臺灣博碩士論文加值系統

本論文針對研製網路節點驅動控制器與產線整合進行研究，採用CAN網路做為匯流排骨幹，並以CANopen做為CAN Bus上高階應用層通訊協定，而產線整合的部分，則是以建置一套具備即時監控與資料擷取的SCADA系統，達到工具機與設備間即時性決策操作或場域人員安全決策判斷。網路節點驅動控制器主要應用於工具機台上各軸控制馬達，因此本控制器除了實現基本CiA301協定CANopen基本的網路管理與資料傳輸物件外，額外搭配馬達專用增量型編碼器，接收馬達回授訊號，進而實現馬達的轉速控制與高精準度定位控制，且需符合CiA402協定中馬達運動控制之規範，最後達到各節點設備間之智能溝通。 而SCADA系統則透過CAN Bus與各個節點進行連線溝通，完成整個網路的建構與管理之任務，可對所有節點進行控制命令的下達與有效資料的傳送及接收的處理，使操作人員能即時監控生產線狀況，在擷取資料部分，需要即時接收資料，進行資料分析整理，並顯示在介面上供場域人員觀看，利於人員的安全決策判斷，便能達到整個系統網路監控與管理之功能實測及性能評估。透過異質嵌合筷生產線系統之應用場域，達到CANopen控制器驗證之目的，以CAN通訊作為生產線系統之區域網路建立各工作站之間的溝通管道。

In this paper, the development of CANopen node controller and the integration of intelligent production line is focused and studied by applying the CANopen protocol. The CAN bus is used to serve as the communication backbone by using CANopen as the high application-layer protocol. With regard to intelligent production line, the SCADA system is established with real-time monitoring and data acquisition functions to achieve the real-time communication between the operator and the tool machines. The node controller with CANopen is mainly applied to control the movements of each axis motor of measurement modules for tool machine. While the basic network management and data transmission is followed by the dictionary objects in the CANopen CiA301 protocol, the controller needs to implement with the motor motion control specification subjected to the CiA402 protocol. This proposed controller is also additionally equipped with a motor-specific incremental encoder to receive the motor feedback signal, so as to realize the motor speed control and high-precision positioning control. The SCADA system communicates with each node through CAN Bus to complete the task of constructing and managing the entire network. Further, the control commands are released and the effective data transmission and reception processing is performed on all the nodes, so that the operator can immediately monitor the condition of the production line. In the side of data collection, the real-time data is received for data analysis and processes, and displayed on the computer interface for monitoring and facilitating the safety decision-making of the field operator. Finally, the functional testing and system performance of the entire system network monitoring and management will be evaluated and implemented in this paper.

摘要..........i
Abstract..........ii
誌謝..........iv
目錄..........v
表目錄..........ix
圖目錄..........x
第1章 緒論..........1
1.1 前言..........1
1.2 研究動機與目的..........1
1.3 文獻回顧..........2
1.4 論文架構..........3
第2章 工具機網路應用之通訊系統..........4
2.1 CAN特性與介紹..........4
2.1.1 CAN介紹..........4
2.1.2 CAN資料框..........5
2.2 CANopen基本通訊協定介紹-CiA301..........6
2.2.1 CANopen 通訊協定..........6
2.2.2 網路管理物件(NMT)..........12
2.2.3 服務資料物件(SDO)..........15
2.2.4 程序資料物件(PDO)..........17
2.3 CANopen運動裝置協定介紹-CiA402..........19
2.3.1 CiA402通訊架構..........19
2.3.2 設備狀態機..........20
第3章 CANopen控制器設計與實現..........22
3.1 CANopen控制器之系統架構..........22
3.2 CANopen控制器之硬體電路架構..........23
3.2.1 CAN訊號轉換電路..........23
3.2.2 馬達驅動器與馬達驅動方式介紹..........24
3.2.3 電流回授電路..........25
3.2.4 馬達編碼器回授..........26
3.3 CANopen控制器之CiA301基本通訊協定設計..........26
3.3.1 NMT功能設計..........26
3.3.2 SDO功能設計..........27
3.3.3 PDO功能設計..........28
3.4 CANopen控制器之CiA402運動裝置協定設計..........29
3.4.1 建立設備狀態機..........29
3.4.2 操作模式功能設計..........30
3.5 CANopen控制器實現..........33
3.5.1 NMT實測..........35
3.5.2 SDO實測..........36
3.5.3 PDO實測..........37
第4章 控制器區域網路之系統實現與產線整合..........38
4.1 應用場域..........38
4.2 產線系統架構..........39
4.2.1 治具介紹..........40
4.2.2 進料檢測平台介紹..........40
4.2.3 倒角點膠機台介紹..........42
4.2.4 嵌合機台介紹..........43
4.2.5 搬運機器人介紹..........44
4.2.6 監控系統介紹..........45
4.3 控制器網路系統實現與產線整合實測..........49
4.3.1 CANopen網路生產線..........49
4.3.2 生產線流程規劃..........50
4.3.3 PDO初始化設定..........50
4.3.4 SCARA搬運機器人..........51
4.3.5 進料檢測平台生產流程實測..........53
4.3.6 倒角點膠機台生產流程實測..........56
4.3.7 嵌合機台生產流程實測..........62
4.3.8 生產結果..........68
第5章 結論與未來研究方向..........69
5.1 結論..........69
5.2 未來研究方向..........70
參考文獻..........71
Extended Abstract..........73
I. Introduction..........74
II. CANopen Technology Research..........74
III. CANopen Controller Design..........75
IV. System Integration and Application..........76

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