Abstract
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.
Talk to us
Join us for a 30 min session where you can share your feedback and ask us any queries you have
Schedule a callMore From: Journal of Robotics, Networking and Artificial Life
Disclaimer: All third-party content on this website/platform is and will remain the property of their respective owners and is provided on "as is" basis without any warranties, express or implied. Use of third-party content does not indicate any affiliation, sponsorship with or endorsement by them. Any references to third-party content is to identify the corresponding services and shall be considered fair use under The CopyrightLaw.
