Publication: Diseño e implemantación encoder absoluto CANopen
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2009-07
Defense date
2009-07-23
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Abstract
A pesar de que en los últimos años los dispositivos CANopen (y en particular los encoders absolutos) han tenido una gran evolución en el mercado, estos han sido diseñados para trabajar en entornos industriales en los que prima la robustez. Lo que se traduce en la introducción de carcasas protectoras que aumentan considerablemente el tamaño y peso de los dispositivos. Esta circunstancia ha dado lugar al diseño e implementación de un encoder absoluto que cumpla con todas las especificaciones del protocolo CANopen sin descuidar las características anteriormente mencionadas, es decir, se ha diseñado un dispositivo de tamaño reducido y muy ligero. Para el desarrollo del proyecto se ha partido de un encoder absoluto comercial que facilita la lectura de posición a través de un puerto SPI a un microcontrolador y posteriormente estos datos son tratados y transmitidos a través de un Bus CAN, para lo cual se ha diseñado e implementado toda la electrónica necesaria. El diseño software se ha realizado partiendo de la implementación del protocolo CANopen de Microchip® que proporciona un soporte en forma de librerías de programación que facilitan el desarrollo de estos sistemas. El proyecto incluye una guía práctica de estas librerías para el uso y desarrollo de sistemas CANopen. El encoder CANopen realizado se ha puesto en marcha y validado el funcionamiento en dos plataformas robóticas del departamento de Ingeniería en Sistemas y Automática de la Universidad Carlos III de Madrid. __________________________________________________
Even though in the last few years the CANopen mechanisms (in particular the absolute encoders) have advanced greatly in the market, they have been designed for use in industrial environments where robustness is priority. This is translated in the introduction of protective casings that increase considerably the size and weight of the mechanisms. This circumstance has given place to the designing and implementation of an absolute encoder that meets all the specifications of the CANopen protocol without disregarding the previously mentioned characteristics, i.e. a smaller and very light mechanism has been designed. For the project development, a commercial absolute encoder has been designed that makes the reading position through a SPI port and microcontroller easier, subsequently this data is treated and transmitted through a Bus CAN, for which all the necessary electronics have been designed and implemented. The design of the software has been executed from the implementation of the CANopen Microchip® protocol that provides a library shape support of programming that makes the development of these systems easier. The project includes a practical guide of these libraries for the use and development of CANopen systems. The successful CANopen encoder has been put into operation and validated on two robotic platforms in the Systems and Automatic Engineering department in the Carlos III University in Madrid.
Even though in the last few years the CANopen mechanisms (in particular the absolute encoders) have advanced greatly in the market, they have been designed for use in industrial environments where robustness is priority. This is translated in the introduction of protective casings that increase considerably the size and weight of the mechanisms. This circumstance has given place to the designing and implementation of an absolute encoder that meets all the specifications of the CANopen protocol without disregarding the previously mentioned characteristics, i.e. a smaller and very light mechanism has been designed. For the project development, a commercial absolute encoder has been designed that makes the reading position through a SPI port and microcontroller easier, subsequently this data is treated and transmitted through a Bus CAN, for which all the necessary electronics have been designed and implemented. The design of the software has been executed from the implementation of the CANopen Microchip® protocol that provides a library shape support of programming that makes the development of these systems easier. The project includes a practical guide of these libraries for the use and development of CANopen systems. The successful CANopen encoder has been put into operation and validated on two robotic platforms in the Systems and Automatic Engineering department in the Carlos III University in Madrid.
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Robótica, Protocolos de comunicación