X-Y platform synchronous control with CANopen

DOI
  • Guan Yu-Ming
    Department of Electrical Engineering, National Yunlin University of Science and Technology
  • Hung Chung-Wen
    Department of Electrical Engineering, National Yunlin University of Science and Technology
  • Yu Shih-Ting
    Department of Electrical Engineering, National Yunlin University of Science and Technology
  • Chen Yu-Kai
    Department of Aeronautical Engineering, National Formosa University

説明

X-Y platform synchronous control with CANopen is proposed in this paper, the X-Y platform consists of threephase hybrid stepper motor drivers and controllers which support the CANopen protocol. The communication network of the platform is based on CAN-bus and CANopen, and the proposed system supports the synchronization signal which meets the CiA301 communication protocol and CiA402 motion control protocol. The Interpolated Position mode of the CiA402 standard is implemented to improve the precision of position control. Compared with Interpolated Position mode, the other control method, cross-coupling control is also implemented to reduce the synchronization error of biaxial motion control. The experimental results show that both of the two method work well, and the comparison also is discussed.

収録刊行物

キーワード

詳細情報 詳細情報について

  • CRID
    1390283659853198848
  • DOI
    10.5954/icarob.2020.os5-2
  • ISSN
    21887829
  • 本文言語コード
    en
  • データソース種別
    • JaLC
    • Crossref
  • 抄録ライセンスフラグ
    使用不可

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