Design Of Industrial Ethernet Motion Controller Based On ARM

Motion controller is an important part of industrial motion control system.With the rapid development of embedded technology, motion controllertechnology updating needs to be continually increased on the market. The highperformance, low cost, and high reliability will lead the development of themotion controller. In the world, the development of the motion controller isexpanding by leaps and bounds in the West. But domestic production areimitating and producing of foreign mature products, lack of completed andinnovative research.This thesis designs an industrial Ethernet motion controller based on ARM.The motion controller hardware part includes ARM11master control module andmotion control module. Main controller based on S3C6410microprocessor wasproduced by Samsung Company, configures with the rich peripherals, includingbasic function module, memory module, Ethernet module, human-computerinteraction module etc. Motion control module by PCL6045B motion controlschip and its peripheral circuit, photoelectric coupling circuit, and PWM pulseoutputs drive circuit, etc. Motion control module receives the motion controlcommands sent by S3C6410, drives the servo motor realizing the motion controlprocess.Software part includes: transplant of embedded operating system, researchof the motion control algorithm and implementation of Ethernet communicationprotocols. This design puts RT-Linux kernel into the Linux kernel and ports thereal-time operating system to ARM; studies the motion control interpolationalgorithm, including linear interpolation and circular interpolation, thenencapsulates the interpolation function into the API function library; This designalso studies the key technology of industrial Ethernet in the industrialenvironment and industrial Ethernet based on TCP/IP communication protocol, designs a variety of Ethernet communication functions based on TCP/IP.The design of motion controller has the characteristics of low cost, smallvolume, simple network structure, and it is easy to operate and maintain.