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                <TD><B>&nbsp;主题</B>：CANopen通讯常见的术语和官方文档</TD>
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      <SCRIPT>ShowPost('yuzi','admin','<FONT size=3><FONT face=宋体>由于</FONT><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><FONT face=Arial>CANopen</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">本身也是一种基于</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">OSI</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">模型的通讯协议，</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">同时它又是一种现场总线级别的通讯控制协议，</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">所以它不可避免的要和具体的传感器</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">/</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">控制器交换数据。</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">为了保证各个厂家的产品在软件层次上面能够互连互通，</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">组织定义了一系列的规范，称之为</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">Draft Standard (DS), </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">比如</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">DS301, DS401</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">等。</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">有比较多的术语在</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">DS-301</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">中间都有说明，</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">下面是一些常见的术语的说明：</SPAN></FONT></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><BR>&nbsp;&nbsp; &nbsp;(1) <B><SPAN style="FONT-WEIGHT: bold">LSS</SPAN></B>: Layer Setting Service</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">。</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">通过</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">LSS</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">服务，</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">可以修改</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CAN</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">节点的</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">ID</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">和</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CANopen</SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">设备的通讯波特率，</SPAN></FONT><FONT face=Arial><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">详细的说明请参考</SPAN></FONT><FONT face=Arial><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">DS305<?xml:namespace prefix = o ns = "urn:schemas-microsoft-com:office:office" /><o:p></o:p></SPAN></FONT><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">(2) <B><SPAN style="FONT-WEIGHT: bold">NMT</SPAN></B>: Network Management. </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">用于</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CAN</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">网络管理，遵从于主从架构。该服务用于启动，停止，复位和初始化一个</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CANopen</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">节点。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">NMT</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文只有</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">2</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">个字节，具备最高点标识符优先级</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><o:p></o:p></SPAN></FONT></P><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">(3) <B><SPAN style="FONT-WEIGHT: bold">SYNC</SPAN></B>: Synchronization Object. </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">网络中的任何一个</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CANopen</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">节点都会周期性的广播</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">SYNC</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文，</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">用于提供一个基本的网络时钟。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">SYNC</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文为了获得</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CAN</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">总线的访问时间，其标识符有很高的优先权。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><o:p></o:p></SPAN></FONT></P><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">(4) <B><SPAN style="FONT-WEIGHT: bold">TIME</SPAN></B>: Time Stamp Object. </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">通过</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">TIME, CANopen</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">网络中的所有设备可以共享一个公共的时间参考帧。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">TIME</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文的数据长度为</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">2</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">个字节</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><o:p></o:p></SPAN></FONT></P><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">(5) <B><SPAN style="FONT-WEIGHT: bold">EMCY</SPAN></B>: Emergency Object. </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">在设备发生内部错误的时候，</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">EMCY</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文会北激活，</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">EMCY</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文的数据长度固定为</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">8</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">个字节。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><o:p></o:p></SPAN></FONT></P><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">(6) <B><SPAN style="FONT-WEIGHT: bold">PDO</SPAN></B>: Process Data Objects. CANopen</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">网络的实时的数据是通过</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">PDO</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">进行传送。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">PDO</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文没有协议头部，</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文长度是变化的。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><BR>&nbsp;&nbsp;&nbsp; (7) <B><SPAN style="FONT-WEIGHT: bold">SDO</SPAN></B>: Service Data Objects. SDO</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文是用于访问</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CANopen</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">网络上的设备字典，</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">两个设备之间可以通过点对点的</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">SDO</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">建立通讯连接。</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> SDO</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文的数据长度是</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">8</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">字节</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><o:p></o:p></SPAN></FONT></P><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">(8) <B><SPAN style="FONT-WEIGHT: bold">NMT-EC</SPAN></B>: Network Management Error Control. </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">通过</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">NMT-EC</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">报文可以检测</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CANopen</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">网络中的失败操作。两种可能的报文（心跳信号</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">/</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">节点守护）数据长度固定为</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">1</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">个字节。</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">下面是一些常见的</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">DS </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">文件的内容：</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><o:p></o:p></SPAN></FONT></P><P class=MsoNormal style="MARGIN-LEFT: 35.7pt; LAYOUT-GRID-MODE: char; TEXT-INDENT: -17.85pt; LINE-HEIGHT: 150%; TEXT-ALIGN: left; mso-list: l1 level1 lfo3; mso-margin-top-alt: auto; mso-margin-bottom-alt: auto" align=left><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA DS 301: CANopen </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">应用层和通讯的描述</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> <SPAN lang=EN-US><o:p></o:p></SPAN></SPAN></FONT></P><P class=MsoNormal style="MARGIN-LEFT: 35.7pt; LAYOUT-GRID-MODE: char; TEXT-INDENT: -17.85pt; LINE-HEIGHT: 150%; TEXT-ALIGN: left; mso-list: l1 level1 lfo3; mso-margin-top-alt: auto; mso-margin-bottom-alt: auto" align=left><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA DS 304: CANopen </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">安全相关的通讯架</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> <SPAN lang=EN-US><o:p></o:p></SPAN></SPAN></FONT></P><P class=MsoNormal style="MARGIN-LEFT: 35.7pt; LAYOUT-GRID-MODE: char; TEXT-INDENT: -17.85pt; LINE-HEIGHT: 150%; TEXT-ALIGN: left; mso-list: l1 level1 lfo3; mso-margin-top-alt: auto; mso-margin-bottom-alt: auto" align=left><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA DS 401: CANopen </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">本地</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">I/O</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">模块的设备描述</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> <SPAN lang=EN-US><o:p></o:p></SPAN></SPAN></FONT></P><P class=MsoNormal style="MARGIN-LEFT: 35.7pt; LAYOUT-GRID-MODE: char; TEXT-INDENT: -17.85pt; LINE-HEIGHT: 150%; TEXT-ALIGN: left; mso-list: l1 level1 lfo3; mso-margin-top-alt: auto; mso-margin-bottom-alt: auto" align=left><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA DS 404: CANopen </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">检测设备和闭环控制器的设备描述</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> <SPAN lang=EN-US><o:p></o:p></SPAN></SPAN></FONT></P><P class=MsoNormal style="MARGIN-LEFT: 35.7pt; LAYOUT-GRID-MODE: char; TEXT-INDENT: -17.85pt; LINE-HEIGHT: 150%; TEXT-ALIGN: left; mso-list: l1 level1 lfo3; mso-margin-top-alt: auto; mso-margin-bottom-alt: auto" align=left><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA DS 405: CANopen </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">符合</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">IEC61131-3</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">便准的可编程设备的设备和接口描述</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> <SPAN lang=EN-US><o:p></o:p></SPAN></SPAN></FONT></P><P class=MsoNormal style="MARGIN-LEFT: 35.7pt; LAYOUT-GRID-MODE: char; TEXT-INDENT: -17.85pt; LINE-HEIGHT: 150%; TEXT-ALIGN: left; mso-list: l1 level1 lfo3; mso-margin-top-alt: auto; mso-margin-bottom-alt: auto" align=left><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CiA DS 406: CANopen </SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">编码器的设备描述</SPAN></FONT><FONT face=Arial size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"> <SPAN lang=EN-US><o:p></o:p></SPAN></SPAN></FONT></P><P class=MsoNormal style="TEXT-INDENT: 24pt; LINE-HEIGHT: 150%"><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">更多的</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">DS</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">文件请参考</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial">CAN CiA</SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">的官方网址：</SPAN></FONT><FONT face=Arial size=3><SPAN lang=EN-US style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: Arial"><A title=http://www.can-cia.org/ href="http://www.can-cia.org/">http://www.can-cia.org</A></SPAN></FONT><FONT face=宋体 size=3><SPAN style="FONT-SIZE: 12pt; LINE-HEIGHT: 150%; FONT-FAMILY: 宋体">，<BR><BR>详细资料请在如下地方下载:<BR>ftp://220.194.62.129/Document/CANopen</A><BR></SPAN></FONT></P><P>［此帖子已被 admin 在 2005-3-14 17:07:17 编辑过］</P><p>［此帖子已被 admin 在 2005-3-14 17:12:19 编辑过］','2005-3-14 17:03:37','219.238.141.90','','images/face/13.gif','male','2004-12-24','1101','5','','','590','207','2004-12-28','100','dingyg99@bocon.com.cn','http://www.bocon.com.cn','Very Good!');</SCRIPT>
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