Authors
Chung-Wen Hung1, *, Roger CL Lee2, Bo-Kai Huang1, Shih-Ting Yu1
1
Department of Electrical Engineering, National Yunlin University of Science and Technology, Douliu, Yunlin 640, Taiwan, ROC
2
R & D Department, Naroller Electronics Co., Ltd., Guishan Dist., Taoyuan City 333, Taiwan, ROC
*
Corresponding author. Email: [email protected]
Corresponding Author
Chung-Wen Hung
Received 3 September 2018, Accepted 16 October 2018, Available Online 30 March 2019.
DOI
https://doi.org/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 ALife Robotics Corp. Ltd..
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/).