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Multi-axis motion controller and control method

A motion controller and control command technology, applied in program control, computer control, general control system, etc., can solve problems such as high cost, limited number of pins, and poor scalability

Inactive Publication Date: 2017-12-22
卢俊
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  • Summary
  • Abstract
  • Description
  • Claims
  • Application Information

AI Technical Summary

Problems solved by technology

It is also necessary to lead the control line from the PCI card to connect to the expansion card, the cost is high, the number of lead pins is also quite limited, the hardware cannot be cut, and the scalability is not strong

Method used

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  • Multi-axis motion controller and control method
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  • Multi-axis motion controller and control method

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Embodiment Construction

[0026] Example embodiments will now be described more fully with reference to the accompanying drawings. Example embodiments may, however, be embodied in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that this disclosure will be thorough and complete and fully convey the concept of example embodiments to those skilled in the art. The drawings are merely schematic illustrations of the invention and are not necessarily drawn to scale. The same reference numerals in the drawings denote the same or similar parts, and thus repeated descriptions thereof will be omitted.

[0027] Furthermore, the described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments. In the following description, numerous specific details are provided in order to give a thorough understanding of embodiments of the invention. However, those skilled in the art will appreciate...

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Abstract

The invention discloses a multi-axis motion controller and a control method based on a three-core processor. The upper computer comprising an independent setting is used to receive the lower computer of the upper computer control command packet; the upper computer and the lower computer realize communication connection through the EtherCAT bus, and the lower computer is used for data processing and uploads the processing results through the EtherCAT bus to the upper computer; the lower computer includes an ARM processor, a DSP processor, an FPGA processor, and a peripheral module with a three-core processor as the control core. The peripheral module includes a power supply module, a servo motor control output module, and a servo motor status feedback module , encoder feedback module, AD / DA module, EtherCAT communication module, serial port communication module, control signal input and output module and human-computer interaction communication module. The motion controller makes full use of the superior resources of the upper and lower computers to realize high-speed and high-precision control and output, and controls the coordinated movement of each motor, so that the robot or manipulator can obtain higher positioning accuracy, thereby realizing precise motion control of the robot.

Description

technical field [0001] The present invention relates to the field of numerical control technology and automation control technology, in particular to a high-speed and high-precision multi-axis servo motor motion controller, which makes full use of the respective superior resources of the upper and lower computers, realizes high-speed and high-precision control and output, and controls the coordinated movement of each motor , enabling the robot to obtain higher positioning accuracy, thereby realizing precise motion control of the robot. Background technique [0002] The motion control system is a control system that uses digital signals to automatically control the displacement, speed, acceleration and action sequence of the actuator. It is widely used in robots, intelligent processing technology and CAD / CAM technology, including various CNC testing equipment , CNC processing equipment, series and parallel robots and other automation equipment. [0003] The realization of th...

Claims

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Application Information

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IPC IPC(8): G05B19/042
CPCG05B19/0421
Inventor 卢俊
Owner 卢俊
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