Design Of Two-Axis Servo Teaching System Based On The MC464Controller

The system is composed of key module, communication module, FPGA which connect to the two module, and the MC464controller of Trio, the A4N servo drivers and servo motors of Panasonic constitute the experiment system.The programs of the system are designed in the Motion Perfect2, the control signal from key module to the MC464controller through the communication interface of the RS232, and then the key module could control the controller in process of conveying of signal and realized function of servo teaching and playback motion. The system fulfilled the direct teaching and indirect teaching, and then it could invoke the programs of the playback. At the basic of the teaching, in order to achieve the different aims of controller and adapt the different environment of work, the key module can change the speed and increase or reduce the point of the teaching.This paper has two aspect contents. One is the design of the hardware of the system, the design of the key module and UART communication module are contained. The design of the motion control with the main part is the programs of controller.This thesis is composed by six chapters:Chapter1gives the main contents. We introduce the structure and category of the motion control system, and the status of development, and then show the purpose and significance of research.Chapter2presents the system of the teaching experiment. We present the each module of the system.Chapter3introduces the master plan of the system. The principle of the control, the design of hardware and the design of the motion control are analyzed.Chapter4research the design of the hardware. We analyze the design of key module and communication module respectively, and give the results at the end.Chapter5discuss the motion control. The basic ideas of motion control are presented, and finish the experiment of change speed based on the direct teaching and indirect teaching. Chapter6summarizes the whole of the thesis. The succinct statement from the process of the work and the next step plan to the thesis is introduced.