多项式被下面的多项式发生器除CRC SEQUENCE¿ÉÒÔʹÓÃ15位的位移寄存器CRC_RG ËüÓÉ´ÓÖ¡µÄÆðʼµ½Êý¾Ý³¡Ä©Î²¶¼ÓÉÎÞÌî³äµÄλÐòÁиø¶¨CRC SEQUENCE1414:113:0014:014:04599hexCRC序列开始或存在一个错误条件CRC_RG 包含有CRC 序列它包含一个单独的位°üº¬Ó¦´ð¼ä϶和应答界定符发送站发送两个位接收器就会在应答间隙期间向发送器发送一的位以示应答CRC Fi eldACK Sl o tACK D elimiterEnd of Fr ameACK F IELDËùÓнÓÊÕµ½Æ¥ÅäCRC 序列的站会在应答间隙期间用一的位写入发送器的位来作出回答ACK 界定符是ACK 场的第二个位隐性因此ACK SLOTµÄλËù°üΧCRC DELIMITERACKDELIMITERÕâ¸ö±êÖ¾ÐòÁÐÓÉ7个位组成作为某数据接收器的站通过其资源节点对不同的数据传送进行初始化设置帧起始控制场应答场与数据帧相反隐性它没有数据场可以标注为容许范围里0...8的任何数值Int erSp ac eRTR位RTRµÚÒ»¸ö³¡ÓÃ×÷Ϊ²»Í¬Õ¾ÌṩµÄ´íÎó±êÖ¾的叠加为了能正确地终止错误帧错误被动如果的接收器有本地错误的话总线的载荷不应为100%Ö÷¶¯´íÎó±êÖ¾和被动错误标志显性被动错误标志由6个连续的的位组成显性检测到错误条件的的站通过发送主动错误标志错误标志的形式破坏了从帧起始到CRC界定符的位填充规则所有其他的站由此检测到错误条件并与此同时开始发送错误标志位位可以在总线上监视这个顺序的总长度最小为6个位检测到错误条件的的站试图通过发送被动错误标志的站等待6个相同极性的连续位被动错误标志的发送就完成了ÒþÐÔ错误标志传送了以后隐性隐性然后就开始发送7位以上的位过载标志和过载界定符1. 接收器的内部条件显性由过载条件1而引发的过载帧只允许起始于所期望的间歇场的第一个位时间开始显性Á½¸ö¹ýÔØÖ¡¶¼»á²úÉúÏÔÐÔ¹ýÔرêÖ¾µÄËùÓÐÐÎʽºÍÖ÷¶¯´íÎó±êÖ¾µÄÒ»ÑùÒò´ËÏÔÐÔÔòÆäËûµÄ½Úµã½«²»ÄÜÕýÈ·µØ½âÊ͹ýÔرêÖ¾ÏÔÐÔÕâµÚ6个的位破坏了产生错误条件的位填充的规则过载界定符过载界定符包括8个的位过载标志被传送后显性隐性过渡形式总线上的每一个站完成了过载标志的发送隐性3.1.5 帧间空间　数据帧与其前面帧的隔离是通过帧间空间实现的数据帧错误帧过载帧与错误帧之前没有帧间空间帧间空间帧间空间包括间歇场如果的站已作为前一报文的发送器时总线空闲外SUSPEND TRANSMISSION´íÎ󱻶¯»òÕß´ËÕ¾ÒÑ×÷Ϊǰһ±¨ÎĵĽÓÊÕÆ÷´íÎ󱻶¯ÆäÖ¡¼ä¿Õ¼äÈçÏÂͼËùʾÒþÐÔ间歇期间唯一要做的是标示一个过载条件时间任何等待发送信息的站就会访问总线有报文被挂起其传送起始于间歇之后的第一个位显性挂起传送µÄÕ¾·¢Ëͱ¨ÎĺóÒþÐÔÈç¹ûÓë´ËͬʱÁíÒ»Õ¾¿ªÊ¼·¢Ëͱ¨ÎÄ3.2 发送器/接收器的定义发送器　产生报文的单元被称之为报文的ARBITRATIONRECEIVERÔòÕâÒ»µ¥Ôª¾Í±»³Æ֮Ϊ±¨ÎĵÄ报文校验校验报文是否有效的时间点发送器Ôò´Ë±¨ÎĶÔÓÚ·¢ËÍÆ÷ÓÐЧÔò±¨ÎÄ»á¸ù¾ÝÓÅÏÈȨ×Ô¶¯ÖØ·¢ÖØд«Êä±ØÐëÔÚ×ÜÏß¿ÕÏÐʱÆô¶¯如果直到一最后的位均没有错误5帧的部分仲裁场数据场以及CRC序列无论何时便自动在位流里插入一补码位CRC界定符的剩余位场形式相同错误帧和过载帧的形式也相同其报文里的位流根据之方法来编码在整个位时间里显性要么为错误处理6.1 错误检测有以下5种不同的错误类型• 位错误站单元在发送位的同时也对总线进行监视则在此位时间里检测到一个位错误ARBITRATION FIELDACK SLOTλµÄÇé¿öÊÇÀýÍâµÄ此时显性不会发出位错误显性也不视为位错误出现了第6个连续相同的位电平时• CRC错误CRC序列包括发送器的CRC计算结果如果计算结果与接收到CRC序列的结果不相符CRC ERRORÔò¼ì²âµ½Ò»¸öÐÎʽ´íÎóACK SLOTACKNOWLEDGMENT ERROR¶ÔÓڵĽڵãÖ÷¶¯´íÎó±êÖ¾¶ÔÓڵĽڵ㱻¶¯´íÎó±êÖ¾Õ¾¼ì²âµ½ÎÞÂÛÊÇλ´íÎóÐÎʽ´íÎóÕâ¸öÕ¾»áÔÚÏÂһλʱ·¢³ö´íÎó±êÖ¾ÐÅÏ¢´íÎó±êÖ¾µÄ·¢ËÍ¿ªÊ¼ÓÚACK½ç¶¨·ûÖ®ºóµÄλ故障界定至于故障界定•错误被动总线关闭错误主动µÄµ¥Ôª²»ÔÊÐí·¢ËÍÖ÷¶¯´íÎó±êÖ¾´íÎ󱻶¯¶øÇÒµ¥Ôª½«ÔÚÔ¤ÉèÏÂÒ»¸ö·¢ËÍ֮ǰ´¦Óڵȴý״̬¼ûµÄµ¥Ôª²»ÔÊÐíÔÚ×ÜÏßÉÏÓÐÈκεÄÓ°Ïì• 发送错误计数• 接收错误计数这些计数按以下规则改变可能要用到的规则不只一个接收错误计数就加1½ÓÊÕ´íÎó¼ÆÊýÆ÷Öµ²»¼Ó1ÏÔÐÔ½ÓÊÕ´íÎó¼ÆÊýÖµ¼Ó8·¢ËÍ´íÎó¼ÆÊýÆ÷Öµ¼Ó8发送器为注显性显性发送器因为填充错误而发送错误标志引起填充错误是由于填充位隐性但是却被监视为发送错误计数器值不改变如果发送器检测到位错误　５．　当发送主动错误标志或过载标志时位错误６．　在发送主动错误标志任何节点最多容许7个连续的λÿһ·¢ËÍÆ÷½«ËüÃǵķ¢ËÍ´íÎó¼ÆÊýÖµ¼Ó8当检测到第14个连续的位后显性在每一附加的8个连续位顺序之后得到应答及直到帧末尾结束没有错误除非已经是0Ôڳɹ¦µØ½ÓÊÕµ½±¨Îĺ󼰳ɹ¦µØ·¢ËÍÁËÓ¦´ðλ如果接收错误计数器值是0如果大于1279. 当发送错误计数器值等于或超过128时节点为错误被动10.当发送错误计数器值大于或等于256时总线关闭11. 当发送错误计数器值和接收错误计数器值都小于或等于127时错误被动错误主动12. 在总线监视到128次出现11个连续位之后总线关闭错误主动不再是　备注最好能够采取措施测试这个条件Æð¶¯/睡眠以及如果这个节点发送一些报文如此检测到错误并重复报文节点会变为总线关闭8标称位时间标称位时间 = 1 /标称位速率可以把标称位时间划分成了几个不重叠时间的片段同步段　传播时间段　相位缓冲段1相位缓冲段2位时间如下图所示SYN C_SEG PR OP_SEG PH ASE_SE G1PH AS E_SEG2SYNC SEGÕâÒ»¶ÎÄÚÒªÓÐÒ»¸öÌø±äÑØPROP SEG它是总线上输入比较器延时和输出驱动器延时总和的两倍相位缓冲段2ÕâÁ½¸ö¶Î¿ÉÒÔͨ¹ýÖØÐÂͬ²½¼Ó³¤»òËõ¶ÌSAMPLE POINT²É¼¯µãλÓÚÏàλ»º³å¶Î1之后INFORMATION PROCESS TIME²É¼¯µãÓÃÓÚ¼ÆËãºóÐøλµÄλµçƽTIME QUANTUM´æÔÚÓÐÒ»¸ö¿É±à³ÌµÄÔ¤±ÈÀýÒò×Ó32的整数时间份额的长度为TIME QUANTUM MINIMUM TIME QUANTUM m为预比例因子Length of Time SegmentsSYNC_SEG传播段的长度可设置为1…»º³å¶Î1 的长度可设置为1…Ïàλ»º³å¶Î2的长度为阶段缓冲段1和信息处理时间之间的最大值一个位时间总的的时间份额值可以设置在8同步　硬同步内部的位时间从同步段重新开始硬同步强迫由于硬同步引起的沿处于重新开始的位时间同步段之内RESYHCHRONIZATION JUMP WIDTHʹÏàλ»º³å¶Î1增长相位缓冲段加长或缩短的数量有一个上限重新同步跳转宽度应设置于1和最小值之间后续位有固定的最大数值这个属性提供了总线单元在帧期间重新和位流同步的可能性这里有一个属性只有后续位的一固定最大值才具有相同的数值可用于重新同步的两个过渡过程之间的最大长度为29个位时间一个沿的相位误差一个沿的相位误差由相关于同步段的沿的位置给出相位误差定义如下SYNC_SEGSAMPLE POINTSAMPLE POINTÖØÐÂͬ²½ºÍÓ²¼þͬ²½µÄ×÷ÓÃÏàͬ• 如果相位误差为正增长的范围为与重新同步跳转宽度相等的值则相位缓冲段2被缩短同步的原则硬同步和重新同步都是同步的两种形式1. 在一个位时间里只允许一个同步才把沿用作于同步有一转变到的沿硬同步都会被执行隐性显性则其他符合规则1和规则2的所有从转化为的沿可以用作为重新同步即隐性显性此沿具有正的相位误差9 增加CAN振荡器容差这章介绍CAN协议的向上兼容的修改有必要作以下修改以便向上兼容现有的CAN规范 如果CAN节点在间歇的第三位采集到一显性位2Ôò´Ëλ±»½âÊÍΪ֡µÄÆðʼλ¶ø²»ÊÇÊ×ÏÈ·¢ËÍÖ¡µÄÆðʼλ»ò³ÉΪһ½ÓÊÕÆ÷如果节点在错误界定符或过载界定符的第八个位采集到一显性位而不是错误帧4Ϊ·ûºÏÏÖÓеĹ淶56CAN才发送帧起始位　这个修改允许振荡器最大为1.58%的容差为了满足CAN协议的整个总线速度范围只要符合以下的要求8ËùÓеĿØÖÆÆ÷±ØÐëʹÓþ§Õñ具有最高振荡准确度要求的芯片只有在所有的节点使用增强型的CAN协议时才能使用陶瓷谐振器简介 (19)2 基本概念 (19)3报文滤波 (31)5 报文校验 (31)6错误处理 (31)7.1 错误检测 (31)7.2 错误标定 (32)8位定时要求 (33)简介控制器局域网ＣＡＮ为串行通讯协议ＣＡＮ的应用范围很广在汽车电子行业里传感器等等同时诸如车灯组用以代替接线配线装置可是比如电气特性和数据转换的解释根据ＩＳＯ／ＯＳＩ参考模型• 数据链路层- 逻辑链路控制子层(LLC)- 媒体访问控制子层　物理层注数据链路层的LLC子层和MAC子层的服务及功能分别被解释为和• 为远程数据请求以及数据传输提供服务• 为恢复管理和过载通知提供手段定义对象处理较为自由也就是控制帧结构错误检测故障界定均在MAC 子层里确定理所当然物理层的作用是在不同节点之间根据所有的电气属性进行位的实际传输尽管如此这本技术规范的目的是定义数据链路层中MAC子层和一小部分LLC子层所具有的意义• 报文的优先权• 保证延迟时间• 设置灵活• 时间同步的多点接收• 系统内数据的连贯性• 多主机• 错误检测和错误标定• 只要总线一处于空闲并且可以自动关闭由OSI参考模型分层CAN结构的错误的节点因此涉及到位时间同步的解释以便允许根据它们的应用• MAC子层是CAN协议的核心并接收来自LLC子层的报文仲裁错误检测和标定ÒÔ±ã°ÑÓÀ¾Ã¹ÊÕϺͶÌʱÈŶ¯Çø±ð¿ªÀ´¹ýÔØ֪ͨData LinkLay erPhys ica l Lay erLL CMA CAcceptan ce Fi ltering Over load N otification Recove ry Ma nagem entData E ncapsul ation /Decap sul ation Fr ame C oding(S tuffing, Des tuffing)Medium A ccess M anag emen t Error D etection E r ror Sig nalling Acknow ledgmentSe rializa tion / De se rializa tionBit E ncoding/Decoding Bit T iming Synchro nizationDriver/Recei ver C haracteristicsFau ltConfinem en tBu s Fa ilure Mana gem en tSuperviso rLL C =Logical L ink C ontrolMAC = M edium Access C ontrol此技术规范的目的是为了定义数据链路层及定义CAN 协议在周围各层中所发挥的作用Messagesµ«³¤¶ÈÊÜÏÞ信息路由　在CAN 系统里比如l系统灵活性可以在CAN 网络中直接添加节点±¨ÎĵÄÄÚÈÝÓÉʶ±ð·ûÃüÃûµ«½âÊÍÊý¾ÝµÄº¬ÒåÍøÂçÉÏËùÓеĽڵã¿ÉÒÔͨ¹ý±¨ÎÄÂ˲¨È·¶¨ÊÇ·ñÓ¦¶Ô¸ÃÊý¾Ý×ö³ö·´Ó¦ÓÉÓÚÒýÈëÁ˱¨ÎÄÂ˲¨µÄ¸ÅÄî²¢Óë´Ëͬʱ¶Ô´Ë±¨ÎÄ×ö³ö·´Ó¦Ó¦È·±£±¨ÎÄÔÚCAN网络里同时被所有的节点接收系统的数据连贯性是通过多播和错误处理的原理实现的Bit rateCAN的速度不同在一个给定的系统里并且是固定的Prioritiesʶ±ð·û¶¨ÒåÒ»¸ö¾²Ì¬µÄ±¨ÎÄÓÅÏÈȨRemote Data RequestÐèÒªÊý¾ÝµÄ½Úµã¿ÉÒÔÇëÇóÁíÒ»½Úµã·¢ËÍÏàÓ¦µÄÊý¾ÝÖ¡多主机任何单元都可以开始传送报文仲裁任何单元都可以开始发送报文那么就会有总线访问冲突仲裁的机制确保了报文和时间均不损失数据帧优先于远程帧每一个发送器都对发送位的电平与被监控的总线电平进行比较则这个单元可以继续发送隐性显性见总线值必须退出发送状态SafetyCAN的每一个节点均采取了强有力的措施以便于错误检测错误检测必须采取以下措施发送器对发送位的电平与被监控的总线电平进行比较错误检测的机制要具有以下的属性位其剩余的错误可能性概率低于任何检测到错误的节点会标志出损坏的报文如果不再出现错误的话恢复时间最多为31个位的时间Fault Confinement¹ÊÕϵĽڵã»á±»¹Ø±ÕConnectionsÀíÂÛÉϵ«ÓÉÓÚʵ¼ÊÉÏÊÜÑÓ³Ùʱ¼äÒÔ¼°/或者总线线路上电气负载的影响单通道通过此通道可以获得数据的再同步报文有许多的方法可以采用加上接地光缆等等总线值或显性隐性总线的结果值为在总线的执行时显性逻辑1代表等级比如灯光Acknowledgment¶ÔÓÚÁ¬¹áµÄ±¨ÎĶÔÓÚ²»Á¬¹áµÄ±¨ÎÄ睡眠模式可以将CAN器件设为睡眠模式以便停止内部活动及断开与总线驱动器的连接或系统内部状态而被唤醒虽然MAC子层要等待一段时间使振荡器稳定通过检查11个连续的的位总线在线内部运行已重新开始Oscillator ToleranceÓйظü¶à׼ȷµÄÆÀ¹ÀDais, S; Chapman, M;“Impact of Bit Representation on Transport Capacity and Clock Accuracy in Serial Data Streams”, SAE Technical Paper Series 890532, Multiplexing in Automobiles SP-773 March 1989为了满足CAN协议的整个总线速度范围3²»Í¬Ö®´¦ÎªÊ¶±ð·û³¡µÄ³¤¶È²»Í¬¶øº¬ÓÐ29位识别符的帧为扩展帧数据帧远程帧请求发送具有同一识别符的数据帧任何单元检测到总线错误就发出错误帧过载帧用以在先行的和后续的数据帧之间提供一附加的延时它们用一个帧间空间与前面的帧分隔Data Frame帧起始Arbitration Frame Control Frame Data Frame CRC Frame ACK Frame End of FrameDATA FRAME帧起始帧起始标志数据帧和远程帧的起始显性只在总线空闲信号参见- 标准格式里识别符位由ID-28…ID-18Öٲó¡°üÀ¨29位识别符IDE位其识别符由ID-28... ID-0Ç°°æ±¾CAN规范1.0-1.2的保留位r1现表示为IDE Bitr 0R T R标准格式识别符的长度为11位Ｂａｓｅ　ＩＤ最低位是ID-18ID-28 - ID-22扩展格式和标准格式形成对比其格式包含两个部分18位扩展ID基本ID 包括11位它相当于标准识别符的格式扩展IDËü°´ID-17到ID-0顺序发送识别符其后是RTR 位标准格式以及扩展格式远程发送请求位ＲＴＲ位在数据帧里必须为隐性基本ID 首先发送扩展ID 的发送位于SRR 位之后扩展格式替代远程请求位ＳＲＲ是一隐性位因此代替标准帧的RTR 位标准帧与扩展帧的冲突是通过标准帧优先于扩展帧这一途径得以解决的参见以下的扩展格式识别符扩展位- 扩展格式的仲裁场 - 标准格式的控制场 标准格式里的IDE 位为隐性±ê×¼¸ñʽÒÔ¼°À©Õ¹¸ñʽ±ê×¼¸ñʽµÄ¿ØÖƳ¡¸ñʽºÍÀ©Õ¹¸ñʽµÄ²»Í¬IDE 位扩展格式里的帧包括数据长度代码和两个保留位其保留位必须发送为显性显性隐性Standard F ormat and ExtendedFormat数据长度代码数据长度代码指示了数据场里的字节数量它在控制场里发送d显性012345678d d d d d d d d rd d d d r r r r dd d r r d d r r dd r d r d r d r d数据帧{0,1,....,7,8}数据场数据场由数据帧里的发送数据组成８个字节首先发送MSB±ê×¼¸ñʽÒÔ¼°À©Õ¹¸ñʽCRC SEQUENCECRC DELIMITERData or Co ntrol Fie ldCRC S equenceCRC Del im iterAc k Fie ldCRC F IELD±ê×¼¸ñʽÒÔ¼°À©Õ¹¸ñʽBCH码被除的多项式系数由无填充位流给定帧起始控制场假如有将此多项式被下面的多项式发生器除ＣＲＣ序列可以使用15位的位移寄存器如果NXTBIT指示位流的下一位CRC序列的计算如下CRC_RG 包含有CRC 顺序标准格式以及扩展格式它包含一个单独的位±ê×¼¸ñʽÒÔ¼°À©Õ¹¸ñʽ°üº¬Ó¦´ð¼ä϶和应答界定符应答场隐性当接收器正确地接收到有效的报文ACK SLOT·¢ËÍACK 信号位以示应答CRC Fi eldACK Sl o tACK D elimiterEnd of Fr ameACK F IELDCRC SEQUENCEACK SLOTµÄλдÈë·¢ËÍÆ÷µÄλÀ´×÷³ö»Ø´ð²¢ÇÒÊÇÒ»¸ö±ØÐëΪµÄλӦ´ð¼ä϶被两个的位所包围CRC DELIMITERACK DELIMITER±ê×¼¸ñʽÒÔ¼°À©Õ¹¸ñʽÕâ¸ö±êÖ¾ÐòÁÐÓÉ7个的位组成作为某数据接收器的站可以初始化通过其资源节点传送不同的数据而且都由6个不同的位场组成仲裁场CRC 场帧结尾远程帧的RTR 位是的数据长度代码的数值是不受制约的Int er Sp aceRTR位RTRµÚÒ»¸ö³¡ÓÃÊDz»Í¬Õ¾ÌṩµÄ´íÎó±êÖ¾的叠加为了能正确地终止错误帧错误被动如果的接收器有局部错误的话总线的载荷不应为100%Ö÷¶¯µÄ´íÎó±êÖ¾ºÍ±»¶¯µÄ´íÎó±êÖ¾ÏÔÐÔ2. 被动的错误标志由6个连续的的位组成显性检测到错误条件的的站通过发送主动错误标志指示错误参见所有其他的站由此检测到错误条件并与此同时开始发送错误标志位位可以在总线上监视这个序列的总长度最小为6个位检测到错误条件的的站试图通过发送被动错误标志指示错误错误被动这6个位处于被动错误标志的开始被动错误标志的发送就完成了隐性错误标志传送了以后隐性隐性然后就开始发送其余7个位过载标志和过载界定符这三种情况都会引发过载标志的传送此接收器对于下一数据帧或远程帧需要有一延时显性3. 如果CAN节点在错误界定符或过载界定符的第8位采样到一个显性位不是错误帧根据过载情况1而引发的过载帧只允许起始于所期望的间歇的第一个位时间显性通常为了延时下一个数据帧或远程帧Overload FlagÏÔÐÔ¹ýÔرêÖ¾µÄËùÓÐÐÎʽºÍÖ÷¶¯´íÎó±êÖ¾µÄÒ»ÑùÒò´ËÈç¹ûÓеĽڵãÔÚ¼äЪµÄµÚ3个位期间检测到位备注如下显性则其他的节点将不能正确地解释过载标志显性这第6个的位破坏了产生错误条件的位填充的规则过载界定符　过载界定符包括8个的位过载标志被传送后显性隐性此时并开始同时发送其余7个位或远程帧数据帧错误帧过载帧与错误帧之前没有帧间空间帧间空间　帧间空间包括间歇如果的站已作为前一报文的发送器时总线空闲外SUSPEND TRANSMISSION´íÎ󱻶¯ÆäÖ¡¼ä¿Õ¼äÈçÏÂͼËùʾ´íÎóÖ÷¶¯ÆäÖ¡¼ä¿Õ¼äÈçÏÂͼËùʾIntermissionÒþÐÔ间歇期间唯一要做的是标示一个过载条件如果CAN节点有一报文等待发送并且节点在间歇的第三位采集到一显性位并从下一个位开始发送报文的识别符首位总线空闲　总线空闲的时间是任意的任何等待发送报文的站就会访问总线有报文被挂起其传送起始于间歇之后的第一个位显性挂起传送　的站发送报文后隐性如果与此同时另一站开始发送报文3.3 关于帧格式的符合性标准格式相当于在CAN1.2规范中描述的数据/远程帧为了使控制器的设计相对地简单比如仪器必须无条件地支持标准格式这些属性与3.1和3.2定义的帧格式有关- 每一新的控制器支持标准格式- 每一新的控制器可以接收扩展格式的报文可是3.4 发送器/接收器的定义发送器　产生报文的单元被称之为报文的ARBITRATIONReceiverÔòÕâÒ»µ¥Ôª¾Í±»³Æ֮Ϊ±¨ÎĵÄ报文滤波报文滤波取决于整个识别符不考虑可以选择多组的识别符如果使用屏蔽寄存器即屏蔽寄存器的长度可以包含整个识别符5 报文校验校验报文有效的时间点发送器　如果直到帧的末尾位均没有错误如果报文破损为了能够和其他报文竞争总线接收器　如果直到一最后的位均没有错误帧末尾最后的位被置于状态显性参见7.1章节编码位流编码　帧的部分仲裁场数据场以及CRC序列无论何时便自动在位流里插入一补充位CRC界定符的剩余位场形式固定错误帧和过载帧的形式也固定其报文里的位流根据之方法来编码在整个位时间里显性要么为错误处理7.1 错误检测有以下5种不同的错误类型• 位错误　单元在发送位的同时也对总线进行监视则在此位时间里检测到一个位错误ARBITRATION FIELD ACK SLOT λµÄÇé¿öÊÇÀýÍâµÄ此时显性不会发出位错误显性也不视为位错误Struff Error³öÏÖÁ˵Ú6个连续相同的位电平时• CRC错误　ＣＲＣ序列包括发送器的CRC计算结果如果计算结果与接收到CRC序列的结果不相符• 形式错误　当一个固定形式的位场含有1个或多个非法位(备注Acknowledgment ErrorACK SLOT。