CN105824270B - Multi-axis motion controller - Google Patents

Multi-axis motion controller Download PDF

Info

Publication number
CN105824270B
CN105824270B CN201610138140.4A CN201610138140A CN105824270B CN 105824270 B CN105824270 B CN 105824270B CN 201610138140 A CN201610138140 A CN 201610138140A CN 105824270 B CN105824270 B CN 105824270B
Authority
CN
China
Prior art keywords
processor core
main processor
pulse
controller
pwm
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.)
Active
Application number
CN201610138140.4A
Other languages
Chinese (zh)
Other versions
CN105824270A (en
Inventor
龙佑喜
曾胜田
蒋卫东
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hunan Han Guang Intelligent Polytron Technologies Inc
Original Assignee
Hunan Han Guang Intelligent Polytron Technologies Inc
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hunan Han Guang Intelligent Polytron Technologies Inc filed Critical Hunan Han Guang Intelligent Polytron Technologies Inc
Priority to CN201610138140.4A priority Critical patent/CN105824270B/en
Publication of CN105824270A publication Critical patent/CN105824270A/en
Application granted granted Critical
Publication of CN105824270B publication Critical patent/CN105824270B/en
Active legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00Programme-control systems
    • G05B19/02Programme-control systems electric
    • G05B19/04Programme control other than numerical control, i.e. in sequence controllers or logic controllers
    • G05B19/042Programme control other than numerical control, i.e. in sequence controllers or logic controllers using digital processors
    • GPHYSICS
    • G05CONTROLLING; REGULATING
    • G05BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00Program-control systems
    • G05B2219/20Pc systems
    • G05B2219/25Pc structure of the system
    • G05B2219/25338Microprocessor

Abstract

The present invention relates to a kind of motion controller of fields of numeric control technique and control method, in particular to based on dual core processor, the control method of a kind of multi-axis motion controller and its closed loop pwm pulse.Including main processor core, host computer, servo-driver, it is connected between host computer and main processor core by universal serial bus, by movement instruction data transmission to main processor core, it further include the PWM controller of a co-processor core and integrated multi-channel, and shared drive, the PWM controller and co-processor core complete position tracking jointly;The shared drive, main processor core, PWM controller, co-processor core are in turn connected to form closed loop.1. using single channel multi-core DSP digital signal processor, processor core shared data consistency problem in the heart is not present, also improves treatment effeciency.2. closed loop pwm pulse control method is applied in motion control.3. the technology of the present invention is easy to expanded application.

Description

Multi-axis motion controller
Technical field
It is handled the present invention relates to a kind of motion controller of fields of numeric control technique and control method, in particular to based on double-core Device, the control method of a kind of multi-axis motion controller and its closed loop pwm pulse.
Background technique
Motion control is that an important branch of Numeric Control Technology produces multiple technologies solution party by the development of many years Case suffers from respective advantage and disadvantage.Currently, the solution generallyd use has: (1) CPU+FPGA scheme, CPU carry out interpolation Calculation processing, FPGA is according to interpolation calculation processing as a result, output control pulse, controls motor movement.Program rational division of labor, Flexibly, however, it is desirable to keep data synchronous between CPU and FPGA, there are biggish delay time errors for control, export pulse precision It is limited, cause control performance less desirable, and motion controller hardware cost is higher.(2) CPU+dedicated Interpolation Scheme, CPU are responsible for the data processing of periphery, and interpolation is exported with pulse and completed by dedicated Interpolation.There is control essence in the program The advantages that degree is high, and peripheral control response is fast.But dedicated Interpolation can't realize the above interpolation algorithm processing of three axis, and comprehensive This is very high for synthesis, and cost performance is very low.(3) list CPU scheme, CPU are not only responsible for interpolation calculation processing, are also responsible for output control arteries and veins Punching, furthermore, it is desirable to complete all external signal responses.The program has the advantages that low in cost.But in motion control, CPU is often under high load capacity or overload state, it is difficult to ensure that various interrupt events timely respond to, can not be accomplished high-precision Pulse output is spent, High-speed Control ability is poor, and external signal response is slower, is suitable only for simple, low speed motion control.In synthesis The advantage and disadvantage for stating three kinds of schemes, in line with low cost, high-precision, the flexible target of control, the present invention is devised based on double-core processing Device, a kind of multi-axis motion controller and closed loop pwm pulse control method.
Summary of the invention
It is an object of the invention to overcome the deficiencies in the prior art, intend proposing a kind of new movement in fields of numeric control technique Controller and control method, the control method of specially a kind of multi-axis motion controller and its closed loop pwm pulse.
The invention is realized by the following technical scheme, including main processor core, host computer, servo-driver, host computer It is connect between main processor core by universal serial bus, by movement instruction data transmission to main processor core,
It further include the PWM controller and shared drive of a co-processor core and integrated multi-channel, the PWM control Device processed and co-processor core complete position tracking jointly;The shared drive, main processor core, PWM controller, association's processing Device core is in turn connected to form closed loop.
The main processor core and co-processor core concurrent working, possess running memory space independent, and And data are exchanged by shared drive;
Signal that main processor core generates, including synchronization signal, digital comparison signal, PWM FM signal etc., make PWM Controller generates required pulse signal;
Co-processor core receives the interrupt signal that PWM controller generates, and completes interrupt event processing, and by processing result Shared drive is written;
Each channel of PWM controller generates pulse control signal, is respectively outputted to corresponding servo by multichannel and drives Dynamic device, controls motor movement.
The present invention includes following rate-determining steps:
Step 1, host computer send main processor core, primary processor for motion control instruction data by universal serial bus Core 1 periodically carries out interpolation calculation according to the current location and present speed for reading each kinematic axis from shared drive Method processing;The target velocity and target position that each axis should reach in current period are calculated, and is converted into the PWM arteries and veins of respective channel Frequency is rushed, updates pulse frequency to the respective channel of PWM controller, meanwhile, direction of motion signal is exported to servo-driver;
Step 2, PWM controller each channel according to the calculated corresponding pwm pulse frequency of main processor core, output Satisfactory high-precision Continuous Drive pulse, servo-driver receive driving pulse, control corresponding spindle motor movement;Phase Ying Di, PWM controller generate the interrupt requests of one with co-processor core respective channel when each pulse exports;
Step 3, the co-processor core for receiving interrupt requests execute the interruption service handler of respective channel, into The processing such as row position tracking, counting, and shared drive is written into processing result, it is used for main processor core in next period;
Step 4 repeats step 1 to step 3, and hardware device successively passes through main processor core, PWM from shared drive Controller, co-processor core return to shared drive, form a complete processing closed loop, execute once within the extremely short period Motion control;Above-mentioned calculating is periodically carried out, realizes that control movement executing mechanism presses desired trajectory movement.
The present invention has the advantages that
1. single channel multi-core DSP digital signal processor is used, relative to multi-chip solution, using single channel multi-core DSP data signal processor reduces Master control chip quantity, simplifies board peripheral circuit, dramatically reduces hardware Overall cost, meanwhile, be conducive to the stability for improving controller hardware;Pass through between main processor core and co-processor core Shared drive exchanges data, does not need to connect by slow external bus, does not have processor core communication overhead, do not deposit In processor core shared data consistency problem in the heart, treatment effeciency is also improved.
2. closed loop pwm pulse control method is applied in motion control.Each channel of multichannel PWM controller is complete Full parellel work, is capable of the output pulse frequency in each channel of flexible modulation, can accomplish very high pulse frequencies, to generate height The high-frequency output control pulse of precision.
3. the technology of the present invention is easy to expanded application.By using the processor core of higher running frequency, and more multichannel Several PWM controllers can easily extend more kinematic axis, to be applicable in axis demand for control of more widely doing more physical exercises, meanwhile, Also the advantage of low hardware cost is better reflected.
Detailed description of the invention
Fig. 1 is hardware structure diagram of the present invention.
Fig. 2 is flow chart of the present invention.
Specific embodiment
The preferred embodiment of the present invention is described further with reference to the accompanying drawing, referring to shown in attached drawing 1 to 2, the present invention It is achieved through the following technical solutions, including main processor core 1, host computer 5, servo-driver 6, host computer 5 and primary processor It is connected between core 1 by universal serial bus, further includes association's processing by movement instruction data transmission to main processor core 1 Device core 2 and the PWM controller of integrated multi-channel 3 and shared drive 4, the PWM controller 3 and co-processor core 2 are total With completion position tracking;The shared drive 4, main processor core 1, PWM controller 3, co-processor core 2 are sequentially connected shape At closed loop.
The main processor core 1 and 2 concurrent working of co-processor core, possess running memory space independent, And data are exchanged by shared drive 4;
Signal that main processor core 1 generates, including synchronization signal, digital comparison signal, PWM FM signal etc., make PWM Controller 3 generates required pulse signal;
Co-processor core 2 receives the interrupt signal that PWM controller 3 generates, and completes interrupt event processing, and processing is tied Shared drive 4 is written in fruit;
Each channel of PWM controller 3 generates pulse control signal, is respectively outputted to corresponding servo by multichannel and drives Dynamic device 6, controls motor movement.
The present invention includes following rate-determining steps:
Step 1, host computer 5 send main processor core 1, main process task for motion control instruction data by universal serial bus Device core 1 periodically carries out interpolation according to reading current location and the present speed of each kinematic axis from shared drive 4 Algorithm process;The target velocity and target position that each axis should reach in current period are calculated, and is converted into the PWM of respective channel Pulse frequency updates pulse frequency to the respective channel of PWM controller 3, meanwhile, direction of motion letter is exported to servo-driver 6 Number;
Step 2, PWM controller 3 each channel according to the calculated corresponding pwm pulse frequency of main processor core 1, it is defeated Satisfactory high-precision Continuous Drive pulse, servo-driver 6 receive driving pulse out, control corresponding spindle motor fortune It is dynamic;Correspondingly, PWM controller 3 each pulse export when, while generate one in 2 respective channel of co-processor core Disconnected request;
Step 3, the co-processor core 2 for receiving interrupt requests, execute the interruption service handler of respective channel, into The processing such as row position tracking, counting, and shared drive 4 is written into processing result, make for main processor core 1 in next period With;
Step 4 repeats step 1 to step 3, hardware device from shared drive 4, successively by main processor core 1, PWM controller 3, co-processor core 2 return to shared drive 4, form a complete processing closed loop, execute once in extremely short week Motion control in phase;Above-mentioned calculating is periodically carried out, realizes that control movement executing mechanism presses desired trajectory movement.
Further specifically citing includes, and by taking hardware configuration is based on 28035 dsp chip of TI as an example, which includes master Processor core 1, co-processor core 2, PWM controller 3, shared drive 4, the other memories of the chip interior and peripheral hardware are herein It does not describe.1 dominant frequency 60MHz of main processor core, 2 dominant frequency of co-processor core and main processor core 1 are consistent, PWM controller 3 Clock frequency be 30MHz, 4 type of shared drive be RAM, capacity be 256 bytes.Main processor core 1 and coprocessor core By address bus and data bus communication between the heart 2 and shared drive 4, shared data is transmitted and received.Primary processor core The heart 1 synchronizes the interaction of signal, number comparison signal with, PWM controller 3 by peripheral bus., PWM controller 3 passes through Interrupt signal is passed to co-processor core 2 by cpu bus.Main processor core 1 interacts number by serial bus with host computer 5 According to.Co-processor core 2 can respond multiple interrupt processing tasks.PWM controller 3 also can produce multiplex pulse output, control more Platform servo-driver 6, while interrupt signal all the way is generated per pulse all the way, co-processor core 2 is responded per interrupt signal all the way Enter the task processing interrupted on the road afterwards.Main processor core 1 and co-processor core 2 pass through the exchange data of shared drive 4.It is main Processor core 1 receives the motion control instruction data that host computer 5 is sent.
Software configuration is the program parallelization execution distributed treatment of main processor core 1 and co-processor core 2.Main process task The program of device core 1 includes three tasks, and task one receives the NC director data that host computer 5 issues, and these data are passed through Generate interpolation distance and the target position of each interpolation cycle of each axis after interpolation algorithm processing by number of axle mesh, at the same by interpolation away from It is stored in a round-robin queue buffer area from target position, each axis preservation 20 of buffer area or more is inserted Mend distance and target position.Task two takes out the target position of next interpolation cycle to be treated from round-robin queue buffer area It sets, obtains the direction of motion in next period compared with the upper interpolation cycle target position of preservation, and by next target cycle position Set preservation.Task two reads the pulse position of current axis actual motion from shared drive 4 simultaneously, with upper target cycle position phase Subtract and obtain location error, by the error multiplied by the generation interpolation distance correction factor after a scale factor.Finally from round-robin queue Next period interpolation distance is taken out in buffer area, is multiplied by modifying factor to get next period interpolation distance of axis is arrived, by the distance Pulse frequency is obtained divided by interpolation cycle.The pulse frequency is converted into the PWM control that corresponding axis channel is written after the pulse period Device register generates next recurrent pulse output.
Pulse position feedback and pulse frequency amendment can be indicated with following equation:
Pulse frequency=[next period interpolation distance × (current period target position-actual feedback pulse position) × scale factor]/interpolation cycle
Task three controls the stopping of each road pulse and direction changes.Task two generates the direction signal of next interpolation cycle, Task two generates stop signal if being zero if the pulse period in next period.Task three receives stop signal or commutation signal Afterwards, whether real-time judge current PRF terminates, and pulse is immediately controlled if terminating and stops;Or impulse commutation is immediately controlled.
A dual core processor is used only in the present invention, completes interpolation algorithm using processor internal main processor and interpolation is slow The generation of area's data, pwm pulse generation and movement position amendment are rushed, hardware cost is greatly reduced, while meeting multiaxis high speed High-precision motion performance requirement.Four axis interpolation cycles only need 400us on 28035 chip platform of TI implemented, and export pulse Frequency reaches 500KHz, and pulse period error is only 33ns.It is more that the interpolation number of axle may be implemented using the processor of higher performance And the period is shorter, and the performance for exporting pulse is higher.
The innovation of the invention consists in that:
1, using single channel multi-core DSP digital signal processor.Relative to multi-chip solution, using single channel multi-core DSP data signal processor reduces Master control chip quantity, simplifies board peripheral circuit, dramatically reduces hardware Overall cost, meanwhile, be conducive to the stability for improving controller hardware;Lead between main processor core 1 and co-processor core 2 Shared drive exchange data are crossed, does not need to connect by slow external bus, does not have processor core communication overhead, no There are processor core shared data consistency problems in the heart, also improve treatment effeciency.
Relative to one chip solution, using single channel multi-core DSP digital signal processor, not only gather around there are two processing Device core, meanwhile, it is integrated with the PWM controller 3 of multichannel.Main processor core 1, co-processor core 2 and PWM controller 3 Completely independent from one another, concurrent working, rationally, the division of labor is cooperated again for task distribution, sufficiently excavates the potential and advantage of each execution unit, The handling capacity for farthest improving motion controller, both can guarantee timely responding to for each interrupt event, can also accomplish high-precision Pulse output, meets at high speed, high-frequency motion control the needs of.
2, closed loop pwm pulse control method is applied in motion control.Each channel of the PWM controller 3 of multichannel Complete parallel work, is capable of the output pulse frequency in each channel of flexible modulation, can accomplish very high pulse frequencies, to generate The output control pulse of High-precision high-frequency rate.Since PWM controller 3 itself can not accomplish the tracking to movement position, but Position tracking is completed by PWM controller 3 and co-processor core 2 jointly.Specifically, each channel of PWM controller 3 is exporting When pulse, interrupt requests can be issued to co-processor core 2, association's processing core 2 of high running frequency can timely respond to and locate Each interrupt requests that PWM controller 3 issues are managed, corresponding interruption service handler is executed, completes position tracking, calculating etc. Processing, and shared drive 4 is written into processing result, it is used for main processor core 1, forms one from shared drive 4, successively The control closed loop of shared drive 4 is finally returned that by main processor core 1, PWM controller 3, co-processor core 2.Reach high The motion control demand of precision pulse output and exact position tracking.
3, the technology of the present invention is easy to expanded application.By using the processor core of higher motion frequency, and more multichannel Several PWM controllers 3 can easily extend more kinematic axis, to be applicable in axis demand for control of more widely doing more physical exercises, together When, the advantage for also better reflecting low hardware cost is fallen.

Claims (5)

1. multi-axis motion controller, including main processor core (1), host computer (5), servo-driver (6), host computer (5) with It is connected between main processor core (1) by universal serial bus, it is special by movement instruction data transmission to main processor core (1) Sign is,
It further include the PWM controller (3) and shared drive (4) of a co-processor core (2) and integrated multi-channel, it is described Position tracking is completed in PWM controller (3) and co-processor core (2) jointly;The shared drive (4), main processor core (1), PWM controller (3), co-processor core (2) are in turn connected to form closed loop;
The multi-axis motion controller uses closed loop pwm pulse control method, including following rate-determining steps:
Step 1, host computer (5) send main processor core (1), main process task for motion control instruction data by universal serial bus Device core (1) is periodically carried out according to the current location of each kinematic axis of reading and present speed from shared drive (4) Interpolation algorithm processing;The target velocity and target position that each axis should reach in current period are calculated, and is converted into respective channel Pwm pulse frequency, to the respective channel of PWM controller (3) update pulse frequency, meanwhile, to servo-driver (6) export transport Dynamic direction signal;
Step 2, PWM controller (3) each channel according to the calculated corresponding pwm pulse frequency of main processor core (1), it is defeated Satisfactory high-precision Continuous Drive pulse out, servo-driver (6) receive driving pulse, control corresponding spindle motor fortune It is dynamic;Correspondingly, PWM controller (3) is when each pulse exports, while generating one and co-processor core (2) respective channel Interrupt requests;
Step 3, the co-processor core (2) for receiving interrupt requests execute the interruption service handler of respective channel, carry out Position tracking, counting processing, and shared drive (4) are written into processing result, make for main processor core (1) in next period With;
Step 4 repeats step 1 to step 3, hardware device from shared drive (4), successively by main processor core (1), PWM controller (3), co-processor core (2) return to shared drive (4), form a complete processing closed loop, and execution once exists Motion control in the extremely short period;Above-mentioned calculating is periodically carried out, realizes that control movement executing mechanism presses desired trajectory movement.
2. multi-axis motion controller according to claim 1, it is characterised in that:
The main processor core (1) and co-processor core (2) concurrent working, and data are exchanged by shared drive (4).
3. multi-axis motion controller according to claim 1, it is characterised in that:
The signal that main processor core (1) generates makes PWM controller (3) to generate required pulse signal.
4. multi-axis motion controller according to claim 1, it is characterised in that:
Co-processor core (2) receives the interrupt signal that PWM controller (3) generate, and completes interrupt event processing, and processing is tied Shared drive (4) are written in fruit.
5. multi-axis motion controller according to claim 1, it is characterised in that:
Each channel of PWM controller (3) generates pulse control signal, is respectively outputted to corresponding servo-drive by multichannel Device (6) controls motor movement.
CN201610138140.4A 2016-03-11 2016-03-11 Multi-axis motion controller Active CN105824270B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201610138140.4A CN105824270B (en) 2016-03-11 2016-03-11 Multi-axis motion controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201610138140.4A CN105824270B (en) 2016-03-11 2016-03-11 Multi-axis motion controller

Publications (2)

Publication Number Publication Date
CN105824270A CN105824270A (en) 2016-08-03
CN105824270B true CN105824270B (en) 2019-02-26

Family

ID=56987676

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201610138140.4A Active CN105824270B (en) 2016-03-11 2016-03-11 Multi-axis motion controller

Country Status (1)

Country Link
CN (1) CN105824270B (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN110018523A (en) * 2018-01-08 2019-07-16 中国石油化工股份有限公司 A kind of electromagnetic measurement while drilling system ground receiving wastewater facility and method

Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6525501B1 (en) * 2000-05-26 2003-02-25 Motorola Method and apparatus for accelerating communication between controllable devices
EP2085842A1 (en) * 2008-01-28 2009-08-05 LG Electronics Inc. Equipment controlling system and controlling method thereof
CN101841068A (en) * 2009-03-20 2010-09-22 深圳市吉阳自动化科技有限公司 Battery winder control system and control method
EP2511778A2 (en) * 2011-04-11 2012-10-17 Rockwell Automation Technologies, Inc. Input module for an industrial controller
CN102841557A (en) * 2012-09-26 2012-12-26 苏州工业园区职业技术学院 Four-axis full-automatic high-speed dispensing robot servo-control system
CN205485481U (en) * 2016-03-11 2016-08-17 长沙晗光电子科技有限公司 Multi -axis motion controller

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN102591250B (en) * 2012-02-28 2013-11-06 杭州电子科技大学 Dual-CPU (central processing unit) combined type motion controller

Patent Citations (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US6525501B1 (en) * 2000-05-26 2003-02-25 Motorola Method and apparatus for accelerating communication between controllable devices
EP2085842A1 (en) * 2008-01-28 2009-08-05 LG Electronics Inc. Equipment controlling system and controlling method thereof
CN101841068A (en) * 2009-03-20 2010-09-22 深圳市吉阳自动化科技有限公司 Battery winder control system and control method
EP2511778A2 (en) * 2011-04-11 2012-10-17 Rockwell Automation Technologies, Inc. Input module for an industrial controller
CN102841557A (en) * 2012-09-26 2012-12-26 苏州工业园区职业技术学院 Four-axis full-automatic high-speed dispensing robot servo-control system
CN205485481U (en) * 2016-03-11 2016-08-17 长沙晗光电子科技有限公司 Multi -axis motion controller

Also Published As

Publication number Publication date
CN105824270A (en) 2016-08-03

Similar Documents

Publication Publication Date Title
CN102811012B (en) Field programmable gate array-based (FPGA-based) multi-axis servo motor current loop control system and control method
Shao et al. Development of a new robot controller architecture with FPGA-based IC design for improved high-speed performance
US7245100B2 (en) Multi-axis AC servo control system and method
US20070288220A1 (en) Method and Device for Simulating an Automation System
Lloyd et al. Extending the RCCL programming environment to multiple robots and processors
JP5009625B2 (en) Method and apparatus for operating different devices operating in conjunction
JP6864664B2 (en) Controller that integrates motion control and motor control
CN105892412B (en) Multi-shaft motion control system hardware structure based on self-defined bus
CN104135212A (en) Flexibility motion control IP (Intellectual Property) core and implementation method thereof
CN106444607A (en) Multi-heterogeneous industrial robot data communication and control method
JP2007515003A5 (en)
CN105824270B (en) Multi-axis motion controller
CN103901822A (en) Multi-shaft linkage motion control system
WO2020151406A1 (en) Motion control method, apparatus and system, and storage medium
CN205485481U (en) Multi -axis motion controller
CN100377019C (en) Push-in type multishaft motion controller
CN203849591U (en) Multi-shaft linkage motion control system
CN105128010B (en) A kind of robot distributed control system of SCARA and its control method
CN105223868A (en) A kind of robot distributed control system of Delta and control method
CN109613873A (en) Control equipment and system
Chen et al. Development of an industrial robot controller with open architecture
CN108490887A (en) One kind remanufacturing robot controller and its control method
Zhang et al. Method to design multi axis motion controller using extended DDA circuit
CN1752879A (en) Flexible digital type motion control system
CN212433614U (en) Multi-axis motor pipeline control system based on FPGA

Legal Events

Date Code Title Description
C06 Publication
PB01 Publication
C10 Entry into substantive examination
SE01 Entry into force of request for substantive examination
CB02 Change of applicant information
CB02 Change of applicant information

Address after: Changhai entrepreneurial base 627 Hunan province 410205 Changsha City high-tech zones Lugu Avenue 2 floor, Room 203

Applicant after: Hunan Han Guang intelligent Polytron Technologies Inc

Address before: 410023 No. 8, Xin'an Road, Changsha Economic Development Zone, Hunan, Changsha

Applicant before: CHANGSHA HAN GUANG ELECTRONIC TECHNOLOGY CO., LTD.

GR01 Patent grant
GR01 Patent grant