Development of CAN bus application layer protocol for 6 DOF shake table control system

A 500 kg payload 6 DOF (Degrees of Freedom) shake table has been designed and developed indigenously in Refuelling Technology Division, BARC. The Shake Table consists of 8 numbers of servo hydraulic actuators out of which four are vertical actuators and four are horizontal actuators. Four double Actuator Controller with dual CAN bus interfaces (DACCI) [1] are developed to control movement of servo hydraulic actuators. DACCI is having two independent CAN bus interfaces namely, CAN-A and CAN-B. All DACCIs are connected to CAN-A network. PC is also connected to CAN-A network. DACCI-A and DACCI-B are connected to CAN-B network. Another CAN-B network is used between DACCI-C and DACCI-D. This paper explains design and development of CAN-A and CAN-B network application layer protocols for transferring real time acquired data, transferring plot data, broadcasting commands and sending sensor data for control purpose.