Authors
Chung-Wen Hung1, *, Yu-Ming Guan1, Shih-Ting Yu1, Wen-Hua Hu2
1Department of Electrical Engineering, National Yunlin University of Science and Technology, No. 123 University Rd. Section 3, Douliu, Yunlin 640, Taiwan (R.O.C.)
2College of Future Bachelor Program in Interdisciplinary Studies, National Yunlin University of Science and Technology, No. 123 University Rd. Section 3, Douliu, Yunlin 640, Taiwan (R.O.C.)
*Corresponding author. Email: [email protected]
Corresponding Author
Chung-Wen Hung
Received 24 October 2019, Accepted 6 December 2019, Available Online 26 February 2020.
DOI
https://doi.org/10.2991/jrnal.k.200221.005How to use a DOI?
Keywords
Controller area network; CANopen; X–Y platform; synchronous control; cross-coupling control
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.
Copyright
© 2020 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/).