Modeling And Implementation Of Motor Function Module Based On PLCopen

With the continues development of industrial manufacturing technology, The developrequirements of motion control technology are also increasing. At the same time withthe in-depth development of motion control technology, A standardized rules is neededto regulate the motion control market. The IEC61131-3standard was born in thiscontext, The PLCopen who set the standard dedicated to the establishment of themotion control framework, and it has become a pillar standardized language of theIndustrial control.This paper focuses on the research of motion controller hardware design and softwaredesign which is based on the PLCopen, and the hardware design includes powerconversion circuits, DSP peripheral circuit,232communications interface circuits, andswitch input and output interface circuit design, In addition there is an analysis of theanti-jamming design considerations when design the printed circuit board.For the high real-time requirements of the motion control system, the software designis mainly based on UCOS-II real-time operating system. This paper first describes theprocess of UCOS-II transplant in TMS320F28069. In addition, according to thedefinition of the PLCopen motion function module, conducted in-depth analysis of themodeling of the motor function module, introduced and analyzed the acceleration anddeceleration control algorithm that is used in the single-axis and multi-axis motionfunction module.Describe the achievement of acceleration and deceleration control algorithm in DSP,and shows a flowchart of the algorithm. In addition described and analyzed therealization of the typical single-axis motion module–MC_MoveAbsolute module, andgives the flow chart of procedures and algorithm. Last there has a brief summary of theproblems encountered in the entire motion controller hardware and software design process, and proposed the Prospect for the future work.