| Motion control system plays a great part in industrial manufacturing equipments like CNC motion control systems, industrial robots and other equipments, its performance directly affects and even determines the overall system performance.Motion control system needs to drive the movement according to the expected motion control trajectory and the set parameters such as the position, velocity, acceleration, deceleration and jerk. In order to achieve a smooth velocity and ensure that the system can run smoothly, some acceleration and deceleration control methods should be applied to the motor. There are a variety of programming languages in the motion control field, therefore different motion control solutions provided by different motion control system manufacturers are not compatible with each other.In this article, two kinds of servo motor control methods and the necessity of acceleration and deceleration control for motor are introduced, the current situation and problems of the motion control programming languages are analyzed, the PLCopen motion control programming language standard is studied. In order to meet the acceleration and deceleration control requirement of servo motor, the principles, discrete mathematical functions and judgment conditions of trapezoid-shaped and S-shaped curve acceleration and deceleration control methods are studied and realized. On the basis of the state diagram and function block programming model defined in PLCopen, the realization mechanism and key technologies of the motion control function blocks is studied. Based on parameters configuration and status monitoring module and running processing module, several single-axis motion control function blocks defined in PLCopen standard are developed, which include the absolute positioning function block and administrative function blocks like the system enable, state read and parameters read and write function blocks, and these function blocks realize the management and drive of single-axis movement, and meet the demand of different motion control applications.A single-axis motion control test platform has been established, the position and velocity of servo motor are controlled by controlling the pulses output to the servo driver, the single-axis function blocks and trapezoid-shaped and S-shaped curve acceleration and deceleration methods are verified. |
