Supervisory controller of injection molding machine manipulator based on ARM9 and embedded Linux

HE Yang， XIANG Ji， PENG Yong-gang
（College of Electrical Engineering， Zhejiang University， Hangzhou 310027， China）

Abstract： In order to coordinate with the control of three-axis servo injection molding manipulator，the embedded technology was applied to the design of the supervisory controller. After the analysis of the actual man-machine interaction need of the manipulator controller，the AT91RM9200 was used as the hardware core and the embedded Linux was used as the operation system. It was composed of LCD display and touch screen input module，keyboard input module，serial communication module，Ethernet communication module and etc.. After tests，the results show that this supervisory controller is safe，reliable，and it could provide good reference in designing for other similar industrial controllers.
Key words： embedded Linux；AT91RM9200；drivers；state machine；communication protocol