自动物流中AGV的通讯网络解决方案

AGV[]AGV(),AGV[]RS-232Cö485nRF905,,,,,,,,,PROFIBUS-DP,,,IöOPROFIBUS-DP,,,AGV(),,AGV11,,AGV,,PROFIBUS-DP,AGV,RS-485RS-485,,,RS-485PROFIBUSRS-485,RS-485,,PROFIBUS,MODBUS,INTERBUSRS-485,-7V+12V,,,,RS-232RS-485,RS-232PC,;RS-485,RS-485,,,PROFIBUS,ISOöOSI,7(2),,,2.,,,,,,244©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.öDUSARTIöO,,5,MSP430nRF905,RS232ö485,PWM,AD,RS232,RS485,AD,PWM,DA3.2nRF905SPInRF905,ShockBurstTMShockBurstTMCPUnRF9053PWRUPTRXCETXENSPI,MCU()SPI,SPInRF905,,,,MCUSPI,,,,,MSP430USART0SPI6SPISPICSN,,3.3nRF905nRF905,,,SPI,nRF905PWRUP=1TRXCE=1XEN=1(),,,MCUnRF905,PWRUP=1TRXCE=1TXEN=0(),nRF905,DR,MCU,nRF905,SPI:voidTxPacket(void){uchari;Config905();ööCSN=0;ööSPI,WTP()SPISpiWrite(WTP);ööfor(i=0;i32;i++){SpiWrite(TxBuf[i]);öö32}CSN=1;ööSPIDelay(1);CSN=0;ööSPI,WTA()SPISpiWrite(WTA);ööfor(i=0;i4;i++)öö4{SpiWrite(RxTxConf.buf[i+5]);}CSN=1;ööSPITRXCE=1;ööTRXCE,Delay(1);TRXCE=0;}öö:voidRxPacket(void){uchari;TRXCE=0;ööCSN=0;ööSPI,RRP()SPIWhile(DR&AM==1)öö{SpiWrite(RRP);öö(446)444©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.()SFB12:AM400øøM400150ms;=L140BLD103CALLBSEND,SFB12DBøø;REQ:=L140øø150ms,150ms;R:=M01øø,,;ID:=W#16#2øøID,LOCALID,W#16#2;RID:=DW#16#1øø,,;DONE:=#tempdone;ERROR:=#temperrøøSTATUS;STATUS:=#tempstatusSD1:=P#DB801DBX00BYTE108øøPLC,DB,P#DB801DBX00BYTE108;LEN:=#temp1øø,;NOP0STEP7STL()SFB13:Aonøøon1;=L140BLD103CALLBRCV,SFB13DBøø;ENR:=L140øø,1;ID:=W#16#2øøID,LOCALID,W#16#2;RID:=DW#16#1øø,,;NDR:=#tempdoneøø,bool,0:,1:;ERROR:=#temperrøøSTATUS;STATUS:=#tempstatusRD1:=P#DB800DBX00BYTE4øøPLC,DB,P#DB800DBX00BYTE4;LEN:=#temp2øø,;NOP0,SIMATICS7-400PLCBYTEWORDVisualC++6.0,VC,ActiveX,MicrosoftMSComm,SIMATICS7-400PLC5PLCPLCPLC,,PLC,,[1],.[J].,2000,22(1):5860.[2].PCS7-200[J].,2002,(4):1215.[3].WindowsPLC[J].,2005,(2):3033.[4].[M].:,2000.[5].[M].:,2005.(444)for(i=0;i32;i++){RxBuf[i]=SpiRead();öö}CSN=1;ööSPI},TXEN,PWRUP,TRXCE,4,,nRF905,,,,[1].FLASH16[M].,,2002.[2].Windows.,,2001.[3].RS485.,2006.[4]NordicCO.LTD.Singlechip433ö868ö915MHZTransceivernRF905Datasheet.June2006.644©1994-2009ChinaAcademicJournalElectronicPublishingHouse.Allrightsreserved.