摘  要：对CAN（Controller Area Network）的高层协议CANopen进行了阐述；对CANopen主从站节点的功能与设置进行了研究。结合实际的混合动力多电动机系统试验台，构建了CANopen主从站节点，实现了基于CANopen协议的多电动机系统实时控制。这一实现方案适用于多数工业自动化应用场合。
关键词： CAN；CANopen协议；现场总线；电动机控制

Abstract: One of CAN high-leyel protocol CANopen had been illustrated in this paper.Setting and functions of the CANopen master and slave nodes were studied.Applied in an actual multi-motor testing platform,the CANopen master and slave nodes were built,and the realtime control of the multi-motor system was realized based upon the CANopen network.This scheme is applicable in most industrial automation applications.
Key Words:CAN；CANopen protocol；Fieldbus；Motor control