The invention discloses a stacking
robot driving method and driving
system. The
system comprises an ARM module and FPGA modules, wherein the ARM module is responsible for carrying out instruction or data interaction with an upper computer, the FPGA modules carry out
motor control signal transmission and
grating signal processing, and the functions of unpacking and stacking cigarette boxes are realized through a motor
signal control module, a
grating closed-loop feedback
signal processing module and a
limit switch module and the like. In a stacking
robot based on the framework, an ARM compilesa program downloaded by a
serial port, through the upper computer, the ARM and the reconfigurable design of a configuration
chip and the FPGAs, the upper computer sends a reconfiguration command and configuration data, the two FPGAs are controlled through controlling to rewrite the configuration
chip by the ARM, and finally an interface board of a drive card controls an X-axis
servo motor, a Y-axis
servo motor, a Z-axis
servo motor, an A-axis servo motor, a B-axis servo motor and a C-axis servo motor, so that strong modifiable performance and portability are achieved, bottom layer drive modification is convenient, and the
system is enabled to be more expanded and
maintainability, has good and
open software and hardware interfaces, and has
good control flexibility characteristics.