The Subject Of The Dissertation: The Research Of The PMAC Multi-axis Motion Controller

Traditional control system (such as single chip control system) can t control the motion axes controlled by every control unit to move together. By research of the multi-axis motion controller, the control unit and microcomputer are made into an assembled system, that is , a microcomputer controls all the units, then controls the corresponding motion axis, to control multi-axis to move together, harmonize the motion controlled by different motor, and the ultimate aim is to optimize the whole system and capability .This dissertation mainly studies a multi-axis motion controller桺MAC (Programmable Multi-Axis Controller) whose kernel is DSP. It expatiates entirely PMAC motion controller's structure, work principle, capability and applications. With the automatic NC glass engraver machine, develop an open architecture NC system based on PMAC, which includes two modules of hardware design and software design.Firstly, it introduces the functions, structure and work principal diagram of the motion controller. PMAC is a programmable multi-axis motion controller, which is also named control computer. It is mainly made up of user gate array developed and made especially by Motorola DSP CPU and Delta Tau. It is an open architecture. It not only can run as the normal PC machine, but also can control the course of the motion by means of setting up the variable. It has both open circuit and close circuit instructions. It can regulate the PID of the motor and control eight axes to move together. It has the characteristic of rapid responding velocity, high precision, short develop period, easy writing program and operation. It can be used to the high precision servo equipment controlled by multi-axis such as robot and NC machine. It can compute alone the inside program stored, carry motion program and PLC program, renovate servo circuit and communicate with the major computer by means of the series and bus.Multi-axis motion controller is a very flexible controller. It can complete all kinds of functions together with each kind of host computer,driver, motor and sensor. Using the characteristic of software and hardware, it is set up for the special function, to make it run normally. Multi-axis motion controller gives the great function of adjusting parameter PID, but it can't change itself with the station changing during the NC machining. The function of the parameter PID is improved to adjust itself automatically.Finally, PMAC multi-axis motion controller is applied to automatic glass engraver machine. It studies the open architecture NC system with PMAC, and develops an open architecture NC system with double CPU based PMAC motion controller. Under the condition of modern technology, using this open architecture and repeat NC system based on the up and down CPU, has more worthiness.