Ingenia Motion Control and Icarus Technology (Spain) have developed a single-board computer (SBC) to control CANopen drives. This host controller can be integrated into applications using middleware such as ROS, Orosco, and ZeroMQ.
A MOTION CONTROL APPLICATION TYPICALLY includes actuators, servo drives, sensors, a host controller, and application software. But even if many COTS (commercial-off-the-shelf) servos are available, the development of the embedded host controller and its software, including the implementation of the CANopen communication protocol, takes some time and can be costly. The two Spanish companies developed jointly a motion control architecture that includes the CMI-Master. This SBC is coupled with a software framework that is able to control multiple servo drives. It has been designed and tested to control demanding real-time and multi-axis applications, which can be found, for instance, in service and mobile robotics.
The introduced host controller and Ingenia’s servo drives support CANopen (CiA 301 and CiA 402). The Linux-based control unit comes with CAN/MoveIt software library developed by Icarus. It supports the following CiA 402 operation modes: profile position, profile velocity, torque, and interpolated position. Also it can be integrated into middleware such as ROS, Orocos, and ZeroMQ. The product provides a multi-level, object-oriented API (C/C++) realizing a motor abstract layer. Most of the application parameters can be configured using XML.
The digital servo drives execute the local position, velocity, current, and vector control algorithms. They also handle the local axis and I/O sequences using the drive's programming capabilities. The products can drive brush and brushless motors. Multiple feedback options are provided as well.
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