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HIGH PERFORMANCE INTELLIGENT 4 AXIS CONTROLLER BOARD ROBOTICS APPLICATIONS
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| Author(s) |
E. Grivot; A. Jakubowicz; G. Garcia |
| Abstract |
This paper presents an original 16 bits microprocessor-based architecture dedicated for performant position control of 4 DC servomotors. It is based upon an Intelligent Peripheral Controller structure and a specific interface designed to handle the 4 axes positioning slave circuits. lnterfacing with 4 axes is via ± 10 V 13 bits analog command or a power amplifier and via a position return given by a 32 bits optical incremental encoder. The slave position software can receive instructions and operating parameters from a keyboard over a serial link, or from a dialog over the VME bus in a shared memory on the board itself. The main performances are a PlD algorithm computation time within 1 ms for 4 axes. Safety functions enable axis control to be aborted if problems occur via a locally-executted function. The TSVME 440 Axis Controller is well adapted for robotics and machine tools. |
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| Filename: | Unnamed file |
| Filesize: | 2.172 MB |
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| Type |
Members Only |
| Date |
Last modified 2021-02-04 by System |
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