CN105892413B - A kind of modular Multi-axis motion control device - Google Patents
A kind of modular Multi-axis motion control device Download PDFInfo
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- CN105892413B CN105892413B CN201410771238.4A CN201410771238A CN105892413B CN 105892413 B CN105892413 B CN 105892413B CN 201410771238 A CN201410771238 A CN 201410771238A CN 105892413 B CN105892413 B CN 105892413B
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
- Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
- Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
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Abstract
The invention discloses a kind of modular simple Multi-axis motion control devices, include at least first processor module, second processor module and bottom plate, and the module is respectively independent；Bottom plate includes at least dsp bus expansion interface, main shaft interface, auxiliary coder interface, movement axial interface, switch value input interface, digital-quantity output interface, signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit 3, power management module, toggle switch, movement axial interface, main shaft interface, auxiliary coder interface, digital-quantity output interface, switch value input interface and dsp bus expansion interface.Moving axial interface includes four movement axial interfaces, and main shaft interface includes analog main shaft interface and digital main shaft interface, and the output valve of toggle switch is for the ID number as multi-axis motion controller.The present invention uses modular design method, and each module is mutually indepedent, maintainable preferable, convenient for upgrading in the future, is suitable for Multi-axis motion control.
Description
Technical field
The present invention relates to a kind of Multi-axis motion control devices, in particular relate to a kind of modular simple Multi-axis motion control
Device belongs to automation and advanced manufacturing field.
Background technique
Multi-axis motion control technology is the multiple motors of control on multiple reference axis (including rectilinear coordinates and rotational coordinates)
The movement control technology of co-ordination simultaneously.As Multi-axis motion control technology is in machining, space flight, chemical industry, mining, military affairs
Etc. every field extensive use, there are various forms of multi-shaft motion control systems.Motion controller is multiaxial motion control
The core equipment of system processed, be by carrying out coordinated control to motor-driven destination apparatus or equipment, make itself it is anticipated that
The control device that is moved of operation track.
According to servo-driver to the demand of dummy instruction, in the market multiaxial motion control under torque or speed control mode
Device common design processed has dummy instruction output circuit.For the design problem of multi-axis motion controller dummy instruction output circuit,
Zhang Baoquan uses 16 Bits Serial DAC chip AD1866 of binary channels, and it is connect with DSP serial bus；Dai Genxue etc. is selected
16 Bits Serial DAC chip of four-way, Serial DAC chip interface are realized in FPGA；Liu Zhiwei uses 12 parallel-by-bit of four-way
DAC chip；Multi-axis motion controller generally uses multichannel DAC chip in the above design, due to multichannel DAC chip internal junction
Structure reason, multi-axis motion controller can not individually control the timing of each channel analogy instruction output.Four pieces of lists have been selected in stone Jiang Hua
16 parallel-by-bit DAC chip AD669 of channel, but the design can not still adjust the sequential relationship of each channel analogy instruction output, and account for
With the more I/O pin of FPGA.
Multi-axis motion controller currently on the market is all using only by all kinematic axis of main operational unit control
Technical solution, move the number of axle it is more when, there are main operational unitary operation amounts big, feedback signal sampling time delay lag and fortune
The problems such as calculating processing overlong time.In addition, multi-axis motion controller currently on the market does not have auxiliary coder interface and main shaft
Interface.
Summary of the invention
For the deficiency of multi-axis motion controller on Vehicles Collected from Market, proposition of the invention, it is intended to realize a kind of multiaxial motion
Control device.It is based on DSP and FPGA, and only needs to control four kinematic axis and a main shaft.It, can when the movement number of axle is more
Multiple type devices are selected to be articulated on self-defined bus by dsp bus expansion interface, each device can be by making by oneself
Adopted bus and peripheral hardware main control unit communicate, avoid when move the number of axle it is more when the main operational unitary operation amount that occurs it is big,
The problems such as feedback signal sampling time delay lag and too long computer processing time.In addition, being exported to realize to instruct each channel analogy
The control of timing, while avoiding occupying the excessive I/O pin of FPGA, the present invention has selected five pieces of single channels, 16 Bits Serial DAC core
Piece sends movement instruction to by serial data bus the Serial DAC chip of each kinematic axis using time-multiplexed method.
Technical solution of the present invention is summarized as follows:
A kind of modular simple Multi-axis motion control device, it is characterised in that: it includes at least first processing module, the
Two processor modules and bottom plate；On bottom plate include at least signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit 3,
Power management module, toggle switch, dsp bus expansion interface, main shaft interface, auxiliary coder interface, movement axial interface, switch
Measure input interface and digital-quantity output interface；The first processor module and second processor module are respectively independent, pass through IO
Pin connection.
The 1 two directions' inputing output port of signal conditioning circuit respectively with main shaft interface, movement axial interface, auxiliary coder
Interface is connected with second processor module；The output end of the signal conditioning circuit 2 is connect with the second processor module, defeated
Enter end to connect with switch value input interface；Digital-quantity output interface on the output end and bottom plate of the signal conditioning circuit 3 connects
It connects, input terminal is connect with second processor module；Dsp bus expansion interface one end is connect with first processing module, another
End is connect with self-defined bus interface；The toggle switch is connect with first processing module；The power management module input terminal
External dc power is connect, operating voltage needed for output end exports each module respectively is connect with each module；The movement
Axial interface one end is connect with signal conditioning circuit 1, and the encoder of the motor driving apparatus and each kinematic axis of the other end and peripheral hardware connects
It connects；The main shaft interface includes analog main shaft interface and digital main shaft interface；The analog main shaft interface and digital main shaft connect
Mouth one end is connect with signal conditioning circuit 1, and the other end is connect with peripheral hardware motor driving apparatus；Described switch value input interface one end
It is connect with signal conditioning circuit 2, the limit of other end receiving axis, origin signal；Auxiliary coder interface one end and signal tune
It manages circuit module 1 to connect, the encoder of the other end and main shaft connects.
The movement axial interface includes four movement axial interfaces, is A movement axial interface, B movement axial interface, C movement respectively
Axial interface, D move axial interface；Each movement axial interface is connected with the encoder of peripheral hardware servo-driver and each axis respectively.
The main shaft interface includes analog main shaft interface and digital main shaft interface；The analog main shaft interface and peripheral hardware are simulated
Main shaft driving device is measured to be connected；The number main shaft interface is connected with peripheral hardware number main shaft driving device.
Toggle switch of the present invention is connected with the first processor module；When there is multiple Multi-axis motion control devices
When being articulated on self-defined bus, the toggle switch is used to make peripheral hardware main control fill as the ID number of Multi-axis motion control device
Each Multi-axis motion control device can be recognized by setting.
First processor module of the present invention, at least by one piece of dsp chip, one piece of fpga chip, independent power supply core
Piece, independent crystal oscillator, reset circuit and JTAG/AS download port composition；The Second processing module includes at least one piece of FPGA
Chip, independent power supply chip, independent crystal oscillator, reset circuit and JTAG/AS download port；The first processor module
Dsp chip is connect with fpga chip.FPGA in the first processor module stores the fortune of each Multi-axis motion control device
The data such as dynamic instruction and feedback information, while for the DSP and the in peripheral hardware main control unit and the first processor module
The communication of two processor modules；DSP in the first processor module receives peripheral hardware main control dress as main operational unit
The control instruction set simultaneously issues control instruction and gives second processor module；The second processor module is for managing entire multiaxis
The I/O interface of motion control device.
The signal conditioning circuit 1 includes at least dummy instruction signal conditioning circuit module, command pulse signal condition electricity
Road module and code device signal conditioning circuit module；The dummy instruction signal conditioning circuit module includes at least light-coupled isolation electricity
Road, muti-piece Serial DAC chip and power amplification circuit；Described instruction pulse signal conditioning circuit module includes at least light-coupled isolation
Circuit and single-ended variation parallel circuit；The code device signal conditioning circuit module includes at least optical coupling isolation circuit, single-ended variation
Parallel circuit and double inverter cricuits.
The single channel clock signal and single channel serial data signal of the second processor module output refer to by the simulation
After the optical coupling isolation circuit for enabling signal conditioning circuit module, respectively with each channel in the dummy instruction signal conditioning circuit module
The input end of clock of Serial DAC chip be connected with serial data signal input terminal, make all Serial DAC chip operations same
In one clock domain；Described in the multi-way control signals of the Serial DAC chip in each channel of the second processor module output pass through
After the optical coupling isolation circuit of dummy instruction signal conditioning circuit module, respectively with the dummy instruction signal conditioning circuit module
The control signal input of the Serial DAC chip of corresponding channel is connected；The each of the dummy instruction signal conditioning circuit module is led to
The power amplification with the corresponding channel of the dummy instruction signal conditioning circuit module respectively of the output end of the Serial DAC chip in road
The input terminal of circuit is connected.
The beneficial effects of the present invention are:
(1) the compatible self-defined bus of the present invention, using flexible；
(2) present invention use modular design method, it include at least first processing module, second processor module, with
And bottom plate；Each module is mutually indepedent, maintainable preferably and convenient for upgrading in the future；
(3) present invention uses toggle switch, identifies convenient for peripheral hardware main control unit to the Multi-axis motion control device；
(4) in the present invention, the first processor module and the second processor module division of labor are clear, and hardware structure closes
Reason, improves the operational efficiency of multi-shaft motion control system.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of modular simple Multi-axis motion control device；
Fig. 2 is the structural schematic diagram of dummy instruction signal conditioning circuit module；
Fig. 3 is the structural schematic diagram of command pulse signal conditioning circuit module；
Fig. 4 is the structural schematic diagram of code device signal conditioning circuit module.
Specific embodiment
The present invention will be further described with reference to the accompanying drawing.
A kind of modular simple Multi-axis motion control device of the invention, as shown in Figure 1, the motion control device at least wraps
Include first processor module, second processor module and bottom plate；The first processor module and second processor module are each
From independence, connected by I/O pin；The first processor module and second processor module are built by slot interface the bottom of at
On plate.
On bottom plate include at least signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit 3, power management module,
Toggle switch, dsp bus expansion interface, main shaft interface, auxiliary coder interface, movement axial interface, switch value input interface and
Digital-quantity output interface；The 1 two directions' inputing output port of signal conditioning circuit respectively with main shaft interface, movement axial interface, auxiliary
Encoder interfaces are helped to connect with second processor module；The output end of the signal conditioning circuit 2 and the second processor mould
Block connection, input terminal are connect with switch value input interface；Digital quantity on the output end and bottom plate of the signal conditioning circuit 3 is defeated
Outgoing interface connection, input terminal are connect with second processor module；Dsp bus expansion interface one end and first processing module connect
It connects, the other end is connect with self-defined bus interface；The toggle switch is connect with first processing module；The power management module
Input termination external dc power, operating voltage needed for output end exports each module respectively are connect with each module；Institute
It states movement axial interface one end to connect with signal conditioning circuit 1, motor driving apparatus and the encoder connection of the other end and peripheral hardware；Institute
Stating main shaft interface includes analog main shaft interface and digital main shaft interface；The analog main shaft interface and digital main shaft interface one end
It is connect with signal conditioning circuit 1, the other end is connect with peripheral hardware motor driving apparatus；Described switch value input interface one end and signal
Conditioning circuit 2 connects, the limit of other end receiving axis, origin signal；Auxiliary coder interface one end and signal conditioning circuit
Module 1 connects, and the encoder of the other end and main shaft connects.
First processor module of the present invention, at least by one piece of dsp chip, one piece of fpga chip, independent power supply core
Piece, independent crystal oscillator, reset circuit and JTAG/AS download port composition；The Second processing module includes at least one piece of FPGA
Chip, independent power supply chip, independent crystal oscillator, reset circuit and JTAG/AS download port；The first processor module
Dsp chip is connect with fpga chip by I/O pin.FPGA in the first processor module stores each multiaxial motion control
The data such as the movement instruction and feedback information of device processed, while in peripheral hardware main control unit and the first processor module
DSP and second processor module communication；DSP in the first processor module passes through institute as main operational unit
The FPGA in first processor module is stated to receive the control instruction of peripheral hardware main control unit and issue control instruction to second processing
Device module；The second processor module is used to manage the I/O interface of entire Multi-axis motion control device.
Toggle switch of the present invention is connected with the first processor module；When multiple type Multi-axis movement devices mount
When on self-defined bus, the ID number that the output valve of the toggle switch is used as each remodeling Multi-axis motion control device makes peripheral hardware
Main control unit can recognize each type Multi-axis movement device.
The movement axial interface includes four movement axial interfaces, is A movement axial interface, B movement axial interface, C movement respectively
Axial interface, D move axial interface；Each movement axial interface incremental encoder phase with peripheral hardware servo-driver and each axis respectively
Even.
The main shaft interface includes analog main shaft interface and digital main shaft interface；The analog main shaft interface and peripheral hardware are simulated
Main shaft driving device is measured to be connected；The number main shaft interface is connected with peripheral hardware number main shaft driving device.
The present embodiment is further described with reference to the accompanying drawing.
For overall structure of the present invention as shown in Figure 1, to first processor module, the present embodiment uses TI company
The fpga chip EP1C12Q240C8 of the Cyclone series of the dsp chip and altera corp of TMS320C67XX series；First
Processor module can replace the processor module in embodiment using the processor of the mainstream of current any producer's disposable type.
To second processor module, the present embodiment uses the fpga chip XC3S400A of Xilinx company；Second processor module can
The processor module in embodiment is replaced with the processor using the mainstream of current any producer's disposable type.On-off model is defeated
Incoming interface is at least made of optical coupling isolation circuit and phase inverter.Wherein optical coupling isolation circuit one end is connect with phase inverter, the other end
Receive external each axis origin, limit signal；Phase inverter one end is connect with optical coupling isolation circuit, the other end and signal conditioning circuit 2
Connection.Digital-quantity output interface is at least made of power amplification circuit, optical coupling isolation circuit, Darlington transistor circuit；Wherein power
Amplifying circuit one end is connect with signal conditioning circuit module 3, and the other end is connect with optical coupling isolation circuit；Optical coupling isolation circuit one end
It is connect with power amplification circuit, the other end and Darlington transistor circuit connection；Darlington transistor circuit on one side and optical coupling isolation circuit connect
It connects, the motor driver connection of the other end and peripheral hardware.Power management module is at least made of power management chip and voltage stabilizing chip,
Power management chip is connect with voltage stabilizing chip；Wherein power management chip input terminal is connect with external power supply.Signal conditioning circuit 1
At least by dummy instruction signal conditioning circuit module, command pulse signal conditioning circuit module and code device signal conditioning circuit mould
Block composition.
As shown in Fig. 2, dummy instruction signal conditioning circuit module is put by optical coupling isolation circuit, Serial DAC chip and power
Big device composition；Described in the single channel clock signal clk and single channel serial data signal SDI of the second processor module output pass through
After optical coupling isolation circuit, respectively with the input end of clock and serial data signal input terminal of the Serial DAC chip in each channel
It is connected, makes all Serial DAC chip operations in same clock domain；Each channel serial of the second processor module output
(X=1,2,3,4, M respectively correspond the axis number of analog signal output: kinematic axis A, movement to the multi-way control signals CLX of DAC chip
Axis B, kinematic axis C, kinematic axis D and main shaft) after the optical coupling isolation circuit, respectively with the Serial DAC of corresponding channel
The control signal input of chip is connected；The Serial DAC core in each channel of the dummy instruction signal conditioning circuit module
The output end of piece is connected with the input terminal of the power amplification circuit of corresponding channel respectively.The dummy instruction signal condition electricity
The Serial DAC chip one end in each channel of road module is connect with the optical coupling isolation circuit, one end and the dummy instruction
The power amplification circuit in each channel of signal conditioning circuit module connects；The dummy instruction signal conditioning circuit module
Each channel of the power amplification circuit one end and dummy instruction signal conditioning circuit module in each channel it is described serial
DAC chip connection, the other end are connect with the movement axial interface and the analog main shaft interface.The present embodiment uses single channel string
Row DAC714 chip is as Serial DAC chip.
As shown in figure 3, command pulse signal conditioning circuit module is at least by optical coupling isolation circuit, single-ended variation parallel circuit group
At；Wherein optical coupling isolation circuit one end and second processor module direction signal output phydire [x] and pulse signal
Exporting phypulse [x], (x=0,1,2,3,4 respectively correspond the axis number of digital signal output: main shaft, kinematic axis A, kinematic axis
B, kinematic axis C and kinematic axis D) it connects, the other end is connect with the single-ended variation parallel circuit；The single-ended variation parallel circuit one
End is connect with optical coupling isolation circuit, and the other end is connect with the movement axial interface sum number word main shaft interface.
As shown in figure 4, code device signal conditioning circuit module is at least by single-ended variation parallel circuit, optical coupling isolation circuit and double
Inverter cricuit composition；Wherein single-ended variation parallel circuit one end is connect with optical coupling isolation circuit, the other end respectively with the kinematic axis
Interface is connected with auxiliary coder interface；Optical coupling isolation circuit one end is connect with single-ended variation parallel circuit, the other end and double reverse phases
Circuit connection；Described double inverter cricuit one end are connect with optical coupling isolation circuit, the other end and the second processor module
Connection.A [x] in figure ±, B [x] ± is the AB two-phase encoder differential signal input that each axis phase difference is 90 degree, Z [x] ± be
Each shaft encoder reference pulse differential signal input；X=0,1,2,3,4, respectively correspond feedback signal input axis number: main shaft,
Kinematic axis A, kinematic axis B, kinematic axis C and kinematic axis D.
In this description, it is noted that above embodiments are only the more representational examples of the present invention.Obviously, this hair
It is bright to be not limited to above-mentioned specific embodiment, various modifications, transformation, deformation can also be made.Therefore, the description and the appended drawings should be recognized
To be illustrative and be not restrictive.Above embodiments are made according to the technical essence of the invention and any simply being repaired
Change, equivalent variations and modification, is considered as belonging to the scope of protection of the present invention.
Claims (5)
1. a kind of modular Multi-axis motion control device, it is characterised in that: it includes at least first processor module, at second
Manage device module and bottom plate；The bottom plate includes at least dsp bus expansion interface, main shaft interface, auxiliary coder interface, movement
Axial interface, switch value input interface, digital-quantity output interface, signal conditioning circuit 1, signal conditioning circuit 2, signal conditioning circuit
3, power management module, toggle switch；
The first processor module, second processor module are respectively independent, at the first processor module and described second
It manages and is connected between device module by I/O pin；The first processor module includes at least one piece of dsp chip, one piece of FPGA core
Piece；The Second processing module includes at least one piece of fpga chip；The dsp chip of the first processor module and the first processing
It is connected between the fpga chip of device module by I/O pin；DSP in the first processor module as main operational unit,
The control instruction of peripheral hardware main control unit is received by FPGA in the first processor module and issues control instruction to the
Two processor modules；
The main shaft interface includes analog main shaft interface and digital main shaft interface；The analog main shaft interface and peripheral hardware analog main shaft
Driving device is connected；The number main shaft interface is connected with peripheral hardware number main shaft driving device；
The signal conditioning circuit 1 and movement axial interface, main shaft interface, auxiliary coder interface and second processor module phase
Even；The signal conditioning circuit 2 is connected with switch value input interface and second processor module；The signal conditioning circuit 3 with
Digital-quantity output interface is connected with second processor module；
The clock signal and serial data signal of the second processor module output pass through dummy instruction signal conditioning circuit mould
After the optical coupling isolation circuit of block, respectively with the clock of each piece of Serial DAC chip of the dummy instruction signal conditioning circuit module
Signal is connected with serial data signal input terminal；The control letter of each piece of Serial DAC chip of the second processor module output
Number after the optical coupling isolation circuit of the dummy instruction signal conditioning circuit module, respectively with the dummy instruction signal condition
The control signal input of the corresponding each piece of Serial DAC chip of circuit module is connected；The dummy instruction signal conditioning circuit
The output end of each piece of Serial DAC chip of module is put with the power of the corresponding dummy instruction signal conditioning circuit module respectively
The input terminal of big circuit is connected；The one of the power amplification circuit in each channel of the dummy instruction signal conditioning circuit module
End is connect with the Serial DAC chip in each channel of the dummy instruction signal conditioning circuit module, the other end and the fortune
Moving axis interface is connected with the analog main shaft interface.
2. a kind of modular Multi-axis motion control device according to claim 1, it is characterised in that: the dsp bus
One end of expansion interface is connected with first processor module, and the other end is connected with peripheral hardware main control unit.
3. a kind of modular Multi-axis motion control device according to claim 1, it is characterised in that: the kinematic axis connects
Mouth includes four movement axial interfaces, is A movement axial interface respectively, B movement axial interface, C moves axial interface, D moves axial interface；Often
A movement axial interface is connected with peripheral hardware servo-driver respectively.
4. a kind of modular Multi-axis motion control device according to claim 1, it is characterised in that: the toggle switch
Output valve for ID number as multi-axis motion controller, its output end is connected with first processor module.
5. a kind of modular Multi-axis motion control device according to claim 1, it is characterised in that: the signal condition
Circuit 1 includes at least dummy instruction signal conditioning circuit module, command pulse signal conditioning circuit module and code device signal tune
Manage circuit module；The dummy instruction signal conditioning circuit module include at least optical coupling isolation circuit, muti-piece Serial DAC chip and
Power amplification circuit；Described instruction pulse signal conditioning circuit module includes at least optical coupling isolation circuit and single-ended change differential electrical
Road；The code device signal conditioning circuit module includes at least optical coupling isolation circuit, single-ended variation parallel circuit and double inverter cricuits.
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| CN201410771238.4A CN105892413B (en) | 2014-12-15 | 2014-12-15 | A kind of modular Multi-axis motion control device |
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| CN201410771238.4A CN105892413B (en) | 2014-12-15 | 2014-12-15 | A kind of modular Multi-axis motion control device |
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| CN105892413B true CN105892413B (en) | 2019-11-05 |
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| CN108737910B (en) * | 2018-04-12 | 2024-01-26 | 贵州航天天马机电科技有限公司 | Interface processor of wireless communication system |
| CN114189191A (en) * | 2021-12-13 | 2022-03-15 | 广东技术师范大学 | Method, device and system for receiving position pulse instruction of servo driver with high precision |
| CN115462817A (en) * | 2022-09-26 | 2022-12-13 | 明峰医疗系统股份有限公司 | Control system and method of configuration firmware of collimation axis, CT (computed tomography) equipment and storage medium |
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| CN101692181A (en) * | 2009-09-18 | 2010-04-07 | 南京工程学院 | High-speed coordinated control network and node chip |
| CN101799664A (en) * | 2010-01-19 | 2010-08-11 | 中国兵器工业第五八研究所 | Round buttonhole keyhole machine computer control system |
| CN203510308U (en) * | 2013-10-15 | 2014-04-02 | 深圳市强华科技发展有限公司 | Controller used for multi-axis PCB numerical control drilling |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US7194321B2 (en) * | 2004-10-29 | 2007-03-20 | Dynacity Technology (Hk) Limited | Modular multi-axis motion control and driving system and method thereof |
| CN103901814B (en) * | 2014-03-11 | 2015-08-19 | 中国矿业大学 | A kind of multiaxial motion digital control system |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101692181A (en) * | 2009-09-18 | 2010-04-07 | 南京工程学院 | High-speed coordinated control network and node chip |
| CN101799664A (en) * | 2010-01-19 | 2010-08-11 | 中国兵器工业第五八研究所 | Round buttonhole keyhole machine computer control system |
| CN203510308U (en) * | 2013-10-15 | 2014-04-02 | 深圳市强华科技发展有限公司 | Controller used for multi-axis PCB numerical control drilling |
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