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多軸伺服步進馬達控制器之研究與開發

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國 立 交 通 大 學

機械工程研究所

碩

士

論

文

多軸伺服步進馬達控制器之研究與開發

The Development of Multi-Axes Servo and Step

Motor Controller

研 究 生：陳岳汶

指導教授：李安謙 教授

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多軸伺服步進馬達控制器之研發

The Development of Multi-Axes Servo and Step

Motor Controller

研究生：陳岳汶 Student：Yue-Wun Chen

指導教授：李安謙教授 Advisor：Dr. An-Chen Lee

國立交通大學

機械工程研究所

碩士論文

A Thesis

Submitted to Institute of Mechanical Engineering College of Engineering

National Chiao Tung University in partial Fulfillment of the Requirements

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i

多軸伺服步進馬達控制器之研發

研究生：陳岳汶 指導教授：李安謙教授

國立交通大學機械工程研究所

摘 要

本論文主題是使用MCX314 運動控制晶片為基本架構，利用 MCX314 中的 命令與資料暫存器，進行運動控制卡各種加減速命令、多軸補間運動命令與其他 相關控制函式庫的開發，然後將函式庫整合成人機介面，並以三軸馬達平台實驗 測試各函式之功能性和精確度，並針對各運動函數討論其實驗結果和功能的應用 性。此運動控制卡可用於多軸伺服步進馬達的控制，開發完成後的人機介面除了 可作為PC-Based 控制器的平台，也可以應用於嵌入式的控制系統。使用者不需 要深入底層的程式設計，與複雜的運動路徑規劃，只須利用函式庫直接呼叫函 數，即可下達運動命令，由圖形化使用者介面(GUI)便可即時得知系統狀態、運 動路徑和各相關指標信號。

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The Development of Multi-Axes Servo and Step

Motor Controller

Student：Yue-Wun Chen Advisor：Dr. An-Chen Lee

Institute of Mechanical Engineering National Chiao Tung University

ABSTRACT

MCX314 is a motion control IC commonly adopted in PC-based motion control. In this thesis, a computer-based controller for multi-axes servos and step motors is developed by using the specific command and data registers of MCX314. The functions compose of motion and interpolation commands, status display, and I/O signal management. With inclusion of dynamic link library (DLL) and the user friendly Human Machine Interface (HMI) for the motion card, our

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iii

誌 謝

首先感謝指導教授李安謙老師兩年來的指導與教誨，使我能順利的完成本篇 論文。除了學業之外，在做人做事與生涯規劃方面亦給予我許多啟發與幫助，使 我受益良多。 同時也感謝施禕迪博士、洪榮煌學長在課業上的指導與幫忙，讓我於專業知 識、硬體架設、實驗分析等項目上，學習到發現問題、解決問題的能力。也謝謝 實驗室同學：亨隆、一峰、孟璋兩年來對我的鼓勵和關心。 最後，感謝我的母親顏碧霞女士給我的支持和包容。願將本論文獻給所有關 心我愛護我的人，感謝他們對我的關心及鼓勵。

參考文獻

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