基于CAN总线的血管造影机C臂运动控制系统

为了同时实现血管造影机运动控制系统的开放式通信和分布控制，介绍了如何将CAN总线应用到血管造影机C臂的运动控制系统当中，提出了完整的研究方案，详细地论述了CAN总线的通信机制及整个系统的结构和工作原理，设计了下位机各智能节点电路及上位机与下位机的通信接口电路.PC机作为上位机起到总体监视和控制的作用， 通过双通道的CAN卡实现与下位机各智能节点之间的通信.下位机包括C臂位置信息反馈节点和各轴运动控制执行节点，进而构成了一个完整的多轴总线分布式运动控制系统.

C arm motion control system based on CAN bus for angiography machine

In order to realize open communication and distributional control simultaneously in motion control system of angiography machine,the article has introduced the approach which apply CAN bus in the C arm multiple spindle motion control of angiography machine.the communication mechanism of CAN bus(structure) and operating principles of the entire system were described. Intelligent slaved node circuits and(communication) interface between the master and slaves were designed.PC which serves as the master(communicates) with slaves through double channel CAN card,and is responsible for total monitor and(control,) the nodes of C arm position feedback information nodes as well as nodes of various axes movement controlling are included in slave,and then a multiple spindle bus type distributional motion control system can been realized.