Design And Research Of CANopen And Ethernet Based Embedded Motion Controller

This paper studied the motion controller in the motion control system.Compared with the traditional centralized motion controller which with complex structure and high coupling between parts,together with the characteristics of poor anti-jamming ability and difficult to maintain,this paper introduced the designing,verifying and analyzing procedure of an embedded motion controller with easy maintenance,strong system flexibility which can achieve distributed control and remote control.Based on the development and research status of motion controllers at home and abroad,the design scheme of motion controller proposed in this paper applies the computer network and fieldbus technology to the motion controller.First,the motion control instructions are transmitted to the embedded motion controller using Ethernet,and secondly,the embedded motion controller and the servo drive system communicate with each other via a CAN fieldbus equipped with an open application layer protocol named CANopen,thus realizing the control of the servo drive system.The main part of this paper introduces the design process and design idea of the hardware platform and firmware program of the motion controller.The hardware design section introduces the implementation of the basic hardware environment and peripheral interface,while the software design part introduces the implementation of network communication interface,the interactive response process,the numerical control code resolution and processing method,the arc interpolation method based on time segmentation method,the track continuity and speed planning method,and the motion control method based on CANopen open protocol and CAN field bus.Finally,the three-axis right angle coordinate coefficient control device represented by the vertical milling machine is used as the experimental object,and the feasibility experiment verification and error and precision analysis are carried out on the design idea and scheme of this paper.The experimental results show that the embedded motion controller designed according to the hardware and software scheme introduced in this paper can parse the instruction code commonly used in numerical control program and can control the servo drive system more precisely in the operation of arc and straight-line trajectory,and the speed is stable and the motion trajectory is more accurate.