多軸伺服步進馬達控制器之研究與開發

Abstract

本論文主題是使用MCX314運動控制晶片為基本架構，利用MCX314中的命令與資料暫存器，進行運動控制卡各種加減速命令、多軸補間運動命令與其他相關控制函式庫的開發，然後將函式庫整合成人機介面，並以三軸馬達平台實驗測試各函式之功能性和精確度，並針對各運動函數討論其實驗結果和功能的應用性。此運動控制卡可用於多軸伺服步進馬達的控制，開發完成後的人機介面除了可作為PC-Based控制器的平台，也可以應用於嵌入式的控制系統。使用者不需要深入底層的程式設計，與複雜的運動路徑規劃，只須利用函式庫直接呼叫函數，即可下達運動命令，由圖形化使用者介面(GUI)便可即時得知系統狀態、運動路徑和各相關指標信號。

MCX314 is a motion control IC commonly adopted in PC-based motion control. In this thesis, a computer-based controller for multi-axes servos and step motors is developed by using the specific command and data registers of MCX314. The functions compose of motion and interpolation commands, status display, and I/O signal management. With inclusion of dynamic link library (DLL) and the user friendly Human Machine Interface (HMI) for the motion card, our package has the advantage that users do not need to design complicated path planning and code function driver to control the multi-axes motor. Finally, the capability and validity of the functions are tested by experiment in a three-axis machine, and then the results and performance are discussed.