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

摘要： 针对松下A5N驱动器，采用嵌入式构架以及网络通信模式，提出了基于模块化控制核心(ARM+FPGA)适应新型实时性网络通信RTEX的多轴嵌入式运动控制器硬件平台的设计方案，并移入实时多任务操作系统μC/OS-Ⅱ。详述了控制器的功能设计、硬件设计和软件设计流程。截至目前，运动控制器硬件平台搭建均已完成，并进行了通信实验和基于SCARA机器人平台的速度、位置控制实验。结果表明，控制器通信良好，性能稳定，能够较好完成伺服控制功能。

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