Design and Implementation of Multi-axis Synchronous Motion Control System Based on CANopen

The application layer protocol CANopen protocol based on Controller Aera Network (CAN) bus is introduced, and the CANopen protocol as the primary way of communication between controller and motor drive, the design of multi-axis synchronization based on AT91SAM9X35 robot control network of distributed CAN configure the CANopen master slave node, analyzes the process of CANopen communication protocol control motor, implements the AT91SAM9X35 communication between main controller and motor drive, to achieve the synchronization control of the motor.