Research And Design Of General-purpose 4-axes Motion Controller

Motion control technology is the gordian technique of promoting a new industrial revolution, and is also a symbol of national industrial modernization. With the rapid development of manufacturing, the demand of motion controller is increasing because the traditional equipments are updated. Moreover, with the improvement of motion control technology, the demand of the new generation of motion controller's performance, function, openness and cost is increasing.By comparing the existing designs of the motion controller, this paper gives a new design of four-axis motion controller, based on embedded-Linux operating system. We design a multi-functional 4-axes motion controller, based on Samsung's ARM microprocessor-S3C2440 and NPM's special motion control chip-PCL6045B.The designs of hardware modules include motion control module, communication module, memory module and CPU peripheral module. The motion control module consists of inputs and outputs of PCL6045B and photoelectric converter module; the communication module includes serial communication, network communication and USB communication; and the memory module includes Nand Flash memory, SDRAM memory and USB removable storage device interface. CPU peripheral module consists of reset circuit, JTAG circuit, clock circuit etc.In the software, the U-Boot and Linux2.6 kernel are transplant, and include the Nand Flash driver, serial driver, USB driver and network driver. On these bases, we developed PCL6045B driver, users just need to develop some applications in the Linux platform.At last, a example is given with specific control object. A three-axis carving machine is designed based on the motion controller, and good results are obtained .At the end of paper, summary and preview of the design are made, and functions that can be extended are be described.