Research On Multi-axis Motion Controller Based On CAN Bus

In order to satisfy the requirements of every work of life on motion control aspect, this paper brings forward multi-axis motion controller based on CAN bus. Several servo motors are controlled at the same time by one chip. The whole digital control is adopted by the motion control system, so it can avoid some problems of temperature excursion and aging, as well as minishing the volume of the system. Then, the motion controller has been the highly accurate multi-axis motion controller of high density.In the motion control of this paper, the digital informations between the computer and the digital controller are conveyed by CAN bus communication. The hardware function modules of digital controller are made use of the whole digital control operations, then the respective drive signal of several servo motors can be obtained, and several servo motors can be drived by corresponding power drivers.CAN bus communication between the computer and the digital controller is propitious to the conveys of the real time control signals in system, and works better for the real time communication. The trait of multi-main working way can make CAN bus append more other controllers based on FPGA, it is propitious to update the motion control system. SVPWM technology is adopted as the control strategy of multi-axis motion control. The multi-axis motion controller is made up of digital controller and power driver. The FPGA of the digital controller is from Xilinx Company, its name is Spartan IIE-XC2S300E, and it is the control chip, the technology of IP cores used together and time used repeatedly are adopted by all function modules in the chip, the control operations are completed by the FPGA and the periphery circuits of the digital controller together. The power driver of every axis of the multi-axis motion control is several respective power drivers, and the digital drive signal of every axis, which is operated by the...