Implementation of multi-encoder management system based on CANopen protocol

Hyosung Ahn, Taehyoun Kim

Research output: Contribution to journalArticlepeer-review


Recently, with the adoption of modern computing and communication technologies, manufacturing systems have become more autonomous and intelligent. Thus, as the number of field devices with smart sensors also increase, the need for an integrated management of such devices becomes essential. This paper proposes a smart encoder architecture that integrates the position sensing function with CANopen connectivity. In addition, an integrated system is proposed to simultaneously control and monitor multiple encoders over the Controller Area Network (CAN) fieldbus network. We evaluated the performance and functionalities of the proposed system by comparative experiments with commercial CANopen smart encoders using a CANopen conformance test.

Original languageEnglish
Pages (from-to)533-541
Number of pages9
JournalTransactions of the Korean Society of Mechanical Engineers, A
Issue number6
StatePublished - Jun 2017


  • CANopen
  • Encoder Management System
  • Open-source Software
  • Smart Encoder


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