Embedded Motion Controller Base On Text Instruction

Motion controller is the equipment that control the motor driven machine to implement the expectant motion locus. With the development of motion control technology, more and more Numerical Control System use motion controller as core component. The main research theme of this dissertation is a new style Motion Controller that communicate with upper computer by universal computer port and work base on receiving motion control instruction in text format. It has the advantage of easy usage and good control quality. Besides, it can be connected to different types of computer system to build the proper motion co ntrol system for each application.The main contents of this dissertation are porting operating system to the hardware platform, motion control instruction design, and the software implementation under real-time multitask environment.Chapter 1, introduction. Introduce the general concept of motion controller and embedded system, summarize the development status, point out the signification of the research.Chapter 2, the overall design of motion controller. Choose the proper hardware platform and operating system base on system requirement, design the software framework.Chapter 3, Porting μC/OS-II. Introduce the registers and exceptions handling of S3C44B0X, describe the porting process of uC/OS-II.Chapter 4, the operation method of PCL6045. Introduce the read/write operation, motion modes, and speed patterns of motion control ASIC PCL6045.Chapter 5, the software implementation of motion controller. Introduce the design of motion control instruction, describe all the modules include communication interface, interpretation of instructions, instruction queue, execution of instructions and status display.Chapter 6, the test of motion controller. Introduce the test method and test scheme of motion controller, give two example of motion control program to show the functions of motion controller.Chapter 7, summarize and expectation. Summarize the achievement of this dissertation, and point out the expectation of future research.