| A motion control system is developed on a 5-axes automatic scanning system for ultrasonic nondestructive test on complicated surfaces. It concludes developing the mechanic devices, the control subsystem and the servo subsystem. Through controlling five stepper motors, It can control the motion of detector on the direction of X, Y, Z, A and B to gain the signals for ultrasonic testing. It is simple in structure but runs safely and reliably, while it operates easily and owns high performance-price rate.The motion control system is a mode of open and host -slave control, which contains a PC and a 5-axes drive card based on single chip microcomputers. The PC realizes the functions such as man-machine interactive action, decode, communication and interpolation calculation based on the time-split-run. The interpolating program calculates the amounts of movement in every interval and transforms them into the numbers and widths of impulse. After that, the PC transmits these data to the slave system through the RS232. The slave system contains five single chip microcomputers AT89C2051. Each of them controls only one stepper motor. They receive the signals sequences through the pin RXD at the same time, and each controller judges if the signal belongs to itself to determine if accept the signal or not. In that case, the stepper motors can get the position and the speed signals. Then the five single chip microcomputers send the orders to the servo system at the same time to drive the stepper motors moving 5-axes linked.Each motion for every direction has its own servo system. Each servo system consists of an L297, an L298 and some other protective circuits. The L297 stepper motor controller IC generates four phase drive signals for the four phases stepping motor. It receives the direction and impulse singles and generates four phases pulse singles. It realizes the function of impulse allocating. And the L298 owns circuits of bridge-H. It is designed to accept the...
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