Multi-Motor Synchronous Control with CANopen
- 10.2991/jrnal.k.190220.006How to use a DOI?
- CAN bus; CANopen; brushless DC motors
A Brushless DC (BLDC) motors synchronous control system based on the CANopen (a communication protocol and device profile specification for automatic embedded systems) protocol is proposed in this paper. Multi-motor control is popular in robot or automation system, and the synchronization is an important issue, may be the key issue. The CANopen is a solution, due to Process Data Object (PDO) protocol. A Texas Instruments microcontroller TMS320F28069 is used as master to control six BLDC motors used as slave in this paper. The Master sends synchronization object to slaves’ base on the communication profile CAN (Controller Area Network) in Automation (CiA) 301 and the motion control profile CiA402. The system suns at 500 kbits/s and 1 Mbits/s transmission rate by setting PDO. The firmware details in this paper to show six-motor synchronous control.
- © 2019 The Authors. Published by Atlantis Press SARL.
- Open Access
- This is an open access article distributed under the CC BY-NC 4.0 license (http://creativecommons.org/licenses/by-nc/4.0/).
Cite this article
TY - JOUR AU - Chung-Wen Hung AU - Roger CL Lee AU - Bo-Kai Huang AU - Shih-Ting Yu PY - 2019 DA - 2019/03/30 TI - Multi-Motor Synchronous Control with CANopen JO - Journal of Robotics, Networking and Artificial Life SP - 236 EP - 240 VL - 5 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.190220.006 DO - 10.2991/jrnal.k.190220.006 ID - Hung2019 ER -