Research Paper Engineering Volume : 5 | Issue : 8 | August 2015 | ISSN - 2249-555X

Advanced Controlling of Motor Over“Can” Protocol

& Amend Motor Speed Control Using “Can”
Protocol (Controller Area Network)

Keywords CAN protocol, CAN buses, encoder motor and UART terminal.

Yogesh V. Parmar Shivang K. Shukla

Vadodara Institute of Engineeri,Kotambi/ Vadodara Institute of Engineeri,Kotambi/
E&C Engineering, Vadodara, India E&C Engineering, Vadodara, India

Bhavesh R.Patel
Vadodara Institute of Engineeri,Kotambi/ E&C Engineering, Vadodara, India
ABSTRACT
Controlling a motor driven machines in a network is main aspect in various industries. In present situation
the industries are modifying their manual machines with automated machines. This requires the efficient controlling of
this machines connected in one network for easy user interface.To reduce the network complexity and increase the effi-
ciency we introduce our new technologycalled motor speed control using CAN protocol. Our technology consists of an
intelligent network which controls the speed of an encoder dc motor. This motor is interfaced with controller commonly
known as slave node which receives commands from the master node over CAN network. The master node controller
is interfaced with UART terminal, therefore the user can command the desired speed value. This physical value is con-
verted into logical digits and transferred to slave node through CAN buses (CAN high & CAN low). The slave node will
receive the data and rotate the motor according to the received data. Now, to verify whether the motor is rotating at
actual speed a feedback from encoder motor is taken and displayed on LCD

I. INTRODUCTION This project describes the PIC microcontroller based de-

This project is based on the speed controlling of motor us- sign and Implementation of CAN Bus prototype for future
ing CAN protocol. The system is implemented using PIC expansion in automotive. It focus on hardware and soft-
micro- controller. To satisfy the customer requirements for ware design of intelligent node. Hardware interface circuit
greater safety, comfort, convenience and to cope up with mainly consists of MCP2510 stand-alone CAN-Controller
increasing demands in industries and reduced network with SPI interface, PIC16f887 microcontroller based on
complexity. 16-bit CPU and MCP2551 high speed CAN Transceiver.
MCP2551 CAN Transceiver implements ISO-11898 stand-
The development of CAN began when more and more ard physical layer requirements. The software design for
electronic devices were implemented into modern motor CAN bus network are mainly the design of CAN bus data
vehicles. Examples of such devices include engine man- communication between nodes, and data processing for
agement systems, active suspension, ABS, gear control, analog signals. The design of software communication
lighting control, air conditioning, airbags and central lock- module includes system initialization and CAN controller
ing. All these mean, more safety and more comfort for the initialization unit, message sending unit, message receiving
driving and of course a reduction of fuel consumption and unit and the interrupt service unit.
exhaust emissions.
With the use of CAN, point-to-point wiring is replaced by
one serial bus connecting all control systems. This is ac-
“In advance to this, we are developing a device which complished by adding some CAN-specific hardware to
can be each control unit that provides the “rules” or the protocol
Implemented to control the speed of the motor which for transmitting and receiving information via the bus.
can be future implemented in vehicle or in robotic
cars.”

II. OBJECTIVIES
The goal of our project is to control the speed of motor
using CAN module. We will control the speed of an op-
tical encoder motor, which is an electromechanical device
that has an electrical output in digital form which is pro-
portional to the angular Position of the shaft.

Our objective for using the CAN module is that CAN

(Controller Area Network) is a serial communications bus
for real-time control applications, which operates at data
rates of up to 1 Megabits per second, and has excellent
error detection and confinement capabilities.

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 Research Paper Volume : 5 | Issue : 8 | August 2015 | ISSN - 2249-555X

with CAN controller.

5. CAN transceivers are interfaced by the twisted pair ca-
ble, they are known as CAN high and CAN low signal.
6. This CAN high and CAN low signal are responsible for
communicating different nodes connected to a net-
work.
7. The other side of this system is node 2, in which the
application is defined. This node is interfaced with an
encoder motor and 16*4 LCD, which works as feed-
back system.
8. Here from node 1 the user will give desired speed to
node 2 through rigid CAN network.
9. The desired speed is received by node 2 will rotate
the encoder motor as per the applied speed by the
user at node 1.
10. The actual rotating speed of an encoder motor is veri-
fied by taking feedback from the encoder motor, the
feedback is generated by the angular motion of the
shaft sensed by the ray of light, which produces analog
Figure 1 Working of the device signal.
11. This analog signal is taken as feedback and compared
This system consist of master controller and slave control- with the applied speed which is also an analog signal.
ler which are interconnected through SPI (serial peripheral The result of this comparison is displayed on the LCD.
interface) using CAN modules through CAN buses (CAN 12. Parameters are set which will display the encoder re-
high & CAN low). The desired speed applied by the user volving count and RPM (rotation per minute).
at master node is transferred to the slave node through
CAN modules (MCP2510 & MCP2551). IV. FEATURES
 Multi-master serial bus
The slave node will respond to the received data and ro-  Rigid data transfer
tate the encoder motor according to the received data.  Low power consumption
The actual speed of the motor is being continously moni-  Faster data transfer
tored by the controller. The actual rotating speed of motor  Low maintenance
is feedbacked from the encoder motor to the controller,  Secured data transfer
which in response displayed on LCD display at slave node.  Compact design

III. PROPOSED SYSTEM V. ADVANTAGES

Process of the system:  Organized and sophisticated compared to
current point to point communication.
 Reduction in weight and cost of wiring
looms/harnesses.
 Can handle multiple controllers simultane-
ously.
 Works in Real Time.
 Can be used in various applications.

VI. FUTURE SCOPE

This system can be enhanced by employ it into a car by
controlling its speed. We can also use this system into
medical equipment and devices, where the rigidness is
very much important.

Figure 2 Flow of the System VII. CONCLUSION

1. In this system there are two main nodes (nodes can This device is more flexible, time saving, secured and ac-
be added) which are having the microcontroller in it to curate for the examination system. The ultimate aim is for
perform the application. Smart E-Supplementary to automate the real time exami-
2. In this system the dominant part is CAN network. nation system and eliminate the problems of current exam-
Which is connected with both node 1(master) and ination system by using intelligent device.
node 2(slave).
3. Input to node 1 can be given through hyper terminal,
wireless keyboard, joystick etc.
4. Node 1 will be responsible to take input from user
through serial peripheral interface it will communicate

REFERENCE [1] Working of S Pen, Please visit http://www.androidauthority.com/break-it-down-how-does-the-s-pen-work-154435/ | | [2] Reference of the
current examination ,http://www.gtu.ac.in/ | | [3] Related concept of the system, http://www.youtube.com/watch?v=UxMBO5eyQG8

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