The Design Of A Multi-interface Motion Controller

As the key part of CNC system, Motion controller is tend to be high-speed, digitalizedand networked. This thesis is aiming at designing and realizing the multi-interface CNCmotion controller with combination of digital signal processing chip DSP, ARM chip andSERCOS-III of field bus technology. The main work is as follows:During the stage of requirements analysis, clearly, reasonable performance requirementsis raised. This thesis is to design a motion controller that can control4axes, and the keyperformance indicators such as servo cycle, controlling mode put into the specificrequirement list. The thesis undertakes the development mode which combines the uppercomputer and motion controller.In the hardware structure aspect,a framework of three pieces of card is raised, that onecard is responsible for computing which based on the core chip DSP, a universal interfaceboard based on ARM, and a SERCOS-III communication interface board based on thecomX.On the DSP card, the core chip DSP selects TI’s C6000series DSP as the processingchip, and C6000series DSP are high-end DSP which characterized high main frequency andsupport floating-point operation. ARM interface card can achieve DA output, pulse signalsoutput, location signal collecting, CAN bus communication module and so on, and can meetthe needs of general motion controller. comX interface card can realize high-speed real-timeEthernet SERCOS-III communication protocol. Two interface card can connect the DSP cardtogether respectively to achieve different function, and this can highly improve the flexibilityof the system.In the software design aspect, a structure of7function modules is raised which based onthe core function module task scheduling, including a communication module, taskscheduling module, interpolation module, IO module, fault error processing module, mainaxes control module, position control module. The driver level of each software functionmodule is designed and implemented.On the basement of design, the corresponding hardware and software debugging isapplied. Through the experiments, the feasibility of the design is validated.