This thesis deals with positional control of DC motor Icla D065 of company SIG Positec Automation GmbH with aid of CAN-Bus and CANopen protocol. Individual parts describe general principle and standards of CAN-Bus and international normalized higher-level protocol CANopen for systems control. For control this motor was used microcontroller PIC18F4685 from company Microchip and developmental environment MPLAB® IDE. With used C language was made program for MCU control communication with a motor by support of CANopen protocol and its motion control. The result of this thesis will be used in solution of research project Intelligent Systems in Automation.

Since the mid 90's computer communication has become more and more common in cars and other auto mobiles. CAN based networks with sensors transmitting small data packets are utilized in the automotive industry to operate and supervise vehicles' functionality. To ease communication several higher layer protocols for CAN based networks have been developed. In some applications it is necessary to exchange information between networks using different protocols, and by connecting the two networks to a gateway, the information is translated and forwarded and intercommunication is enabled. This master thesis is conducted at Torqeedo GmbH, Munich. Theme of the thesis was “Designing and Development of a Data Logging and Monitoring Tool”. Term “data logging” refers to the gathering or collection of specific data over a period of time. Monitoring means evaluate the data we are logging. Tools for data logging and monitoring are used in variant application these days. In medical, in-vehicle data logging and environment monitoring. This data could be voltage, current temperature, Time stump, heartbeat of the patient, vehicle fuel level etc. To capture and log data various communication channels used. Such channel varies from simple data cable to satellite link. There are variant protocols used for different communication channels. For our DBHS logging and monitoring tool we are using CANopen protocol. Main goal of this thesis is to develop a tool which can make debugging easy and log connection box data so we can use logged data later on for offline data analysis and simulation purposes.

Since the mid 90's computer communication has become more and more common in cars and other auto mobiles. CAN based networks with sensors transmitting small data packets are utilized in the automotive industry to operate and supervise vehicles' functionality. To ease communication several higher layer protocols for CAN based networks have been developed. In some applications it is necessary to exchange information between networks using different protocols, and by connecting the two networks to a gateway, the information is translated and forwarded and intercommunication is enabled. This master thesis is conducted at Torqeedo GmbH, Munich. Theme of the thesis was “Designing and Development of a Data Logging and Monitoring Tool”. Term “data logging” refers to the gathering or collection of specific data over a period of time. Monitoring means evaluate the data we are logging. Tools for data logging and monitoring are used in variant application these days. In medical, in-vehicle data logging and environment monitoring. This data could be voltage, current temperature, Time stump, heartbeat of the patient, vehicle fuel level etc. To capture and log data various communication channels used. Such channel varies from simple data cable to satellite link. There are variant protocols used for different communication channels. For our DBHS logging and monitoring tool we are using CANopen protocol. Main goal of this thesis is to develop a tool which can make debugging easy and log connection box data so we can use logged data later on for offline data analysis and simulation purposes.

This diploma thesis deals with automatization technology by B&R Automation Company. CANopen protocol is used for communication and control design of actuator part of omni-directional mobile robot. The control algorithms are implemented for compact PLC automata X20 series. The PLC X20 communicates with PC by means of Ethernet TCP/IP protocol. There are four motion control patterns implemented. The robot uses three IclA D065 actuators. This research has been supported by the Czech Ministry of Education in the frame of MSM 0021630529 Research Intention Inteligent Systems in Automation.