智慧型運動控制平台 2023/07/11

簡介 Introductions

IMP-3內建微處理器(Dual-core ARM Cortex-A9)，具8軸伺服馬達開迴路或閉迴路同動控制能力，提供硬體PID與FeedForward位置閉迴路控制法則，解決追隨誤差與穩態誤差問題；亦可選配硬體3D編碼計數器比較栓鎖值與龍門雙軸跟隨誤差補償功能。位置閉迴路控制採用PID控制法則，以-10V至10V之速度命令驅動；在脈波輸出控制，可讀回馬達編碼器值。

Every IMP-3 has a built-in microprocessor (Dual-core ARM Cortex-A9), and supports synchronous motion control of up to 8 servo motors for either open-loop or closed-loop. It also provides hardware-based PID, feed-forward closed-loop control algorithms, 3D encoder compare latch function, synchronous gantry tracking error compensation, PID closed-loop control using -10V to 10V range command speed, and, in pulse mode, the encoder value can be read. Furthermore, it also provides a servo control interface that allows users to design their own motion command control algorithm.

特色與創新 Characters and Innovations

• 提供軟體伺服控制介面。
• 支援硬體3D編碼計數器比較栓鎖值功能。
• 支援龍門同動控制。
• 支援多軸同動運動軌跡規劃。
• 支援關節型機器手臂軌跡規劃。
• Provides servo control interface.
• Supports 3D encoder compare latch function.
• Supports synchronous gantry control.
• Supports multi-axis synchronous motion trajectory planning.
• Supports articulated robot arm trajectory planning.

應用與效益 Applications and Benefits

• 多軸精密伺服控制。
• 步進馬達或伺服馬達控制。
• Multi-axis precision servo control.
• Stepping motor or servo motor control.

聯絡 contact

• 李峰吉 Feng-Chi Lee
• TEL:886-3-59193725
• FAX:886-3-5826594
• E-mail: lifengchi@itri.org.tw

更多資訊

智慧型運動控制平台  Intelligent Motion Control Platform (IMP-3)

運動控制函式庫  Motion Control Command Library (MCCL)