{"id":87050,"date":"2026-07-29T18:08:58","date_gmt":"2026-07-29T10:08:58","guid":{"rendered":"https:\/\/www.wsisp.com\/helps\/87050.html"},"modified":"2026-07-29T18:08:58","modified_gmt":"2026-07-29T10:08:58","slug":"%e3%80%90%e5%b5%8c%e5%85%a5%e5%bc%8f-%ef%bc%9eros2%e3%80%91%e5%b5%8c%e5%85%a5%e5%bc%8f%e9%80%9a%e4%bf%a1%e6%80%bb%e7%ba%bf%e7%9f%a5%e8%af%86%e8%bf%87%e6%b8%a1%ef%bc%9acan%e3%80%81modbus%e3%80%81etherc","status":"publish","type":"post","link":"https:\/\/www.wsisp.com\/helps\/87050.html","title":{"rendered":"\u3010\u5d4c\u5165\u5f0f-\uff1eROS2\u3011\u5d4c\u5165\u5f0f\u901a\u4fe1\u603b\u7ebf\u77e5\u8bc6\u8fc7\u6e21\uff1aCAN\u3001Modbus\u3001EtherCAT"},"content":{"rendered":"<p>\u5404\u4f4d\u5c0f\u4f19\u4f34\u597d&#xff0c;\u4eca\u5929\u6765\u4ecb\u7ecd\u4e00\u4e0b\u901a\u4fe1\u603b\u7ebf\u7684\u77e5\u8bc6\u3002<\/p>\n<p>\u901a\u4fe1\u603b\u7ebf&#xff08;Bus&#xff09;\u662f\u8fde\u63a5\u591a\u4e2a\u8bbe\u5907\u6216\u6a21\u5757\u7684\u516c\u5171\u4f20\u8f93\u901a\u9053&#xff0c;\u7528\u4e8e\u5728\u7cfb\u7edf\u5185\u90e8\u6216\u8bbe\u5907\u95f4\u4f20\u8f93\u6570\u636e\u3001\u5730\u5740\u548c\u63a7\u5236\u4fe1\u53f7\u3002<\/p>\n<p>\u5728\u5d4c\u5165\u5f0f\u7684\u5b66\u4e60\u4e2d&#xff0c;\u4f60\u80af\u5b9a\u542c\u8bf4\u8fc7IIC\u3001SPI\u3001UART\u8fd9\u4e9b\u901a\u4fe1\u65b9\u5f0f&#xff0c;\u4ed6\u4eec\u90fd\u6709\u7740\u5404\u81ea\u7684\u7279\u70b9\u3002\u4f46\u662f\u5bf9\u4e8e\u5927\u578b\u7684\u673a\u5668\u4eba\u6216\u8005\u5de5\u4e1a\u673a\u5668\u4eba&#xff0c;CAN\u603b\u7ebf\u901a\u4fe1\u3001Modbus\u3001EtherCAT\u66f4\u4e3a\u5e38\u7528&#xff0c;\u4eca\u5929\u6211\u4eec\u5927\u6982\u4e86\u89e3\u8fd9\u51e0\u79cd\u901a\u4fe1\u7684\u65b9\u5f0f\u3002<\/p>\n<p>\u5728\u6b64\u4e4b\u524d\u6211\u4eec\u9700\u8981\u505a\u4e00\u4e9b\u77e5\u8bc6\u94fa\u57ab\u3002<\/p>\n<h2>1.\u77e5\u8bc6\u94fa\u57ab<\/h2>\n<h3>1.\u4e32\u884c\u901a\u4fe1\u4e0e\u5e76\u884c\u901a\u4fe1<\/h3>\n<p>\u4e32\u884c\u548c\u5e76\u884c\u662f\u6309\u7167\u6bcf\u6b21\u4f20\u8f93\u7684\u6570\u636e\u7684\u65b9\u5f0f\u8fdb\u884c\u533a\u5206\u3002\u987e\u540d\u601d\u4e49&#xff0c;\u4e32\u884c\u5c31\u662f\u6570\u636e\u6309\u4f4d\u4f9d\u6b21\u4f20\u8f93&#xff0c;\u5e76\u884c\u5c31\u662f\u591a\u4f4d\u6570\u636e\u540c\u65f6\u5e76\u884c\u7ebf\u4f20\u8f93\u3002<\/p>\n<p>\u4e32\u884c\u901a\u4fe1&#xff0c;\u5c31\u50cf\u8c4c\u8c46\u5c04\u624b&#xff0c;\u53ea\u80fd\u4e00\u4e2a\u4e00\u4e2a\u53d1\u9001\u6570\u636e\u3002<\/p>\n<p><img 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style=\"color:#be191c\"><span style=\"background-color:#fefcd8\">CAN\u603b\u7ebf\u901a\u4fe1&#xff0c;\u7c7b\u4f3c\u4e8e\u4e32\u53e3\u901a\u4fe1\u662f\u4e00\u79cd\u5f02\u6b65\u901a\u4fe1<\/span><\/span>&#xff0c;\u6709CANH\u548cCANL\u8fd9\u4e24\u6839\u901a\u4fe1\u7ebf&#xff0c;\u4f20\u8f93\u7684\u662f\u5dee\u5206\u4fe1\u53f7&#xff0c;\u5dee\u5206\u4fe1\u53f7\u7684\u6297\u5e72\u6270\u80fd\u529b\u5f3a&#xff0c;\u4f20\u8f93\u8ddd\u79bb\u8fdc&#xff0c;\u5728\u5de5\u4e1a\u4e0a\u4f7f\u7528\u7684\u591a\u3002<\/p>\n<p>CAN\u603b\u7ebf\u901a\u4fe1\u7684\u534f\u8bae\u6709\u539f\u59cbCAN\u548cCANopen&#xff0c;\u4e00\u79cd\u662f\u975e\u6807\u51c6\u7684&#xff0c;\u4e00\u79cd\u662f\u6807\u51c6\u7684\u3002<\/p>\n<p>CANopen \u662f\u57fa\u4e8e CAN \u603b\u7ebf\u7684\u4e00\u79cd\u9ad8\u5c42\u901a\u4fe1\u534f\u8bae\u548c\u5e94\u7528\u5c42\u6807\u51c6\u3002<\/p>\n<p>\u5b83\u5b9a\u4e49\u4e86\u6807\u51c6\u7684\u901a\u4fe1\u5bf9\u8c61\u3001\u8bbe\u5907\u63cf\u8ff0\u6587\u4ef6&#xff08;EDS\/DCF&#xff09;\u4ee5\u53ca\u4e00\u7cfb\u5217\u7528\u4e8e\u5b9e\u65f6\u6570\u636e\u4ea4\u6362\u3001\u7f51\u7edc\u7ba1\u7406\u3001\u540c\u6b65\u548c\u7d27\u6025\u4e8b\u4ef6\u5904\u7406\u7684\u670d\u52a1\u6570\u636e\u5bf9\u8c61&#xff08;SDO&#xff09;\u548c\u8fc7\u7a0b\u6570\u636e\u5bf9\u8c61&#xff08;PDO&#xff09;\u3002CANopen \u5c06\u590d\u6742\u7684\u901a\u4fe1\u4efb\u52a1\u6807\u51c6\u5316&#xff0c;\u4f7f\u5f97\u4e0d\u540c\u5382\u5546\u7684\u8bbe\u5907\u80fd\u591f\u65b9\u4fbf\u5730\u96c6\u6210\u5230\u540c\u4e00\u4e2a\u7f51\u7edc\u4e2d&#xff0c;\u5e7f\u6cdb\u5e94\u7528\u4e8e\u5de5\u4e1a\u81ea\u52a8\u5316\u3001\u533b\u7597\u8bbe\u5907\u3001\u4ea4\u901a\u8fd0\u8f93\u7b49\u9886\u57df\u3002<\/p>\n<p>\u00a0CANOpen\u5305\u62ec\u591a\u79cd\u901a\u4fe1\u65b9\u5f0f:\u4e3b\u4ece\u7ad9\u65b9\u5f0f\u3001\u5ba2\u6237\u670d\u52a1\u5668\u65b9\u5f0f\u4ee5\u53ca\u751f\u4ea7\u8005\u6d88\u8d39\u8005\u6a21\u5f0f\u3002SDO\u4f7f\u7528\u5ba2\u6237\u670d\u52a1\u5668\u6a21\u5f0f\u3002\u5176\u4e2dPDO\u91c7\u7528\u751f\u4ea7\u8005\u6d88\u8d39\u8005\u6a21\u5f0f\u3002<\/p>\n<p>SDO \u5c5e\u4e8e\u201c\u670d\u52a1\u5668\u5ba2\u6237\u7aef\u201d\u7684\u901a\u4fe1\u6a21\u578b&#xff0c;\u6709\u6307\u5b9a\u88ab\u63a5\u6536\u8282\u70b9\u7684\u5730\u5740&#xff08;Node-ID&#xff09;&#xff0c;\u5e76\u4e14\u9700\u8981\u6307\u5b9a\u7684\u63a5\u6536\u8282\u70b9\u56de\u5e94 CAN \u62a5\u6587\u6765\u786e\u8ba4\u5df2\u7ecf\u63a5\u6536&#xff0c;\u3002<\/p>\n<p>PDO \u57fa\u4e8e\u751f\u4ea7\u8005\/\u6d88\u8d39\u8005\u7684\u901a\u8baf\u6a21\u5f0f&#xff0c;\u6bcf\u4e2a PDO \u6709\u4e00\u4e2a\u552f\u4e00\u7684\u6807\u8bc6\u7b26\u4e14\u53ef\u4ee5\u901a\u8fc7\u4e00\u4e2a\u8282\u70b9\u53d1\u9001&#xff0c;\u4f46\u6709\u591a\u4e2a\u8282\u70b9\u53ef\u4ee5\u63a5\u6536\u3002PDO \u7684\u63a5\u6536\u4e0d\u9700\u8981\u6d88\u8d39\u8005\u7684\u786e\u8ba4\u3002<\/p>\n<h3>2.RS485-Modbus-RTU<\/h3>\n<p><span style=\"color:#be191c\"><span style=\"background-color:#fff5e6\">RS485 \u662f\u534a\u53cc\u5de5\u5f02\u6b65\u4e32\u884c\u901a\u4fe1<\/span><\/span>&#xff0c;\u540c\u6837\u4f7f\u7528\u91c7\u7528\u5dee\u5206\u4fe1\u53f7\u4f20\u8f93&#xff0c;\u5e38\u4f7f\u7528Modbus RTU\u534f\u8bae\u901a\u4fe1\u3002<\/p>\n<p>Modbus RTU\u662f\u4e00\u79cd\u57fa\u4e8e\u4e32\u884c\u901a\u4fe1\u7684\u534f\u8bae\u3002\u57fa\u4e8e\u4e00\u4e2a\u4e3b\/\u4ece\u6a21\u5f0f&#xff0c;\u5176\u4e2d\u4e00\u4e2a\u8bbe\u5907\u5145\u5f53\u4e3b\u8bbe\u5907&#xff08;\u6216\u79f0\u4e3aMaster&#xff09;&#xff0c;\u8d1f\u8d23\u53d1\u8d77\u8bf7\u6c42&#xff1b;\u5176\u4ed6\u8bbe\u5907\u4f5c\u4e3a\u4ece\u8bbe\u5907&#xff08;\u6216\u79f0\u4e3aSlave&#xff09;&#xff0c;\u54cd\u5e94\u4e3b\u8bbe\u5907\u7684\u8bf7\u6c42\u3002<\/p>\n<p><img loading=\"lazy\" decoding=\"async\" alt=\"\" height=\"469\" src=\"https:\/\/www.wsisp.com\/helps\/wp-content\/uploads\/2026\/07\/20260729100857-6a69d139aa9f9.png\" width=\"1225\" 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