CN204807988U - Motion control ware - Google Patents
Motion control ware Download PDFInfo
- Publication number
- CN204807988U CN204807988U CN201520455251.9U CN201520455251U CN204807988U CN 204807988 U CN204807988 U CN 204807988U CN 201520455251 U CN201520455251 U CN 201520455251U CN 204807988 U CN204807988 U CN 204807988U
- Authority
- CN
- China
- Prior art keywords
- programmable logic
- logic device
- module
- field programmable
- digital signal
- 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
Landscapes
- Programmable Controllers (AREA)
Abstract
The utility model discloses a motion control ware, include: a ARM treater is through a bus connection on -the -spot programmable logic device, a digital signal processor is connected with on -the -spot programmable logic device through the parallel bus, an at least nonvolatile memory and a dynamic memory for digital signal processor and on -the -spot programmable logic device's data storage and exchange, a complex programmable logic device, through serial communication agreement and digital signal processor realization transmission of digital informations, complex programmable logic device connects a digital analog converter spare, realizes the digital analog conversion. On -the -spot programmable logic device or complicated programmable logic device are used for expanding IO interface and communication interface, realize the independent setting of logical signal processing and extension communication function, simplify the motion control ware device, have realized through complicated programmable logic device's logic function that the peripheral interface of different function submodule pieces is expanded, are convenient for maintain and upgrade.
Description
[technical field]
The utility model relates to a kind of motion controller, espespecially a kind of motion controller for robot.
[background technology]
Along with the development of technology, the raising of automaticity, the industrial control fields such as motion controller is widely used in robot, factory automation, as the Embedded Motion of ARM+DSP structure, by to servomotor, the motion control of stepper motor, realizes robot, the position of factory automation motion, speed controls in real time, is widely used in various industry spot.The usual integrated level of its product is high, in the face of day by day complicated industry spot and demand for control, various industry spot is used in order to meet topworks, often with the addition of the supplemental functionality of Various Functions, as A/D modular converter, coder module, user I/O module, sensor assembly, pulse control module, alarm module etc.
Above-mentioned various functional module takies a large amount of hardware resources and all will realize controlling by dsp bus, the resource allocation information of motion controller and pin is caused to use not, software approach is adopted to take again a large amount of computing times of DSP, cause response speed slow, under the control framework of general controller and driver, not easily expand peripheral interface, the functional requirement of various user development range of application can not be met, also be unfavorable for maintenance upgrade, cause the problems such as hardware cost is higher.
Therefore, for these functional requirements of motion controller, be necessary to design a kind of new motion controller, to overcome the problems referred to above.
[summary of the invention]
For background technology institute problems faced, the purpose of this utility model is to provide one to expand peripheral interface, is easy to the motion controller of upgrade maintenance.
For achieving the above object, this uses the following technological means of novel employing:
A kind of motion controller, comprising: an arm processor, described arm processor connects a field programmable logic device by bus; One digital signal processor, described digital signal processor is connected with described field programmable logic device by parallel bus; At least one nonvolatile memory and a dynamic storage, the data for digital signal processor and described field programmable logic device store and exchange; One CPLD, described CPLD realizes data by serial communication protocol signal and described digital signal processor and transmits, and described CPLD connects a digital analog converter part, realizes digital-to-analogue conversion.
Further, described digital signal processor and described CPLD realize the transmission of data by SPI serial communication protocol signal.
Further, described CPLD is connected with multiple expansion interface, in order to connect multiple external device.
Further, described expansion interface is divided into general purpose I/O module and special I/O module, and described general purpose I/O module is in order to the input of connected electromagnetic valve, air pressure valve or switch, and described special I/O module is in order to input of reporting to the police, and HOME inputs and spacing input.
Further, described digital analog converter part connects at least one servo-driven module.
Further, described servo-driven module connects a coder module, and described coder module is connected to described field programmable logic device, and drive singal is fed back to described field programmable logic device by described coder module by described servo-driven module.
Further, described field programmable logic device connects at least one pulse-modulated signal, and described field programmable logic device connects stepper drive module by pulse-modulated signal.
Further, described expansion interface is divided into general purpose I/O module and special I/O module, and described general purpose I/O module is in order to the input of connected electromagnetic valve, air pressure valve or switch, and described special I/O module is in order to input of reporting to the police, and HOME inputs and spacing input.
Further, described arm processor, described digital signal processor, described field programmable logic device is located on a slice circuit board jointly, forms a master controller plate.
Further, described CPLD, and described digital analog converter part, be jointly located on another sheet circuit board, form an interface board, in order to connect peripheral interface.
Further, described interface board is provided with at least one axle head mouth, in order to connect at least one motor module.
Further, described interface board is provided with a HOME load module, a ZEM.
Compared with prior art, the utility model motion controller has following beneficial effect:
1. adopt described arm processor, three nuclear control systems of described field programmable logic device and described digital signal processor, sub-moduleization works, and in conjunction with the respective characteristic of three processors, displays one's respective advantages, the whole control procedure of division of labor process, compared with traditional PC controller, action response is fast, and position control is more accurate, system stability is high, and efficiency promotes greatly.
2. digital signal processor described in is in order to realize Electric Machine Control computing, described field programmable logic device or described CPLD are in order to expand I/O interface and communication interface, the independence realizing logical signal process and expansion communication function is arranged, simplify motion control device, the bus time-sharing being achieved difference in functionality submodule by the logic function of CPLD is multiplexing.
3. adopt modularization management, by described arm processor, described field programmable logic device and described digital signal processor are arranged on a master control borad, form a master controller plate, by CPLD, digital analog converter part, and the I/O interface of expansion is arranged on an interface board, master controller plate is independently separated with interface board, controls with a serial port protocol respectively.
4. in the face of day by day complicated industry spot and demand for control, complete movement locus respectively by digital signal processor, field programmable logic device one CPLD to control and control to monitor and communication, software is coordinated to carry out the upgrading of bus protocol relying on expansion interface, expand the range of application of motion controller, reduce communication control and monitoring taking for hardware resource.
[accompanying drawing explanation]
Fig. 1 is the theory diagram of the utility model motion controller;
Fig. 2 is the structured flowchart of the utility model motion controller.
The drawing reference numeral of embodiment illustrates:
Arm processor 1 field programmable logic device 2
Digital signal processor 3 nonvolatile memory 4
Dynamic storage 5 CPLD 6
Digital simulation conversion devices 7 scrambler 8
Servo driving 9 stepper drive 10
HOME inputs 11 general purpose I/O modules 12
Special I/O module 13 axle head mouth 14
[embodiment]
For ease of better understanding the purpose of this utility model, structure, feature and function etc., existing the invention will be further described with embodiment by reference to the accompanying drawings.
Refer to shown in Fig. 1, the utility model provides a kind of motion controller, comprise an arm processor 1, one field programmable logic device 2 (FPGA), one digital signal processor 3 (DSP), at least one nonvolatile memory 4, and at least one dynamic storage 5, one CPLD 6 (CPLD), a digital analog converter part 7 (DAC).
Described arm processor 1 bears the data communication of described motion controller and external network and interface task is protected in man-machine interaction, as passed through network interface, USB interface, USB interface etc. are connected with host computer (teach box or PC), described arm processor 1 is in order to perform the not strong task of the peripheral real-time of described motion controller, the mainly operational order that sends of peripherals and movement locus instruction, or the input data of touch-screen and instruction, device status monitoring and early warning information taken at regular intervals and feed back to host computer, described arm processor transplants embedded Linux system, utilize the network communicating function that (SuSE) Linux OS is powerful, and the good support to graphical interfaces, bear the task that the peripheral requirement of real-time of described motion controller is not strong.
Described arm processor 1 connects described field programmable logic device 2 by GPMC bus, and realizes data transmission, described field programmable logic device 2 is furnished with nonvolatile memory 4 and a dynamic storage 5, described field programmable logic device 2 carries out the task such as exchanges data and storage with described nonvolatile memory 4 and described dynamic storage 5 by parallel bus, described field programmable logic device 2 realizes data with described digital signal processor 3 by parallel bus and transmits, described digital signal processor 3 carries out bi-directional data information interaction with described arm processor 1 by described field programmable logic device 2, to complete the automatic switchover of data in controller inside, realize the exchange of data with shared.Described field programmable logic device 2 also realizes the process of some instructions of described digital signal processor 3 transmission, as Pulse Width Control instruction, described digital signal processor directly cannot produce pulse-modulated signal, adopt software algorithm can take again a large amount of motion algorithm computing times, by parallel data bus line, the motion algorithm calculated is transferred to described field programmable logic device 2, motion control port is sent to by described field programmable logic device 2, realize the output of pulse and direction control command, motion control port connects external device, realize the movement locus that movement instruction provides.
Described digital signal processor joins 3 nonvolatile memory 4 and a dynamic storage 5, the high-speed, high precision that movement locus is responsible for specially by described digital signal processor 3 calculates and implements movement locus control, and described digital signal processor 3 and described field programmable logic device 2 realize transmission and the exchange of data by parallel bus; Described digital signal processor 3 is transmitted by serial bus signal and described CPLD 6; After described digital signal processor 3 receives the motion control instruction of described field programmable logic device 2 transmission, carry out inner track planning and interpolation operation, when being applied to motion control, Motion trajectory can be completed preferably, the control algolithms such as coordinate transform, and send instruction to described field programmable logic device 2 with by universal serial bus to described CPLD 6 in real time by parallel bus, and be transferred to motion control port further.
Described CPLD 6 is transmitted by serial communication protocol signal with described digital signal processor 3, particular by SPI serial communication protocol signal, the IO control signals (Ctrl) such as the data-signal (Date) of described digital signal processor 3, address signal (Addr), read-write and various choosings are connected to the pin of described CPLD 6, in conjunction with the signal such as various data-signals, address signal, read-write that described digital signal processor 3 transmits, carry out decoding, parse operation.
Described CPLD 6 connects at least one described digital analog converter part 7, described digital analog converter part 7 is converted to simulating signal in order to the digital signal transmitted by described CPLD 6, multiple servo driving 9 is connected to through described digital analog converter part 7, in the present embodiment, described servo driving 9 is multiple, in the present embodiment, described servo driving is 8, connected by an axle head mouth 14, a servomotor and a servo-driver form described servo driving 9 module, often organize between described servo driving 9 module by being connected in parallel, servomotor described in each connects a feedback signal, be specially a scrambler 8, described scrambler 8 is by the control circuit of described servomotor signal feedback to field programmable logic device 2, form a closed loop, thus a complete control backfeed loop is formed to servomotor, in order to control the start and stop of servomotor.
Described CPLD 6 has multiple general purpose I/O module 12, in order to connect the general operation of peripheral hardware, as connected air pressure valve, solenoid valve, switch inputs, and travelling belt control module etc., described CPLD 6 also has multiple special I/O module 13, as ZEM, HOME load module, spacing load module etc.
For convenience of the expansion of the peripheral interface of described motion controller, and the upgrade maintenance of software and hardware, can by described arm processor 1, described field programmable logic device 2, described digital signal processor 3 and described nonvolatile memory 4 and described dynamic storage 5 are arranged on a slice circuit board, form a master controller plate, as the core of described motion controller, and by described CPLD 6, described digital analog converter part 7, described axle head mouth 14, described general purpose I/O module 12, and described special I/O module 13 is arranged on another block circuit board jointly, form an interface board, as the interface be connected with outside, realize the connection with peripherals.
The course of work of the present embodiment is as follows: described arm processor 1 realizes and outside man-machine interaction and communication, realized with the data interaction of described digital signal processor 3 with shared by described field programmable logic device 2, steering order is transferred to described digital signal processor 3, described digital signal processor 3 carries out the control algolithms such as inner track planning and interpolation operation after receiving motion control instruction, part Signal transmissions gives described field programmable logic device 2, axle head mouth 14 is transferred to by described field programmable logic device 2, as pulse signal, another part is transmitted by described CPLD 6, by the parsing of described CPLD 6, resolve to the signal of various interface module further, as as described in digital signal processor 3 output digit signals, described digital analog converter part 7 is transferred to after described CPLD 6 is decoded, digital signal is converted to simulating signal, and then be transferred to described servo driving 9, the running of drive motor, described CPLD 6 also connects some solenoid valves, air pressure valve, the general I/O interface such as switch input, and removing of reporting to the police exports, and input of reporting to the police, HOME inputs, the special I/O modules such as spacing input.And then control the running of plant equipment.
In sum, the utility model motion controller has following beneficial effect:
1. adopt described arm processor, three nuclear control systems of described field programmable logic device and described digital signal processor, sub-moduleization works, and in conjunction with the respective characteristic of three processors, displays one's respective advantages, the whole control procedure of division of labor process, compared with traditional PC controller, action response is fast, and position control is more accurate, system stability is high, and efficiency promotes greatly.
2. DSP described in is in order to realize Electric Machine Control computing, CPLD or FPGA is in order to expand I/O interface and communication interface, the independence realizing logical signal process and expansion communication function is arranged, and simplify motion control device, the bus time-sharing being achieved difference in functionality submodule by the logic function of CPLD is multiplexing.
3. adopt modularization management, by described arm processor, described field programmable logic device and described digital signal processor are arranged on a master control borad, form a master controller, by CPLD, digital analog converter part, and the I/O interface of expansion is arranged on an interface board, master controller and interface board are independently separated, controls with a serial port protocol respectively
4. in the face of day by day complicated industry spot and demand for control, complete movement locus respectively by digital signal processor, field programmable logic device one CPLD to control and control to monitor and communication, software is coordinated to carry out the upgrading of bus protocol relying on expansion interface, expand the range of application of motion controller, reduce communication control and monitoring taking for hardware resource.
Upper detailed description is only the explanation of the preferred embodiment of the utility model, non-ly therefore limits to the scope of the claims of the present invention, so the equivalence techniques change that all this creation of utilization instructionss and diagramatic content are done, is all contained in the scope of the claims of the present invention.
Claims (11)
1. a motion controller, is characterized in that, comprising:
One arm processor, described arm processor connects a field programmable logic device by bus;
One digital signal processor, described digital signal processor is connected with described field programmable logic device by parallel bus;
At least one nonvolatile memory and a dynamic storage, the data for digital signal processor and described field programmable logic device store and exchange;
One CPLD, described CPLD realizes the transmission of data by serial communication protocol and described digital signal processor, and described CPLD connects a digital analog converter part, realizes digital-to-analogue conversion.
2. motion controller as claimed in claim 1, is characterized in that: described digital signal processor and described CPLD realize the transmission of data by SPI communication protocol signals.
3. motion controller as claimed in claim 1, is characterized in that: described CPLD is connected with multiple expansion interface, in order to connect multiple external device.
4. motion controller as claimed in claim 3, it is characterized in that: described expansion interface is divided into general purpose I/O module and special I/O module, described general purpose I/O module is in order to the input of connected electromagnetic valve, air pressure valve or switch, and described special I/O interface is in order to input of reporting to the police, and HOME inputs and spacing input.
5. motion controller as claimed in claim 1, is characterized in that: described digital analog converter part connects at least one servo-driven module.
6. motion controller as claimed in claim 5, it is characterized in that: described servo-driven module connects a coder module, described coder module is connected to described field programmable logic device, and drive singal is fed back to described field programmable logic device by described scrambler by described servo-driven module.
7. motion controller as claimed in claim 1, is characterized in that: described field programmable logic device connects at least one pulse-modulated signal, and described field programmable logic device connects stepper drive module by pulse-modulated signal.
8. motion controller as claimed in claim 1, it is characterized in that: described arm processor, described digital signal processor, described field programmable logic device is located on a slice circuit board jointly, forms a master controller plate.
9. motion controller as claimed in claim 1, is characterized in that: described CPLD, and described digital analog converter part, is jointly located on another sheet circuit board, forms an interface board, in order to connect peripheral interface.
10. motion controller as claimed in claim 9, is characterized in that: described interface board is provided with at least one axle head mouth, in order to connect at least one motor module.
11. motion controllers as claimed in claim 9, is characterized in that: described interface board is provided with a HOME load module, a ZEM.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520455251.9U CN204807988U (en) | 2015-06-17 | 2015-06-17 | Motion control ware |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201520455251.9U CN204807988U (en) | 2015-06-17 | 2015-06-17 | Motion control ware |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN204807988U true CN204807988U (en) | 2015-11-25 |
Family
ID=54592778
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201520455251.9U Expired - Fee Related CN204807988U (en) | 2015-06-17 | 2015-06-17 | Motion control ware |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN204807988U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279612A (en) * | 2018-03-19 | 2018-07-13 | 北京钢铁侠科技有限公司 | Servo-driver and robot with the driver |
| CN108312147A (en) * | 2018-03-19 | 2018-07-24 | 北京钢铁侠科技有限公司 | Driver and robot delicate with the driver |
| CN113219893A (en) * | 2021-02-21 | 2021-08-06 | 东莞市易硕技术有限公司 | Logic vision motion controller |
-
2015
- 2015-06-17 CN CN201520455251.9U patent/CN204807988U/en not_active Expired - Fee Related
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108279612A (en) * | 2018-03-19 | 2018-07-13 | 北京钢铁侠科技有限公司 | Servo-driver and robot with the driver |
| CN108312147A (en) * | 2018-03-19 | 2018-07-24 | 北京钢铁侠科技有限公司 | Driver and robot delicate with the driver |
| CN113219893A (en) * | 2021-02-21 | 2021-08-06 | 东莞市易硕技术有限公司 | Logic vision motion controller |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN103753534B (en) | A kind of Movement Controller of Mobile Robot and control method thereof | |
| CN201244813Y (en) | Robot control system for precision forging | |
| CN204366962U (en) | Six axle heavy-load robot control systems | |
| CN103558826A (en) | Bus control system for thermo-forming stamping production line | |
| CN204807988U (en) | Motion control ware | |
| CN103576614A (en) | Multi-axis motion control system | |
| CN105892412B (en) | Multi-shaft motion control system hardware structure based on self-defined bus | |
| CN103941648A (en) | Multi-axis motion control system and control method thereof | |
| CN101138843A (en) | Intelligent independent robot core controller | |
| CN202703067U (en) | Motion control system of numerical control carving machine | |
| CN101776886A (en) | Power battery pole piece numerical control laser cutting control system | |
| CN102830658A (en) | Embedded numerical control system for multi-shaft numerical control machine tool | |
| CN108845543A (en) | A kind of four axis punching press feeding robot electric control systems | |
| CN104796055A (en) | Touch screen control and drive integrated four-axis steeping motor closed-loop control system | |
| CN104135214A (en) | Embedded type motor modularization servo controller of flight simulation rotary table | |
| CN104898574B (en) | Shear-line multi-axis numerical control system based on P500 controller | |
| CN105938678A (en) | Multi-platform numerical control simulator | |
| CN202145273U (en) | Multi-axis numerical control system | |
| CN102354120A (en) | Simulation experimental apparatus for intelligent arm support system of concrete pump truck and method thereof | |
| CN102339037B (en) | Multi-axis numerical control system | |
| CN105302031A (en) | Control device and control method for piling carrying robot | |
| CN103135495A (en) | Control system for numerical control cutting machine | |
| CN111650886A (en) | Motion control system | |
| CN203324763U (en) | Multi-axis motion controller | |
| CN205139680U (en) | Open numerical control system based on windows platform |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20151125 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |