Research And Design Of Servo Control Systems Based On CANopen

With the high accuracy,good stability,the corresponding rapid of servo systems,which are been widely used in industrial control fields.However,with the development of industrial automation,a single servo system can not meet the requirements of multiple devices working at the same time in a modern factory.Field buses adopt digital signal communication,which have the advantages of the high transmission speed,good resistance to interference,bidirectional communication at the same time.Therefore,it is one of the hotspots in the field of motion control technologies that the field bus technology is implanted into the servo system.In this paper,based on the research of servo drive technologies and CANopen communication protocols,a design and implementation method of CANopen protocol is proposed in the servo drive control,which is based on STM32F407 micro controller.The main research contents and results include as follows:First,the development process and trend of the servo system are briefly described.This paper introduces several popular field buses and analyzes the advantages of CAN bus and CANopen protocols.Secondly,a CANopen master-slave scheme based on servo control systems is proposed.The implementation steps of the scheme and the hardware design of the system are described.Thirdly,CANopen protocol programs is written and the communication of master-slave base on DSP301 is completed.The DSP402 protocol programs is added to the CANopen slave by analyzing the DSP402 protocol.And master-slave communication is complete based on DSP402.A monitoring software is used to guard the slave station is design by Visual Studio.The controllers of the servo system is design and write in the vector control,and the work of programming is completed in the motor driver control.Finally,CANopen protocol programs will be ported to the servo driver,so that the servo system has the CANopen communication interface.The servo control platform based on CANopen is set up.The TwinCAT software is used as the master station and the servo system is tested as the slave station.The CANopen communication interface in the servo driver is realized,and the expected effect is achieved.