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The ATLAS collaboration will install a new inner tracker (ITk) during the phase II upgrade. The innermost part will be a pixel detector. A new Detector Control System (DCS) is being developed to provide control and monitoring of the ITk pixel detector. The MoPS is a CANopen based Application Specific Integrated Circuit foreseen to independently monitor a serial power chain. The final chip is required to be radiation hard up to an ionizing dose of 500 Mrad. This paper focuses on the feasibility of combining low supply voltage custom ASICs found in radiation detection applications and commercial CAN bus equipment. It proposes a CAN physical layer which is operated at 3.6 V and intended to drive a CAN bus of 60 m length at a data rate of 125 kbit/s. In addition voltage regulators with an input voltage of 5 V, output voltages of 3.6 V, 2.4 V and 1.2 V and a load current capability of 200mA have been developed to power the chip via the CAN bus.

En el presente documento se expone el desarrollo del firmware de una centralita de control con aplicación quickshifter (cambio rápido o cambio manual sin embrague) para una motocicleta eléctrica de competición. El firmware es ejecutado por un microcontrolador i.Mx RT1020 de la familia ARM Cortex-M7, y fabricado por NXP, montado en una placa de evaluación comercial, en lenguaje C y haciendo uso de las librerías oficiales que permiten la aplicación de FreeRTOS (Free Real Time Operating System), un sistema operativo a tiempo real de uso gratuito y enfocado para sistemas embebidos. Las funciones generales de este sistema son la lectura y procesado de las señales del acelerador, el indicador de cambio de marchas y algunos pulsadores, para posteriormente transmitir y recibir la información necesaria al bus de CAN, del cual también penderá el controlador del motor eléctrico o inversor. Se explica, también, de forma técnica como se han configurado y programado los tres periféricos, utilizados, del microcontrolador: CAN (Controller Area Network), ADC (Analog to Digital Converter) y GPIO (General Propose Input/Output). Por otro lado, se expondrán las nociones básicas del protocolo de comunicaciones CANbus, en concreto del protocolo oficial CANOpen, que permitan seguir el hilo del proyecto sin inconvenientes. También se introducirán las bases necesarias acerca de los FreeRTOS y más en detalle de los recursos utilizados, así como las task, timers, queues o notifiers. Tanto a nivel firmware como hardware se explicarán las distintas medidas de seguridad que se han adoptado en cuanto a la posible ruptura o fallo del cableado. Para finalizar se presentará el montaje funcional en entorno de laboratorio, donde se podrá observar como la consigna de par enviada por CANbus varía según la señal leída del acelerador, los parámetros de configuración cambiados mediante los pulsadores o por la petición de cambio de marchas, haciendo prescindible el montaje de un sistema de embrague en una motocicleta con distintas marchas de accionamiento manual. Esta aplicación marca la diferencia en entornos de competición, donde la diferencia de tiempos entre los clasificados es de pocos milisegundos.

This paper proposes a feasible solution for implementing the CANOpen communication between the controller of a nanogrid and a 16.4kWh Li-ion battery storage system in an Energy Communities framework. The proposed solution has been implemented and tested in laboratory, programming a C2000 32bit microcontroller by Texas Instrument mounted on a F28379D devkit. The laboratory results clearly demonstrate that the microcontroller properly communicates with the battery management system. In particular, this paper reports the dataframes encoding, including heartbeats, process data objects, keep alive check and the warning/error tests.

In this paper, we propose a DC microgrid implementation based on PowerLine Communication (PLC). This DC microgrid is connected to the AC grid; each node is equipped with a smart converter that can communicate with others. We deploy powerline communication to control and ensure safety in the system. We perform data transmission between grid nodes to analyze the performance of the system. We test our system in short-circuit and overvoltage conditions to validate the safety and reliability of the system.

V tem delu je predstavljen proces načrtovanja, izdelave, kalibracije in preizkušanja merilnega vmesnika za temperaturo z galvansko ločenimi vhodi za termočlene in komunikacijo po vodilu CAN. Merilni sistem podpira merjenje temperature na 16 kanalih hkrati s termočleni tipa K. V takem sistemu je merilno vezje preko termočlenov galvansko sklopljeno z merjencem. Vhodna vezja merilnega sistema imajo zato galvansko ločitev, kar nam omogoča merjenje temperature tudi na prevodnih delih, kjer se pojavijo neničelni potenciali (npr. ponor močnostnega tranzistorja). Konfiguracija in kalibracija merilnega sistema se izvajata po vodilu CAN. Merilnik podpira okrnjeno različico protokola CANopen. Ta protokol je bil izbran, ker je implementiran tudi na elektromotorskih krmilnikih, za testiranje katerih so bili izdelani ti merilniki. Rezultat projekta je uspešno izdelan merilni sistem, ki se bo v prihodnosti v manjši seriji izdelal na proizvodni liniji podjetja za interno uporabo. The thesis describes the process of development, building, calibration, and testing of a temperature measurement device with galvanically isolated thermocouple inputs and CAN communication interface. The device supports simultaneous measurement of 16 channels with K-type thermocouples. In this sort of measurement system, the measurement circuit is electrically connected to the device under test. The input circuit is, therefore, isolated galvanically to allow the thermocouple to be bonded to electrically conductive parts where non-zero potentials may appear (e.g. the drain of a power transistor). Configuration and calibration of the device are controlled through the CAN communication interface. The device supports a streamlined version of the CANopen protocol. This protocol was chosen because it is also used on electric motor drives, which will be tested using these devices. The result of this project is a successfully designed measurement system which will be produced for internal use in a small batch on the company production line.

In this paper, we propose a training based on Power Line Communication (PLC) in the Industry 4.0 course for Master Students. The training aim is to teach the students to drive a pick and place robot using a safe industrial control solution. The solution deploys a power line communication protocol stack to transmit data on the DC bus. This solution supports the safe operation for industrial system. Notably, we propose a CANopen Oriented layer over PLC physical layer to implement reliable motion control for the pick and place robot (type TBOT). When a fault happens (due to stuck motor drivers, etc.), the communication system must provide the guarding mode automatically (e.g., change path planning) to guarantee the operation. The approach brings forward a multi-motor synchronizing drive control with a distributed control system based on PLC network communication. Moreover, this paper presents some fault case studies and analysis. Afterward, the path planning algorithms are designed to control the stepper motors. The experimental results indicate the accuracy and stability of motion control in real-time.

An aluminum-links collaboration manipulator based on the Kollmorgen RGM joint and embedded control system is presented in this paper. Because of its low inertia and reduction ratio, this manipulator can be used for human-robot collaboration. The purpose is solving the problem of human security and the operability in human-robot collaboration environment. CANopen bus is used and obtains a steady control period up to 2.5ms. As for motion planning layers, a PC platform using Robot Operating System(ROS) send trajectory points to our manipulator controller. Finally, the motion interpolation and trajectory closed-loop control algorithm is designed, and a physical trajectory tracking experiment of the Kollmorgen manipulator is done, and obtained trajectory error within 3 percent.

Aimed at the limited recording capability of critical vehicle data of existent recorder devices on tramcars, this paper studies the CANopen network, the design and development of an onboard data recorder suitable for hydrogen cell power tramcars. The recorder is able to record all the data over vehicle bus, and transmit in distance pre-configured critical data and malfunction information in real time. The ground server receives this information and performs data mining, thus realizing automated diagnostics of tramcars.

Fast paced development of industrial technologies, particularly NC and CNC machines, has created many modern technologies like TwinCAT control systems and EtherCAT communication field bus. However, there is an increasing gap between these new technologies and older NC machines that are not compatible with them. In order to be able to control older CNC machines using TwinCAT that can operate only on CAN bus, it is necessary to bridge two different communication technologies. This paper aims to propose and verify such a solution on a cutting table equipped with older axis drives, which has to be automated using the G code interpreter within the TwinCAT system. This solution consists of configuring the communication to be able to exchange process data between TwinCAT and axis drives via CoE (CANopen over EtherCAT), as well as creating and applying the concept of axis control via TwinCAT. Finally, the solution is verified on specific G code trajectories.

This paper concerns the proposal of software of electronic drive system 4WD of electric vehicle DEMOCAR. Structure of electronic system and design of parts of 4WD are described. Article is mainly focused on description of control algorithm of 4WD as well as differential and anti-slide system. Co-operation and communication between systems, especially brakes system and steering are important part as well. Last part includes safety solutions. Additionally, this paper includes implementation of superior control unit. Algorithms include communication, safety and computing part. Communication between DCU and other ECUs is based on CAN-Bus, communication between DCU and drive units is based on CANopen. Result of this thesis is the superior control unit capable of controlling four individual drive units. All functionality and parts of the application software were verification using driving test.

Currently, most accidents and disasters at power plants are associated with fatigue failure of machines, mechanisms and assemblies caused by vibration. To prevent real threats of man-made disasters, there is an urgent need for objective monitoring of the current technical condition of mechanisms without disassembling them, during operation, repair and adjustment. The article proposes to use innovative approaches in the design of reliable and high-speed communication systems for the control of diagnostics and vibration monitoring of rotary-type machines in the form of a high-level network protocol running on top of the physical interface CAN (Controller Area Network). The aim of the study is to develop proposals for the use of the CANopen protocol in vibration control systems for rotary-type machines. The authors of the article analyzed the causes of man-made accidents at energy enterprises, identified the goals and objectives of vibration control of rotary machines and substantiated the possibility of using the CANopen protocol in vibration control systems. This will allow the exchange of data between devices from different manufacturers and ensures the interchangeability of devices. Thus, the authors concluded that the use of the CANopen protocol in vibration control systems for rotary-type machines is a promising direction that allows engineers to solve the necessary technical problems using modern methods.

The harmonic reducer, with its advantages of high precision, low noise, light weight, and high speed ratio, has been widely used in aerospace solar wing deployment mechanisms, antenna pointing mechanisms, robot joints, and other precision transmission fields. Accurately predicting the performance of the harmonic reducer under various application conditions is of great significance to the high reliability and long life of the harmonic reducer. In this paper, a set of automatic harmonic reducer performance test systems is designed. By using the CANOpen bus interface to control the servo motor as the drive motor, through accurately controlling the motor speed and rotation angle, collecting the angle, torque, and current in real time, the life cycle test of space harmonic reducer was carried out in high vacuum and low temperature environment on the ground. Then, the collected data were automatically analyzed and calculated. The test data of the transmission accuracy, backlash, and transmission efficiency of the space harmonic reducer were obtained. It is proven by experiments that the performance data of the harmonic reducer in space work can be more accurately obtained by using the test system mentioned in this paper, which is convenient for further research on related lubricating materials.

The purpose of this paper is to design a plc-based control system of fire control and smoke extraction robot, which can realize the purpose of water cannon, vehicle body movement and non-line-of-sight operation. This control system is mainly composed of PLC control system, video system, remote control system, motor drive system. PLC Through CANopen message transmission protocol, the function of distributed control system is realized. The main task is to receive the CAN command of remote control, so as to realize the command control of vehicle body action (multi-way valve), yuntai action and water cannon action. The design meets the design requirements, has good operability and reliability, in the industry has a certain promotion significance.

In structural health monitoring systems (SHM), robust data transmission is the fundamental constraint. In this work, an information centered protocol is being proposed for multi-sensor and multi-variable communication channels in (SHM). The core objective is communication traffic optimization, data streams compression, bottleneck compensation for seamless information system. A novel SHM hierarchical information model has been designed and implemented using addressing taxonomy and domain definitions accumulated with data segments, beacons and flags-handshaking. On both ends of an SHM channel, a SQLite based encoding and decoding preprocessor is implemented, which requires the use of serial protocols such as CANopen, UART, 12C and SPI. Results have shown that the proposed system optimizes traffic monitoring in handling critical situations of dynamic baud rate switching. Scopus

Controller Area Network (CAN) is the most used protocol for intra-vehicle communication between Electronic Control Units (ECUs) for decades. Moreover, there are several implementations of industrial networks built on top of CAN, (i.e. CANopen and DeviceNet) that expanded even more its area of application to almost any industrial automation field. The growing needs for data in today’s modern and safe applications led to CAN Flexible Data Rate (CAN FD) in order to increase the network throughput and pushed the data field of the CAN frames beyond the 1Mbps limit of the high speed CAN chips. A low cost CAN-USB interface application for dual CAN bus network monitoring, diagnose and maintenance is proposed which can be easily ported on any member of the ARM Cortex-M microcontroller family with built-in CAN or CAN-FD communication.

Fog computing is a concept integrated in the Internet of Things (IoT) that uses advanced embedded devices, called fog nodes, in order to bring cloud services such as processing, storage and communication closer to the place where data are produced. In this paper, it is proposed an architecture for a fog node that activates the Internet of Things for the devices form industrial environment (Industrial Internet of Things - IIoT) by integrating a set of fieldbuses, such as EtherCAT, Profinet, Modbus TCP/IP, Modbus RTU, CANOpen, and Profibus. An open-source implementation of the DDS middleware protocol is used to interconnect the fog nodes. Furthermore, the fog node will meet the requirements in terms of real time, data security and integrity, latency and response time to external events. The fog node is designed and developed on an embedded device with Sitara™ AM335X processor that includes dual cores PRU-ICSS for industrial protocol. These coprocessors allow the development of application that must meet hard real time requirements.

This paper presents a control system designed and achieved for a transformable multimodal robot based on CANopen network. The control system architecture was designed according to the robot motion modal requirements and the CANopen protocol, and the robot hardware was built according to the architecture. The control flow of the control system based on CANopen protocol was analyzed. The differential steering algorithm was designed and the CAN-bus communication was analyzed. The user interface of host computer and the control software of slave computer were written by LabWindows/CVI. Moreover, experimental results have proved the reliability and validity of this control system.

Korištenje raznih komunikacijskih protokola uvelike olakšava komunikaciju i razmjenu podataka. Jedan od komunikacijskih protokola je i CAN protokol koji je iznimno popularan u autoindustriji i šire. Kod stavljanja u pogon sustava koji koriste CAN komunikaciju potrebno je na neki način analizirati podatke i tok podataka. U ovom radu potrebno je istražiti i opisati specifikacije CAN protokola. Cilj ovog rada je razviti sustav za neinvazivnu analizu i praćenje, pohranu i prikaz podataka na CAN sabirnici. Sustav je potrebno implementirati u operacijskom sustavu Linux, na Raspberry Pi računalu. Potrebno je opisati kako taj sustav instalirati i koristiti. The use of various communication protocols greatly facilitates communication and data exchange. One of the communication protocols is CAN protocol, which is extremely popular in automotive industry and beyond. When starting systems that use CAN communication it is necessary to analyze the data and the data stream in some way. In this paper, it is necessary to explore and describe the CAN protocol specifications. The aim of this pape ris to develop a system for non-invasive analysis and monitoring, storage and display of data on the CAN bus. The system needs to be implemented in Linux operating systems, on the Raspberry Pi computer. Iti s necessary to describe how to install and use the system.

The traditional robot software is facing problems of low developing efficiency and disunity of protocol of controller communication, aiming at these problems this paper proposes to use the robot operating system (Robot Operation System, ROS) software framework to improve the efficiency of software development; the use of high performance industrial control protocol CANopen as the communication scheme of controller; and the help of modular manipulator hardware platform to further improve the speed of software development. Finally, the software system of controller communication by CANopen protocol based on ROS for modular manipulator is constructed. The experimental results show that the communication software system not only has the high developing efficiency and flexibility, but also meets the requirements for the real-time performance of the general robot.

This paper demonstrates a module design which is capable to detecting all sorts of faults in the rotating frame of CT Machine. The The rotating frame is the heart of CT machine. The rotating frame is controlled by FPGA and drive's firmware. Continuous monitoring of the system is required for optimal operation. The system consists of entities like drive, motor and FPGA. These entities are communicating via CANopen protocol. Drive is an intelligent sub-system which controls the operation of motor. The firmware model is capable of finding faulty parts and unhealthy connections of rotating frame defective part is diagnosed by continuous parameter monitoring of following parameters like current in drive, peak current in drive, velocity of rotating frame, dc bus voltage, max motor current, heat sink temperature, ambient temperature, motor temperature. Signal interpretation of faulty connections given by FPGA and drive has been made. These interpretation of messages drives a state machine based on which meaning has been interpreted. Messages of faulty parts and connections have been displayed in the digital script which can be monitored in real-time by the team. The design makes the job of the service engineer easier and becomes less time consuming. It makes system user-friendly. The digital script about the issue has been sent to the server which gives fast troubleshooting with less number of replacement of the parts.

Recently, fieldbus communication technologies have been widely deployed for industrial automation because they are profitable in providing easy system integration and management for multiple devices, as well as high-speed communication. It is essential for smart encoders to support fieldbus connectivity, where the device configuration and various types of information related to position are exchanged between an external controller and multiple encoders over the communication link. In this study, we implemented the CiA 406 device profile for smart encoders from the CANopen standards by extending an open-source CANopen standard-compliant framework, called CanFestival. The CiA 406 functionalities implemented in this study were validated on a test-bed consisting of a CANopen master and virtual CANopen encoders with our CiA 406 extension module.

Supervisory Control and Data Acquisition (SCADA) systems are increasingly used solutions for monitoring and controlling various industrial processes. The existence of a large number of communication protocols helps to deploy complex systems that enable users to access data from one or more processes at a certain distance, and even control those processes. This article presents a solution for the uniform integration of field devices in an industrial SCADA system. This uniform integration is based on the CANopen communication protocol and the EDS files containing detailed descriptions of devices in a CANopen network. Based on the information and structure of the EDS files, we have designed and developed a database aimed at storing these data in an organization that enables them to be safely and efficiently processed. This database is the basis of a website application that enables the user to learn the characteristics of the field devices connected to the local industrial networks in a SCADA system.

Technical documentation of data collection module in the solid waste disposal.

Purpose – The aim of this study was to develop a new generation of automatic systems based on cutting-edge design and practical welding physics to minimize downtime caused by defects and machine faults on the barges. Automatic welding has been used frequently on offshore pipeline projects. Design/methodology/approach – An automated welding robot system for sub-sea pipeline installation was constructed. The system utilized the double-car double-torch welding, which is light-weight and compact, suited for offshore applications. Several state-of-the-art technologies were integrated into the control system design, including a heterogeneous network based on EtherCAT technology, network communications based on CANopen, motor synchronization, all-position welding, etc. In addition, the utilization of the CAN bus reduced the number of cable lines and increased the extensibility of the proposed welding robot system. An internal clamp with copper shoes assured a nice root weld and narrow bevel design and the welding efficiency was improved accordingly. Findings – The trial was carried out to verify the rationality and effectiveness of the proposed automated system. The deposition rate of the backing welding could reach 17.78 kg/h; the average time for each welding was 340 s. This system was unique in that it features a dual-torch welding head that allowed for the deposition of one run with twice as much material as a single torch head. The experiment showed that the double-vehicle double-torch mode can greatly improve the welding efficiency of pipeline installation during the welding process. Research limitations/implications – The automated welding robot system will be applied to offshore pipeline projects. Originality/value – This robot is the first submarine pipeline installation welding robot to use a heterogeneous network based on EtherCAT technology. Various aspects of the submarine pipeline installation welding robot’s design and performance were discussed, including mechanical body design, control system design and welding process specification.

In this paper, the design and implementation of a vibration fault detection cyber-physical system (VFDCPS) is presented. Vibration fault detection is increasingly used in track vibration, bridge vibration and other related fields. However, current research reveals some problems such as low accuracy of fault detection, few effective in-depth calculation of vibration data and fault test methods. Cyber-Physical systems (CPSs) are integrations of computation, networking, and physical processes. From the CPSs point of view, VFDCPS consists of three layers: the monitoring and control layer (MCL), the network layer and the device layer. The MCL deals with real-time monitoring and the precise control of the system. In the network layer, the CANopen network of field device can communicate with the Ethernet of VFDCPS for system's expandability and reliability. The device layer copes with collected data by using fast Fourier transform (FFT), lowpass filter, etc., which greatly improves the system's accuracy and the ability of massive computing. This paper also proposes a fault detection algorithm with vibration data called Spider which quantifies the criteria of fault evaluation. It is shown by test data that our approaches and improvements in design make VFDCPS more accurate and reliable in real-time vibration fault detection.

This paper demonstrates a software framework and a model based design approach to flexible industrial system architectures. The paper primarily focusses on testing and verification of systems with CANopen network. As an example, the design of passenger elevators is demonstrated. Testing and verification of the system, consisting of simulated components, real components and components available off the shelf, can be performed in an early development phase long before in-situ integration. This approach also helps maintaining safety and integrity of the system while matching development schedules. Simulation is performed with Matlab/Simulink while CANopen communication with real components and/or neighboring networks is realized via stubs written in JAVA. Finally, applications of the new framework are shown which are beyond the sole component and system verification.

Nanogrids are the building blocks of a microgrid which is powering a single building. Low voltage DC distribution system within building structures is called a LVDC nanogrid. DC electronic loads like LED Lights, BLDC fans, PC, battery system and renewable sources can be connected to the nanogrid. LVDC nanogrid is a low power DC distribution system suitable for residential applications with an efficient power and control architecture. The Nanogrid power architecture consists of subsystems such as the Nanogrid system controller, Nanogrid power Switch/socket, Battery Management System, Solar PV Converter and backup AC/DC converters. The average load demand in the nanogrid is provided by the local renewable energy resources like solar PV. A battery management system ensures uninterruptible power supply to the high priority loads. The objective of the work is to investigate the power and control architecture to evolve the specifications, to implement Low Voltage Direct Current (LVDC) Nanogrid for residential applications. Protocol for LVDC communication is based on CANopen standard (EN 50325-4). Control Strategies for optimal power management in Nanogrid is highlighted in this work.

In this article we'll tackle the control of multi-motors electric drives with high dynamic, with rapid changes in torque and speed, with flexible coupling of motors, where the control strategy is FOC (Field Oriented Control) for each drives and the distributed control in local network using the CanOpen protocol. In the surface mining industry, from which the electric drive application for this article is selected, the general trend is toward using asynchronous motors with short-circuit rotor, due to the advantages of this motor both in terms of design and operation. In order to achieve the variable speed, must be used the static frequency converters with sensorless control, where speed is estimated using a Model References Adaptive Control Estimator. Following these directions a functional application was implemented and tested in practice.

In the control system of a six-axis industrial robot, a realtime and fast communication solution is needed to improve the kinematic accuracy of end effector. This paper designs a communication solution based on the CANopen over EtherCAT protocol, which supports PDO and SDO communication object in object dictionary. The robot controller is modified from LinuxCNC, and the communication solution is realized as a realtime component of HAL. This paper uses the communication solution to transfer the value of absolute encoder between PC and servo motor, and it can work stably and effectively.

In this article we'll tackle the control of multi-motors electric drives with high dynamic, with rapid changes in torque and speed, with rigid coupling of motors, where the control strategy is FOC (Field Oriented Control) for each drives and the distributed control in local network using the CanOpen protocol. In the surface mining industry, from which the electric drive application for this article is selected, the general trend is toward using asynchronous motors with short-circuit rotor, due to the advantages of this motor both in terms of design and operation. In order to achieve the variable speed, must be used the static frequency converters with sensorless control, where speed is estimated using a Model References Adaptive Control Estimator. Following these directions a functional application was implemented and tested in practice.

Aiming at realizing intellectualized control of granary ventilation and eliminating the flaws such as low efficiency, technological obsolescence and structural incompleteness in traditional system, this paper brings forward a new control system for granary ventilation with advanced embedded Linux technology, embedded networking technology, and Qt technology. This system uses BeagleBone Black platform as the core communication server, deploys the Modbus embedded network as sensing unit for fetching sensor data and the CANopen embedded network as execution unit for controlling fan devices, and adopts JSON-RPC service as remote communication mechanism. It fully realizes functions of intelligent detection of grain condition, automatic control ventilation, local visualized monitoring and remote centralized monitoring.

This project has as purpose generate didactic material for Higher Level Training Cycle (CFGS) of industrial automation. The point of item, they are the equipments that are available in the center of Formative Cycles. On the basis of the possibilities of these equipments, and after examining the trends of market in the area of the industrial communications, one seeks to design and to implement a model that allows to show the functioning of an industrial plant in networking. For example the communication between the controllers and the devices to controlling or the remote monitoring with SCADA or web. After seeing the possibilities of the equipments and of the trends of the market, it is designed and there is implemented a model of regulation and control in industrial plant, where it is controlled in level and the flow as example of application. The model is designed and is implemented to level of technical office, doing a planning of the phases of implementation and a budget of the materials and of the workforce, for it later assembly. It is done with human resources of the own center. There are done a few practices of configuration and programming of the different elements of the Model. These practices include the basic configurations of the communications between the screen and the PC of supervision. Afterwards, emphasis is done in the communications of an industrial network, doing a series of practices related to this aim. First a few practices are done to verify the functioning of the protocols of communication that are in use in the model. Then, there is done a practice that simulates an external network for the remote control with a PC with SCADA. Later, another is done to access the PLC's web server from an external PC in order to monitor the data of the model in a simple way or through a display screen published on its website. Also, a practice is done to be able to apply the technology OPC (client-server) for interconnection of elements that don't have direct connection. Finally, after the results of the practices, the possibilities of the model and the automatons used, there are described the future lines of action and extension of the model.

This paper discussed a design and performance evaluation of marine engine fault detection system by using proximity sensor. A non-linearity can be decreased by using the sensor without increasing the response time by applying CANopen protocol. The marine engine fault detection system can measures crankshaft deflection and the bottom dead center of crosshead in real-time, and allows it to prevent serious breakdown from the marine engine by interlocking AMS (Alarm Monitoring System).

In this paper, the intelligent networking integration system is designed and constructed by applying the Controller Area Network (CAN)open profiles as communication protocol for tool machine production line. While the basic network management and data transmission is followed by the dictionary objects in CANopen CiA301 protocol, the axial motor of tool machine needs to implement with the motor motion control specification subjected to the CANopen CiA402 protocol. The monitoring supervisory control and data acquisition system communicates with each node with CANopen protocol through CAN Bus to complete the task of constructing and managing the entire network system.

Taking the DSC as the control core and the IPM as the driver,this paper design a highly practical brushless DC motor control system with CAN bus . The system use CANopen as the application layer communication protocol, which can simultaneously control the plurality of brushless DC motor efficiently.

The monitoring and fault diagnosis system for controllable pitch propeller is based on modern testing technology, fieldbus technology, monitoring and diagnosis technology, computer technology. The equipment consists of various types of sensors, CANopen bus devices, LabVIEW and computer, which can monitor the CPP’s operating parameters, including shaft system vibration, shaft speed, pitch angle, liquid level of gravity tank, pressure and temperature of hydraulic system, and the system can also alarm if three typical fault of shafting occurs.

Based on the analysis on the control requirements of artificial grass tufting machine, this thesis proposes an overall plan on control of CANopen bus. In the control system, on the basis of CoDeSys softPLC technology of fieldbus control system, LMC20 enables the communication by making CANopen bus connect with ATV71, OTB module and these underlying slave stations. The humanized operation interface realized by touch screens and user-friendly application which is developed through CoDeSys have been put into operation in factory. All of those implement the functions of signal acquisition and display, protection, control, etc.

As a hot-spot research and development in heavy machinery, monitoring system has the urgent practical significance in engineering machinery fields. So, a universal monitoring system in heavy machinery is designed based on CANopen protocol. OD2131 MCU(micro controller unit) is used in the system because it communicates in a CANopen protocol and embeds many function module which reducing the workload of secondary development. And then, a friendly human-computer interaction interface is developed to achieve online test. Finally, the communication test is done repeatedly. The test result is shown that the intelligent system can run in accordance with CANopen standard communication protocols, and finish the communication successfully. The measuring data shows the same values and trends compared with the exact data in the wind velocity test.

In the intelligent monitoring system of heavy machinery, the key technology is control algorithm because it is difficult to formulate exact mathematical model to the nonlinear and time-varying characteristic in heavy machinery. The monitoring system is firstly designed and developed for the universal system in heavy machinery. And then, RBF Neural Network is applied in the control strategy by OD2131 MCU(micro controller unit). The simulated curve is displayed by Matlab. Their dada communication between OD2131 MCU and Matlab is in CANopen protocol. Finally, the simulation is made for an electric motor. The simulation results show that adding artificial neural network compensation can enhance the accuracy in the intelligent control system.

This paper concerns the possibility of using AGS15 capacitive inclinometers in the geodetic monitoring of slender structures. The basics of geometric monitoring have been introduced, and the features of inclinometers that can be used in these studies have been described. Main expectations towards them have been formulated. Three tests were conducted: (1) a few days' stability test of readings, (2) the test of inclinations controlled tachimetrically and (3) continuous survey of a physical object. It has been found that in order to obtain satisfactory results it is necessary to correct the readings due to the drift and the effect of temperature. The works conducted as part of described project work are not capable of identifying those indicators. To achieve them there were designed the system that support the acquisition and processing of the measurement and also the collection and transmission of results. In the conclusions authors stated that inclinometers AGS15 can be suitable for monitoring, but the works aimed at improving their performance should be undertaken.

This paper proposed a new control system design scheme for three-phase inverter parallel. The scheme combined the distribute logic control method and the droop control method, which has been got from the talk about the traditional three-phase inverter parallel methods. The control system is based on TMS320F2812 DSP, and the interface implementation method is presented. As the data exchange method between the inverters, the communication protocol for this system based on CANopen protocol has been given and the parameters for communication map and object dictionary is also given. The method proposed in this paper has been used in the lab, and the successful use has proved that this method can meet the requirements for the processing speed, communication speed, and flexibility of three-phase inverter parallel control system.