Development Of Embedded Motion Control Platform Based On M-?

M-?(MECHATROLINK-?) is widely applied to motion control applications. However, most of the current motion controller with M-? interface is on the basis of PC with high prices, complex system and low flexibility. Considering of the advantages of embedded platform, an embedded motion control platform with M-? interface is developed. The main contents of this thesis are as follows:According to the protocol demands of M-? and functional requirements of motion control platform, the main chips and embedded operating system are determined. Then the hardware system and the software structure of M-? interface are designed.In terms of hardware implement, the i.MX6 chip and the EP4CE10F17I8 N chip are employed as the core processor and co-processor for motion control platform respectively. Moreover, the JL101 chip is chosen for the M-? communication link layer. Detailed design of key electric modules is accomplished. In additional, electromagnetic compatibility is fully considered to ensure the reliability of the system.As for the design of software, real-time Linux operating system related to Xenomai is established. Based on this operating system, the M-? device driver is designed, including the initialization process and data link transmission. And user application interface is developed as well. Furthermore, the periodic communication is synchronized by interrupts to guarantee the accuracy of the periodic task.Finally, experiment platform of motion control platform is built. Then, hardware and communication function are conducted on the platform. The results indicate that the proposed controller prototype can realize the basic motion control and M-? communication function.