Research Of The Networked Motion Control Based On CANsync

With the development of the motion control technology, motion control is required for its higher precision and accuracy, which can just be solved by improving the synchronous clock accuracy of the control networks. Therefore, in this paper, the development survey and research actualities of motion control network and CAN networks technology are described firstly and then motion control systems based on CANsync network are discussed. First of all, the characteristics of several kinds of CAN clock synchronization mechanisms is introduced and their difference is compared with each other in this paper. Two kinds of new clock synchronization methods are presented and their simulating results are also compared. Secondly, in order to understand the reasons and value of time delay, a mathematical model is established for the time delay of control system based on CANsync and then the time delay of such a system is calculated with this model. It is proved by theoretically analysis that the time delay is cumulative and has a limiting value. The application layer's protocol of CAN is defined by the CANopen, which is a basic protocol. Therefore, in this paper, a special protocol is defined for the motion control systems, and a standard communication format and a communication bandwidth distribution method are designed. Thirdly, in this paper, on the basis of the introduction of function mechanism of CANopen passive station and function of SJA1000 protocol chip, relevant hardware and software is developed for CANopen passive station based on SJA1000. Finally, besides the clock synchronization , the accuracy of such a system is greatly influencd by the inherent performance of control networks too.Therefore,in this paper, three kinds of structures of the CANsync-based networked synchronized motion control systems are presented and their synchronous accuracy among axises are compared by simulations.