面向注塑机的RTEX型嵌入式伺服控制器设计

针对脉冲型运动控制器应用于注塑行业高速机械臂存在的接线复杂、动作柔性差及通用性差等问题,基于Panasonic A5N/6N驱动器,采用嵌入式架构设计一套面向注塑机配套机械臂应用的总线型伺服控制系统。系统采用RTEX通信协议,融合注塑工艺,详述了控制板卡的硬件构成及关键软件流程。搭建硬件测试平台进行了位置控制、速度控制等运动控制测试。结果表明:控制系统通信稳定、性能良好,能够很好地完成伺服控制功能。

Aiming at the problems of complex wiring,poor flexibility and poor versatility in the application of pulse motion controller to high-speed manipulator arm in injection molding industry,based on Panasonic A5N/6N driver,an embedded architecture is adopted to design a set of bus servo control system for the application of manipulator arm of injection molding machine.The system adopts RTEX communication protocol,integrates the injection molding process,and describes in detail the hardware structure and key software flow of the control board.The hardware test platform is built to test the motion control,such as position control,speed control and so on.The results show that the communication of the control system is stable,its performance is good,and the servo control function can be completed well.