Design Of Embedded Motion Controller Based On ARM And Motion Control Chip

In the production process of steel containment used for nuclear power, welding of steelplate of ellipsoidal head is often completed by workers, which has shortcomings such as lowproductivity, poor working conditions, high labor intensity and so on. In order to solve theseproblems, this paper designed an embedded motion controller and applicated it to themagnetic crawling robot, which achieved accurate and high quality welding of steel palte.This paper designed the motion controller of the magnetic crawling welding robot withARM MCU S3C2440A and motion control chip PCL6045BL. The motion controller uses theLinux to maintain the stable operation of the entire system, and provides interfaces of CANbus, UART, USB and image collection board. The motion controller runs independently inthe control system of the welding robot as the main controller, and it also can run as a salvecpmputer of the PC to control movement using the CAN bus interface. This motion controllercan control four axes and have functions such as linear and S-curve acceleration anddeceleration, linear interpolation, circular interpolation and so on. These functions can beachieved by S3C2440A controlling the registers in PCL6045BL.The hardware of the motion controller includes the S3C2440A and memory module,PCL6045BL module, communication module, power supply and clock generation module,and the general purpose I/O interface, LCD interface and JTAG debugger interface. In orderto shorten the development cycle, the S3C2440A and memory module used a TX2440corecircuit board, other modules were designed in the motion control board. The PCL6045BLmodule implements the interface between PCL6045BL and external application circuits, andit can improve the system’s stability. The communication module includes a CAN businterface, a RS232interface, and an USB interface. The CAN bus interface is used forcommunicating with external devices, the RS232interface is used for serial communicationand the USB interface is used for USB communication. The I/O interface is mainly used fordata transmission between motion controller and the image collection board; the LCDinterface is used for connection of motion controller with LCD module; and the JTAGdebugging interface is used for connection of motion controller with JTAG debugger.The software of motion controller can be divided into three parts: the Linux operatingsystem is responsible for the management and allocation of motion controller’s software andhardware resources; hardware device drivers is the interface between the Linux and devicesof motion controller; application program is developed based on the actual requirements of the welding robot, and its main purpose is to achieve the real-time adjustment of the axesduring the welding process and accomplish the robot’s welding tasks. All the motion controlfunctions are packaged into an API function library, which has a wealth of motion controlfunctions, so that it can make application development easier.In this paper, the motion controller has properties such as small size, high stability andgood real-time response, and its control accuracy can meet the technical requirements of thewelding robot.