Digital Servo Control Based on CANopen Protocol

The CANopen protocol,which is the application layer of CAN bus,is introduced with practical application,and the parameters configuring is discussed in the paper. Setting and functions of the CANopen master and slave nodes are studied. Take digital servo as slave,and take PC and USBCAN card as master. By calling the USBCAN interface function library,the communication between PC and digital servo was realized; the basic process of communication and the actual digital servo control for CANopen protocol are implemented in practice. The results show that the CANopen protocol strongly enhances the configuration of CAN bus,and it proves the feasibility and high reliability in motion control.