CANopen based mechanical arm joint motor control method and system

The invention discloses a CANopen based mechanical arm joint motor control method and system. The method comprises the following steps of 1 connecting drivers of all mechanical arm joint motors to a CAN bus and enabling the CAN bus to be in a pre-operational state; 2 conducting PDO configuration on the motors based on a PDO protocol; 3 selecting motor operation modes; 4 conducting high-order polynomial interpolation on joint movement tracks to obtain control quantity; 5 sending control instructions to the motors and completing control on the mechanical arm joint motors. The CANopen based mechanical arm joint motor control method is suitable for all motor servo control systems connected to the CAN bus and supporting a CANopen protocol. Due to introduction of a fieldbus, a large number of data lines and interfaces are omitted, and system debugging and maintenance are simple and convenient. The control system based on the CANopen based mechanical arm joint motor control method is simple in structure and easy to achieve, controls the motors through a CAN network and achieves joint motor position loop and speed loop control.