Design Of Embedded Motion Controller Based On ARM And PCL6045B

Motion controller is the core component of Motion Control System. As the development of China's manufacturing industry, the control demand of new equipments, technology upgrading and updating of the traditional equipments, the demand for motion controllers is growing. At the same time as the progress of the motion control technology continually, the development of embedded motion controller with high performance, low cost, high reliability is to become the inevitable demand on the market.In this paper, the embedded motion controller is based on Samsung's ARM MPU S3C44B0X and special motion control chip PCL6045B of NPM Japan, PCL6045B has an excellent location, trajectory interpolation and speed control, and it has some convenient hardware and software interfaces, so all the real-time motion control work can be handled by it. The host controller S3C44B0X only need to send simple commands to PCL6045B, then it can achieve a variety of complex movement. Motion controller developed in this way not only has a very powerful motion control features, and also has high integration, high control precision and reliability. Basic circuit modules mainly include the power supply circuit module, the reset circuit module, the clock circuit module, communication module, JTAG debug module, memory module, LCD display modules, the keyboard module and motion control chip signal interface module. Communication module includes RS232 serial communication and Ethernet communications, they are used to communicate motion controller with PC or other peripherals, and mainly used to receive processing procedures from the host computer. Motion control chip signal interface module is the motion controller's input and output interface circuits with driver, feedback encoder, hand wheel, limit, emergency stop, alarm and so on, all the I/O ports are isolated by optical couplers. In this way the signal's disturbance is improved.The embedded operating systemμC/OS-Ⅱis ported to the hardware platform, and device drivers and related applications are designed on it. AsμC/OS-Ⅱis embedded real-time multitasking operating system, the designing of the application is just to divide the functions of the system into multiple tasks, then programming for every task. In this way it simplifies the software development process, the system is easier to maintain, and the software development cycle is shorter, and it has high reliability. PCL6045B has powerful and flexible control module, a variety of complex motion control functions can be achieved by operating internal registers in accordance with certain timing. In this paper the motion control API functions library is designed by packaging PCL6045B's operating details. These functions are called in applications to the motion control functions.