Embedded Motion Controller Design Based on RTEX Network

Adopting embedded framework and network communication mode, a kind of multi-axis embedded motion controller hardware platform design for the Panasonic A5N drive is proposed, which is Based on the modular control core (ARM + FPGA) and can adapt to the new real-time network RTEX. The processes of controller's functional design, hardware design and software design are explained in detail. Up to now, the motion controller's hardware platform have been completed and verified by communication experiments, position and velocity control experiments, and the results of which show that the controller have good scalability, reliability, flexibility and openness and could well meet the needs of the multi-axis robot's motion control.