Research & Development Of Multi-axis Motion Controller Based On PCI Bus

Numerical control technique is one of nowadays key technology of the advanced manufacturing technology. Nowadays the manufacturing industry all around the world adopts advanced numerical control technology extensively, in order to improve manufacturing capacity and level. With the develops and the popularizes at a high speed to follow the technology of the computer, and with the intelligent , integration and networked of today in the modern manufacture system, in order to develop independent numerical to control technology strongly , there are important practical value and strategic meaning to further investigate the technology of numerical control of new generation. Open CNC system based on PC has already become the inevitable trend of present CNC technical development, which has represented developing direction of numerical control technology. In recent years, because the PC develops rapidly, technology is ripe, and resources of the software are abundant , so fully utilize resources of the PC , and integrate its function to CNC, developing numerical control system PC-NC which is based on PC has become the keystone of the development research all around the world. To numerical control system , the most important thing is to control sports of each axis electrical machinery. It is motion controller that receives and control each axis electrical machinery motion which accords to the order of numerical control device and sequentially numerical control process to come, so it is obvious that motion controller occupies an important position in open numerical control system. At present, because of the appearance of the special-purpose microprocessor of high-speed high capability which is represented by DSP and extensive popularization of the PC , the development trend of open motion controller is to make DSP chip as motion control processor, regard PC as the information processing platform, the motion controller imbeds the PC in the form of inserting the card , and ultimately form PC–NC. Adopting the numerical control system of the motion controller will be the trend of numerical control technique development of new generation, synchronously, the motion controller will become the core of the numerical control system in the future. DSP named digital signal processor, is the microprocessor with special structure that is specially designed to realize various kinds of digital signals to deal with the algorithm fast. Its operation speed is very quick, especially in realizing the multiplication operation of single cycle, which have offered the foundation of the hardware for realizing the high real-time motion control. Motion control system using DSP as processor is ideal choice in Multi–axis. The thesis select DSP motion control special chip of the company of NOVA , for operation chip. MCX314 motion control chip may control four motor driver axes separately, and four axes have the same function ability, allowing 3 axes linkage at the most .The speed of output of the pulse driver is 1PPS to 4MPPS.MCX314 motion control chip can choose 2 axes or 3 axes any of 4 axes to carry on line interpolation driver. In the driver, you can read logic position, actual position, driver speed, acceleration, add / decelerate state and so on in real time. PCI bus is a kind of advanced partial lines of high performance. Because its high performance , PCI bus eliminate ISA bus to become major bus standard nowadays. This motion controller is just designed based on the PCI bus interface, which selects function excellent and the cheap PCI9052 of price as the interface bridge conjunction chip of MCX314 and PCI in realizing. The main signal of PCI port meet with PCI norm request completely, and lead the feet to connect with PCI bus directly. The signals of use of the port of partial bus are mainly as follows: data signal lines, address signal lines and control signal lines, and the partial chip MCX314 which is used for the conjunction to read and write.16 registers addresses used for LA[ 4:2 ] to choose MCX314; 16 data bus used for LD [15:0 ]to join MCX314, bidriection to transmit the data WR# , RD# that connect with MCX314 to read , write signal line respectively, when they are in the low electricity level signal ,they can carry on read and write the operation of to MCX314 .LRESET# input ,when placing the MCX314 RESETN as low electricity level at greater than 4 cycles , carry out RESETN of MCX314. CS0# input, choose the signal for the MCX314 slice. L RDYi# connect MCX314 busy with signal, but in low electricity level it can't carry out to write in the order. LINT i1 and LINT i2 are partial buses that cut off the input signals, here, we only use LINT i1 signal, because of having no 9052 inner parts to carry on to these two signals up pull or descend pull the processing, so, pull the LINT i2 up in the exterior to a make sure of appearance. Disposing register is information exchange area of hardware of PCI equipment , initialized software of PCI equipment and the mistake processing software, for the purpose of software carrying on recognizing and controlling to the equipments of PCI and the equipments of PCI reflecting the appearance and requests toward software. To involve the concrete configuration of EEPROM ofPCI9052 as follows: 00 905010b5 PCIIDR; Device ID, Vendor ID 04 06800002 PCICCR; Class Code 08 905010b5 Subsystem ID, Subsystem Vendor ID 14 fffffff1 LAS1RR; Local Address Space 1 Range 28 00000321 LAS1BA; Local Address Space 1 Base Address (Re-Map) 3c 01400002 LAS1BRD; Local Address Space 1 Bus Region Descriptors 50 03290000 CS1BASE; Chip Select 1 Base 5c 000010c3 INTCSR; Interrupt Control/Status 60 004540d2 CNTRL; User I/O, ROM, Init Control For driver pulse output interface circuit , the drive output pulse which comes from MCX314 chip adopts the positive and negative pulse form, drive the ULN2803A to output .In the coder signal interface circuit, it outputs A,/A, B, /B signal of the coder that is connected with nECAP, nECAN, nECBP, nECBN . Different pulse feedback is effective after establishing to input the pulse mode. NINOP/N is used for feedback of inputting the encoder Z signals. POSYS 604 uses the high-speed Optocoupler to isolate electricity. When n ***P is high and n ***N is low, the feedback signal that really goes to MCX314 is low. Because the signal between the inputting pin and MCX314 junction port delay time low in 100 ns, the biggest feedback frequency of the signal of A/ B is about 4 MHz. Device driver is a function that controls the hardware devices, the key module of controlling and chaining hardware, also is the software interface between I/O system and relevant hardwares. The quality of the driver influences the full play of equipment performance directly, because the fine driver can finish the transmission and treatment of the data accurately , steadily , reliably according to user's demand , which offers the interface with good performance for always accusing of the application software in upper strata .WDM has already become the mainstream of the device driver, besides the drive of this motion controller was just designed based on WDM. It is another main work to apply the development environment of DriverStudio to write the driver of the motion controller. It is DriverEntry example that begins the device driver of kernel mode inside WIN2000. The example initializes each data structure of device driver and prepare other device driver running environment of part. It is in CreateDevice example that the work of really establishing the target of equipments is finished .The general device driver has been keeping in the system all the time, which needs the hardware that Unload example released to belong to device driver. Unload example operate the IRQL in...