Abstract: Research is conducted on how to enhance the response speed of motor measurement and control systems based on the controller area network (CAN) bus and the CANopen protocol in this paper. Programs are designed using the programmable logic controller (PLC) programming software Codesys, and an analysis is performed on the core elements of the CANopen protocol, including the device model, communication interface, object dictionary, and process data objects (PDO) configuration. Experiments are conducted to adjust the transmission period of PDO, which results in a reduction of inter-frame interval time, thereby improving the system's response speed. The results show that the method can effectively improve the response speed of the system and has guiding significance in the field of industrial automation.

Key words: CAN bus; CANopen protocol; motor measurement and control system; responsespeed; PLC

摘要： 文章对如何提升基于控制器局域网（CAN）总线和 CANopen 协议的电机测控系统响应 速度进行研究。采用可编程逻辑控制器（PLC）编程软件 Codesys 设计程序，对 CANopen 协 议的设备模型、通信接口、对象字典及过程数据对象（PDO）配置等核心要素进行分析。通 过实验调整 PDO 的发送周期，实现了帧间间隔时间的缩短，从而提升了系统的响应速度。结 果表明，该方法能有效提高系统的响应速度，对工业自动化领域具有指导意义。

关键词: CAN 总线；CANopen 协议；电机测控系统；响应速度；PLC