X–Y Platform Synchronous Control with CANopen
- 10.2991/jrnal.k.200221.005How to use a DOI?
- Controller area network; CANopen; X–Y platform; synchronous control; cross-coupling control
An X–Y platform synchronous control with CANopen is proposed in this paper, and the platform includes a three-phase stepping motor, motor controller and driver. The Controller Area Network (CAN) Bus is adopted for communication, and the CANopen protocol is also implemented for control. Moreover, both CiA301 standard for communication and CiA402 standard for motor control are support. The interpolation mode in CiA402 is used for synchronized control of the X–Y platform, however, Cross-Coupling Control (CCC) is proposed to improve the precision of synchronized control. The experimental results show the proposed CCC perform higher accuracy than interpolation control. The phenomenon of more position error when higher speed is also discussed.
- © 2020 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 - Yu-Ming Guan AU - Shih-Ting Yu AU - Wen-Hua Hu PY - 2020 DA - 2020/02/26 TI - X–Y Platform Synchronous Control with CANopen JO - Journal of Robotics, Networking and Artificial Life SP - 254 EP - 257 VL - 6 IS - 4 SN - 2352-6386 UR - https://doi.org/10.2991/jrnal.k.200221.005 DO - 10.2991/jrnal.k.200221.005 ID - Hung2020 ER -