Design and implementation of a CANopen master stack for servomotor controllers in a 6-DoF manipulator

CANopen is an application-layer communication protocol that includes the layer above the data link layer in the OSI reference model (Farsi, 1999). The low layer under it can be implemented by Controller Area Network (CAN), Ethernet for Control Automation Technology (EtherCAT) and so on (CAN, 2016). By the application of various standardized device profiles (e.g. CiA 401, CiA 402) and a communication profile (i.e. CiA 301), devices with different specialization can be connected to one network, allowing interoperation with each other (Jeon, 2001; Portillo, 2006; Li, 2013; Duan, 2007; Zhe, 2010), as shown in Figure 1 (H, 2015).