Development of Motion Controller Based on ARM Microcomputers by Supporting Different Strategies of Controlling CAN Servo Drives

All types of servo step drives motion controllers should guarantee the accuracy of control at all possible rotation speeds taking into consideration the application field of servo drive. Depending on the implementation of servo drives and dividing rotation speed into two ranges low speeds and high speeds, when it's important to have higher rotation speeds (using servo drive as spindle) the motion controller will use speed controlling mode but when it's important to use small values of rotation speeds (using servo drive as feed drive) then it's better to use position controlling mode to ensure the accuracy of the position and minimize the value of errors. Also, it is evidently that the traffic load on CAN bus will affect the stability and the accuracy of controlling CAN servo step drives. The aim of this work is to develop a motion controller that supports dynamically change of controlling strategies of CAN servo step drives depending on rotation speed, additionally will clarify how to reduce CAN bus traffic load.