Research And Realization Of MACRO Motion Control Network Based On FPGA

MACRO(Motion And Control Ring Optical),developed by Delta Tau Data Systems,is a high speed,real time field bus communication protocal for motion control system. in essence,MACRO is a high speed commmunication ring network,which is organized as a ring of stations,inclouding masters or slaves,connected via optical fibre.In the ring,master sends command data to its slavers and receives feedback data from them.Through transmission of baton,the field bus control right is passed from one master to anonter.Because of the high communication speed,good real time performance and the pattern of distributed Hardware and centralized Software,MACRO network is very suitable for the area of multi-axises high speed and high precision motion control.FPGA,with the mechanism of parallel precessing,is widely used for high speed real time data processing and complicated protocal realization.Modern FPGA is large in chip scale,flexible in use,low in cost,good in reliability,and it can greatly shorten the periode of electric product development.Therefore this subject use FPGA to realize the MACRO protocal.In this article,MACRO protocal is deeply analyzed,and a MACRO based motion control system platform is constructed,its system structure,hardware circuit and registers organization being researched in detail.The platform is composted of Turbo PMAC Clipper(a multi-axises motion controler),MACRO Interface cards,servo axises expansion cards,I/O devices,driver and motor. as the carrier of MACRO communication porotocal,MACRO Interface cards and servo axises expansion cards are the significant parts of this thesis and they would be developed independently.MACRO Interface card is the interface circuit of master station,its main functions incloude communicating with the CPU of the motion controler,processing of MACRO procotal and Optic-Electric Convertion of the serial data streams. Servo axises expansion card is the interface circuit of slave station,its functions consist of Optic-Electric Convertion of the serial data streams, processing of MACRO procotal,rotation instructions output of motors,processing of encoder position feedback signals and I/O processing.In this thesis,function module and circuit formation analysis is applied on the MACRO Interface card and servo axises expansion card, further more they are realized with FPGA chips.