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工業技術研究院

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技術名稱: 智慧運動控制平台

技術簡介

IMP為一具有CPU Build-in控制核心晶片並內含即時多工作業系統(MT/RTOS)的運動控制平台,除在硬體上內建目前PC-Based應用最普遍之PCI匯流排與Ethernet Controller等溝通介面,將運動控制上所使用之各項功能一併整合入此晶片外,並整合了GSB(General Servo Bus)匯流排,可與全數位串列式伺服介面整合,新增了非同步遠端輸出入控制模組,滿足不同控制之應用場合,同時軟體上亦提供應用此晶片所需的運動函式庫與開發工具(Development Kit),未來除可滿足一般運動控制的需求外,亦可滿足高階的運動控制需求。

Abstract

IMP is a CPU and MT/RTOS Bulid-in motion control Platform. The control platform integrates PCI-Bus, Ethernet controller, compatiable to almost available PC-based computers, and indispensable functions of motion controller into the hardware platform. It also design-in a general servo bus (GSB) for communication with fully digital AC servo driver as well as asynchronous remote input/output control module. Futhermore, sufficient software tools, inculding trajectory interpolation, Motion Control Command Library(MCCL), Integrated Development Kit, etc., are provided for users to possess the complete development process. The IMP controller can satisfy all the requirement of general and advanced motion control application.

技術規格

類比轉數位介面 14 bit * 8 軸 數位轉類比介面 16 bit * 8 軸 編碼器介面 32 bit * 8 軸 脈波輸出 32 bit * 8 軸 位置控制迴路 8 軸 (比例積分微分與前饋控制) 通用並列輸出入介面 42 點 (OT+, OT-, HOME, SVO, LED) 遠端串列輸出入介面 可控制至32組遠端I/O模組 (16點輸入 / 16點輸出) 全數位伺服控制介面 (General Serial Bus) 內建PCI-32bit 33MHz 匯流排

Technical Specification

ADC Interface 14 bit * 8 Channel DAC Interface 16 bit * 8 Channel Encoder Interface 32 bit * 8 Channel Pulse Generator 32 bit * 8 Channel Position Control Loop 8 Channel (PID&Feed-Forward Control) GPIO Interface 42 point (OT+, OT-, HOME, SVO, LED) Remote IO Master Control up to 31 I/O slave (16In / 16Out) Digital Motion Control Interface (General Serial Bus) Build PCI-32bit 33MHz bus

技術特色

IMP 控制平台為一內建CPU處理器並內含即時多工作業系統(MT/RTOS)的運動控制平台,硬體上具備運動控制所需之各項功能,除了可單機執行運動控制外,並整合了目前普遍使用的PCI-Bridge橋接器及Ethernet Controller等與外界溝通的介面,可透過PC或經由網際網路連線進行命令下達與監控,此外亦整合了全數位伺服控制介面,可與全數位伺服驅動器溝通,新增了非同步遠端輸出入控制模組,滿足不同應用場合之控制需求。軟體則搭配軌跡插值運算、整合發展套件、運動控制函式庫…等各項工具提供使用者可進行應用系統之開發。

應用範圍

PC-Based工業控制器、工具機控制、工業機器人控制器、產業機械控制、半導體設備定位控制等

接受技術者具備基礎建議(設備)

個人電腦、C語言程式開發軟體

接受技術者具備基礎建議(專業)

1. 具備C語言程式開發經驗 2. 具備VB程式開發經驗

技術分類 精密機械

聯絡資訊

聯絡人:陳英敏 智慧機械技術組

電話:+886-3-5915931 或 Email:arminchen@itri.org.tw

客服專線:+886-800-45-8899

傳真:+886-3-5826594

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