Implementation of a high performance stand-alone motion controller

Implementation of a self-developed stand-alone motion controller with high performances is presented. This controller contains a motion planning processor of high speed and accuracy and a 1000 Mbps Ethernet MAC interface. To guarantee high performance of high speed and accuracy, a powerful digital signal controller (DSC) TMS320F28335 produced by Texas Instruments is used for interpreting and executing the motion instructions on-line and for high speed path planning and PID control algorithm. Making use of system on chip (SOC) technology, a new generation field programmable gate array (FPGA) chip of Cyclone III series is used with which high speed interfaces including reduced instruction set computing (RSIC) processor, a 10/100/1000 Mbps Ethernet MAC, control pulses generator, and optic quadrate encoder interface are programmed into it. This paper is focused on system structure and implementation of our developed stand-alone motion controller. Simulation results and applications are also presented to demonstrate the effectiveness of the proposed high performance stand-alone motion controller.