关键词: 工业机器人, 嵌入式运动控制器, ARM, 现场可编辑逻辑门阵列, RTEX

Abstract: Adopting embedded framework and network communication mode, a kind of multi-axis embedded motion controller hardware platform design for Panasonic A5N drive was proposed, which was based on the modular control core (ARM + FPGA) and could adapt to the new real-time network communication named RTEX. It was transplanted in μC/OS-Ⅱ. The processes of controller's functional design, hardware design and software design were explained in detail. Up to now, the motion controller's hardware platform had been completed and verified by communication experiments and position and velocity control experiments based on SCARA robot. The experimental results show that the controller has good communication function and stable performance, and can well accomplish the functions of servo control.

Key words: industrial robot, embedded motion controller, ARM, Field Programmable Gate Array (FPGA), RTEX