| Title: | OS5-2 X-Y platform synchronous control with CANopen |
|---|---|
| Publication: | ICAROB2020 |
| Volume: | 25 |
| Pages: | 31-34 |
| ISSN: | 2188-7829 |
| DOI: | 10.5954/ICAROB.2020.OS5-2 |
| Author(s): | Yu-Ming Guan, Chung-Wen Hung, Shih-Ting Yu, Yu-Kai Chen |
| Publication Date: | January 13, 2020 |
| Keywords: | CAN (Controller Area Network), CANopen, X-Y Platform, synchronous control system, multi-motor, cross-coupling control |
| Abstract: | 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. |
| PDF File: | https://alife-robotics.co.jp/members2020/icarob/data/html/data/OS/OS5/OS5-2.pdf |
| Copyright: | © The authors. This article is distributed under the terms of the Creative Commons Attribution License 4.0, which permits non-commercial use, distribution and reproduction in any medium, provided the original work is properly cited. See for details: https://creativecommons.org/licenses/by-nc/4.0/ |
(c)2008 Copyright The Regents of ALife Robotics Corporation Ltd. All Rights Reserved.