Robotic Arm Controlled by CAN Bus

This paper describes control of L601-KT robotic arm via embedded microcontroller and industrial bus. This application is composed from two nodes connected to CAN Bus. First node control desired position of whole robotic arm or servo-drives separately. Node subsequently sends these positions to robotic arm via CAN bus. Second node serves as robotic arm CAN bus interface. Node receives CAN Bus messages, calculates the positions for PWM values from desired positions, and sets appropriate servo-drive to desired position.