Four Freedom Degrees Robot Motion Control Card Based On DSP

Motion Controller plays an important part in the servo system. It is widely used in CNC and robot. Most motion controllers are based on ISA bus at present time. With the widely using of PCI bus in the field of industry control, the motion controllers that based on PCI bus will replace the ones that based on ISA bus due to good performances of PCI bus .In this paper, a motion controller that characterized with low cost and generally used in PC for PCI bus is designed. It can be used to control servo motors of four axes by outputting four PWM pulses. The program of it can control the servo motor in position mode. In position mode, the track of motor can be trapezium curve or S curve. By programming and computing interpolation, both line and arc interpolation of two axes can be achieved using the motion control card.The motion controller can be divided into four parts: PCI bus interface circuit, motion control circuit, encoder circuit and the communication circuit between DSP and PCI, I/O control circuit. PCI 9052 is used on the PCI bus interface circuit in order to exchange data each other. EPM7032 is used in encoder circuit to conveniently process logic signals and enhance anti-interfere ability. Phototransistors optically coupled isolator is used in 16 bits serial output circuit in order to cut down the jam from outer circuit.The driver program of the motion control card is exploited using Visual C++ and WinDriver in this paper. Operation interface is also made using Visual C++, and many functions are provided to facilitate to make some new program again.In the last, an experiment system is built up and both single and many motors are separately controlled to validate the correctness of motor control. The performances of the motion control card are made experiment on right-angle coordinate robot perform to verify the validity of line and arc interpolation. According to the experiment of transmitting data using the operation interface, the validity of driver and application program is verified.