Distributed Motion Control System Research Of Multi-axis Industrial Robot

Industrial robot is more and more widely used, as the core of the robot control system, motion controller directly influences the performance of the robot’s speed and accuracy.The traditional motion controller can not meet the requirements of modem industrial robot on the quickness, stability and openness anymore.With the development of microelectronics technology, high performance digital processor DSP occupies an important position in the motion control systemwith good properties such as stability, high speed and openness. And the development of industrial Ethernet technology makes the networked multi-axis motion control system become the research hot spot.On the basis of research of industrial Ethernet technology, design a multi-axis industrial robot motion control system based on Ether CAT, with DSP and FPGA as processor. The architecture of DSP+FPGA not only ensures high speed computing capacity of the system and also improves its openness, and the Ether CAT technology improves the real-time performance of the system.This paper carried out the hardware and software design of the servo motion controller.Use TMS320F28335 of TI company as DSP chip, and Altera company Cyclone Ⅱ EP2C8Q208C8 N series is chosen as the FPGA chip,and Ether CAT communication circuit selects the Beckhoff ET1100 chip.The method of modular design, hardware circuit is divided into communication module, DSP module, FPGA module and power module.The article has carried on the circuit design of every circuit module, complete model made of the controller.The software system is divided into master station and slave station software.Slavestation software is designed in CCS compile environment, responsible for processing the data frames and servo controlling, including DSP main function, communication program, servo driving program and FPGA program.Master station software is designed in vc++6.0compiler environment, which realize the human-computer interaction function, including communicate parameters configuration module and the main function module.The main function module includes two parts, the state machine processing and robot control.Finally, set up the experimental platform and test the hardware and software of the control system, including the basic circuit testing, communication performance testing and servo control experiment, to verify the feasibility of hardware principle and software system.