CN102109836B - Expandable and cuttable multi-shaft movement control system and method - Google Patents
Expandable and cuttable multi-shaft movement control system and method Download PDFInfo
- Publication number
- CN102109836B CN102109836B CN 200910214137 CN200910214137A CN102109836B CN 102109836 B CN102109836 B CN 102109836B CN 200910214137 CN200910214137 CN 200910214137 CN 200910214137 A CN200910214137 A CN 200910214137A CN 102109836 B CN102109836 B CN 102109836B
- Authority
- CN
- China
- Prior art keywords
- servo
- fieldbus
- fpga
- board
- bus
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Abstract
The invention provides an expandable and cuttable multi-shaft movement control system, which includes a CPU core system board, an FPGA base board, and a fieldbus servo communication board; the CPU core system board and the fieldbus servo communication board are connected with the FPGA base board through a unified bus slot; an FPGA chip on the FPGA base board is connected with an upper computer through a serial bus; the FPGA base board provides multi-shaft pulse type servo drive slots connected with a servo drive system; and the fieldbus servo communication board is connected with a fieldbus, and transmits a movement control order to a bus type servo drive system through the fieldbus. The CPU special processing chip in the invention can select different CPU modules according to actual requirement and function, the fieldbus servo communication board also can be particularly selected according to the actual bus type of the servo drive system, and the multi-shaft movement control order can be transmitted to the servo drive system in the forms of pulse signals and fieldbus protocol signals, so that the expansion and the cut of the number of control shafts can become more convenient.
Description
Technical field
The present invention relates to fields of numeric control technique, relate in particular to a kind of the expansion and can reduce multi-shaft motion control system and method.
Background technology
At present, advanced manufacturing such as numerically-controlled machine, industrial robot, three coordinate measuring machine and dedicated numerical control equipment Equipment Development is extremely rapid, and the smart motion control system of these equipments has become the key factor of its performance and function realization.For example, multi-shaft motion control system just extensively applies in the automated arm, particularly is applied in lathe, light industry package packing machine, printing machinery and the medium automation field of dedicated numerical control process equipment.
At present, the hardware configuration of most of kinetic control systems is all comparatively fixing, generally all is CPU, FPGA and servo communication module are integrated on the circuit board, and modules such as CPU are non-exchange, and the performance of system is difficult to expansion and cutting.
Data transmission between most kinetic control system and the servo drive system does not provide the transmission of network-bus control signal mainly based on pulse signal and analog signal transmission dual mode.Mainly there are following point in pulse signal and analog signal transmission:
(a) subject matter of analog signal transmission form be difficult to eliminate drift, temperature is floated the influence to precision, is subjected to external intervention easily; The subject matter of pulse signal transmission form is to be directly to transmit the command pulse signal by non-coded system between kinetic control system and the servo drive system, in case pulse-losing or introduced disturbing pulse, just be difficult to carry out the debugging error correction, be difficult for the high reliability that guarantee information is transmitted; In addition, it is limited that the servo drive system of pulsed driven is accepted the highest frequency of pulse.Therefore in traditional motion control, the transmission form of above-mentioned servo drive signal has seriously limited the raising of system performance and reliability.
(b) owing to adopt the servo driving of pulse signal or analog signal transmission, every road Control Shaft must carry out numeral/pulse or digital-to-analog amount translation operation, therefore, each road Control Shaft of kinetic control system need provide a complex set of interface circuit and program, after the fixed in hardware of kinetic control system, therefore its Control Shaft quantity, adopt pulse signal or analog signaling transmission servosignal to be unfavorable for expansion and the reduction of Control Shaft quantity with regard to relative fixed.From another angle, because each road Control Shaft need provide a complex set of interface circuit and program, its number of axle amount is more many, interface circuit for numeral/pulse or digital-to-analog conversion just need be more many, and physical connection is also more many, and the control system hardware configuration is also just more complicated, probability of errors is more high, the sequential operation load is more big, is unfavorable for the raising of system reliability and speed, more is unfavorable for expansion and the cutting of system performance.
In addition, because the standard disunity of present fieldbus, the interface type of fieldbus, data layout and communications protocol are various, to kinetic control system the support of fieldbus is caused difficulty, make the kinetic control system of most of existing support fieldbus can only support a kind of bus standard, also be unfavorable for expansion and the cutting of system performance.
Summary of the invention
The objective of the invention is to overcome the shortcoming of above-mentioned prior art with not enough, provide a kind of the expansion can reduce multi-shaft motion control system, multi-shaft motion control system of the present invention adopts 3 disposable plates, specifically comprise the FPGA foundation plate, the servo communication board of core cpu system board and fieldbus, because described core cpu system board, the servo communication board of fieldbus adopts unified bus slot to be connected with the FPGA foundation plate, this bus slot is provided with the internal system bus, make the CPU dedicated processes chip on the core cpu system board to come the different CPU module of choose reasonable with the function size according to the actual needs of application, the servo communication board of fieldbus also can specifically be selected according to the fieldbus actual type that servo drive system connects, thereby make Control Shaft quantity expansion and reduce more convenient, make system of the present invention possess to expand and to reduce CUP core system plate, the characteristics of the servo communication board of fieldbus, simultaneously, system of the present invention adopts fieldbus to come the transmitting moving steering order, realized that digital signal carries out multiaxial motion control, servo-information transmission reliability height, speed is fast, and simple in structure, also making can flexible expansion or reduction by the quantity of Control Shaft.
The present invention also aims to provide above-mentioned the expansion can reduce the method that multi-shaft motion control system is realized multiaxial motion control
The objective of the invention is to be achieved through the following technical solutions: a kind of expansion can be reduced multi-shaft motion control system, comprising: core cpu system board, FPGA foundation plate and the servo communication board of fieldbus; Described core cpu system board, the servo communication board of fieldbus are connected with the FPGA foundation plate by unified bus slot, and this bus slot is provided with the internal system bus;
Described FPGA foundation plate is provided with serial communication interface and is used for being responsible for the fpga chip of internal system bus communication control, and described fpga chip is connected with host computer by universal serial bus, to receive the numerical control instruction that host computer issues;
Described core cpu system board is provided with for to receiving the numerical control instruction that fpga chip transmits and carry out that motion planning calculates and interpolation calculating, is handed down to the CPU dedicated processes chip of the servo communication board of fieldbus through the FPGA foundation plate will calculate the multiaxial motion steering order;
The servo communication board of described fieldbus is connected with each servo driving axle of bus-type servo drive system by fieldbus, so that the multiaxial motion steering order is sent according to the communications protocol of fieldbus each servo driving axle to the bus-type servo drive system.Just can realize that by technique scheme of the present invention digital signal carries out multiaxial motion control.
Preferably, described FPGA foundation plate also is provided with the multiaxis pulse servo driving slot that is connected with each servo driving axle of impulse type servo drive system, because the multiaxial motion steering order that CPU dedicated processes chip calculates is digital signal, so, described fpga chip relative set is useful on the multiaxial motion steering order is converted to the digital signal/pulse signal change-over circuit of pulse signal form from digital signal form, and described digital signal/pulse signal change-over circuit is connected with multiaxis pulse servo driving slot.Pass through such scheme, the multiaxial motion steering order that CPU dedicated processes chip calculates converts the multiple-axis servo pulse command of pulse signal form to through digital signal/pulse signal change-over circuit, sends to each servo driving axle of impulse type servo drive system again through multiaxis pulse servo driving slot.By above-mentioned preferred version, just can realize traditional pulse multiaxial motion control by multiaxis pulse servo driving slot, thereby make the present invention outside possessing the function that the digital signal of fieldbus carries out multiaxial motion control, also compatible traditional pulse multiaxial motion control, make that control strategy of the present invention is flexible, have application flexibly.
Concrete, the servo communication board of described fieldbus is provided with interconnective fieldbus special chip and data transmit-receive and control special circuit, and described receiving and transmitting signal change-over circuit is connected with each servo driving axle of bus-type servo drive system by fieldbus.Described multiaxial motion steering order is successively after fieldbus special chip, data transmit-receive and control special circuit carry out relevant treatment, according to communications protocol and the synchronism requirement of fieldbus, to all servo driving axles transmission motion control instruction of bus-type servo drive system.
Need to prove, in existing servo drive system, the servo driving axle has pure bus-type, pure impulse type and other types, more some is while supporting bus type and impulse type, just be bus-type also be the impulse type servo drive system, accordingly, servo drive system be bus-type also be the impulse type servo drive system.
In addition, described FPGA foundation plate can also be provided with photoelectric isolation module and exterior I/O interface, accordingly, described fpga chip is provided with the I/O processing module, described fpga chip is connected with photoelectric isolation module, exterior I/O interface and exterior I/O equipment successively by its I/O processing module, so that the input and output of 1/O signal to be provided.
Owing to have data and program a large amount of, that be used for motion planning calculating and interpolation calculating to store in this multi-shaft motion control system, but depend merely on the performance of the on-chip memory meeting restriction system of CPU dedicated processes chip, therefore, can also be provided be connected with CPU dedicated processes chip respectively FALSH ROM and SDRAM storage chip on the core cpu system board stores; Utilize the flash memory of CPU dedicated processes chip, under the condition of not changing hardware, can realize the control of different applications, can repeatedly revise different data and program.
Preferably, the set multiaxis pulse servo driving slot of described FPGA foundation plate is 4 pulse servo driving slots, and it can make this multi-shaft motion control system drive simultaneously and impulse type servo drive system below 4 or 4 with pulse mode.
Described FPGA foundation plate, core cpu system board and the servo communication board of fieldbus are provided with corresponding power circuit separately, and each power circuit adopts unified input voltage.
The fpga chip of described FPGA foundation plate is connected with host computer by universal serial bus, its preferred version is: described FPGA foundation plate and host computer are provided with USB interface and URAT interface, USB interface or the URAT interface of fpga chip by the FPGA foundation plate adopts USB interface or the corresponding connection of URAT interface of universal serial bus and host computer.
Described core cpu system board also is provided with the JTAG emulation interface, and CPU dedicated processes chip is connected with the emulator of host computer by the JTAG emulation interface, makes things convenient for artificial debugging, the download burning of program.
Described fpga chip is the programmable logic functions element, by the programming to FPGA, define the character of each and being connected of line, need not revise the hardware configuration of kinetic control system, can directly change the function of hardware, system be had to expand the dirigibility that to reduce.
The other end that described FPGA foundation plate is connected with bus slot adopts double-screw bolt, nut to be connected with the local communication bus board with the core cpu system board, to improve reliability.
The above-mentioned expansion can be reduced the multiaxial motion control method that multi-shaft motion control system is realized, be specially: host computer with the numerical control instruction interpretation in the numerical control program after, numerical control instruction after will explaining by universal serial bus sends in the fpga chip of FPGA foundation plate, the core cpu system board reads the numerical control instruction that the FPGA foundation plate is stored, carry out that motion planning calculates and after interpolation calculates the multiaxial motion steering order, can carry out any one of following a, two kinds of movement control mode of b as required:
A.CPU dedicated processes chip passes through the internal system bus with described multiaxial motion steering order, be transferred to the servo communication board of fieldbus through the FPGA foundation plate, the servo communication board of fieldbus is according to the communications protocol of fieldbus, send each servo driving axle of bus-type servo drive system to by fieldbus, with the multiaxial motion control that realizes that digital signal network drives;
B.CPU dedicated processes chip arrives the multiaxial motion steering order that calculates the fpga chip of FPGA foundation plate by the internal system bus transfer, handled the multiple-axis servo pulse command that obtains the pulse signal form by fpga chip, send to each servo driving axle of impulse type servo drive system again through multiaxis pulse servo driving slot, to realize multiaxial motion control.
In the said method, after described multiaxial motion steering order is transferred to the servo communication board of fieldbus, at first handled by the fieldbus special chip, after converting the signal format that the field bus communication agreement can identify, transmit to by data transmit-receive and control special circuit then, according to communications protocol and the synchronism requirement of fieldbus, to all servo driving axles transmission motion control instruction of bus-type servo drive system.
In the said method, described multiaxis pulse servo driving slot is preferably 4 pulse servo driving slots, and it is 4 pulse servo driving slots that fpga chip is handled resulting multiaxis pulse command.
Among the said method movement control mode a, the position of servo driving axle and status information can upload to the servo communication board of fieldbus in the bus-type servo drive system, feed back to CPU dedicated processes chip by the servo communication board of fieldbus, CPU dedicated processes chip also generates corresponding machining information, be uploaded to host computer by the FPGA foundation plate, to realize FEEDBACK CONTROL.
Among the said method movement control mode b, the position of pulse servo driving axle and status information can upload to CPU dedicated processes chip through multiaxis pulse servo driving slot, CPU dedicated processes chip in the impulse type servo drive system, CPU dedicated processes chip also generates corresponding machining information, be uploaded to host computer by the FPGA foundation plate, to realize FEEDBACK CONTROL.
In the said method, described core cpu system board communicates by the emulator of JTAG emulation interface and host computer, with artificial debugging and the download burning that realizes system's working procedure.
Compared with prior art, the present invention has following beneficial effect:
Multi-shaft motion control system of the present invention adopts 3 disposable plates, specifically comprise the FPGA foundation plate, the servo communication board of core cpu system board and fieldbus, because described core cpu system board, the servo communication board of fieldbus adopts unified bus slot to be connected with the FPGA foundation plate, this bus slot is provided with the internal system bus, so the CPU dedicated processes chip on the core cpu system board can come the different CPU module of choose reasonable with the function size according to the actual needs of application, according to the particular type of servo drive system, can select fieldbus and pulse signal transmitting moving steering order and feedback information; When adopting fieldbus type servo drive system, according to the difference that adopts the fieldbus type, as SERCOS bus, PROFIBUS bus, MECHATROLINK bus etc., can select the servo communication board of corresponding fieldbus for use, make Control Shaft quantity expansion and reduce more convenient, make system of the present invention possess and to expand the characteristics that to reduce CUP core system plate, the servo communication board of fieldbus, thereby make system of the present invention have good flexibility and adaptability.Simultaneously, system of the present invention can adopt fieldbus to come the transmitting moving steering order, realizes that digital signal carries out multiaxial motion control, and the control number of axle can increase flexibly, subtract; Also can realize the control of multiaxis pulsed servo motion by multiaxis pulse servo driving slot, possess the advantage of above-mentioned two kinds of control modes, information transmission reliability height, the number of axle of hardware connection and Control Shaft increases, subtracts flexibly, has application flexibly.
Description of drawings
Fig. 1 is for can expand the structural representation that can reduce multi-axis motion controller;
Fig. 2 is the structure principle chart of core cpu system board;
Fig. 3 is the structural representation of FPGA foundation plate;
Fig. 4 is the structure principle chart of the servo communication board of fieldbus;
Fig. 5 is that core cpu system board or the servo communication board of fieldbus are connected side view with the FPGA foundation plate;
Fig. 6 is for originally can expand the structure principle chart that can reduce kinetic control system.
Embodiment
The present invention is described in further detail below in conjunction with embodiment and accompanying drawing, but embodiments of the present invention are not limited thereto.
Embodiment
As shown in Figure 1, the present invention can expand and can reduce multi-shaft motion control system and be made up of three disposable plates, comprises core cpu system board, FPGA foundation plate and the servo communication board of fieldbus.
Described core cpu system board, the servo communication board of fieldbus are connected with the FPGA foundation plate by unified bus slot, and this bus slot is provided with the internal system bus.Specifically, described core cpu system board, the servo communication board of fieldbus are provided with unified slot, and two slots all are connected with the FPGA foundation plate by the bus slot of FPGA foundation plate one end.
Described FPGA foundation plate, core cpu system board and the servo communication board of fieldbus are provided with corresponding power circuit separately, and each power circuit adopts unified input voltage.Can reduce multi-shaft motion control system and be provided with unified outlet and originally can expand, each power circuit obtains unified input voltage from outlet, input voltage as 24V, the input voltage of 24V obtains each device operate as normal required voltage by power circuit, the power supply that can unify upper and lower computer like this, simplify the power circuit design, reduce the cable number of connection, improve system reliability.
Described FPGA foundation plate, core cpu system board and the servo communication board of fieldbus are provided with corresponding clock circuit separately, so that clock signal separately to be provided.
As shown in Figure 5, the other end that described FPGA foundation plate is connected with bus slot adopts double-screw bolt, nut to be connected with the local communication bus board with the core cpu system board, to improve structural steadiness and reliability.
Below three disposable plates of native system are done and are specified:
1, as shown in Figure 2, described core cpu system board is provided with CPU dedicated processes chip, JTAG emulation interface, FALSH ROM and SDRAM.
CPU dedicated processes chip is connected with the emulator of host computer by the JTAG emulation interface, communicates by the emulator of JTAG emulation interface and host computer to realize the core cpu system board, realizes the artificial debugging of system's working procedure and downloads burning.
Described core cpu system board also is provided with FALSH ROM and SDRAM, and described CPU dedicated processes chip is connected with SDRAM with FALSH ROM respectively.
Above-mentioned core cpu system board, major function comprises:
(1) by the internal system bus, through FPGA and upper machine communication, receive the numerical control instruction that host computer sends over, simultaneously corresponding machining information is fed back to host computer;
(2) communicate by letter with emulator by the JTAG emulation interface, realize the artificial debugging of system's working procedure and download burning;
(3) there are data and program a large amount of, that be used for motion planning calculating and interpolation calculating to store in this multi-shaft motion control system, but depend merely on the performance of the on-chip memory meeting restriction system of CPU dedicated processes chip, therefore, FALSH ROM and SDRAM have been expanded here.Utilize the flash memory of CPU dedicated processes chip, under the condition of not changing hardware, can realize the control of different applications, can repeatedly revise different data and user program;
(4) exterior I of expanding by the FPGA foundation plate/O interface provides some I/O passages to be connected with exterior I/O equipment.
As shown in Figure 3, described FPGA foundation plate also is provided with USB interface, URAT interface, photoelectric isolation module, exterior I/O interface, fpga chip and 4 pulse servo driving slots etc., and described fpga chip is provided with the 1/O processing module.
Described fpga chip is connected with photoelectric isolation module, exterior I/O interface and exterior I/O equipment successively by its I/O processing module, so that the input and output of 1/O signal to be provided.
Described fpga chip is connected with 4 pulse servo driving slots simultaneously, and then, 4 pulse servo driving slots are connected with 4 servo driving axles of pulse servo drive system.So that this multi-shaft motion control system drives 4 impulse type servo drive motors simultaneously.
Described fpga chip adopts universal serial bus to be connected with the URAT interface is corresponding with the USB interface of host computer by USB interface and the URAT interface of FPGA foundation plate.To realize the serial communication between fpga chip and the host computer.
Described fpga chip is the all-digital programmable logic functional element, and this element is low in energy consumption, the density height, and logic cellular function is simple, and interconnection resource is abundant.Adopt FPGA design specialized logical circuit not only to improve precision and the reliability of circuit, and shortened the construction cycle of total system greatly.Fpga chip comprises three basic logic modules: combinational logic module, sequential logic module and decoding logic module.Utilize these three kinds of modules in motion controller, to realize functions such as decoding, frequency multiplication, counting, pulse distribution, timing.
In the FPGA foundation plate, when application requirements changes, need not revise hardware, can be directly programme to obtain to the basic door of fpga chip and the change of line by VHDL, by configuration file, define the character of each and being connected of line, thereby change the function of hardware.Following function:
(1) UART, USB communication: comprise the numerical control instruction that receives host computer, state of a control, the data at scene are fed back to host computer;
(2) decoding and total line traffic control: the internal bus signal to this motion controller is deciphered and is controlled;
(3) with CUP core system plate, the servo communication board communication of fieldbus: the data that the CUP core board calculates are passed to the servo communication board of fieldbus, the servo communication board feedback data of fieldbus is passed to the CUP core board.
(4) numeral/pulses switch: the motion control instruction that generates the digital signal form of calculating with output CPU dedicated processes chip is converted to pulse signal, realizes the control of multiaxis pulse servo driving.
(5) photoelectricity is isolated and the I/O interface: realization is connected with exterior I/O equipment.
The communication that the servo communication board of fieldbus in the native system is mainly used in field bus type multiple-axis servo control signal transmits, as the displacement of servo feed amount and speed etc., and also can delivering position, status information feeds back to the core cpu plate.It specifically is the motion control instruction that CPU dedicated processes chip is calculated, communications protocol and synchronism requirement according to fieldbus, by each from station interface to all servo-driver sending controling instructions, and give CPU dedicated processes chip with the signal feedback that detects.As shown in Figure 4, the servo communication board of fieldbus is provided with interconnective fieldbus special chip and data transmit-receive and control special circuit, and described data transmit-receive and control special circuit are connected with each servo driving axle of bus-type servo drive system by fieldbus.
Fig. 6 is the above-mentioned schematic diagram that can reduce multi-shaft motion control system of expanding of the present invention.The above-mentioned expansion can be reduced the multiaxial motion control method that multi-shaft motion control system is realized, be specially: host computer with the numerical control instruction interpretation in the numerical control program after, numerical control instruction after will explaining by universal serial bus sends among the FIFO of fpga chip, the core cpu system board reads the numerical control instruction that the FPGA foundation plate is stored, carry out that motion planning calculates and after interpolation calculates the multiaxial motion steering order, can carry out any one of following a, two kinds of movement control mode of b as required:
A.CPU dedicated processes chip passes through the internal system bus with described multiaxial motion steering order, be transferred to the servo communication board of fieldbus through the FPGA foundation plate, the servo communication board of fieldbus is according to the communications protocol of fieldbus, send each servo driving axle of bus-type servo drive system to by fieldbus, with the multiaxial motion control that realizes that digital signal network drives;
B.CPU dedicated processes chip arrives the multiaxial motion steering order that calculates the fpga chip of FPGA foundation plate by the internal system bus transfer, handled the multiple-axis servo pulse command that obtains the pulse signal form by fpga chip, send to each servo driving axle of impulse type servo drive system again through multiaxis pulse servo driving slot, to realize multiaxial motion control.
In the said method, fpga chip also is connected the signal with transmission of digital I/O by photoelectric isolation module, exterior I/O interface with exterior I/O equipment.
In the said method, after described multiaxial motion steering order is transferred to the servo communication board of fieldbus, at first handled by the fieldbus special chip, after converting the signal format that the field bus communication agreement can identify, transmit to by data transmit-receive and control special circuit then, according to communications protocol and the synchronism requirement of fieldbus, to all servo driving axles transmission motion control instruction of bus-type servo drive system.
In the said method, described multiaxis pulse servo driving slot is preferably 4 pulse servo driving slots, and it is 4 pulse servo driving slots that fpga chip is handled resulting multiple-axis servo pulse command.
Among the said method movement control mode a, the position of servo driving axle and status information can upload to the servo communication board of fieldbus in the bus-type servo drive system, feed back to CPU dedicated processes chip by the servo communication board of fieldbus, CPU dedicated processes chip also generates corresponding machining information, be uploaded to host computer by the FPGA foundation plate, show to realize FEEDBACK CONTROL and real-time information.
Among the said method movement control mode b, the position of pulse servo driving axle and status information can upload to CPU dedicated processes chip through multiaxis pulse servo driving slot, CPU dedicated processes chip in the impulse type servo drive system, CPU dedicated processes chip also generates corresponding machining information, be uploaded to host computer by the FPGA foundation plate, show to realize FEEDBACK CONTROL and real-time information.
In the said method, described core cpu system board communicates by the emulator of JTAG emulation interface and host computer, with artificial debugging and the download burning that realizes system's working procedure.
Above-described embodiment is the typical embodiment of the present invention; but embodiments of the present invention are not limited by the examples; other any do not deviate from change, the modification done under spiritual essence of the present invention and the principle, substitutes, combination, simplify; all should be the substitute mode of equivalence, be included within protection scope of the present invention.
Claims (8)
1. can expand and to reduce multi-shaft motion control system for one kind, it is characterized in that: core cpu system board, FPGA foundation plate and the servo communication board of fieldbus; Described core cpu system board, the servo communication board of fieldbus are connected with the FPGA foundation plate by unified bus slot, and this bus slot is provided with the internal system bus;
Described FPGA foundation plate is provided with serial communication interface and is used for being responsible for the fpga chip of internal system bus communication control, and described fpga chip is connected with host computer by universal serial bus, to receive the numerical control instruction that host computer issues;
Described core cpu system board is provided with CPU dedicated processes chip, the numerical control that this CPU dedicated processes chip transmits for the reception fpga chip is instructed and is carried out motion planning calculating and interpolation calculating, is handed down to the servo communication board of fieldbus will calculate the multiaxial motion steering order through the FPGA foundation plate;
The servo communication board of described fieldbus is connected with each servo driving axle of bus-type servo drive system by fieldbus, so that the multiaxial motion steering order is sent according to the communications protocol of fieldbus each servo driving axle to the bus-type servo drive system;
Described FPGA foundation plate also is provided with the multiaxis pulse servo driving slot that is connected with each servo driving axle of impulse type servo drive system, described fpga chip relative set is useful on the multiaxial motion steering order is converted to the digital signal/pulse signal change-over circuit of pulse signal form from digital signal form, and described digital signal/pulse signal change-over circuit is connected with multiaxis pulse servo driving slot.
2. a kind of expansion the according to claim 1 can be reduced multi-shaft motion control system, it is characterized in that: described FPGA foundation plate, core cpu system board and the servo communication board of fieldbus are provided with corresponding power circuit separately, and each power circuit adopts unified input voltage.
3. a kind of expansion the according to claim 1 can be reduced multi-shaft motion control system, it is characterized in that: described core cpu system board also is provided with FALSH ROM and SDRAM, and described CPU dedicated processes chip is connected with SDRAM with FALSH ROM respectively.
4. a kind of expansion the according to claim 1 can be reduced multi-shaft motion control system, it is characterized in that: the fpga chip of described FPGA foundation plate is connected with host computer by universal serial bus, specifically: described FPGA foundation plate and host computer are provided with USB interface and URAT interface, USB interface and the URAT interface of described fpga chip by the FPGA foundation plate adopts USB interface or the corresponding connection of URAT interface of universal serial bus and host computer.
5. a kind of expansion the according to claim 1 can be reduced multi-shaft motion control system, it is characterized in that: described core cpu system board also is provided with the JTAG emulation interface, and CPU dedicated processes chip is connected with the emulator of host computer by the JTAG emulation interface.
6. a kind of expansion the according to claim 1 can be reduced multi-shaft motion control system, it is characterized in that: the other end that described FPGA foundation plate is connected with bus slot adopts double-screw bolt, nut to be connected with the local communication bus board with the core cpu system board.
7. a kind of expansion the according to claim 1 can be reduced the multiaxial motion control method that multi-shaft motion control system is realized, it is characterized in that: host computer with the numerical control instruction interpretation in the numerical control program after, numerical control instruction after will explaining by universal serial bus sends among the FIFO of FPGA foundation plate, the core cpu system board reads the numerical control instruction that the FPGA foundation plate is stored, carry out that motion planning calculates and after interpolation calculates the multiaxial motion steering order, carry out any one of following a, two kinds of movement control mode of b as required:
A.CPU dedicated processes chip passes through the internal system bus with described multiaxial motion steering order, be transferred to the servo communication board of fieldbus through the FPGA foundation plate, the servo communication board of fieldbus sends each servo driving axle of bus-type servo drive system to according to the communications protocol of fieldbus by fieldbus;
B.CPU dedicated processes chip arrives the multiaxial motion steering order that calculates the fpga chip of FPGA foundation plate by the internal system bus transfer, handle the multiple-axis servo pulse command that obtains the pulse signal form by fpga chip, send to each servo driving axle of impulse type servo drive system again through multiaxis pulse servo driving slot;
Among the said method movement control mode a, the position of servo driving axle and status information can upload to the servo communication board of fieldbus in the bus-type servo drive system, feed back to CPU dedicated processes chip by the servo communication board of fieldbus, CPU dedicated processes chip also generates corresponding machining information, be uploaded to host computer by the FPGA foundation plate, to realize FEEDBACK CONTROL;
Among the said method movement control mode b, the position of servo driving axle and status information can upload to CPU dedicated processes chip through multiaxis pulse servo driving slot, CPU dedicated processes chip in the impulse type servo drive system, CPU dedicated processes chip also generates corresponding machining information, be uploaded to host computer by the FPGA foundation plate, to realize FEEDBACK CONTROL.
8. according to claim 7 the expansion can be reduced the multiaxial motion control method, it is characterized in that: when for the b movement control mode, when described pulse servo driving slot was 4 pulse servo driving slots, it was 4 pulse commands that pulse servo driving slot transmits that fpga chip is handled resulting multiple-axis servo pulse command.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910214137 CN102109836B (en) | 2009-12-24 | 2009-12-24 | Expandable and cuttable multi-shaft movement control system and method |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN 200910214137 CN102109836B (en) | 2009-12-24 | 2009-12-24 | Expandable and cuttable multi-shaft movement control system and method |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN102109836A CN102109836A (en) | 2011-06-29 |
| CN102109836B true CN102109836B (en) | 2013-07-17 |
Family
ID=44174019
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN 200910214137 Expired - Fee Related CN102109836B (en) | 2009-12-24 | 2009-12-24 | Expandable and cuttable multi-shaft movement control system and method |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN102109836B (en) |
Families Citing this family (14)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102339037B (en) * | 2011-07-08 | 2013-06-26 | 深圳华中数控有限公司 | Multi-axis numerical control system |
| CN102608950A (en) * | 2012-04-12 | 2012-07-25 | 苏州天准精密技术有限公司 | Control system for three-coordinate measuring machine with bus structure |
| CN102880112A (en) * | 2012-10-12 | 2013-01-16 | 浙江宇宙智能设备有限公司 | Lower computer for numerical control system and method for controlling numerical control equipment by using lower computer |
| CN103454967B (en) * | 2013-09-13 | 2015-08-12 | 绍兴市安雅信自动化技术有限公司 | A kind of adding shaft device and adding axle method for torque shaft bending machine |
| CN103516279B (en) * | 2013-09-17 | 2016-05-25 | 广东工业大学 | A kind of permagnetic synchronous motor control chip based on FPGA |
| CN104615087A (en) * | 2015-02-05 | 2015-05-13 | 珠海格力电器股份有限公司 | Bus type motion controller |
| CN107203177A (en) * | 2017-06-17 | 2017-09-26 | 大连理工计算机控制工程有限公司 | A kind of multi-shaft motion control system based on FPGA |
| CN107942698A (en) * | 2017-12-14 | 2018-04-20 | 清华大学 | The multi-leaf optical grating control system to be communicated based on fieldbus and high-speed differential serial |
| CN108762128B (en) * | 2018-04-13 | 2021-09-07 | 大族激光科技产业集团股份有限公司 | Electrical control integrated system and device |
| CN109240170A (en) * | 2018-10-24 | 2019-01-18 | 深圳市微芯智能科技有限公司 | Multi-axis motion control chip controls method, apparatus, readable storage medium storing program for executing and system |
| CN111240944B (en) * | 2019-12-30 | 2023-07-14 | 浙江力创自动化科技有限公司 | High-precision servo drive controller and configuration method |
| CN112511043B (en) * | 2020-11-20 | 2022-07-29 | 北京精密机电控制设备研究所 | Synchronous control system and method based on repeated motion multi-axis control |
| CN113311787B (en) * | 2021-04-23 | 2022-03-18 | 临海市新睿电子科技有限公司 | Multi-axis servo control system |
| CN115685887A (en) * | 2022-11-02 | 2023-02-03 | 深圳市威德克科技有限公司 | CAN bus type servo and pulse type servo mixed-matched control system and method |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1267846A (en) * | 1999-03-18 | 2000-09-27 | 财团法人工业技术研究院 | Integrated circuit for controlling the rotating positions of several shafts |
| CN201163363Y (en) * | 2007-11-30 | 2008-12-10 | 上海奈凯电子科技有限公司 | General multi-axis motion control system on numerical control machine |
| CN101546185A (en) * | 2009-04-30 | 2009-09-30 | 上海交通大学 | Programmable multi-axis controller based on IEEE-1394 serial bus |
| CN201689325U (en) * | 2009-12-24 | 2010-12-29 | 广州市诺信数字测控设备有限公司 | Enlargeable and reducible multi-axis motion control system |
-
2009
- 2009-12-24 CN CN 200910214137 patent/CN102109836B/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1267846A (en) * | 1999-03-18 | 2000-09-27 | 财团法人工业技术研究院 | Integrated circuit for controlling the rotating positions of several shafts |
| CN201163363Y (en) * | 2007-11-30 | 2008-12-10 | 上海奈凯电子科技有限公司 | General multi-axis motion control system on numerical control machine |
| CN101546185A (en) * | 2009-04-30 | 2009-09-30 | 上海交通大学 | Programmable multi-axis controller based on IEEE-1394 serial bus |
| CN201689325U (en) * | 2009-12-24 | 2010-12-29 | 广州市诺信数字测控设备有限公司 | Enlargeable and reducible multi-axis motion control system |
Also Published As
| Publication number | Publication date |
|---|---|
| CN102109836A (en) | 2011-06-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN102109836B (en) | Expandable and cuttable multi-shaft movement control system and method | |
| CN201689325U (en) | Enlargeable and reducible multi-axis motion control system | |
| CN107505882A (en) | A kind of multi-axis motion controller and control method | |
| CN103425106B (en) | The master/slave station control system of a kind of EtherCAT based on Linux and method | |
| CN104339354B (en) | A kind of special motion controller hardware platform for 6DOF parallel robot | |
| CN101907882B (en) | Multi-shaft DC servo motor control system and method based on EPA (Ethernet for Plant Automation) field bus | |
| CN103984275A (en) | FPGA (Field Programmable Gate Array) based general industrial movement control system and control method based on movement control system | |
| CN101963808B (en) | Implementation method of system supporting various field master protocols | |
| CN204308953U (en) | A kind of special motion controller hardware platform for six-degree-of-freedom parallel robot | |
| CN103085054A (en) | Hot-line repair robot master-slave mode hydraulic pressure feedback mechanical arm control system and method thereof | |
| CN104850065A (en) | Modular reconfigurable motion controller architecture based on SERCOS | |
| CN102354162B (en) | Motion control interface and interface controller | |
| CN206224181U (en) | A kind of multiple-axis servo drive system position feedback data interface card based on FPGA | |
| CN106888141A (en) | A kind of efficient CAN communication means | |
| CN201163363Y (en) | General multi-axis motion control system on numerical control machine | |
| CN100535812C (en) | Drive and connecting apparatus of full digital numerical control system | |
| CN201860344U (en) | System supporting various fieldbus protocols | |
| CN107192361A (en) | The kinetic control system and its control method of a kind of three coordinate measuring machine | |
| CN105965511B (en) | A kind of five axis robot control systems for injection molding machine | |
| CN103163825B (en) | Four-channel numerical control system ENDAT2.2 interface | |
| CN102445924A (en) | Integrated numerical control system and integrated numerical control machine | |
| CN206710827U (en) | A kind of modular motion controller | |
| CN201107641Y (en) | Full digital numerical control system | |
| CN210061157U (en) | Industrial robot control device | |
| CN103984290A (en) | CANopen-based CNC mechanical arm control system and method thereof |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C06 | Publication | ||
| PB01 | Publication | ||
| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20130717 Termination date: 20171224 |