Design Of Bus-Step Servo Driver With Position Feedback Interface

Stepper motor driver as the key link in today's CNC system is the necessary partof all kinds of CNC equipment.Nowadays,the machine tool industry is developing rapidly,and the stepper motor driver which with the advantages of network,high efficiency,low cost and others has become the necessary equipment in the future.In view of the traditional sense of the stepper motor driver has been unable to adapt to the development of modern manufacturing,the bus-type stepper motor driver that has position interface has become the focus of research and development of many sports control system design.Based on the research of CAN bus communication technology of industrial field bus,the thesis designs and develops the bus type closed loop stepper motor drives which using STM32 and TC1002 structures.After completing the whole design of the driver,the hardware circuit and software system are designed.In terms of drive hardware circuit,the main control chip of the design drive is the STM32F407VGT6,which is developed by the semiconductor company of Italy,and the TC1002 chip developed by TC1002,which is developed by Titan Micro Electronics Co.,Ltd.The driver uses the MCP2551 as a CAN transceiver to access the communication bus.The logic controller of the CAN communication bus uses the USB-CANII logic analyzer to implement the information exchange function between the motion control software and the driver on the PC.In addition,this thesis also gives a detailed design of the power supply circuit,the peripheral circuit of the various kinds of chips,as well as the auxiliary circuit.After the PCB drawing is completed and the prototype is made,the overall framework of the system program is designed for the driver.Transplantation of the RT-thread real-time operating system in system program,and use the C language in the Keil compiler environment designed CAN communication transceiver procedures,encoder signal acquisition program,stepper motor position closed-loop speed control program,S speed planning program and application process of the other modules of order.After finishing the hardware designed and softwarewritten,the bus step motor closed-loop drive motor test platform isbuilt.The upper monitor control software for the driver is designedusing VS2012,and thedrive functions are verified and testedto ensure the normal operation of the driver.Based on the USB-CANII logic analyzer,the experiments of CAN bus multimachine communication,speed planning,closed loop motion test,point to point motion control are completed.The experimental results show that the design of the driver has achieved the desired results,and laid a good foundation for the further research work in the future.