| The motion control system has been developed for nearly a century, among various motion control systems,fieldbus-based motion control system is used most in recent years. The advantages of fieldbus-based network motion control system are simply of system wiring,high flexibility of the system,easy to be expanded, reused, maintenanced and diagnosised, etc, For these reasons, fieldbus-based network motion control system would be quickly developed in future.CANopen is an open fieldbus technology and protocol, which has been widely used in automation fields. But the domestic R&D in both CANopen communication and device field is behind that in europe, which prevents the high performance motion control system from designing and implementing.By rearshing the detailed CANopen protocol,advantages of using CANopen protocol in motion control networks have been summarized. After that,the CANopen-based embedded motion control master and slaver are given, and then implemented.At first, the history of motion control system has been introduced, the profile and use of motion control system that based on fieldbus technology are also summrized. Secondly the CANopen protocol and its application in motion control field are discussed, after that STM32 microcontroller-based embeded motion control master and slave are given, and the specific hardware and software structure of both the motion control master and slave are described in detail.At last ,based on what discussed above and combined with the application of actul project, the embeded master which supports the manager and control function to the I/O terminal modules that based on CANopen profile is implemented, and also the slave which can be managered and controlled by the motion control PLC. |
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