Motion controller technology, is a comprehensive application of automatic control, computer control and other related technologies, the position and speed of the motor in the mechanical transmission device for real-time control and management, so that the moving parts in accordance with the expected trajectory and the specified parameters of movement to complete the corresponding action. The embedded structure of the motion controller embeds the computer into the motion controller, which can run independently, and the communication between it and the computer adopts a reliable bus connection (using a pin connector), which is more suitable for industrial applications.

Embedded motion controller mainly includes two parts: embedded CPU main board and motion control module. Motion control module can be used solid high technology Co., Ltd. high-performance motion control board, on the basis of high-performance motion module, the embedded processor part has strict requirements, such as: strong support for real-time multitasking, can complete multiple tasks and have a short interrupt response time; has a strong function of the storage area protection function; can be extended to grow the processor structure, can quickly develop to meet A variety of application performance of the embedded microprocessor; low power consumption and so on.

Optional programs include.

1. based on microcontroller, suitable for small amount of data, low speed, simple function of the field control, can not be competent for the requirements of high-speed, high-precision motion controller.

2. Based on ARM architecture or other microcontrollers, the advantages are simple design and efficient instruction set, but the compatibility with existing general-purpose software is not ideal at present, and specialized software personnel must be trained.

3. PC104 X86 architecture, that is, the X86 architecture of the CPU, mainly Intel's CPU, but also AMD and other companies and its compatible CPU, through the PC104 bus, connecting the X86 architecture of the PC motherboard and the motion control board, composed of embedded motion controller. Based on the very mature motion control board technology, this form of embedded motion controller is simple to implement and has a short development time.

Therefore, the ICOP-6070 embedded motherboard was selected as the core of the system, in addition to the core control module, is the motion control module, which is the executor of specific actions. The embedded PC104 main board is directly plugged into the motion control card through a plug-in. The motion control card has two DB62 sockets, which are connected to the terminal board, which in turn gives the control motor signal. Since the motion controller and the computer module are connected separately by plug-in type and independent of each other, both the motion controller and the PC board can be used as an independent module with easy production upgrade, easy maintenance and relatively high reliability.

The complete building process of the system is as follows.

1. Put the ICOP-6070 embedded motherboard and Goodco motion control card together through PC104 interface.

2. Then external input devices and output devices are connected to the embedded motherboard.

3. Secondly, connect the Goodco IO terminal board and the Goodco control card together through two 62PIN data cables.

4. Finally, the 24V input signal will be fed to the Goodco IO terminal board and the embedded motherboard.