{"id":15080,"date":"2021-11-26T15:44:45","date_gmt":"2021-11-26T07:44:45","guid":{"rendered":"https:\/\/hongtronics.com\/?p=15080"},"modified":"2024-07-12T17:36:06","modified_gmt":"2024-07-12T09:36:06","slug":"canopen-protocol-bsic-knowledge","status":"publish","type":"post","link":"https:\/\/hongtronics.com\/en\/canopen-protocol-bsic-knowledge\/","title":{"rendered":"CANopen Protocol Basics"},"content":{"rendered":"<div data-elementor-type=\"wp-post\" data-elementor-id=\"15080\" class=\"elementor elementor-15080\" data-elementor-post-type=\"post\">\n\t\t\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-4a817657 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"4a817657\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-2ef0733d\" data-id=\"2ef0733d\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-69bc33a0 elementor-widget elementor-widget-text-editor\" data-id=\"69bc33a0\" data-element_type=\"widget\" data-widget_type=\"text-editor.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\n<h2 class=\"wp-block-heading\">preamble<\/h2>\n\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">CANopen \u662f\u4e00\u7a2e\u57fa\u65bc CAN \u7684\u901a\u8a0a\u5354\u8b70\uff0c\u7528\u65bc\u81ea\u52d5\u5316\u5de5\u7a0b\u4e2d\u7528\u65bc\u8907\u96dc\u8a2d\u5099\u7d50\u69cb\u7684\u806f\u7db2\u3002CANopen \u662f CAN \u7684\u9032\u4e00\u6b65\u767c\u5c55\uff0c\u7531 BOSCH \u63a8\u51fa\uff0c\u7528\u65bc\u6e1b\u5c11\u6c7d\u8eca\u88fd\u9020\u4e2d\u7684\u96fb\u7e9c\u3002\u7531\u65bcCANopen\u7531\u5fb7\u570b\u4e2d\u5c0f\u4f01\u696d\u767c\u8d77\u4e26\u5f97\u5230 BOSCH \u7684\u652f\u6301\uff0cCANopen\u6700\u521d\u5f9e\u5fb7\u570b\u50b3\u64ad\u5230\u6b50\u6d32\u3002\u5230\u73fe\u5728\u70ba\u6b62\uff0cCANopen \u4e5f\u5df2\u7d93\u64f4\u5c55\u5230\u4e86\u5317\u7f8e\u548c\u4e9e\u6d32\u3002\u81ea 1995 \u5e74\u4ee5\u4f86\uff0cCANopen \u7531\u7528\u6236\u548c\u88fd\u9020\u5546\u7d44\u7e54 CAN in Automation (CIA) \u7dad\u8b77\uff0c\u4e26\u81ea 2002 \u5e74\u8d77\u6a19\u6e96\u5316\u70ba\u6b50\u6d32\u6a19\u6e96 EN 50325-4\u3002<\/span><\/p>\n<p><span style=\"color: #000000;\"><\/span><\/p>\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">\u70ba\u6b64\uff0cKUNBUS GmbH \u63d0\u4f9b\u5404\u7a2e\u5f62\u5f0f\u548c\u4e0d\u540c\u63a5\u53e3\u8b8a\u9ad4\u7684\u7522\u54c1\u3002<\/span><\/p>\n<p><span style=\"color: #000000;\"><\/span><\/p>\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">\u5728\u4e00\u500b\u7522\u54c1\u7cfb\u5217\u4e2d\uff0c\u53ef\u4ee5\u4ea4\u63db\u4e0d\u540c\u7684\u73fe\u5834\u7e3d\u7dda\u5354\u8b70\u3002\u7d71\u4e00\u7684\u5f15\u8173\u8f38\u51fa\u5141\u8a31\u5c07 IC \u6a21\u584a\u7528\u4f5c\u9078\u9805\u5361\u3002<\/span><\/p>\n\n<h2 class=\"wp-block-heading\">CANopen\u5354\u8b70\u57fa\u790e\uff1a<\/h2>\n\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">CANopen \u57fa\u65bc CAN\uff08\u63a7\u5236\u5668\u5c40\u57df\u7db2\uff09\uff0c\u4ee3\u8868\u4e86\u4e00\u7a2e\u4e3b\u8981\u7528\u65bc\u81ea\u52d5\u5316\u6280\u8853\u7684\u901a\u8a0a\u5354\u8b70\u3002CANopen \u7d50\u5408\u4e86\u5e7e\u500b\u57fa\u672c\u670d\u52d9\uff0c\u4e5f\u7a31\u70ba\u670d\u52d9\u539f\u8a9e\u3002<\/span><\/p>\n<p><span style=\"color: #000000;\"><\/span><\/p>\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">\u57fa\u672c\u670d\u52d9\u5305\u542b\u5982\u4e0b\uff1a<\/span><\/p>\n<p><span style=\"color: #000000;\"><\/span><\/p>\n<ul class=\"has-normal-font-size wp-block-list\">\n<li><span style=\"color: #000000;\">IIndication\uff08\u901a\u77e5\u61c9\u7528\u7a0b\u5e8f\u5b58\u5728\u6d88\u606f\/\u7d50\u679c\uff09<\/span><\/li>\n<li><span style=\"color: #000000;\">\u97ff\u61c9\uff08\u61c9\u7528\u7a0b\u5e8f\u97ff\u61c9\u6307\u793a\uff09<\/span><\/li>\n<li><span style=\"color: #000000;\">\u78ba\u8a8d\uff08\u7576\u57f7\u884c CANopen \u670d\u52d9\u6642\uff0c\u5411\u61c9\u7528\u7a0b\u5e8f\u767c\u9001\u78ba\u8a8d\uff09<\/span><\/li>\n<\/ul>\n<p><span style=\"color: #000000;\"><\/span><\/p>\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">CANopen \u4f7f\u7528\u4ee5\u4e0b\u901a\u8a0a\u5c0d\u8c61\uff1a<\/span><\/p>\n<p><span style=\"color: #000000;\"><\/span><\/p>\n<ul class=\"has-normal-font-size wp-block-list\">\n<li><span style=\"color: #000000;\">(SDO) \u7528\u65bc\u5c0d\u8c61\u5b57\u5178\u689d\u76ee\u53c3\u6578\u5316\u7684\u670d\u52d9\u6578\u64da\u5c0d\u8c61<\/span><\/li>\n<li><span style=\"color: #000000;\">(PDO) \u7528\u65bc\u5be6\u6642\u6578\u64da\u50b3\u8f38\u7684\u904e\u7a0b\u6578\u64da\u5c0d\u8c61<\/span><\/li>\n<li><span style=\"color: #000000;\">(NMT) \u7528\u65bc\u72c0\u614b\u6a5f\u63a7\u5236\u548c\u7bc0\u9ede\u76e3\u63a7\u7684\u7db2\u8def\u7ba1\u7406\u5c0d\u8c61<\/span><\/li>\n<li><span style=\"color: #000000;\">(SYNC) \u540c\u6b65\u5c0d\u8c61<\/span><\/li>\n<li><span style=\"color: #000000;\">(EMCY) \u6642\u9593\u6233\u548c\u932f\u8aa4\u6d88\u606f<\/span><\/li>\n<\/ul>\n\n<h2 class=\"wp-block-heading\">CANopen \u5c0d\u8c61\u5b57\u5178<\/h2>\n\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">\u6240\u6709\u7528\u6236\u548c\u901a\u8a0a\u5c0d\u8c61\u90fd\u5728 CANopen \u5c0d\u8c61\u5b57\u5178\u4e2d\u8a3b\u518a\u3002CANopen \u5c0d\u8c61\u5b57\u5178\u4e5f\u7a31\u70ba\u9023\u63a5\u61c9\u7528\u7a0b\u5f0f\u548c\u901a\u8a0a\u55ae\u5143\u7684\u93c8\u63a5\u3002\u5404\u500b\u689d\u76ee\u4ee5 16 \u4f4d\u7d22\u5f15\u70ba\u7279\u5fb5\uff0c\u6bcf\u500b\u689d\u76ee\u4ee3\u8868\u4e00\u500b\u5c0d\u8c61\u3002\u4e00\u500b\u7d22\u5f15\u53ef\u4ee5\u5305\u542b\u6700\u5927\u503c\u3002256\u500b\u5b50\u7d22\u5f15\uff0c\u7e3d\u5171\u53ef\u4ee5\u8b58\u522565536 x 254\u500b\u5143\u7d20\u3002\u7121\u6cd5\u514d\u8cbb\u4f7f\u7528\u5b50\u6307\u6578 0 \u548c 255\u3002\u5982\u4e0a\u6240\u8ff0\uff0cCANopen \u5c0d\u8c61\u5b57\u5178\u5f62\u6210\u4e86\u4e00\u500b\u5c0d\u5916\u7684\u63a5\u53e3\uff0c\u5b83\u88ab\u660e\u78ba\u5b9a\u7fa9\u70ba\u8a2d\u5099\u914d\u7f6e\u6587\u4ef6\u4ee5\u53ca\u501f\u52a9\u7d22\u5f15\u7684\u901a\u8a0a\u5c0d\u8c61\u3002\u6b64\u5916\uff0cCANopen \u7684\u6bcf\u500b\u901a\u8a0a\u5c0d\u8c61\u5728\u7db2\u8def\u4e2d\u90fd\u6709\u4e00\u500b\u552f\u4e00\u7684\u901a\u8a0a\u5c0d\u8c61\u6a19\u8b58\u7b26 = COB-ID\u300232 \u4f4d COB-ID \u7684\u524d\u5169\u4f4d\u5177\u6709\u7279\u5b9a\u65bc\u5c0d\u8c61\u7684\u542b\u7fa9\u3002\u6709\u4e86\u9019\u500b\uff0c11 \u4f4d CAN \u7db2\u8def\u4e2d\u7684\u7b2c 29 \u81f3 11 \u4f4d\u88ab\u8ce6\u4e88\u503c 0\uff0c\u800c\u7b2c 10 \u81f3 0 \u4f4d\u7b49\u65bc CAN \u6a19\u8b58\u7b26\u3002\u670d\u52d9\u6578\u64da\u5c0d\u8c61\u63d0\u4f9b\u76f8\u61c9\u7684\u670d\u52d9\uff0c\u4ee5\u4fbf\u53ef\u4ee5\u5728 CANopen \u4e2d\u8a2a\u554f\u5c0d\u8c61\u5eab\u3002\u56e0\u6b64\uff0c\u6bcf\u500b CANopen \u8a2d\u5099\u5fc5\u9808\u81f3\u5c11\u6709\u4e00\u500b SDO \u670d\u52d9\u5668\u53ef\u7528\u3002\u8a72\u670d\u52d9\u5668\u63a5\u7ba1\u4e86\u63a5\u53d7\u548c\u8655\u7406 SDO \u8acb\u6c42\u7684\u5de5\u4f5c\u3002\u6b64\u8655\uff0c\u6d88\u606f\u4f7f\u7528\u7bc0\u9ede\u865f + 1536 \u6216\u76f8\u61c9\u7684\u6bcf\u500b\u9810\u8a2d\u8a2d\u7f6e\u7684 CAN \u6a19\u8b58\u7b26\u4f5c\u70ba COB-ID\u3002\u7136\u5f8c\u5c07\u7bc0\u9ede\u865f + 1408 \u7528\u65bc\u7b54\u6848\u3002\u56e0\u6b64\uff0c\u5177\u6709\u4f4e\u512a\u5148\u7d1a\u7684 ID \u7528\u65bc\u50b3\u8f38\u5c0d\u8c61\u5eab\u4e2d\u7684\u689d\u76ee\u3002SDO\u50b3\u8f38\u9700\u8981\u4e00\u500b4\u5b57\u7bc0\u7684\u5354\u8b70\uff0c\u4ee5\u4fbf\u5c0d\u7d22\u5f15\u3001\u5b50\u7d22\u5f15\u548c\u50b3\u8f38\u65b9\u5411\u9032\u884c\u7de8\u78bc\u3002\u7531\u65bc CANopen \u6578\u64da\u5b57\u6bb5\u53ea\u6709 8 \u500b\u5b57\u7bc0\u53ef\u7528\uff0c\u6578\u64da\u5167\u5bb9\u53ea\u67094\u500b\u5b57\u7bc0\u53ef\u4f9b\u514d\u8cbb\u4f7f\u7528\u3002\u56e0\u6b64\uff0c\u5927\u65bc 4 \u5b57\u7bc0\u4e26\u901a\u904e SDO \u50b3\u8f38\u9032\u884c\u901a\u8a0a\u7684\u6578\u64da\u91cf\u5fc5\u9808\u4f9d\u9760\u53e6\u5916\u5169\u7a2e\u5354\u8b70\u3002<\/span><\/p>\n\n<h2 class=\"wp-block-heading\">CANopen \u4e2d\u5177\u6709\u8f03\u9ad8\u512a\u5148\u7d1a\u7684\u6a19\u8b58\u7b26<\/h2>\n\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">\u70ba\u4e86\u4fdd\u8b49\u904e\u7a0b\u6578\u64da\u5728CANopen\u7db2\u8def\u4e2d\u80fd\u5920\u5feb\u901f\u50b3\u8f38\uff0c\u5e36\u6709COB-ID\u7684\u6a19\u8b58\u7b26\u9810\u8a2d\u8a2d\u7f6e\u5728385\u52301407\u7684\u7bc4\u570d\u5167\u3002\u9019\u88e1\u7e3d\u5171\u6709 8 \u500b\u5b57\u7bc0\u53ef\u7528\u3002PDO \u6620\u5c04\u689d\u76ee\u78ba\u5b9a\u6709\u6548\u8ca0\u8f09\u6578\u64da\u7684\u5167\u5bb9\uff0c\u5b83\u5011\u662f\u5c0d\u8c61\u5eab\u4e2d\u7684\u5c0d\u8c61\u3002\u7d50\u5408 PDO\uff0c\u9084\u53ef\u4ee5\u50b3\u8f38\u5177\u6709\u591a\u500b\u503c\u7684\u5c0d\u8c61\uff0c\u7136\u5f8c\u63a5\u6536\u5668\u53ea\u80fd\u4f7f\u7528\u90e8\u5206\u6578\u64da\u3002PDO \u7684\u50b3\u8f38\u767c\u751f\u5728\u5faa\u74b0\u6216\u540c\u6b65\u7d1a\u5225\uff0c\u5176\u4e2d PDO \u7684\u63a5\u6536\u5c0e\u81f4\u6620\u5c04\u689d\u76ee\u5beb\u5165\u5c0d\u8c61\u5eab\u4e2d\u7684\u5176\u4ed6\u5c0d\u8c61\u3002<\/span><\/p>\n\n<h2 class=\"wp-block-heading\">CANopen \u2013 \u7368\u7acb\u65bc\u88fd\u9020\u5546<\/h2>\n\n<p class=\"has-normal-font-size\"><span style=\"color: #000000;\">CANopen \u7db2\u8def\u7684\u7d71\u4e00\u8a2d\u5099\u914d\u7f6e\u6587\u4ef6\u9084\u652f\u6301\u7368\u7acb\u65bc\u88fd\u9020\u5546\u7684\u61c9\u7528\u7a0b\u5e8f\u3002\u70ba\u6b64\uff0c\u5b9a\u7fa9\u4e86\u8a2d\u5099\u914d\u7f6e\u6587\u4ef6\uff0c\u4f8b\u5982\u76ee\u7684 401 = \u8f38\u5165\/\u8f38\u51fa\u6a21\u584a\u3002\u5c0d\u50cf\u5eab\u901a\u904e\u8a2d\u5099\u914d\u7f6e\u6587\u4ef6\u78ba\u4fdd\u5c0d\u76f8\u61c9\u8a2d\u5099\u7684\u529f\u80fd\u548c\u7d50\u69cb\u9032\u884c\u6e96\u78ba\u5b9a\u7fa9\u3002CANopen \u5b89\u88dd\uff1a CANopen \u7db2\u8def\u5728\u958b\u59cb\u548c\u7d50\u675f\u6642\u7684\u63a5\u7dda\u5747\u63a1\u7528\u5177\u6709 120 \u6b50\u59c6\u96fb\u963b\u7684\u7e3d\u7dda\u62d3\u64b2\u7d50\u69cb\u3002\u56e0\u6b64\uff0c\u5fc5\u9808\u5c0f\u5fc3\u907f\u514d\u5b58\u6839\u7dda\u3002\u7576\u901a\u904e CAN-H \u548c CAN-L \u8a0a\u865f\u9032\u884c\u6578\u64da\u50b3\u8f38\u6642\uff0cGND \u4f5c\u70ba\u6578\u64da\u53c3\u8003\u96fb\u4f4d\uff0c\u96d9\u7d5e\u7dda\u96fb\u7e9c\uff08\u963b\u6297\uff1a120 \u6b50\u59c6\uff0c\u96fb\u963b 70 \u6beb\u6b50\/\u7c73\uff09\u88ab\u5f15\u51fa\u3002\u4e5f\u53ef\u4ee5\u9078\u64c7\u4f7f\u7528 24 V \u96fb\u6e90\u3002\u6309\u7167\u6163\u4f8b\uff0c\u4e00\u500b 9 \u91dd D-sub \u63d2\u982d\u7528\u65bc\u5c07\u5404\u500b\u53c3\u8207\u8005\u9023\u63a5\u5230 CANopen \u7db2\u8def\u3002\u53ef\u8abf\u50b3\u8f38\u901f\u5ea6\u4ecb\u65bc 10 kbps \u548c 1 Mbps \u4e4b\u9593\uff0c\u5176\u4e2d\u6700\u5927\u503c\u3002127 \u500b\u53c3\u8207\u8005\u53ef\u4ee5\u9023\u63a5\u5230 CANopen \u7db2\u8def\u3002<\/span><\/p>\n\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-1cf04b1 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"1cf04b1\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-600c6cf\" data-id=\"600c6cf\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7ca2780 elementor-widget-divider--view-line elementor-widget elementor-widget-divider\" data-id=\"7ca2780\" data-element_type=\"widget\" data-widget_type=\"divider.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-divider\">\n\t\t\t<span class=\"elementor-divider-separator\">\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-a6d20a4 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"a6d20a4\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-e8a1081\" data-id=\"e8a1081\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-2a40eec elementor-widget elementor-widget-heading\" data-id=\"2a40eec\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-large\">\u300a\u7522\u54c1\u9023\u7d50\u300b<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-8b31ab2 elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"8b31ab2\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-827e7ac\" data-id=\"827e7ac\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-36994ef elementor-widget elementor-widget-image\" data-id=\"36994ef\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/hongtronics.com\/en\/product-category\/fieldbus-ethernet\/canopen-protocol-development-kit\/\">\n\t\t\t\t\t\t\t<img fetchpriority=\"high\" decoding=\"async\" width=\"300\" height=\"300\" src=\"https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/CANopen-600x600-2-300x300.png\" class=\"attachment-medium size-medium wp-image-15083\" alt=\"\" srcset=\"https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/CANopen-600x600-2-300x300.png 300w, https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/CANopen-600x600-2-100x100.png 100w, https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/CANopen-600x600-2-150x150.png 150w, https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/CANopen-600x600-2.png 600w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-02d55da elementor-widget elementor-widget-heading\" data-id=\"02d55da\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">CANopen \u5354\u8b70\u958b\u767c\u5305<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t<div class=\"elementor-column elementor-col-50 elementor-top-column elementor-element elementor-element-359b507\" data-id=\"359b507\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-7818139 elementor-widget elementor-widget-image\" data-id=\"7818139\" data-element_type=\"widget\" data-widget_type=\"image.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<a href=\"https:\/\/hongtronics.com\/en\/product\/canopen-gateway\/\">\n\t\t\t\t\t\t\t<img decoding=\"async\" width=\"300\" height=\"300\" src=\"https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/modulares-gateway-kunbus-300x300.png\" class=\"attachment-medium size-medium wp-image-15084\" alt=\"\" srcset=\"https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/modulares-gateway-kunbus-300x300.png 300w, https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/modulares-gateway-kunbus-100x100.png 100w, https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/modulares-gateway-kunbus-150x150.png 150w, https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/modulares-gateway-kunbus.png 426w\" sizes=\"(max-width: 300px) 100vw, 300px\" \/>\t\t\t\t\t\t\t\t<\/a>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-83cf09f elementor-widget elementor-widget-heading\" data-id=\"83cf09f\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-default\">CANopen \u7db2\u95dc\u9598\u9053\u5668<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-fbef85a elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"fbef85a\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-4f8425e\" data-id=\"4f8425e\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-601bfb7 elementor-widget-divider--view-line elementor-widget elementor-widget-divider\" data-id=\"601bfb7\" data-element_type=\"widget\" data-widget_type=\"divider.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<div class=\"elementor-divider\">\n\t\t\t<span class=\"elementor-divider-separator\">\n\t\t\t\t\t\t<\/span>\n\t\t<\/div>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t<div class=\"elementor-element elementor-element-91877a4 elementor-widget elementor-widget-heading\" data-id=\"91877a4\" data-element_type=\"widget\" data-widget_type=\"heading.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t<h2 class=\"elementor-heading-title elementor-size-large\">Contact Us<\/h2>\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<section class=\"elementor-section elementor-top-section elementor-element elementor-element-85dd64d elementor-section-boxed elementor-section-height-default elementor-section-height-default\" data-id=\"85dd64d\" data-element_type=\"section\">\n\t\t\t\t\t\t<div class=\"elementor-container elementor-column-gap-default\">\n\t\t\t\t\t<div class=\"elementor-column elementor-col-100 elementor-top-column elementor-element elementor-element-c9c2b56\" data-id=\"c9c2b56\" data-element_type=\"column\">\n\t\t\t<div class=\"elementor-widget-wrap elementor-element-populated\">\n\t\t\t\t\t\t<div class=\"elementor-element elementor-element-034d449 elementor-button-align-center elementor-widget elementor-widget-form\" data-id=\"034d449\" data-element_type=\"widget\" data-settings=\"{&quot;step_next_label&quot;:&quot;\\u4e0b\\u4e00\\u7bc7&quot;,&quot;step_previous_label&quot;:&quot;\\u4e0a\\u4e00\\u7bc7&quot;,&quot;button_width&quot;:&quot;100&quot;,&quot;step_type&quot;:&quot;number_text&quot;,&quot;step_icon_shape&quot;:&quot;circle&quot;}\" data-widget_type=\"form.default\">\n\t\t\t\t<div class=\"elementor-widget-container\">\n\t\t\t\t\t\t\t<form class=\"elementor-form\" method=\"post\" name=\"\u65b0\u8868\u55ae\" aria-label=\"New Forms\" action=\"\">\n\t\t\t<input type=\"hidden\" name=\"post_id\" value=\"15080\"\/>\n\t\t\t<input type=\"hidden\" name=\"form_id\" value=\"034d449\"\/>\n\t\t\t<input type=\"hidden\" name=\"referer_title\" value=\"CANopen\u5354\u8b70\u57fa\u790e\u77e5\u8b58\" \/>\n\n\t\t\t\t\t\t\t<input type=\"hidden\" name=\"queried_id\" value=\"15080\"\/>\n\t\t\t\n\t\t\t<div class=\"elementor-form-fields-wrapper elementor-labels-above\">\n\t\t\t\t\t\t\t\t<div class=\"elementor-field-type-text elementor-field-group elementor-column elementor-field-group-name elementor-col-100\">\n\t\t\t\t\t\t\t\t\t\t\t\t<label for=\"form-field-name\" class=\"elementor-field-label\">\n\t\t\t\t\t\t\t\tName\t\t\t\t\t\t\t<\/label>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<input size=\"1\" type=\"text\" name=\"form_fields[name]\" id=\"form-field-name\" class=\"elementor-field elementor-size-sm  elementor-field-textual\" placeholder=\"Name\">\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t<div class=\"elementor-field-type-email elementor-field-group elementor-column elementor-field-group-email elementor-col-100 elementor-field-required\">\n\t\t\t\t\t\t\t\t\t\t\t\t<label for=\"form-field-email\" class=\"elementor-field-label\">\n\t\t\t\t\t\t\t\tE-Mail\t\t\t\t\t\t\t<\/label>\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t<input size=\"1\" type=\"email\" name=\"form_fields[email]\" id=\"form-field-email\" class=\"elementor-field elementor-size-sm  elementor-field-textual\" placeholder=\"E-Mail\" required=\"required\">\n\t\t\t\t\t\t\t\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t<div class=\"elementor-field-type-textarea elementor-field-group elementor-column elementor-field-group-message elementor-col-100\">\n\t\t\t\t\t\t\t\t\t\t\t\t<label for=\"form-field-message\" class=\"elementor-field-label\">\n\t\t\t\t\t\t\t\tMessage\t\t\t\t\t\t\t<\/label>\n\t\t\t\t\t\t<textarea class=\"elementor-field-textual elementor-field  elementor-size-sm\" name=\"form_fields[message]\" id=\"form-field-message\" rows=\"4\" placeholder=\"Message\"><\/textarea>\t\t\t\t<\/div>\n\t\t\t\t\t\t\t\t<div class=\"elementor-field-group elementor-column elementor-field-type-submit elementor-col-100 e-form__buttons\">\n\t\t\t\t\t<button class=\"elementor-button elementor-size-md\" type=\"submit\">\n\t\t\t\t\t\t<span class=\"elementor-button-content-wrapper\">\n\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t\t<span class=\"elementor-button-text\">transmit<\/span>\n\t\t\t\t\t\t\t\t\t\t\t\t\t<\/span>\n\t\t\t\t\t<\/button>\n\t\t\t\t<\/div>\n\t\t\t<\/div>\n\t\t<input type=\"hidden\" name=\"trp-form-language\" value=\"en\"\/><\/form>\n\t\t\t\t\t\t<\/div>\n\t\t\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/div>\n\t\t\t\t\t<\/div>\n\t\t<\/section>\n\t\t\t\t<\/div>","protected":false},"excerpt":{"rendered":"<p>\u524d\u8a00 CANopen \u662f\u4e00\u7a2e\u57fa\u65bc CAN \u7684\u901a\u8a0a\u5354\u8b70\uff0c\u7528\u65bc\u81ea\u52d5\u5316\u5de5\u7a0b\u4e2d\u7528\u65bc\u8907\u96dc\u8a2d\u5099\u7d50\u69cb\u7684\u806f\u7db2\u3002CANopen  [&hellip;]<\/p>","protected":false},"author":29,"featured_media":15081,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":{"_eb_attr":"","ocean_post_layout":"","ocean_both_sidebars_style":"","ocean_both_sidebars_content_width":0,"ocean_both_sidebars_sidebars_width":0,"ocean_sidebar":"0","ocean_second_sidebar":"0","ocean_disable_margins":"enable","ocean_add_body_class":"","ocean_shortcode_before_top_bar":"","ocean_shortcode_after_top_bar":"","ocean_shortcode_before_header":"","ocean_shortcode_after_header":"","ocean_has_shortcode":"","ocean_shortcode_after_title":"","ocean_shortcode_before_footer_widgets":"","ocean_shortcode_after_footer_widgets":"","ocean_shortcode_before_footer_bottom":"","ocean_shortcode_after_footer_bottom":"","ocean_display_top_bar":"default","ocean_display_header":"default","ocean_header_style":"minimal","ocean_center_header_left_menu":"0","ocean_custom_header_template":"0","ocean_custom_logo":0,"ocean_custom_retina_logo":0,"ocean_custom_logo_max_width":0,"ocean_custom_logo_tablet_max_width":0,"ocean_custom_logo_mobile_max_width":0,"ocean_custom_logo_max_height":0,"ocean_custom_logo_tablet_max_height":0,"ocean_custom_logo_mobile_max_height":0,"ocean_header_custom_menu":"0","ocean_menu_typo_font_family":"0","ocean_menu_typo_font_subset":"","ocean_menu_typo_font_size":0,"ocean_menu_typo_font_size_tablet":0,"ocean_menu_typo_font_size_mobile":0,"ocean_menu_typo_font_size_unit":"px","ocean_menu_typo_font_weight":"","ocean_menu_typo_font_weight_tablet":"","ocean_menu_typo_font_weight_mobile":"","ocean_menu_typo_transform":"","ocean_menu_typo_transform_tablet":"","ocean_menu_typo_transform_mobile":"","ocean_menu_typo_line_height":0,"ocean_menu_typo_line_height_tablet":0,"ocean_menu_typo_line_height_mobile":0,"ocean_menu_typo_line_height_unit":"","ocean_menu_typo_spacing":0,"ocean_menu_typo_spacing_tablet":0,"ocean_menu_typo_spacing_mobile":0,"ocean_menu_typo_spacing_unit":"","ocean_menu_link_color":"","ocean_menu_link_color_hover":"","ocean_menu_link_color_active":"","ocean_menu_link_background":"","ocean_menu_link_hover_background":"","ocean_menu_link_active_background":"","ocean_menu_social_links_bg":"","ocean_menu_social_hover_links_bg":"","ocean_menu_social_links_color":"","ocean_menu_social_hover_links_color":"","ocean_disable_title":"default","ocean_disable_heading":"default","ocean_post_title":"","ocean_post_subheading":"","ocean_post_title_style":"","ocean_post_title_background_color":"","ocean_post_title_background":0,"ocean_post_title_bg_image_position":"","ocean_post_title_bg_image_attachment":"","ocean_post_title_bg_image_repeat":"","ocean_post_title_bg_image_size":"","ocean_post_title_height":0,"ocean_post_title_bg_overlay":0.5,"ocean_post_title_bg_overlay_color":"","ocean_disable_breadcrumbs":"default","ocean_breadcrumbs_color":"","ocean_breadcrumbs_separator_color":"","ocean_breadcrumbs_links_color":"","ocean_breadcrumbs_links_hover_color":"","ocean_display_footer_widgets":"default","ocean_display_footer_bottom":"default","ocean_custom_footer_template":"0","iawp_total_views":1591,"ocean_post_oembed":"","ocean_post_self_hosted_media":"","ocean_post_video_embed":"","ocean_link_format":"","ocean_link_format_target":"self","ocean_quote_format":"","ocean_quote_format_link":"post","ocean_gallery_link_images":"off","ocean_gallery_id":[],"footnotes":""},"categories":[2315,1169],"tags":[1470,1468],"table_tags":[],"class_list":["post-15080","post","type-post","status-publish","format-standard","has-post-thumbnail","hentry","category-2315","category-industry-news","tag-canopen","tag-1468","entry","has-media","owp-thumbs-layout-horizontal","owp-btn-normal","owp-tabs-layout-horizontal","has-no-thumbnails","has-product-nav"],"aioseo_notices":[],"jetpack_featured_media_url":"https:\/\/hongtronics.com\/wp-content\/uploads\/2021\/11\/CANopen-600x600-1.png","_links":{"self":[{"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/posts\/15080","targetHints":{"allow":["GET"]}}],"collection":[{"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/posts"}],"about":[{"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/users\/29"}],"replies":[{"embeddable":true,"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/comments?post=15080"}],"version-history":[{"count":5,"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/posts\/15080\/revisions"}],"predecessor-version":[{"id":15119,"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/posts\/15080\/revisions\/15119"}],"wp:featuredmedia":[{"embeddable":true,"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/media\/15081"}],"wp:attachment":[{"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/media?parent=15080"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"https:\/\/hongtronics.com\/en\/wp-json\/wp\/v2\/categories?post=15080"},{"taxonomy":"post_tag","embeddable":true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