以CPLD為基礎可程式多軸運動控制IC之規劃與研製

Abstract

本文提出可程式多軸運動控制IC之電路架構,以複雜型可規畫邏輯元件 CPLD將之實現.此可程式多軸運動IC (Programmable multi-axis motion control IC)定名為PMC-1000,為可同時連接三軸脈波輸入型伺服馬達或步 進馬達做定位,插值或速度控制的IC.各軸具有相同機能,可分別做等速驅 動,線性加減速或S型加減速驅動等.驅動速度可由1 PPS到最高5 MPPS之脈 波輸出.三軸中可任選兩軸,三軸執行直線插值驅動控制或任選兩軸執行圓 弧插值驅動控制,其範圍為-1024~1024 LSB,誤差範圍為全部插值範圍之1 LSB.為簡化設計與降低硬體的複雜度,本文採模組化設計方式實現.為了進 行此IC的整合測試,本文發展了以PC為基礎的數位運動控制系統監控軟體, 以一部工控電腦經ISA Bus介面,直接對控制IC進行控制參數設定與調整, 並能即時讀出插值狀態態暫存器與插值軌跡位置,顯示在視窗上做觀測.本 IC以8位元實現約使用18700個閘數目(gate count)的CPLD資源,在IC的設 計驗證方面,除了進行硬體模擬外,並以PC進行實驗測試,結果顯示所研製 的控制IC具有良好性能,且設計的功能皆可正確運作. This thsis proposes a programmable multi-axis motion control IC scheme using SRAM-based CPLD (complex programmable logic device). The control IC named PMC-1000 can control 3-axis pulse- input type servo motor or step motor to accomplish position control, interpolation drive, and speed control at the same time. Every axis has the same fuctions including constant speed driving, linear or S-type acceleration/deceleration driving, etc. The driving speed can be adjusted from 1 PPS up to 5 MPPS. Any 2/3 of the 3 axes can be appointed to perform the linear interpolation function, and any 2 of the 3 axes can be appointed to perform the circular interpolation fuction. The interpolation setting range for each axis is from -1024~1024 LSB, and accuracy is within 1 LSB. In order to simplify design and reduce hardware complexity, the modularized design method is recommanded. For testing the design IC, the PC-based full digital motion control monitor software is developed. The control and status registers of the PMC-1000 can be on-line adjusted or monitored through ISA-bus. About 18700 gate counts are used to realized the proposed 8-bit control scheme. Experimental results show that the control IC has excellent characteristics and all of the designed functions can work correctly.