| With increasing demand of garments and leather products,as well as the rapid development of embedded technology,it is an inevitable trend that embedded technology is to be incorporated into NC cutting bed.Motion control system is fundamental for a steady and efficient operation of NC cutting bed.Thus,better motion control system can improve the overall quality of the cutting bed and therefore lower costs and enhance competitiveness of the company.Based on the previous research results both at home and abroad,a motion control system based on CANopen is designed and developed.The main achievements and results are as follows:(1)Combining the system requirements and the characteristics of the embedded system,the motion control system of the cutting bed with the STM32F407ZET6 as the microcontroller is developed and the hardware circuit of each function module is designed.(2)After analyzing the characteristics of CANopen agreement,the CANopen DS301 protocol is used to transfer data between master station and slave station and the CANopen DS402 protocol which combined time division interpolation method is used to achieve the motion control.(3)According to the characteristics of the cutter which is used on cutting bed,three-axis linkage control scheme and cutter compensation control scheme are designed;According to the characteristics of cutting tracks,the continuous small line velocity pianning algorithm which planned the speed at inflection and the acceleration and deceleration within a single segment is designed.(4)According to the overall design scheme of the control system,the function software of the system is designed,including CANopen communication protocol,file transfer,PLT file parsing,speed planning and interpolation etc.The concise and practical man-machine interface is designed and the system is debugged as a whole.Finally,the paper summarizes the whole content,analyzes the shortcomings of the system and puts forward some outlooks into motion control system of the cutting bed. |
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