Research on Distributed Multi-Axis Motion Control System Based on CANopen

Abstract:

The 32-bit ARM Cortex-M3 core processor Stm32f107vc which integrates two sets of bxCAN interfaces is used as hardware platform to achieve the design of hardware module and software module in this paper. Firstly, real-time multi-tasking operating system μCOS-II is ported to stm32 processor, then open source protocol stack microCANopen which is high real-time and reliable is transplanted under the μCOS-II, so a design of CANopen slave station is achieved. The CAN analyzer which is equipped with monitor trace functionality is used as CANopen master station to start the network, with three CANopen slave stations and one HMI, a distributed multi-axis motion control system based on CANopen which achieves network management and synchronous transmission of data in distributed control system is designed. On above basis, Fuji ALPHA5 Smart servo is used as executive member, modular design of reconfigurable motion control algorithm is realized, furthermore, The flexible module configuration enables the designer to develop systems conveniently according to the change of control requirement and network topology. This distributed control system not only has good real-time performance and stability, but also can reduce the complexity, enhance the flexibility of control system and save cost.

• Periodical: Key Engineering Materials (Volumes 579-580)
• Pages: 680-685
• DOI: https://doi.org/10.4028/www.scientific.net/KEM.579-580.680
• Online since: September 2013
• Authors: Guang You Yang, Zong Mei Tang, Zhi Yan Ma
• Keywords: CANopen, Distributed, Motion Control, Reconfigurable, μCOS-II

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