A universal motion control system for stepping motor and its assembly method and use method

Abstract

The present invention provides a universal motion control system for stepper motors, an assembly method, and a method of use, comprising a chassis with a rectangular cavity structure, at least one row of encoder signal input interfaces, at least one row of motor signal input and output interfaces, and a 220VAC power input interface on the first side of the chassis, a signal transfer mother card and a first AC-DC power supply and a second AC-DC power supply arranged side by side are arranged in the middle of the chassis, a plurality of card slots are arranged on the second side of the chassis, and a controller core card and a driver core card that can be plug-in connected to the signal transfer mother card are respectively arranged in the plurality of card slots. The present invention can only meet the motion control of stepper motors, and has the function of analyzing encoder signals, can take into account relative encoder and absolute encoder signals at the same time, can achieve optimal structure, full utilization of functional blocks, can adapt to various optical test devices, and realize dynamic feedback control of stepper motors in the full time domain, with low cost and convenient operation.

Description

Technical Field

[0001] The invention patent relates to the field of motion control automation, and more specifically to a universal motion control system for stepper motors and its assembly method and use method. Background Art

[0002] With the development of the fourth-generation synchrotron radiation diffraction limit ring, free electron laser and new generation light source, the performance of X-rays is gradually improving, providing high-end research methods such as high-resolution imaging, ultrafast process exploration, and advanced structure analysis for multiple disciplines such as physics, chemistry, life sciences, materials science, and energy science. As a result, the X-ray spot size has reached submicron to nanometer, and at the same time, the requirements for the stability of the X-ray spot where the sample is reached are constantly increasing. Taking the nanoprobe experiment applied to beamline engineering as an example, the experiment needs to achieve an extreme spatial resolution of 10nm, and the drift of the vertical and horizontal spots must be less than 1nm. It is required that the attitude adjustment accuracy of optical components such as the focusing system, monochromator system, and slit system in the optical path is better than 1nm, and the control process is required to form a dynamic closed loop for real-time dynamic feedback control of the whole process. However, there are many factors that affect the stability of the spot, including: relative vibration of the foundation, temperature drift, and mechanical vibration of optical components. For large scientific devices with a circumference of nearly one kilometer, the relative vibration of the foundation is better than 0.3μm, the temperature fluctuation is better than ±0.05℃, and the vibration of the optical component support structure is better than 1nm within 24 hours. In order to achieve an X-ray spot drift of less than 1nm, the implementation of the real-time dynamic closed-loop control process poses a great challenge.

[0003] At present, the optical component attitude adjustment controllers used in large scientific equipment beamline stations include PLC and special controllers. Among them, there are many types of special controllers, and no unified standard has been formed, such as: OMS, Kohzu, Newport, Deltatau, Huichuan, and Leisai. One type of controller can meet the stepper motor motion control, but lacks the encoder signal analysis function; the other type of controller has the stepper motor motion control and can also analyze the encoder signal, but cannot take into account both relative encoder and absolute encoder signals at the same time.

[0004] In view of the shortcomings of the above control methods, major synchrotron radiation facilities have successively developed their own control systems, which basically adopt the technical route of integrating the core modules of controllers from different manufacturers with other functional modules. Among them, the NSLS-II in the United States and the Diamond synchrotron radiation light source in the United Kingdom integrated the controller and interface module of Delta Tau into the Brick LV stepper motor controller; the ESRF, ALBA, MAX IV and other synchrotron radiation light sources in Europe jointly developed and integrated the Icepap stepper motor controller; the EU-XFEL in Europe integrated the PLC controller of Beckhoff and its various types of interface modules into one to form its own dedicated controller. However, the technical route adopted by the above large scientific facilities has resulted in a complex structure of the stepper motor controller, which requires additional functional modules and interfaces to be used in conjunction, which naturally leads to some waste of resources, resulting in high costs and directly affecting the efficiency of engineering construction. Summary of the invention

[0005] In view of the deficiencies in the prior art, the purpose of the present invention is to provide a universal motion control system for a stepper motor, an assembly method, and a usage method, which can not only meet the motion control of the stepper motor, but also has the function of analyzing the encoder signal, can take into account both the relative encoder and the absolute encoder signals at the same time, and can realize dynamic feedback control of the stepper motor in the entire time domain.

[0006] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0007] A universal motion control system for a stepping motor, comprising:

[0008] The chassis is a rectangular cavity structure, and at least one row of encoder signal input interfaces, at least one row of motor signal input and output interfaces, and a 220VAC power input interface are provided on the first side of the chassis. A first AC-DC power supply and a second AC-DC power supply arranged side by side are provided in the middle of the chassis. A signal adapter mother card is provided on the side of the first AC-DC power supply and the second AC-DC power supply away from the first side. A plurality of card slots are provided on the second side of the chassis, and a controller core card and a driver core card that can be plug-in connected to the signal adapter mother card are respectively provided in the plurality of card slots. The first AC-DC power supply supplies power to the driver core card, and the second AC-DC power supply supplies power to the controller core card. The first side and the second side are arranged opposite to each other. A driver core card power switch, a controller core card power switch, and a terminal communication interface are also provided on the second side. The terminal control computer and the terminal communication interface exchange information through a network cable;

[0009] Among them, closed-loop control is adopted to read the grating scale data of each motor into the driver core card for high-speed real-time processing and calculate the motor position error, and the error parameters are fed back and compensated in the form of control pulses of the motor's movement.

[0010] Furthermore, the driver core card includes at least one 2-phase driver core card and / or at least one 5-phase driver core card.

[0011] Furthermore, the chassis is a 4U standard rack structure, and the chassis is made of 2mm to 3mm 6061 aluminum alloy.

[0012] Furthermore, the controller core card uses at least a 32-bit RISC processor to implement multi-axis stepper motor motion control.

[0013] Furthermore, the main frequency of the controller core card is at least 266 MHz, and the resolution rate of the encoder is at least 16 MHz.

[0014] Furthermore, the chassis peripheral interface has multiple 19-core aircraft mother connectors for stepper motor signal input and output, multiple 9-core DB connectors for encoder signal input interface, 1 220VAC power input interface, 1 grounding pole, 1 controller core card power switch, 1 driver core card power switch, and 1 terminal communication interface.

[0015] Furthermore, the driver core card is provided with a DSP main processing chip, a power chip and a multi-channel isolation circuit.

[0016] Furthermore, the driving current range of the driver core card is 0-8A, the current adjustment step is 0.1-0.2A, and the electronic subdivision range is 0-200.

[0017] An assembly method of a stepper motor universal motion control system, applied to the above-mentioned stepper motor universal motion control system, comprises the following steps:

[0018] Step S101: assembling the chassis;

[0019] Step S102: Assemble at least one row of encoder signal input interfaces, at least one row of motor signal input and output interfaces and a 220VAC power input interface, a first AC-DC power supply, a second AC-DC power supply, and a signal transfer mother card onto the chassis;

[0020] Step S103: assembling the controller core card and the driver core card onto the chassis, wherein the controller core card and the driver core card are plug-in connected to the signal transfer mother card via the card slot;

[0021] Step S104: Divide the signal wires inside the chassis into power lines, motor pulse output lines, external sensor signal lines and encoder signal lines, wherein the power line leads 220VAC to the first AC-DC power supply and the second AC-DC power supply and then outputs current to the signal adapter mother card through their respective power switches; the motor pulse output line is the signal adapter mother card output to the 19-core aircraft mother connector on the chassis; the external sensor signal is introduced to the corresponding connector of the signal adapter mother card through the 19-core aircraft mother connector; the encoder signal line is a signal transmission line connected to the corresponding connector of the signal adapter mother card;

[0022] Step S105: Power on the entire chassis, turn on the controller core card and the driver core card respectively, and ensure that the stepper motor universal motion control system works normally.

[0023] A method for using a stepper motor universal motion control system is applied to the above-mentioned stepper motor universal motion control system, comprising the following steps:

[0024] Step S201: Power on the controller core card and start the power switch of the controller core card;

[0025] Step S202: configure the controller core card parameters, select the network communication setting interface, set a specific network address, and establish communication with the terminal control computer via a network cable;

[0026] Step S203: running the controller core card software on the terminal computer via the network;

[0027] Step S204: configuring the driver core card parameters, configuring the drive current, electronic subdivision, motion direction, and external sensor signal level on the driver core card according to the motor characteristics, and then inserting the driver core card into the corresponding card slot;

[0028] Step S205: Start the power switch of the driver core card to power on the driver core card.

[0029] Compared with the prior art, the present invention has the following advantages and beneficial effects:

[0030] The present invention can not only meet the motion control of the stepper motor, but also has the function of analyzing the encoder signal, can take into account the relative encoder and absolute encoder signals at the same time, can achieve optimal structure and full utilization of functional blocks, can be adapted to various optical test devices, and realize dynamic feedback control of the stepper motor in the full time domain, with low cost and easy operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The illustrative embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0032] Figure 1 It is a structural schematic diagram of a universal motion control system for a stepping motor according to the patent of the present invention.

[0033] Figure 2 It is a flow chart for assembling a universal motion control system of a stepping motor according to the patent of the present invention.

[0034] Figure 3 It is a flow chart of the operation of a universal motion control system for a stepping motor according to the patent of the present invention.

[0035] Among them, 1. Chassis; 101. First side; 102. Second side; 103. Card slot; 2. Controller core card; 3. 5-phase driver core card; 4. 2-phase driver core card; 51. Driver core card power switch; 52. Controller core card power switch; 6. Signal transfer mother card; 71. First AC-DC power supply; 72. Second AC-DC power supply; 8. 220VAC power input interface; 9. Motor signal input and output interface; 10. Encoder signal input interface; 11. Terminal communication interface; 12. Terminal control computer; 13. Standard network cable. DETAILED DESCRIPTION

[0036] The technical solutions in the embodiments of the present invention will be described clearly and completely below in conjunction with the accompanying drawings in the embodiments of the present invention.

[0037] In the description of the present invention, it should be understood that the terms "center", "longitudinal", "lateral", "up", "down", "front", "back", "left", "right", "vertical", "horizontal", "top", "bottom", "inside", "outside" and the like indicate positions or positional relationships based on the positions or positional relationships shown in the accompanying drawings, and are only for the convenience of describing the present invention and simplifying the description, rather than indicating or implying that the device or element referred to must have a specific orientation, be constructed and operated in a specific orientation, and therefore cannot be understood as limiting the present invention. In addition, the terms "first", "second", and the like are only used for descriptive purposes, and cannot be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, features defined as "first", "second", and the like may explicitly or implicitly include one or more of the features. In the description of the present invention, unless otherwise specified, "multiple" means two or more.

[0038] Example 1

[0039] Embodiment 1 provides a universal motion control system for a stepper motor, such as Figure 1 As shown, including:

[0040] The chassis 1 is a rectangular cavity structure. The first side 101 of the chassis 1 is provided with at least one row of encoder signal input interfaces 10, at least one row of motor signal input and output interfaces 9 and a 220VAC power input interface 8. The middle part of the chassis 1 is provided with a first AC-DC power supply 71 and a second AC-DC power supply 72 arranged side by side. The power of the first AC-DC power supply 71 is not less than 700 watts, and the power of the second AC-DC power supply 72 is not less than 300 watts. The first AC-DC power supply 71 and the second AC-DC power supply 72 are provided with a signal transfer mother card 6 on the side away from the first side 101. A plurality of card slots 103 are provided on the second side 102 of the box 1, and a controller core card 2 and a driver core card that can be plug-in connected to the signal transfer mother card 6 are respectively provided in the plurality of card slots 103, and the driver core card includes at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4, and the first side 101 and the second side 102 are arranged opposite to each other, and a driver core card power switch 51, a controller core card power switch 52 and a terminal communication interface 11 are also provided on the second side 102, and the terminal control computer 12 and the terminal communication interface 11 exchange information through a standard network cable 13;

[0041] Among them, closed-loop control is adopted, and the grating scale data of each motor is read into the 5-phase driver core card 3 or the 2-phase driver core card 4 for high-speed real-time processing and the motor position error is calculated. The error parameters are fed back and compensated with the control pulse of the motor movement to achieve a motor movement positioning accuracy better than 1nm, thereby ensuring that the experiment reaches the ultimate spatial resolution of 10nm, the drift of the vertical and horizontal light spots is less than 1nm, and the posture adjustment accuracy of optical components such as the focusing system, monochromator system, and slit system in the optical path is better than 1nm.

[0042] This embodiment can not only meet the stepper motor motion control, but also has the function of analyzing encoder signals, and can take into account both relative encoder and absolute encoder signals.

[0043] In view of the problem that the stepper motor controllers of various synchrotron radiation devices have complex structures and require additional functional modules and interfaces for use, this embodiment proposes a universal motion control system for stepper motors that can be used in various synchrotron radiation devices, can achieve optimal structure and full utilization of functional blocks, can be adapted to various optical experimental devices, and realize dynamic feedback control of stepper motors in the entire time domain, with low cost and easy operation.

[0044] Example 2

[0045] The general motion control system of stepper motor is described in detail below.

[0046] In some implementations of this embodiment, Figure 1As shown, the chassis 1 is a 4U height standard rack structure, and the chassis 1 is made of 2mm to 3mm thick 6061 aluminum alloy. According to the application scenario of the present invention and the internal devices, the factors of minimum size, lightest weight, and reliable rigidity are comprehensively considered. Therefore, a 4U height standard rack structure and a 3mm thick 6061 aluminum alloy design are adopted.

[0047] like Figure 1 As shown, a 4U height standard rack aluminum alloy chassis 1 is equipped with a controller core card 2, at least one 5-phase driver core card 3, at least one 2-phase driver core card 4, a signal transfer mother card 6, a first AC-DC power supply 71 and a second AC-DC power supply 72, and a peripheral interface of the chassis 1. The controller core card 2 is a central processing unit for stepper motor control pulse generation, encoder signal analysis and peripheral sensor signal analysis; at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4 can analyze controller signals, send phase current pulses to stepper motors, and receive external protection signals; the signal transfer mother card 6 is provided with a plurality of slots that are respectively connected to the controller core card 2, at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4, and at the same time, there are several interfaces that are connected to the surface interface of the chassis 1, and the number of slots is 7 to 10; a kilowatt power supply system is composed of a 700-watt first AC-DC power supply 71 and a 300-watt second AC -DC power supply 72, of which a 300W power supply provides ±12VDC and 5VDC to the controller core card and chassis 1 for external 5VDC, and a 700W power supply provides 24VDC to at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4; the 4U height standard rack aluminum alloy chassis 1 has 8 19-pin aviation mother connectors for stepper motor signal input and output, 8 9-pin DB connectors for encoder signal input, 1 220VAC power input interface 8, 1 grounding column, 2 power switches, 1 network port for communicating with the upper computer, and 2 power switches, namely the driver core card power switch 51 and the controller core card power switch 52.

[0048] In some implementations of this embodiment, the controller core card 2 uses at least a 32-bit RISC processor to implement multi-axis stepper motor motion control.

[0049] In some implementations of this embodiment, the main frequency of the controller core card 2 is at least 266 MHz, and the encoder resolution is at least 16 MHz.

[0050] In some implementations of this embodiment, the peripheral interface of the chassis 1 has multiple 19-core aircraft mother connectors for stepper motor signal input and output, multiple 9-core DB connectors for encoder signal input, 1 220VAC power input interface 8, 1 grounding column, 1 controller core card power switch 52, 1 driver core card power switch 51, and 1 network port for communicating with the host computer, while playing the role of internal electromagnetic compatibility and external electromagnetic shielding, which can effectively ensure the normal operation of internal electronic components. Among them, the number of 19-core aircraft mother connectors is 7 to 10, and the number of 9-core DB connectors is 7 to 10.

[0051] In some implementations of this embodiment, the driver core card is divided into a 2-phase stepper motor driver core card and a 5-phase stepper motor driver core card. Both adopt a plug-in card design and have a DSP main processing chip, a power chip and a multi-channel isolation circuit combination to realize stepper motor phase current output and detection, as well as protection signal processing.

[0052] In some implementations of this embodiment, Figure 1 As shown, the signal transfer mother card 6 is installed in the middle of the 4U height standard rack aluminum alloy chassis 1, and is used to connect the controller core card 2, the driver core card, and the peripheral interface. It is also the power supply channel of the entire controller.

[0053] In some implementations of this embodiment, the current range of at least one 5-phase driver core card 3 and at least one 2-phase driver core card 4 is 0-8A, the current adjustment step is 0.1-0.2A, and the electronic subdivision range is 0-200.

[0054] In summary, the universal motion control system for stepper motors provided in this embodiment is a drive-control integrated system, and multiple control axes undergo the same processing, so the synchronization and consistency of the combined motion of any of the multiple motion axes during the motion control process are very high. In addition, the core modules of the universal motion control system for stepper motors in this embodiment all adopt a plug-in card design, and different numbers of driver core cards can be freely configured according to control requirements to effectively utilize resources. More importantly, it is convenient to locate fault problems and replace faulty core modules. Failure of adjacent core modules does not affect other core modules, which greatly simplifies the operation process and improves engineering construction efficiency.

[0055] Example 3

[0056] Embodiment 3 provides an assembly method of a stepper motor universal motion control system, which is applied to the above-mentioned stepper motor universal motion control system, such as Figure 2 As shown, the following steps are included:

[0057] Step S101: Assembling the chassis 1;

[0058] Step S102: Assemble at least one row of encoder signal input interfaces 10, at least one row of motor signal input and output interfaces 9, 220VAC power input interface 8, first AC-DC power supply 71, second AC-DC power supply 72, and signal transfer mother card 6 onto the chassis 1;

[0059] Step S103: Assemble the controller core card 2 and the driver core card to the chassis 1, wherein the controller core card 2 and the driver core card are plug-in connected to the signal adapter mother card 6 through the card slot 103, and adjust the position of the signal adapter mother card 6 to ensure that the controller core card 2 and the driver core card can be smoothly inserted into the corresponding card slot 103 of the chassis 1, and the driver core card includes at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4;

[0060] Step S104: Divide the internal signal wires of the chassis 1 into power lines, motor pulse output lines, external sensor signal lines and encoder signal lines, wherein the power line leads 220VAC to the first AC-DC power supply 71 and the second AC-DC power supply 72 and then outputs current to the signal adapter mother card 6 through their respective power switches; the motor pulse output line is the signal adapter mother card 6 outputs to the 19-core aircraft mother head on the chassis 1; the external sensor signal is introduced into the corresponding connector of the signal adapter mother card 6 through the 19-core aircraft mother head; the encoder signal line is a signal transmission line connected to the corresponding connector of the signal adapter mother card 6, wherein the second AC-DC power supply provides ±12VDC and 5VDC to the controller core card and the chassis 1 to provide external 5VDC, and the first AC-DC power supply provides 24VDC to at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4;

[0061] Step S105, power on the entire chassis 1, turn on the controller core card 2 and the driver core card respectively, and ensure that the stepper motor universal motion control system works normally.

[0062] Example 4

[0063] Embodiment 4 provides a method for using a stepper motor universal motion control system, which is applied to the above-mentioned stepper motor universal motion control system, such as Figure 3 As shown, the following steps are included:

[0064] Step S201: The controller core card 2 is powered on, and the controller core card power switch 52 is started;

[0065] Step S202: configure the controller core card 2 parameters, select the network communication setting interface, set a specific network address, and establish communication with the terminal control computer 12 via a network cable;

[0066] Step S203: running the controller core card 2 software on the terminal computer via the network;

[0067] Step S204: configuring the driver core card parameters, configuring the drive current, electronic subdivision, motion direction, and external sensor signal level on the driver core card according to the motor characteristics, and then inserting the driver core card into the corresponding slot;

[0068] Step S205: Start the driver core card power switch 51 to power on the driver core card.

[0069] The driver core card includes at least one 5-phase driver core card 3 and / or at least one 2-phase driver core card 4 .

[0070] Through the above steps, it can be seen that the method of using a universal motion control system for a stepper motor of the present invention is through the cooperation of the controller core card 2, the driver core card, the power supply system and the terminal. During the entire stepper motor motion control process, no human contact is required to perform any operation on the controlled object, reducing the error caused by manual operation. In addition, a universal motion control system for a stepper motor of the present invention can not only meet the conventional posture adjustment of optical components on large scientific devices, but also meet the high-precision motion control requirements such as X-ray reflectors and monochromators. More importantly, it can quickly, automatically, and multi-target collaboratively control the postures of various optical components on beamline stations of tens to hundreds of meters long in large scientific devices, greatly improving the efficiency of motion control.

[0071] The method further includes step 206: by setting the controller core card indicator light, the network indicator light, and the driver core card indicator light, it is determined whether the controller core card 2 and the driver core card are powered on and whether the network is connected. Specifically, when the indicator light is green, it indicates that the corresponding structure is powered on or connected successfully, and when the indicator light is red, it indicates that the corresponding structure is not powered on or the connection fails.

[0072] In step S201 , the controller core card power switch 52 is C-Power, and the driver core card power switch 51 is D-Power.

[0073] The above is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention. The above embodiments of the present invention can also be modified in various ways. That is, all simple, equivalent changes and modifications made according to the claims and description of the present invention patent application fall within the protection scope of the claims of the present invention. The contents not described in detail in the present invention patent are all conventional technical contents.

Claims

1. A universal motion control system for a stepper motor, characterized in that: include: The chassis is a rectangular cavity structure, wherein at least one row of encoder signal input interfaces, at least one row of motor signal input and output interfaces, and a 220VAC power input interface are arranged on the first side of the chassis, a first AC-DC power supply and a second AC-DC power supply are arranged side by side in the middle of the chassis, a signal transfer mother card is arranged on the side of the first AC-DC power supply and the second AC-DC power supply away from the first side, a plurality of card slots are arranged on the second side of the chassis, a controller core card and a driver core card that can be plug-in connected to the signal transfer mother card are respectively arranged in the plurality of card slots, and the first The AC-DC power supply is used to power the driver core card, and the second AC-DC power supply is used to power the controller core card. The first side surface and the second side surface are arranged opposite to each other. The second side surface is also provided with a driver core card power switch, a controller core card power switch and a terminal communication interface. The terminal control computer and the terminal communication interface exchange information through a network cable. The main frequency of the controller core card is at least 266 MHz, the encoder resolution is at least 16 MHz, the driving current range of the driver core card is 0-8A, the current adjustment step is 0.1-0.2A, and the electronic subdivision range is 0-200; Among them, closed-loop control is adopted to read the grating ruler data of each stepper motor into the driver core card for high-speed real-time processing and calculate the position error of the stepper motor, and the error parameter is fed back and compensated with the control pulse of the stepper motor movement; The chassis peripheral interface has multiple 19-core aircraft mother connectors for stepper motor signal input and output, multiple 9-core DB connectors for encoder signal input interfaces, 1 220VAC power input interface, 1 grounding column, 1 controller core card power switch, 1 driver core card power switch, and 1 terminal communication interface; The driver core card is provided with a DSP main processing chip, a power chip and a multi-channel isolation circuit.

2. The universal motion control system for stepper motors according to claim 1, characterized in that: include: The driver core card includes at least one 2-phase driver core card and / or at least one 5-phase driver core card.

3. The universal motion control system for stepper motors according to claim 1, characterized in that: include: The chassis is a 4U standard rack structure, and the chassis is made of 2mm~3mm 6061 aluminum alloy.

4. The universal motion control system for stepper motors according to claim 1, characterized in that: include: The controller core card uses at least a 32-bit RISC processor to implement multi-axis stepper motor motion control.

5. An assembly method of a universal motion control system for a stepper motor, applied to the universal motion control system for a stepper motor according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step S101: assembling the chassis; Step S102: Assemble at least one row of encoder signal input interfaces, at least one row of motor signal input and output interfaces and a 220VAC power input interface, a first AC-DC power supply, a second AC-DC power supply, and a signal transfer mother card onto the chassis; Step S103: assembling the controller core card and the driver core card onto the chassis, wherein the controller core card and the driver core card are plug-in connected to the signal transfer mother card via the card slot; Step S104: Divide the signal wires inside the chassis into power lines, motor pulse output lines, external sensor signal lines and encoder signal lines, wherein the power line leads 220VAC to the first AC-DC power supply and the second AC-DC power supply and then outputs current to the signal adapter mother card through their respective power switches; the motor pulse output line is the signal adapter mother card output to the 19-core aircraft mother connector on the chassis; the external sensor signal is introduced to the corresponding connector of the signal adapter mother card through the 19-core aircraft mother connector; the encoder signal line is a signal transmission line connected to the corresponding connector of the signal adapter mother card; Step S105: Power on the entire chassis, turn on the controller core card and the driver core card respectively, and ensure that the stepper motor universal motion control system works normally.

6. A method for using a universal motion control system for a stepper motor, applied to the universal motion control system for a stepper motor according to any one of claims 1 to 4, characterized in that: The following steps are involved: Step S201: Power on the controller core card and start the power switch of the controller core card; Step S202: configure the controller core card parameters, select the network communication setting interface, set a specific network address, and establish communication with the terminal control computer via a network cable; Step S203: running the controller core card software on the terminal computer via the network; Step S204: configuring the driver core card parameters, configuring the drive current, electronic subdivision, motion direction, and external sensor signal level on the driver core card according to the motor characteristics, and then inserting the driver core card into the corresponding card slot; Step S205: Start the power switch of the driver core card to power on the driver core card.

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