Research Of CANbus Control System Based On CANopen Protocol

The traditional way of mechanical transmition always use shaft to transmit power in order to run synchronously.Since the technology of production is improving continually,the requirement of high precision appears.In this case,the weakness of shaft such as bad rigidity and instability are more and more emerged.In this situation,shaftless drive come on to all over the world as a high precision drive technology.It use independent servo motor system instead of long shaft,to form dummy shaft by using programme and fieldbus control system which is a new technique of communication in industry control field.CAN bus is one kind of fieldbus, it is a serial communication protocol which has the characteristic of low cost,fast speed,high real-time and reliability. Thus,CAN becomes one of the international fieldbus standards.CANopen is a high protocol based on CANBUS,it is applied in automatic control field widely.Labview is the contriver of virtual instrument conception which is a image programme developed by NI company in USA.Labview can easily be intergrated with many kinds of data collection system and communicated with most kinds of fieldbus,Labview can also link many real time database.This paper introduces the development of CANopen slave module applied in shaftless driving system of printing machine.The main part contains design of module hardware,research and analyse of CANopen protocol,design of module software,design of monitor software,design of stepping motor system and system debug.The diffculty of this paper is the carry out of CANopen protocol in slave module software.