Journal of Robotics, Networking and Artificial Life

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Volume 5, Issue 4, March 2019, Pages 236 - 240

Multi-Motor Synchronous Control with CANopen

Authors
Chung-Wen Hung1, *, Roger CL Lee2, Bo-Kai Huang1, Shih-Ting Yu1
1Department of Electrical Engineering, National Yunlin University of Science and Technology, Douliu, Yunlin 640, Taiwan, ROC
2R & D Department, Naroller Electronics Co., Ltd., Guishan Dist., Taoyuan City 333, Taiwan, ROC
*Corresponding author. Email: wenhung@yuntech.edu.tw
Corresponding Author
Chung-Wen Hung
Received 3 September 2018, Accepted 16 October 2018, Available Online 30 March 2019.
DOI
10.2991/jrnal.k.190220.006How to use a DOI?
Keywords
CAN bus; CANopen; brushless DC motors
Abstract

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.

Copyright
© 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/).

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<Previous Article In Issue
Next Article In Issue>
Journal
Journal of Robotics, Networking and Artificial Life
Volume-Issue
5 - 4
Pages
236 - 240
Publication Date
2019/03/30
ISSN (Online)
2352-6386
ISSN (Print)
2405-9021
DOI
10.2991/jrnal.k.190220.006How to use a DOI?
Copyright
© 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

risenwbib
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  -