Implementation of CANopen Distributed Control Network Based on ARM in Automatic Production Line

Abstract

An approach of implementing CANopen real-time distributed control network was proposed in this paper. To build the network, CanFestival open source CANopen stack was used. The CANopen slave nodes were established on ARM7 LPC2478 platform with µC/OS-II real-time operating system; the CANopen master node was built on an industrial PC with Windows operating system. Test codes were added to trace the execution of a slave node, and the control interface of the master node was developed to manipulate the behaviors of slave nodes. At last, key components of time delay were analyzed and experiments were carried out in order to measure the performance of the network. Experimental results showed that the processing time of a CANopen object is about 100 µs which fulfills the need of most automatic production line.