Research On Multi-axis Motion Controller Based On CAN Bus

With modern industry control and the rapid development of computer technology, field bus in the industrial control area have a wide range of applications. Field bus control system make the mode of combining centralization and decentralization of distributed control system into a new and whole distributed control mode, that site equipment through the bus exchange information management.This topic designed multiaxial motion controller based on the CANopen, using senior agreement of fieldbus CANopen as communication network of multi-axis motion controller, real-time transferring the each axis parameters information to control the coordinate movement of all axis.The part of hardware design of this topic using stmicroelectronics latest framework Cortex-M3for the kernel of the ARM chips STM32and EP2C8of the Altera company. In the ARM internal realize human-machine interface interaction, key processing, the file system management and some rough interpolation algorithm processing and CANopen code compiling, etc. FPGA as coprocessor, mainly complete motion control algorithm, as acceleration and deceleration, interpolation, electronic gear and so on. The Connection of ARM and FPGA using "three bus"(piece of choose, data, address). At the same time, research and analysis the CAN bus agreement, realized CAN bus driver development based on STM32. According to the needs of data communications of motion control system various parameters, detailed analysis the content of CANopen agreement, realize the development of communication program master-slave node of CANopen agreement, and through the experimental platform and CANopen analyzer making development program was verified. The last set up based on CAN bus servo driver control platform, and verified to CANopen agreement and motion control platform.The experimental results show that CANopen agreement can meet the requirements of the motion control system, real-time and stability parameters reached expected requirements.