Servo motion controller based on DSP and CPLD

JI Shiming, CHEN Chenggang
(The MOE Key Laboratory of Special Purpose Equipment and Advanced Processing,
Zhejiang University of Technology, Hangzhou 310014, China)

Abstract: Aiming at the problem of robot control, a servo motion controller based on digital signal processor(DSP) and complex programmable logic device(CPLD) was presented. After architecture optimization, the performance of controller was improved. The hardware and principle of the motion controller were introduced. The details about the CPLD design which pulse sending unit was achieved with FSM were reported, and the relationship between pulse and motion was given as well. Finally, the experiment and simulation results were given. The results indicate that the design can meet the need of servo control and lay the foundation for the further controller optimization.
Key words: digital signal processor(DSP); complex programmable logic device(CPLD); finite state machine(FSM); servo amplifier